TWI580173B - Sensorless motor control device and method thereof - Google Patents

Description

Sensorless motor control device and method thereof

The present invention relates to a motor control device and method thereof, and more particularly to a sensorless motor control device and method therefor.

With the rapid development of technology and industry, a motor that is very important in the automotive industry and the household appliance industry, a motor that receives electrical energy and converts it into a mechanical energy output, that is, a relative magnetic force changes through the stator and rotor of the motor. Driving the rotor and other mechanical structures or electrical equipment connected to the rotor, because the motor has the advantages of miniaturization, high efficiency, low power consumption and high controllability, the motor is widely used.

Generally speaking, there are many types of motors, which can be classified into an AC motor and a DC motor through initial input power. The AC motor includes a synchronous motor and an induction motor. The DC motor includes a DC brush motor and a Brushless DC motor. In the current situation, the DC brushless motor has better characteristics than the former three. The reason is that the DC brushless motor replaces the brush and the phase converter through the circuit configuration to solve the maintenance problem of the conventional DC motor brush and the phase changer, especially Ground, the DC brushless motor is based on the circuit configuration to generate a magnetic field change in the coil on the stator, thereby driving the rotor to rotate, reducing the configuration of the brush and the shaft of the DC brush motor, avoiding the friction generated by the brush and the shaft, thus making the DC The development of brushless motors has received considerable attention from the industry. However, because the DC brushless motor generates a phase shift through the circuit configuration, it needs to combine the driver and the position sensor to avoid the problem of insufficient phase conversion. The common position sensor includes a Hall sensor. (Hall effect Sensor) and encoder (Encoder), the Hall sensor is the commutation signal of the feedback motor to the controller, the controller regulates the rotation speed, and the Hall sensing device has a low unit price, so that it is mostly used for the control. On low-capacity home appliances; encoders are used for precise density control such as servo control or motor positioning.

Under the development of control theory and power electronics, there is no need to propose a combination of position sensors, which indirectly estimates the rotor position through sensors such as voltage or current signals, and can replace the function of the position sensor. By removing the position sensor and the sensor space on the motor end, the cost and system complexity are further reduced. The position sensorless DC brushless motor is also called the sensorless DC brushless motor. For two types, including Back Electromotive Forces and Direct Rotor Estimation, when the motor has not been rotated, it is necessary to use the terminal voltage to neutral point relationship, corresponding to the zero crossing point of the back electromotive force, or through the reverse The electromotive force cubic synergy component is used to judge the back-EMF zero-crossing point and is regarded as the current commutation reference signal. However, for this purpose, a neutral point voltage or phase shift circuit is required, but generally the motor does not necessarily have a neutral point voltage lead. And the phase shift circuit will have different angles depending on the motor speed, and the position of the motor rotor cannot be accurately estimated, and the back electromotive force estimation method is often applied to the motor. The stability of the rotor is reduced, and the power loss of the rotor is further improved. Despite the above shortcomings, it is still widely used in the industry; the direct rotor estimation method estimates the rotor position signal through the estimation theory or electrical equation. Carrying out cumbersome mathematical calculations and coordinate conversions, because of the need to load high-order processors to increase production costs, and is not used by industry.

According to the above, the control method of the DC sensorless brushless motor is known. The current situation mainly indirectly knows the rotor position signal through the back electromotive force estimation method, but the back electromotive force estimation method is applied to solve the back electromotive force estimation method. Single-phase motors tend to cause rotor stability The problem is reduced, which in turn increases the power loss of the rotor. Therefore, how to provide a sensorless motor control device and method thereof, and improve the application of the back electromotive force estimation method to the rotor stability and power loss of the motor has become an important subject for researchers involved in the industry.

The main object of the present invention is to provide a sensorless motor control device and method thereof for improving the stability of motor operation.

A secondary object of the present invention is to provide a sensorless motor control device and method thereof for improving the efficiency of motor operation.

In order to achieve the above-mentioned various purposes and effects, the sensorless motor control device of the present invention has a hardware component including the control unit, the plurality of pre-stage driving units, the plurality of switching units, and the comparing unit, wherein The control unit is electrically coupled to the plurality of pre-drive units, the plurality of pre-drive units are electrically coupled to the plurality of switch units, and the plurality of switch units are electrically coupled to the motor and the comparison unit, the comparison The unit is electrically coupled to the control unit, thereby achieving electrical control of the sensorless motor.

The sensorless motor control method of the present invention comprises the following steps: a control unit provides a first control signal to drive a plurality of pre-drive units, and the plurality of pre-drive units generate a plurality of pre-drive signals, the control The signal and the plurality of pre-drive signals include a first start-up time; the plurality of switch units receive the plurality of pre-drive signals to generate a plurality of drive signals, the first drive signal and the second drive signal The driving signal includes the first starting time; one of the first input end and the second input end of the motor respectively receive the first driving signal And the second driving signal, the motor is driven according to the first starting time, and stops driving at a first end time point; when a comparing unit captures and calculates the voltage of the first input end and the second input end When the difference has a difference, and outputs a first conversion time point; and the control unit calculates a difference between the first termination time point and the first conversion time point to generate a first interval time, and the control unit compares the first interval The time and a first threshold value, when the first interval time is not equal to the first threshold value, the control unit increases or decreases a second control time of the second control signal.

The control unit calculates a difference between the first termination time point and the first conversion time point to generate a first interval time, and the control unit compares the first interval time with a first threshold value, when the first In the step of increasing or decreasing a second control time of the second control signal when the interval is not equal to the first threshold, the present invention compares the first interval time with the first through the control unit The threshold value is used to increase or decrease the second starting time, which can compensate the phase conversion error, improve the stability of the motor operation, further reduce the load of the rotor of the motor, and improve the efficiency of the motor operation.

In an embodiment of the present invention, the sensorless motor control method of the present invention further includes: the control unit driving the plurality of pre-stage driving units according to the second control signal to enable the plurality of pre-stage driving units Generating the plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; the plurality of switch units receiving the plurality of pre-drive signals to generate the plurality of drive signals, one of the plurality of drive signals The third driving signal and the fourth driving signal include the second startup time; The first input end and the second input end of the motor respectively receive the fourth driving signal and the third driving signal, and the motor is driven according to the second starting time, and stops driving at a second termination time point; When the comparison unit captures and calculates a difference between the voltage difference between the first input terminal and the second input terminal, and outputs a second conversion time point; and the control unit calculates the second termination time point and the second Converting a time difference to generate a second interval time, the control unit compares the second interval time with the first threshold value, and when the first interval time is not equal to the first threshold value, the control unit increases or decreases The first start time of the first control signal.

In an embodiment of the present invention, the sensorless motor control method of the present invention further includes: the control unit driving the plurality of pre-stage driving units according to the second control signal to enable the plurality of pre-stage driving units Generating the plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; the plurality of switch units receiving the plurality of pre-drive signals to generate the plurality of drive signals, one of the plurality of drive signals The third driving signal and the fourth driving signal include the second starting time; the first input end and the second input end of the motor respectively receive the fourth driving signal and the third driving signal, and the motor is according to the first Driving at a second startup time and stopping driving at a second termination time point; when the comparison unit captures and calculates a difference between the voltage difference between the first input terminal and the second input terminal, and outputs a second conversion time And the control unit calculates a difference between the second termination time point and the second conversion time point to generate a second interval time, and the control unit compares the first interval Adding the second The interval time and a second threshold value, when the first interval time is added, the second interval time is not equal to the second threshold value, the control unit increases or decreases the first startup time of the first control signal.

In an embodiment of the present invention, the sensorless motor control method of the present invention further includes: generating a first phase control signal according to the first driving signal and the second driving signal to drive the motor to generate a first Rotating; and generating a second phase control signal according to the third driving signal and the fourth driving signal to drive the motor to generate a second rotation.

In one embodiment of the present invention, the sensorless motor control method of the present invention, wherein a phase difference between the first phase control signal and the second phase control signal is equal to 180 degrees.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the control unit is configured to drive the plurality of pre-drive signals according to the second control signal to generate the plurality of pre-drive signals The pre-drive signal includes the second start-up time.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the plurality of switch units are configured to receive the plurality of pre-drive signals to generate the plurality of drive signals, the plurality of drive signals One of the third driving signal and the fourth driving signal includes the second starting time.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the first input end and the second input end of the motor respectively receive the fourth driving signal and the third driving signal, The motor is driven according to the second starting time, and The drive is stopped at a second end time point.

In an embodiment of the present invention, the sensorless motor control device of the present invention, wherein the comparing unit is configured to capture and calculate a difference in voltage difference between the first input terminal and the second input terminal, And output a second conversion time point.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the control unit is configured to calculate a difference between the second termination time point and the second conversion time point to generate a second interval time. The control unit compares the second interval time with the first threshold value, and when the first interval time is not equal to the first threshold value, the control unit increases or decreases the first startup time of the first control signal.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the control unit is configured to calculate a difference between the second termination time point and the second conversion time point to generate a second interval time. The control unit compares the first interval time with the second interval time and a second threshold value, and when the first interval time is added, the second interval time is not equal to the second threshold value, the control unit increases Or reducing the first startup time of the first control signal.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the first input end and the second input end generate a first phase control signal, the motor is based on the first phase control signal A first rotation is produced.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the first input end and the second input end of the motor generate a signal according to the first driving signal and the second driving signal a first phase control signal, the motor generates a first rotation according to the first phase control signal, and the first input end and the second input end of the motor generate a first signal according to the fourth driving signal and the third driving signal Second phase control The signal generates a second rotation according to the second phase control signal.

In one embodiment of the present invention, the sensorless motor control device of the present invention, wherein the phase difference between the first phase control signal and the second phase control signal is equal to 180 degrees.

1‧‧‧Without sensor motor control

11‧‧‧Control unit

13‧‧‧Pre-drive unit

131‧‧‧First front drive unit

133‧‧‧Second front drive unit

135‧‧‧3rd front drive unit

137‧‧‧Fourth front drive unit

15‧‧‧Switch unit

151‧‧‧First switch unit

153‧‧‧Second switch unit

155‧‧‧third switch unit

157‧‧‧fourth switch unit

17‧‧‧Comparative unit

19‧‧‧Motor

U‧‧‧ first input

V‧‧‧ second input

Vcc‧‧‧ voltage end

GND‧‧‧ ground terminal

P1‧‧‧First phase control signal

P2‧‧‧Second phase control signal

Back-EMF‧‧‧Commutation signal

CAP‧‧‧ comparison signal

△S1‧‧‧First flexible switching time

△S2‧‧‧Second flexible switching time

△N1‧‧‧The first start-up time

△N2‧‧‧The second start-up time

T1‧‧‧ first termination time

T2‧‧‧ first conversion time

T3‧‧‧second termination time

T4‧‧‧ second conversion time point

△F1‧‧‧ first interval

△F2‧‧‧second interval

O1‧‧‧ first zero crossing point

O2‧‧‧Second zero crossing point

FIG. 1 is a circuit diagram of a first embodiment of a sensorless motor control device and method thereof according to the present invention; FIG. 2 is a first embodiment of the sensorless motor control device and method thereof The first step of the embodiment is a flowchart; the third figure is a control timing diagram of the first embodiment of the sensorless motor control device and the method thereof according to the present invention; and the fourth figure is the non-sensing of the present invention. Flow chart of a second step of the first embodiment of the motor control device and method thereof; and fifth diagram: flowchart of the third step of the second embodiment of the sensorless motor control device and method thereof of the present invention .

In order to provide a better understanding and understanding of the features and the efficacies of the present invention, the preferred embodiment and the detailed description are as follows:

The invention relates to a conventional sensorless DC brushless motor. The current situation mainly indirectly knows the rotor position signal through the back electromotive force estimation method, but the back electromotive force estimation method is applied to the single phase motor in order to solve the back electromotive force estimation method. This often results in a decrease in rotor stability and, in turn, a problem of power loss in the rotor. Therefore, how to provide a sensorless motor control device and method thereof, and improve the application of the back electromotive force estimation method to the motor The problem of sub-stability and power loss is to provide a sensorless motor control device and a method thereof. The motor is driven according to the first start-up time of the control signal, and stops driving at the end time, and the comparison unit outputs the first conversion time. a point, wherein the first interval time point is generated by the control unit to the first transition time point, the first interval time is generated, and the control unit compares the first interval time with the first threshold value, when the first interval time is not equal to the first threshold value The control unit increases or decreases the second start time of the second control signal to compensate for the phase conversion error, thereby improving the stability of the motor operation, further reducing the load of the motor rotor, and improving the efficiency of the motor operation.

Please refer to the first figure, which is a circuit diagram of a first embodiment of a sensorless motor control device and a method thereof according to the present invention. As shown in the figure, a sensorless motor control device 1 of the present embodiment is The hardware component includes a control unit 11 , a plurality of pre-stage drive units 13 , a plurality of switch units 15 , a comparison unit 17 , and a motor 19 . The control unit 11 is electrically coupled to the plurality of pre-stage drive units 13 . The plurality of pre-drive units 13 are electrically coupled to the plurality of switch units 15 . The plurality of switch units 15 are electrically coupled to the motor 19 and the comparison unit 17 . The comparison unit 17 is electrically coupled to the control unit 11 . .

The control unit 11 can be a 555 series chip produced by Signetics, combined with circuit elements such as a variable resistor and a diode, or directly using a micro control chip, and the control unit 11 is configured to receive a pulse width modulation (PWM) signal. The control signal is generated by controlling the duty cycle (Duty Cycle) of the pulse width modulation (PWM) signal, but not limited thereto. In addition, the control unit 11 can be combined with a zero voltage crossover signal acquisition circuit. The zero voltage crossover signal acquisition circuit is configured to provide a phase change signal Back-EMF to the control unit 11.

The control unit 11 can further combine the plurality of pre-stage driving units 13 for use To ensure that a lower voltage or current is input to the plurality of switch units 15 , wherein the plurality of front stage drive units 13 include a first front stage drive unit 131 , a second front stage drive unit 133 , and a third front stage The driving unit 135 and the fourth pre-stage driving unit 137, and the control unit 11 inputs a first control signal or a second control signal to the plurality of pre-stage driving units 13.

The plurality of switching units 15 are transistors (FETs), and are preferably an enhancement type MOSFET, and the plurality of switching units 15 include a first switching unit 151, a second switching unit 153, and a third switching unit 155. And a fourth switch unit 157, wherein a gate of the first switch unit 151 is electrically coupled to the first front drive unit 131, and a gate of the second switch unit 153 is electrically coupled to the second front The driving unit 133, the gate of the third switching unit 155 is electrically coupled to the third front driving unit 135, and the gate of the fourth switching unit 157 is electrically coupled to the fourth front driving unit 137. And the plurality of switch units 15 respectively receive the plurality of pre-drive signals of the plurality of pre-drive units, and further, the source of the first switch unit 151 and the source of the third switch unit 155 The source is electrically coupled to a voltage terminal Vcc. The source of the second switching unit 153 is electrically coupled to a source GND of the source of the fourth switching unit 157. One pole is electrically coupled to one of the fourth switch unit 157, and is electrically connected The first input terminal U of the first switch unit 153 is electrically coupled to one of the drains of the fourth switch unit 155 and electrically coupled to a motor 19 . A second input terminal V.

The comparison unit 17 can be an operational amplifier or a voltage comparison chip for comparing the magnitude of the current or voltage of one of the positive phase input terminals and the one of the inverting input terminals of the comparison unit 17 , and receiving the plural number of the plurality of switch units 15 a driving signal, wherein the non-inverting input is electrically coupled to the first input terminal U, and the inverting input terminal is electrically coupled to the first The input terminal is electrically coupled to the control unit 11, and when the comparison unit 17 captures and calculates the difference between the voltage difference between the first input terminal U and the second input terminal V, The control unit 11 provides a comparison signal, and the comparison signal provides the first conversion time point or a second conversion time point of the control unit 11.

The motor 19 is preferably a single-phase motor, wherein the first input terminal U and the second input terminal V of the motor 19 generate a first phase control signal P1 according to the first driving signal and the second driving signal. The motor 19 generates a first rotation according to the first phase control signal P1, and the first input terminal U and the second input terminal V of the motor 19 generate a second according to the fourth driving signal and the third driving signal. The phase control signal P2, the motor 19 generates a second rotation according to the second phase control signal P2, and the phase difference between the first phase control signal P1 and the second phase control signal P2 is equal to 180 degrees.

Please refer to FIG. 2 and FIG. 3 , which are flowcharts and control timing diagrams of the first step of the first embodiment of the sensorless motor control device and the method thereof, as shown in the figure. The horizontal axis of the control timing chart is time, the vertical axis is the intensity level or the rotation angle of the rotor, and the embodiment includes the following steps: Step S10: a control unit provides a first control signal to drive a plurality of pre-drive units, The plurality of pre-driver signals generate a plurality of pre-drive signals, the first control signal and the plurality of pre-drive signals include a first start time; and step S20: the plurality of switch units receive the plurality of pre-drive signals Generating a plurality of driving signals, wherein the first driving signal and the second driving signal of the plurality of driving signals include the first starting time; and step S30: receiving, by the first input end and the second input end of the motor respectively The first driving signal and the second driving signal, the motor is driven according to the first starting time, and stops driving at a first termination time point; Step S40: When a comparison unit captures and calculates a difference between the voltage difference between the first input terminal and the second input terminal, and outputs a first conversion time point; and step S50: the control unit calculates the first termination a difference between the time point and the first transition time point, generating a first interval time, the control unit comparing the first interval time with a first threshold value, when the first interval time is not equal to the first threshold value, The control unit increases or decreases one of the second control signals and the second start time.

Before the step S10, the control unit 11 receives the commutation signal Back-EMF, wherein the commutation signal Back-EMF is generated by a back electromotive force estimation method, and the commutation signal corresponds to one of the back electromotive forces. The point O1 is driven to drive the control unit to output the first control signal according to the pulse width modulation (PWM) signal, and the pulse width modulation (PWM) signal is preferably a frequency of 20 KHz and a duty cycle (Duty Cycle) of 60%. In addition, the control unit 11 adopts a means of flexible switching, and sets an element or a program corresponding to the flexible switching.

In step S10, the first control signal is input to the plurality of pre-driver units (Pre-Driver) 13, and a plurality of pre-drive signals are generated according to the first control signal, wherein the plurality of pre-drive signals are flexible. Switching, and increasing the power consumption of the plurality of switch units 15 corresponding to the plurality of switch units 13 from 10% to 60%, to reduce the power loss caused by the startup time of the plurality of switch units 15 That is, the power loss of the current and the voltage output time of the plurality of switching units 15 is to avoid consuming the output power supplied from the voltage terminal Vcc and the ground terminal GND to the motor 19, and the first control signal and the complex number The pre-drive unit includes a first start-up time ΔN1.

In step S20, the plurality of switch units 15 receive the plurality of pre-drive signals to generate the plurality of drive signals, that is, the first pre-stage drive unit 131 outputs the front The first driving signal is sent to the first switching unit 151 to generate the first driving signal, and the second pre-level driving unit 133 outputs the pre-level driving signal to the second switching unit 153 to generate the second driving signal, and the first driving signal A driving signal and the second driving signal include the first starting time ΔN1.

In the step S30, the first switch unit 151 and the second switch unit 153 of the plurality of switch units 15 are electrically connected to the first input terminal U and the second input terminal V, respectively. The first phase control signal P1 is generated by the time-dependent voltage change between the first input terminal U and the second input terminal V, and the first phase control signal P1 drives the rotor of the motor 19 to generate the first rotation. And stopping the driving of the motor 19 at one of the first end time points T1 after the first starting time ΔN1, preferably, rotating the rotor of the motor 19 by approximately 180 degrees. The first phase control signal P1 includes a first flexible switching time ΔS1, a first activation time ΔN1, and a second flexible switching time ΔS2. Meanwhile, the first driving signal and the second driving signal are also Having the same first flexible switching time ΔS1, the second starting time ΔN2, and the second flexible switching time ΔS2, wherein the first flexible switching time ΔS1 and the second flexible switching time ΔS2 are the same steps S10, so I won't go into details.

In the step S40, the first switch unit 151 and the second switch unit 153 of the plurality of switch units 15 are turned off according to the plurality of pre-drive signals, and the third switch of the plurality of switch units 15 The unit 155 and the fourth switch unit 157 are turned on and turned on, and the first input terminal U and the second input terminal V start to generate a potential difference change, and the comparison unit 17 outputs the comparison signal CAP to the control unit 11, and the The control unit 11 records the first transition time point T2 according to the comparison signal CAP.

In step S50, the control unit 11 calculates a time difference between the first termination time point T1 and the first conversion time point T2, and generates the first interval time ΔF1, the control unit Comparing the first interval time ΔF1 with the first threshold value temporarily pre-stored by the control unit 11 or the comparison unit 17, and comparing the first interval time ΔF1 with the first threshold value by the control unit 11 When the first interval time ΔF1 is greater than the first threshold, the control unit 11 reduces the pre-drive signal by the second start time ΔN2 of the plurality of drive signals according to the second control signal, or when the The first interval time ΔF1 is less than the first threshold value, and the control unit 11 increases the pre-drive signal by the second start time ΔN2 of the plurality of drive signals according to the second control signal; The first threshold is 100 microseconds, and the second startup time ΔN2 is increased or decreased by 60 microseconds.

Please refer to the third figure, which is a flow chart of the second step of the first embodiment of the sensorless motor control device and the method thereof according to the present invention. As shown in the figure, it is connected to step S50 of the embodiment. After the step S30, the motor 19 has generated the first rotation so that the rotation angle of the rotor of the motor 19 is close to 180 degrees, and the rotation cycle is completed to 360 degrees to complete the rotation cycle, and then the steps S51 to S55 are continued, and at the same time, And taking the information as the basis of the next rotation cycle, the steps S51-55 have the following steps: Step S51: The control unit drives the plurality of pre-drive units according to the second control signal, so that the plurality of pre-drivers are driven The unit generates the plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; and step S52: the plurality of switch units receive the plurality of pre-drive signals to generate the plurality of drive signals, the plurality of The third driving signal and the fourth driving signal of the driving signal include the second starting time; step S53: the first input end and the second input end of the motor respectively receive the fourth Signal and the third actuator drive signal, the motor is driven according to the second start time, and terminates at a second point in time to stop driving; Step S54: When the comparing unit captures and calculates a difference between the voltage difference between the first input end and the second input end, and outputs a second conversion time point; and step S55: the control unit calculates the second termination a difference between the time point and the second conversion time point, generating a second interval time, the control unit comparing the second interval time with the first threshold value, when the first interval time is not equal to the first threshold value, The control unit increases or decreases the first start time of the first control signal.

Before the step S51, the control unit 11 receives the commutation signal Back-EMF, and the commutation signal Back-EMF corresponds to the second zero-crossing point O2 of the counter electromotive force, and drives the control unit 11 to adjust according to the pulse width. The variable (PWM) signal outputs the second control signal, wherein the second control signal increases or decreases the second start time ΔN2 according to step S50.

In step S52, the third pre-stage driving unit 135 outputs the pre-stage driving signal to the third switching unit 155, and the fourth pre-stage driving unit 137 outputs the pre-level driving signal to the fourth switching unit 157, and The third driving signal, the fourth driving signal and the second control signal and the plurality of pre-drive signals have the same second startup time ΔN2.

In the step S53, the third switch unit 155 and the fourth switch unit 157 of the plurality of switch units 15 are electrically connected to the second input terminal V and the first input terminal U, respectively. The second phase control signal P2 is generated according to a time-dependent voltage change between the first input terminal U and the second input terminal V, and the second phase control signal P2 drives the rotor of the motor 19 to generate the second rotation, and The motor 19 is stopped to be driven at one of the second end times T3 after the second start time ΔN2. Preferably, the rotor of the motor 19 is rotated to approximately 360 degrees to complete the one rotation cycle of the motor 19. The second phase control signal P2 includes the first phase control signal P1. a flexible switching time ΔS1 and the second flexible switching time ΔS2, and the second phase control signal P2 has the second starting time ΔN2 that is the same as the third driving signal and the fourth driving signal.

In the step S54, the third switch unit 155 and the fourth switch unit 157 are turned off according to the plurality of pre-drive signals, and the first switch unit 151 and the second switch unit 153 are turned on and turned on. The first input terminal U and the second input terminal V are caused to generate a potential difference, the comparison unit 17 outputs the comparison signal CAP to the control unit 11, and the control unit 11 records the second conversion time according to the comparison signal CAP. Point T4.

In step S55, the control unit 11 calculates a time difference between the second termination time point T3 and the second conversion time point T4 to generate the second interval time ΔF2, and the control unit 11 compares the second interval time ΔF2 with The first threshold value pre-stored in the control unit 11 or the comparison unit 17 is compared, and the second interval time ΔF2 and the first threshold value are compared by the control unit 11, when the second interval time ΔF2 is greater than the first threshold value The first threshold value, the control unit 11 reduces the pre-drive signal by the first start-up time ΔN1 of the plurality of drive signals according to the first control signal, or when the second interval time ΔF2 is smaller than the first threshold The threshold value is such that the control unit 11 increases the pre-drive signal by the first start time ΔN1 of the plurality of drive signals according to the first control signal.

In this embodiment, the first rotation period of the motor 19 is controlled according to steps S10 to S55, and the phase conversion error of the first half period is recorded in steps S10 to S50, and the second half of the second half period can be corrected according to the message of the first half period in steps S51 to S55. The second start time ΔN2 of the control signal enables the motor 19 to compensate for the error of the phase change of the first half cycle during the operation of the second half cycle, and records the error of the phase change of the second half cycle in steps S51 to S55, according to the second half cycle. The message corrects the first half of the cycle before the next operating cycle The first start-up time ΔN1 of a control signal is followed by step S55 to follow step S10 to correct the error of the phase change of the motor 19, thereby improving the stability of the motor 19 during operation and further reducing the motor 19 The load of the rotor increases the efficiency of operation of the motor 19.

Please refer to the fourth figure, which is a flowchart of the third step of the second embodiment of the sensorless motor control device and the method thereof. As shown in the figure, the embodiment is different from the previous embodiment in that The control unit 11 compares the first interval time ΔF1 of the motor 19 in the rotation cycle to the second interval time ΔF2 through a second threshold value, thereby reducing the phase transition of the motor 19 after completing one operation cycle. After the step S54 of the first embodiment, the method includes the following steps: Step S61: The control unit drives the plurality of pre-drive units according to the second control signal to enable the plurality of pre-drive units Generating the plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; and step S62: the plurality of switch units receive the plurality of pre-drive signals to generate the plurality of drive signals, the plurality of drivers The third driving signal and the fourth driving signal of the signal include the second starting time; and the step S63: the first input end and the second input end of the motor respectively receive the fourth a driving signal and the third driving signal, the motor is driven according to the second starting time, and stops driving at a second end time point; step S64: when the comparing unit captures and calculates the first input end and the first When the voltage difference between the two inputs has a difference, and outputs a second conversion time point; and step S65: the control unit calculates a difference between the second termination time point and the second conversion time point to generate a second interval time, The control unit compares the first interval time with the second interval time and a second threshold value, when the first interval time is added When the second interval time is not equal to the second threshold, the control unit increases or decreases the first startup time of the first control signal.

Referring to the fourth figure, as shown in the figure, the steps S61 to S64 of the embodiment are the same as the steps S51 to S54 of the first embodiment, and therefore will not be described again.

Referring to the first figure and the third figure, as shown in the figure, in step S64, the control unit 11 calculates a time difference between the second termination time point T3 and the second conversion time point T4, and generates the second interval time. ΔF2, and the control unit 11 calculates the sum of the first interval time ΔF1 and the second interval time ΔF2 to generate an interval time sum value, and the control unit 11 compares the interval time sum value with the control unit 11 Or the comparison threshold unit 17 pre-stores the second threshold value, and compares the interval time sum value with the first threshold value through the control unit 11, and when the interval time sum value is greater than the first threshold value, the control unit The first driving signal is reduced according to the first control signal by the first driving time ΔN1 of the plurality of driving signals, or when the interval time value is less than the first threshold, the control unit 11 is configured according to the first a control signal causes the pre-drive signal to increase the first start-up time ΔN1 of the plurality of drive signals; wherein the second threshold value in the embodiment is 200 microseconds, and the first start-up time ΔN1 is Increase or decrease 60 micro Seconds, but not limited to this.

In this embodiment, the first rotation period of the motor 19 is controlled according to steps S10 to S65, and the phase conversion error of the first half period is recorded in steps S10 to S50, and the second half of the second half period can be corrected according to the message of the first half period in steps S61 to S65. The second start time ΔN2 of the control signal enables the motor 19 to compensate for the error of the phase change of the first half cycle during the operation of the second half cycle, and records the error of the phase change of the second half cycle in steps S61 to S65, according to the first half cycle and The message of the second half cycle corrects the first start time ΔN1 of the first control signal in the half cycle of the next operation cycle, and then proceeds to step S65. The subsequent step S10 corrects the error of the phase change of the motor 19, thereby improving the stability of the motor 19 during operation, further reducing the load on the rotor of the motor 19, and improving the efficiency of operation of the motor 19.

In summary, the present invention provides a sensorless motor control device and a method thereof. The control unit causes the first switch unit and the second switch unit to generate a first drive signal and a first switch according to a first start time of the first control signal. The second driving signal, the first input end and the second input end of the motor respectively receive the first driving signal and the second driving signal, and generate a first phase control signal, the first phase control signal, at the first input end and the second input end Driving the motor to generate a first rotation according to the first starting time, and stopping driving at a first end time point after the first starting time, when the comparing unit captures and calculates a difference between the voltage difference between the first input end and the second input end And outputting a first conversion time point, the control unit calculates the first termination time point to the first conversion time point, generates a first interval time, and compares the first interval time with the first threshold value by the control unit, when the first interval time is not equal to a first threshold, the control unit increases or decreases a second start time of the second control signal; in addition, the present invention further transmits the second control signal a start-up time, wherein the second phase control signal drives the motor to generate a second rotation, and stops driving at a second end time after the second start time, causing the motor to complete a rotation cycle, and then, when the comparison unit captures When the difference between the voltage difference between the first input end and the second input end is calculated, the second conversion time point is output, and the control unit calculates the second end time point to the second conversion time point to generate a second interval time, which is compared by the control unit. The second interval time and the first threshold value, when the second interval time is not equal to the first threshold value, the control unit increases or decreases the first start time of the first control signal, and the present invention further passes the second threshold value to make the second threshold The value compares the sum of the first interval time and the second interval time to correct the first start time of the driving signal. Therefore, the present invention can be used to compensate the error of the phase transition of the first half cycle or the second half cycle of the motor by modifying the first start time of the first control signal or the second start time of the second control signal to improve the motor operation. Stability, and further reduce the load on the rotor of the motor to improve the efficiency of motor operation.

Therefore, the present invention is a novelty, progressive and available for industrial use. It should be in accordance with the patent application requirements of the patent law of China. Undoubtedly, the invention patent application is filed according to law, and the prayer bureau will grant the patent as soon as possible.

However, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, so that the shapes, structures, features, and spirits described in the claims of the present invention are equally changed. Modifications are intended to be included in the scope of the patent application of the present invention.

1‧‧‧Without sensor motor control

11‧‧‧Control unit

13‧‧‧Pre-drive unit

131‧‧‧First front drive unit

133‧‧‧Second front drive unit

135‧‧‧3rd front drive unit

137‧‧‧Fourth front drive unit

15‧‧‧Switch unit

151‧‧‧First switch unit

153‧‧‧Second switch unit

155‧‧‧third switch unit

157‧‧‧fourth switch unit

17‧‧‧Comparative unit

19‧‧‧Motor

Vcc‧‧‧ voltage end

GND‧‧‧ ground terminal

U‧‧‧ first input

V‧‧‧ second input

Claims (15)

A non-sensor motor control method includes: a control unit provides a first control signal to drive a plurality of pre-drive units, and the plurality of pre-drive units generate a plurality of pre-drive signals, the first control signal And the plurality of pre-drive signals include a first start-up time; the plurality of switch units receive the plurality of pre-drive signals to generate a plurality of drive signals, the first drive signal and the second drive of the plurality of drive signals The signal includes the first start time; a first input end and a second input end of a motor respectively receive the first driving signal and the second driving signal, and the motor is driven according to the first starting time, and is driven by Stopping driving at a first termination time point; when a comparison unit captures and calculates a difference between a voltage difference between the first input terminal and the second input terminal, and outputs a first conversion time point; and the control unit calculates the first a difference between an end time point and the first conversion time point, generating a first interval time, the control unit comparing the first interval time with a first threshold value, When the first time interval is not equal to the first threshold value, the control unit increases or decreases a second control signal a second one of the start time. The non-sensor motor control method of claim 1, further comprising: the control unit driving the plurality of pre-drive units according to the second control signal, so that the plurality of pre-drive units generate the plurality a plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; the plurality of switch units receiving the plurality of pre-drive signals to generate the plurality of drives The third driving signal and the fourth driving signal of the plurality of driving signals include the second starting time; the first input end and the second input end of the motor respectively receive the fourth driving signal and the a third driving signal, the motor is driven according to the second starting time, and stops driving at a second termination time point; when the comparing unit captures and calculates a voltage difference between the first input end and the second input end And a second conversion time point is outputted; and the control unit calculates a difference between the second termination time point and the second conversion time point to generate a second interval time, and the control unit compares the second interval time with The first threshold value, when the first interval time is not equal to the first threshold value, the control unit increases or decreases the first startup time of the first control signal. The non-sensor motor control method of claim 1, further comprising: the control unit driving the plurality of pre-drive units according to the second control signal, so that the plurality of pre-drive units generate the plurality a plurality of pre-drive signals, the plurality of pre-drive signals including the second start-up time; the plurality of switch units receiving the plurality of pre-drive signals to generate the plurality of drive signals, the third of the plurality of drive signals The driving signal and the fourth driving signal include the second starting time; the first input end and the second input end of the motor respectively receive the fourth driving signal and the third driving signal, and the motor is activated according to the second driving Driving at a time and stopping driving at a second termination time point; when the comparison unit captures and calculates a difference between the voltage difference between the first input terminal and the second input terminal, and outputs a second conversion time point; And the control unit calculates a difference between the second termination time point and the second conversion time point to generate a second interval time, and the control unit compares the first interval time and adds The second The interval time and a second threshold value, when the first interval time is added, the second interval time is not equal to the second threshold value, the control unit increases or decreases the first startup time of the first control signal. The sensorless motor control method of claim 2 or 3, further comprising: generating a first phase control signal according to the first driving signal and the second driving signal to drive the motor to generate a first rotation And generating a second phase control signal according to the third driving signal and the fourth driving signal to drive the motor to generate a second rotation. The non-sensor motor control method of claim 4, wherein a phase difference between the first phase control signal and the second phase control signal is equal to 180 degrees. A sensorless motor control device includes: a control unit for providing a first control signal, the first control signal includes a first start time; and a plurality of pre-drive units electrically coupled The control unit, the plurality of pre-stage driving units are configured to receive the first control signal, and generate a plurality of pre-drive signals, the plurality of pre-drive signals including the first start-up time; and a plurality of switch units, the electrical The plurality of pre-drive units are coupled to receive the plurality of pre-drive signals to generate a plurality of drive signals, the plurality of drive signals including the first start-up time; a motor, the electrical The plurality of switch units are coupled to the motor, the motor has a first input end and a second input end, and the first input end and the second input end respectively receive the first driving signal and the second driving signal, the motor For driving according to the first startup time, and stopping driving at a first termination time point; a comparison unit electrically coupled to the plurality of switching units, when the comparison unit Take And calculating a difference between the voltage difference between the first input end and the second input end, and outputting a first conversion time point; and wherein the control unit calculates the first end time point and the first conversion time point Poorly generating a first interval time, the control unit compares the first interval time with a first threshold value, and when the first interval time is not equal to the first threshold value, the control unit increases or decreases a second control One of the second start times of the signal. The non-sensor motor control device of claim 6, wherein the control unit is configured to drive the plurality of pre-drive signals according to the second control signal to generate the plurality of pre-drive signals. The level drive signal includes the second start time. The non-sensor motor control device of claim 7, wherein the plurality of switch units are configured to receive the plurality of pre-drive signals to generate the plurality of drive signals, one of the plurality of drive signals The third driving signal and the fourth driving signal include the second starting time. The non-sensor motor control device of claim 8, wherein the first input end and the second input end of the motor respectively receive the fourth driving signal and the third driving signal, and the motor is based on The second start time is driven and the drive is stopped at a second end time point. The non-sensor motor control device of claim 9, wherein the comparing unit is configured to capture and calculate a difference between the voltage difference between the first input terminal and the second input terminal, and output a The second conversion time point. The non-sensor motor control device of claim 10, wherein the control unit is configured to calculate a difference between the second termination time point and the second conversion time point to generate a second interval time, the control The unit compares the second interval time with the first threshold value, and when the first interval time is not equal to the first threshold value, the control unit increases The first start time of the first control signal is added or decreased. The non-sensor motor control device of claim 10, wherein the control unit is configured to calculate a difference between the second termination time point and the second conversion time point to generate a second interval time, the control The unit compares the first interval time with the second interval time and a second threshold value, and when the first interval time is added, the second interval time is not equal to the second threshold value, the control unit increases or decreases the The first start time of the first control signal. The non-sensor motor control device of claim 6, wherein the first input end and the second input end generate a first phase control signal, and the motor generates a first phase control signal according to the first phase control signal One turn. The non-sensor motor control device of claim 9, wherein the first input end and the second input end of the motor generate a first phase according to the first driving signal and the second driving signal Controlling the signal, the motor generates a first rotation according to the first phase control signal, and the first input end and the second input end of the motor generate a second phase according to the fourth driving signal and the third driving signal Controlling the signal, the motor generating a second rotation according to the second phase control signal. The non-sensor motor control device of claim 14, wherein a phase difference between the first phase control signal and the second phase control signal is equal to 180 degrees.