TWI581559B - System and wary for one hall sensor operation - Google Patents

Description

System with a Hall sensor operation and method thereof

The present invention relates to a system in which a Hall sensor operates, and more particularly to a system having a Hall sensor operating.

The motor is currently the most common source of power for industrial applications to drive a variety of tool sets, and motors can be divided into DC motors and AC motors. The AC motor is mainly divided into an induction motor (Induction Motor, IM for short) and a brushless DC motor (BLDC), among which the brushless DC motor is used most because it has a simple structure, low cost, and fast response. The torque is large, and the characteristics of starting, stopping, braking and reversing can be continuously and frequently performed, so it has become one of the important equipments for automation.

The Hall sensor is used to sense the rotor position signal of the DC brushless motor (BLDC), which are the signals of Hall_U, Hall_V, and Hall_W, respectively. The Hall sensor is mounted on the stator or printed circuit. On the board, the starting angles induced are 0 degrees, 120 degrees, and 240 degrees, respectively, with a difference of 120 degrees. The signals induced by the three Hall sensors in the DC brushless motor are shown in Figure 1.

Since the Hall_U, Hall_V, and Hall_W signals differ by 120 degrees, respectively, as shown in Figure 1, at ideal and fixed speeds, the three signals divide the 360-degree electrical angle into six equal-length 60-degree each. In the phase region, the transition point of the six phase regions clearly knows the angular position at which the rotor is currently located. Therefore, it is necessary to drive a DC with three Hall sensors. Brushless motor (BLDC), a processing unit can be used to detect three Hall signals, calculate the width of the 60 degree angle of the current phase region of the rotor, and use each rotor in the phase region after commutation in the phase change. When turning an angle, a reference to the position of the rotational speed command (PWM) is output, and then the drive unit 20 of the subsequent stage is switched to obtain the voltage required to drive the rotor to the next angle. Moreover, the six phase regions are sequentially fixed, so when the DC brushless motor is driven in this manner, there is no case where the inverter is reversed and then forwarded (or forwarded and then reversed) at the time of starting. Please refer to FIG. 2, which is a control structure of a conventional DC brushless motor with a Hall sensor.

In theory, the six phase regions distinguished by the signals induced by the three Hall sensors will be equal in length without any error. In this case, it can be accurately estimated that the rotor should be driven down. The voltage required at an angle can also be used to generate a perfect sine wave by the processing unit 10 to drive the DC brushless motor.

However, due to the mounting tolerance of the Hall sensor, the tolerance of the motor assembly, the magnetization error of the permanent magnet of the rotor, the over temperature, the rotor acceleration and deceleration, and the permanent magnet aging (operation time), the Hall detected by the processing unit 10 is caused. The voltage of the component produces an error.

Next, please refer to FIG. 3, assuming that the Hall sensor has a mounting tolerance of V, which causes the Hall_V signal to differ from the Hall_V signal by 115 degrees instead of 120 degrees, since the length of the fifth zone is 60 degrees and the length of the fourth zone is 60 degrees. The actual range is long, but because he is regarded as the predicted range of the 60 degree angle of the fourth zone, when the actual operation of the fourth zone is encountered, the zone will not be driven before the full 60 degree angle is reached. In the case of actual commutation, forced commutation must be performed.

In the same situation, if the length of the 60 degree angle of the previous zone is shorter than the actual range of 60 degrees of the next zone, it will encounter the actual operation. The zone has already driven the complete 60 degree angle but has not yet commutated. In the case, the electric power driven by the last angle must be maintained after the 60 degree angle is driven and before the actual commutation. The voltage causes the drive voltage to maintain the voltage at the last angle.

Therefore, in fact, if the 60-degree angular width of the previous region is used as the angle rotation of the rotor in the next region by 60 degrees to predict the rotation angle of the rotor in this region, the front and rear regions will have an angular width of 60 degrees due to the above various factors. It will not be the same, but must cause forced commutation, or maintain the driving voltage for a period of time until the state of the commutation, in this case, it is easy to cause the sine wave or the second harmonic of the driven DC brushless motor to have a missing angle. In this case, the DC brushless motor generates large vibration or noise during operation.

In order to improve the above problems, it is necessary to propose a new way to reduce the problem of vibration or noise generated when the brushless DC motor is running.

Accordingly, it is an object of the present invention to provide a system having a Hall sensor operation comprising: a motor unit having a stator and a rotor; at least two Hall sensors disposed on the motor unit, Each of the Hall sensors senses a magnetic field of the rotor of the motor unit to sense a Hall voltage; and a processing unit that obtains a start according to at least two Hall voltages of the Hall sensor Positioning information, the processing unit is configured to output a continuous pulse width modulated wave according to the start position message; a driving unit is connected to the processing unit, and receives the continuous pulse width modulated wave to generate a driving signal; And a motor unit connected to the driving unit to receive the driving signal to activate the motor unit; wherein, when the motor is running, the processing unit obtains an operation message according to the Hall voltage of the Hall sensor. The processing unit calculates the continuous pulse width modulated wave for the next operation based on the operation information.

Therefore, another object of the present invention is to provide a method for operating a Hall sensor applied to a motor unit and a driving unit, comprising: providing at least two Hall sensors disposed on the motor Providing a processing unit; the processing unit obtaining a start position message according to the Hall voltage of at least two of the Hall sensors, the processing unit And outputting the activated continuous pulse width modulated wave according to the start position message; the driving unit receives the activated continuous pulse width modulated wave to generate a start driving signal; and the motor unit receives the start driving signal The motor unit is activated; the processing unit obtains an operation message according to the Hall voltage of the Hall sensor, and the processing unit calculates and predicts the continuous pulse width modulation of the next operation according to the operation message. The driving unit receives the continuous pulse width modulation wave of the next operation to generate an operation driving signal; and the motor unit receives the operation driving signal to operate the motor unit.

The function of the present invention is to use two or more Hall sensors as the starting of the motor, and then use a Hall sensor as the running detection to avoid tolerances due to installation tolerances, motor assembly, and the rotor. The magnetization error of the permanent magnet, over temperature, rotor acceleration and deceleration, and permanent magnet aging (operation time) cause the phase voltage waveform of the drive motor to be non-sinusoidal, which causes vibration or noise in the operation of the motor. Therefore, when the motor unit is in operation, only one Hall sensor method is used, so that the phase voltage output to the motor can be approximated by a sine wave, and the effect achieved by the present invention is to improve the vibration of the DC brushless motor during operation or The problem of noise.

[study]

10‧‧‧Processing unit

20‧‧‧Drive unit

40‧‧‧Motor unit

〔this invention〕

11‧‧‧Start position detector

12‧‧‧Operation position detector

13‧‧‧ counter

14‧‧‧Calculator

10‧‧‧Processing unit

1 is a schematic view of a conventional operation of three Hall elements; FIG. 2 is a schematic diagram of a conventional DC brushless motor operating with three Hall elements; and FIG. 3 is a conventional DC brushless motor operating with three Hall elements. FIG. 4 is a schematic diagram of a DC brushless motor system of the present invention; FIG. 5 is a schematic diagram of a processing unit of the present invention; FIG. 6 is a schematic diagram of a system of the DC brushless motor of the present invention operating with a Hall element; and Figure 7 is a flow chart showing the operation of the DC brushless motor of the present invention using a Hall element.

The details of the related patents and the technical contents of the present invention will be apparent from the following detailed description of a preferred embodiment of the drawings.

Referring to FIG. 4, a preferred embodiment of the present invention, a system having a Hall sensor operation, comprising: a motor unit 40 having a stator and a rotor; at least two Hall sensors disposed at the On the motor unit 40, each of the Hall sensors senses a magnetic field of the rotor of the motor unit 40 to sense a Hall voltage; a processing unit 10, the processing unit 10 according to at least two of the Hall sensors The gate voltage is used to obtain a start position message, and the processing unit 10 outputs a continuous pulse width modulated wave according to the start position information; a driving unit 20 is connected to the processing unit 10 to receive the continuous pulse. The wave width modulation wave generates a driving signal; and a motor unit 40 is connected to the driving unit 20 to receive the driving signal to activate the motor unit 40. When the motor unit 40 is in an operating state, the processing unit 10 An operation message is obtained according to the Hall voltage of the Hall sensor, and the processing unit 10 calculates the continuous pulse width modulation wave for the next operation according to the operation information.

Wherein, at least two Hall sensors may be disposed on the stator of the motor unit 40 or on the PCB board on the motor unit 40. Wherein, the continuous pulse width modulated wave represents a plurality of pulse width modulated waves, and the pulse width modulated wave duty cycle width is incremented from 0 degrees to 100 degrees.

The start position message represents the position of the rotor of the motor unit. Generally, the coil of the motor has a three-phase winding. After the processing unit 10 knows the position of the rotor, the processing unit 10 knows that one of the three phases is required to be energized, so a continuous pulse width modulation is started. Change wave That is, the phase winding representing the three phases is energized.

The processing unit 10 obtains an operation message according to the Hall voltage of the Hall sensor as the Hall sensor corresponding to the rotor magnetic pole.

Referring to FIG. 5, the processing unit 10 includes: a start position detector 11 connected to at least two Hall sensors, and the start position information is obtained according to at least two Hall voltages of the Hall sensor. a running position detector 12 is connected to the Hall sensor, and the operating position information is obtained according to the Hall voltage of the Hall sensor; a counter 13 is connected to the operating position detector 12 to receive The operation position message is counted to generate an operation signal period length message; and a calculator 14 is connected to the activation position detector 11 and the counter 13, respectively, and receives the startup position information and performs calculation to obtain the continuous sequence. The pulse width is modulated, and when the motor unit 40 is in the running state, the calculator 14 receives the running signal cycle length message to estimate the continuous pulse width modulated wave for the next operation.

The running signal period length message represents a 360 degree message of the appliance angle. The counter 13 can use a flip-flop or a timer to count the message. Generally, if a microcontroller is used, a timer can be utilized.

The start position message is based on the four interval information obtained by the Hall voltages of the two Hall sensors, and the codes of the four interval messages are 00, 01, 10, and 11. Therefore, in the case of the motor unit 40 rotating 360 degrees electrical angle, the code implied message represents that it can detect four 90 degree messages.

The start position message is based on the six interval messages obtained by the Hall voltages of the three Hall sensors, and the codes of the six interval messages are 000, 001, 010, 011, 100, 101, 110. Therefore, in the case that the motor unit 40 makes a 360-degree electrical angle, the encoded implicit message represents that six 60-degree messages can be detected, and the processing unit 10 detects six 60-degree messages. It is possible to obtain the actual position of the motor to start the motor, and it is less prone to the occurrence of a forward rotation and a reverse rotation when the motor is started, or a phenomenon in which the reverse rotation becomes a forward rotation, and the motor-driven machine is malfunctioning at the start.

The operation message is based on two interval information obtained by the Hall voltage of the Hall sensor. The two interval messages imply two 180-degree messages, which collectively represent a 360-degree electrical angle message. The processing unit 10 detects two 180-degree electrical angle information, thereby estimating the operating cycle of the motor, and can smoothly drive the motor during the operation of the motor to prevent vibration or noise during motor operation. The processing unit 10 of the present invention can detect only the interval information of a Hall sensor 180 degree electrical angle estimation motor.

Referring to FIG. 6, after the rotation order of the rotor is correct, the length of the period of a Hall signal is calculated to be a 360-degree angle. When the Hall signal is switched to the next cycle, the length is used as the next 360-degree angle. The predicted value of the length, that is, the predicted length of the next 360-degree angle is only brought in the place where the Hall signal is periodically converted. Thus, the forced commutation or the sustain voltage to the commutation only occurs in the case of the commutation. A cycle of transitions does not occur every 60 degrees to improve vibration and noise during drive operation.

Only the above description has only a single-phase output. If it is applied to a multi-phase DC brushless motor, it is the same operation mode.

Starting from the above 2 or 3 Hall sensor, the driving method of one Hall sensor operation is known:

(1) At the time of starting, since the start-up operation sequence is known, the start-up does not occur, and the phenomenon of forward rotation, reverse rotation, and reverse rotation is not performed.

(2) When the motor is running, there is only one place in the predicted commutation point, and there is only one point at which the forced commutation or the voltage is maintained. Therefore, the motor vibration is small. If the estimated Hall period signal length is longer than the actual length, a forced commutation occurs. If the predicted Hall period signal length is longer than the actual If it is short, there will be a case where the sustain voltage is switched to the commutation. As can be seen from Fig. 6, it can be clearly seen that the driving waveform has a missing angle only at the Hall signal conversion, and the other time is a smooth condition. Wherein, the estimated period of the Hall period signal is used to calculate the continuous pulse width modulated wave of the next output, and the continuous pulse width modulated wave includes the operation of the positive period and the negative period, that is, the stator coil of the motor The energization is energized by a clockwise direction and, when commutating, is then energized counterclockwise.

In addition to the above, the present invention can also detect multiple Hall period lengths, that is, predict the 360 degree electrical angle sensed by the Hall sensor multiple times, and estimate the continuity of the next operation. The pulse width modulation wave, or a plurality of the continuous pulse width modulation waves of the next operation.

Next, please refer to FIG. 7, which is a flowchart of a method for driving a high precision motor according to the present invention, which includes the following steps:

S100: providing at least two Hall sensors disposed on the motor unit.

S101: Providing a processing unit.

S102: The processing unit obtains a start position message according to the Hall voltage of the at least two Hall sensors, and the processing unit calculates a start pulse width modulated wave according to the start position information.

S103: The driving unit receives the start pulse width modulation wave to generate a start driving signal.

S104: The motor unit receives the start driving signal to activate the motor unit.

S105: The processing unit obtains an operation message according to the Hall voltage of the Hall sensor, and the processing unit calculates according to the operation message and predicts to output a running pulse width modulation wave next time.

S106: The driving unit receives the next running pulse width modulation wave to generate an operation driving signal.

S107: The motor unit receives the next driving signal and makes the horse The unit is in operation.

The start position message is based on the four interval messages obtained by the Hall voltages of the two Hall sensors.

The start position message is based on the six interval messages obtained by the Hall voltages of the three Hall sensors.

The operation message is based on two interval messages obtained by the Hall voltage of a Hall sensor.

The method further includes the steps of: receiving the operation position information and counting by using a counter to generate an operation signal period length message; and receiving the operation signal period length message to estimate the continuous pulse width modulation wave for the next operation.

In summary, the start of the motor of the present invention utilizes two or more Hall sensors to detect the position of the rotor, so as to avoid the phenomenon that the motor will rotate forward, reverse or reverse and then rotate forward when starting, when the motor starts smoothly. Then, using the method of the present invention, only one Hall sensor is used to estimate the operation, and the benefit of using a Hall sensor can make the output signal of the output motor close to the sine wave, making the harmonic The wave situation is lowered to improve the problem of vibration or noise generated when the brushless DC motor is operated. Therefore, the present invention achieves the object of the present invention by controlling the accuracy of the motor.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

11‧‧‧Start position detector

14‧‧‧Calculator

12‧‧‧Operation position detector

10‧‧‧Processing unit

13‧‧‧ counter

Claims (10)

A system having a Hall sensor operation, comprising: a motor unit having a stator and a rotor; at least two Hall sensors disposed on the motor unit, each of the Hall sensors sensing the a magnetic field of the rotor of the motor unit senses a Hall voltage; a processing unit is connected to at least two of the Hall sensors to receive at least two of the Hall voltages of the Hall sensor to obtain a start position message, The processing unit calculates the start position signal and outputs a continuous pulse width modulated wave; and a driving unit connected to the processing unit to receive the continuous pulse width modulated wave to generate a driving signal; wherein The motor unit is connected to the driving unit to receive the driving signal to activate the motor unit. When the motor unit is in an operating state, the processing unit obtains an operation message according to the Hall voltage of the Hall sensor. The processing unit calculates the continuous pulse width modulated wave for the next operation according to the operation information. A system having a Hall sensor operation according to claim 1, wherein the start position message is based on four interval messages obtained by the Hall voltages of the Hall sensors. A system having a Hall sensor operation according to claim 1, wherein the start position message is based on three interval messages obtained by the Hall voltages of the Hall sensors. A system having a Hall sensor operation according to claim 1 of the scope of the patent application, wherein the operation message is based on a Hall sensor The two interval messages obtained by the Hall voltage. According to the system of claim 1, the system has a Hall sensor operation, wherein the processing unit comprises: a start position detector, and at least two Hall sensors are connected, according to at least two The gate voltage of the sensor obtains the start position message; a running position detector is connected to the Hall sensor, and the operating position information is obtained according to the Hall voltage of the Hall sensor; a counter connected to the operation position detector, receiving the operation position message and counting to generate an operation signal cycle length message; and a calculator respectively connected to the activation position detector and the counter to receive the start position message And performing the calculation to obtain the continuous pulse width modulated wave that is activated. When the motor unit is in the running state, the calculator receives the running signal cycle length message to estimate the continuous pulse width modulated wave of the next operation. . A method for operating a Hall sensor, applied to a motor unit and a driving unit, comprising: providing at least two Hall sensors disposed on the motor unit; providing a processing unit; At least two Hall voltages of the Hall sensor obtain a start position message, and the processing unit outputs a continuous pulse width modulated wave according to the start position message; the driving unit receives the activated start signal Continuous pulse width modulation wave to generate a start driving signal; the motor unit receives the start driving signal to make the motor single The processing unit starts up; the processing unit obtains an operation message according to the Hall voltage of the Hall sensor, and the processing unit calculates and predicts the continuous pulse width modulation of the next output operation according to the operation message. The driving unit receives the continuous pulse width modulation wave of the next operation to generate an operation driving signal; and the motor unit receives the operation driving signal for the next time to operate the motor unit. According to the method of claim 6, the method of operating a Hall sensor, wherein the start position message is based on four interval information obtained by the Hall voltages of the Hall sensors. A method for operating a Hall sensor according to claim 6 wherein the start position message is based on three interval messages obtained by the Hall voltages of the Hall sensors. According to the method of claim 6, the method of operating a Hall sensor, wherein the operation message is based on two interval information obtained by the Hall voltage of the Hall sensor. The method for operating a Hall sensor according to claim 6 further includes the steps of: receiving the operation position information and counting by using a counter to generate an operation signal period length message; and receiving the operation signal The continuous pulse width modulated wave of the next operation is estimated by the cycle length message.