WO1992007412A1 - Brushless dc motor without position sensor and its controller - Google Patents
Brushless dc motor without position sensor and its controller Download PDFInfo
- Publication number
- WO1992007412A1 WO1992007412A1 PCT/JP1991/001433 JP9101433W WO9207412A1 WO 1992007412 A1 WO1992007412 A1 WO 1992007412A1 JP 9101433 W JP9101433 W JP 9101433W WO 9207412 A1 WO9207412 A1 WO 9207412A1
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- WIPO (PCT)
- Prior art keywords
- motor
- brushless
- circuit
- output
- signal
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2746—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets arranged with the same polarity, e.g. consequent pole type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
Definitions
- the invention is a position sensorless ⁇ brushless D c motor that detects the position of the lower part of the rotor by fixing the collective power generated in the stator coil with the 131 of ⁇ .
- times ⁇ ? At each specified point in the circumferential direction of each of the rotating magnets ⁇ in Fig. 3, a winding pattern is formed so as to come closest to the inner end surface of the magnetic pole part of the stator, so that the position of the magnetic pole of the rotation pattern can be accurately detected.
- Brushless DC motors have been used for various ⁇ s in recent years because of their good conversion and controllability.
- the brushless DC motor has the same structure as the synchronous motor in which tut ⁇ is composed of ⁇ 3 ⁇ 4, in order to detect the position at the time, the position eccentricity ejector such as the Hall element was the core.
- the space occupied by the position detector becomes invisible, which is a factor that hinders the size of the motor. For this reason, position sensorless ⁇ brushless DC motors that do not have a proximity sensor have been replaced with ⁇ .
- Figure 26 shows a magnified "" ⁇ in the cross section of a positionless ⁇ brushless DC motor.
- a position sensorless ⁇ brushless DC motor 8 1 is composed of a stator 8 2 and a rotor 8 3.
- the stator 82 has a freely rotatable 0
- Coils U, V, and W (not shown) are mounted on the fixed bowl portion 84.
- the ⁇ -fixed facets 85 of the fixed tree portion 84 are located on ⁇ -cylindrical planes, which are equal from the center of the ⁇ 3 ⁇ 4 ⁇ origin 8 6 of the motor 81.
- the rotor 8 3 is composed of a yoke 8 7 having a large number of silicon ll anti-reactions and a pair of field magnets. It is composed of a c-588 for use.
- the yoke 87 has four protruding parts 89 protruding from the outside, and at every other base of the nn parts 89,
- Magnets 88 are inserted with the north poles facing each other.
- the swords 90 of the ladle of each circular part 89 are formed on the same curved surface from the center of the iU3 ⁇ 4f origin 86, and are equal to the self-fixing weave 85 at all points on the surface of ⁇ 3 ⁇ 43 ⁇ 4 ⁇ 90.
- the ⁇ part is the N pole.
- 81 is a motor
- 82 is a stator
- 83 is [11 ⁇ , U, V
- W is a fixed spring for each phase, Ta +, Tb +, Tc +, Ta ", Tb", Tc "are transistors, Da +, Db + , Dc +, Da “, Db”, Dc "are fiber diodes.
- ⁇ e a , e b , e c of the name Obtained, each U, V, 3 ⁇ 4 angle 360 for each phase. 60 during the period.
- X There are two open shelves (the period when the Mason signal is not applied to the transistor). The phase of this open state is referred to as the open eye.
- the motor is excited for a while by the horse-spot signal of an arbitrary excitation turn (step T31), and the rotation is performed. Move 3 ⁇ 4 ⁇ to the position corresponding to the excitation pattern (T 3 2), and then the motor is rotated (T 34) by switching to the excitation turn that has advanced 120 °. (T 33). Then, at this time, the electric power is bundled to the fixed line with the rotation of the motor, so the position of the pain point at 03 ⁇ 4 ⁇ is indirectly detected by detecting the conduction state of the open-phase diffusive diode.
- a signal is formed ( ⁇ 3 5) 0 That is, when a counter electromotive force is applied to the stator winding by the rotation of the rotating wheel, the open phase is reduced due to the combined power, and the anode potential of the ⁇ -side doubly-current diode is reduced. Becomes higher than E d +, or if the cathode potential of the freewheeling diode on the N side becomes lower than E d ⁇ , the freewheeling diode becomes conductive. Therefore, by detecting the conduction pillow state of the open phase diode, the difficult excitation pattern mode can be detected, and as a result, the sound fe of the turning ⁇ is put. Difficulty, in the mode detection circuit 92 shown in Fig. 27, the conduction t-state of each diode is detected by raising the reference miEE d and ⁇ of each diode.
- the conduction state of the open-ended diode is 60. Of the opening time, 30. It is detected in the vicinity. That is, the conduction state 4 is approximately 30. Is detected in the leading phase of. For this reason, in the control circuit 93, each phase is uniformly delayed by about 30 ° in order to perform the next vehicle ⁇ ! (Delaying this phase is called a phase shift.) It is configured and the chewper control is performed by this horse-shoe signal.
- the position sensorless ⁇ brushless DC motor of my own was constant at all points above the birds between nn3 ⁇ 4e and fixed 3 ⁇ 4M in each of the turns ⁇ f. Therefore, due to the relative positional relationship between im ⁇ and the stator, the magnetic fluxes of the permanent magnets and me are concentrated in a position displaced from the ⁇ in the circumferential direction of the convoluted part in the curving direction. By shifting the magnetic flux in the direction from the center of the mi image, the electric power generated by this magnetic flux is released earlier than the actual position of the mi image, and the fixed part is faster than the f constant. It was excited and caused mi ⁇ mi bad speech
- the cross section of the permanent Mffl field is formed into a substantially rectangular shape, so the outer side of ⁇ OT ⁇ 3 ⁇ 43 ⁇ 43 ⁇ 4 It has a wide screen, and the above ⁇ It is easy to generate a magnetic flux of Ic.
- ⁇ Slffl ⁇ 3 ⁇ 4 with a rectangular cross section with a width slightly smaller than the width of the stem at each base of each tU $ ⁇ ⁇ . Since it is included, the bridging part of the yoke that directly connects to the SffiB of each bowl has an elongated shape, and there was a problem that the skeleton of the yoke is insufficient. Further, according to the above equation, if the ridges can be detected by a single commutation based on the Zhao sequence, it is judged that they have been assembled normally, and the open loop is switched to the sensorless operation.
- the position of is not fixed enough, and the key is good. Furthermore, in the pillow state where torque is applied in the reverse direction, when the next one rotation is performed, the rotation from the desired position does not occur, and the position of the rotation ⁇ ? 0 or 1 2 0. If is detected in front and the sensorless operation is turned on, and m ⁇ 1 of rotation is output, the excitation pattern that is uniquely determined by the position of is The motor may not be able to enter normal operation because it is different, and the motor may be rubbed with a key, and even if the motor is locked, a fine signal is detected from the motor and the signal must be at a level higher than that required for sensorless operation. For example, the predetermined excitation pattern continues to be output, and as a result, there is a problem that the motor cannot enter a normal state and cannot perform MSSJ again.
- the ⁇ ⁇ range of the motor is wide: ⁇ , and even at the highest frequency, it is necessary to use the chhopper frequency so that the time delay of the detection timing does not give the chapter timing. It was For example, at 4 poles, the [Hf number of sensitivities reaches 10,000 [UI terms: ⁇ , 60 ° in 3 ⁇ 4 angle corresponds to 0.5 m / sec in time, so the Chiotsububa frequency is l O k H However, there was a problem that when the chozpa frequency was increased, the switching iron of the inverter increased and the size of the inverter element also increased.
- the target energy stored in the fixed spring is released immediately after the transition from the normal state to the non-communication Wt state. ..
- the time for releasing this on-line energy changes depending on the work value that is a fixed value, that is, the load applied to the motor.
- This target energy is released During this period, unless the detection of the back electromotive force is prohibited, it is not possible to obtain an accurate permanent position information of anfe 1 ? ", So there is a problem that the motor does not say nn.
- the relative position of the fixed line and the ⁇ » is detected by detecting the 3 ⁇ 4s electric power in the fixed, non-energized, spring (hereinafter referred to as the open phase). Due to the permanent an ⁇ structure, there is a problem that the accurate relative position cannot be detected unless the combined power in the open phase changes in a Tsuruzumi manner.
- the purpose of the present invention is to A rotating magnet ⁇ is formed so that it always concentrates on a predetermined position of ⁇ I Gandou, and the position of the rotating magnetic pole part of the accurate rotation is output.
- ⁇ 3 ⁇ 4 ⁇ is a position sensorless ⁇ brushless DC motor consisting of a yoke and an ⁇ aim frame, which fulfills the above-mentioned purpose, and also has a sufficient position sensorless ⁇ brushless DC motor. Especially.
- the DC motor consists of a stator fixed inside the end of the motor and a tai ⁇ that can be freely moved by HH by the motor body inside the stator via a shaft.
- the position sensorless brushless DC motor with ⁇ in the yoke and HH ⁇ is also used.
- m ⁇ consists of the yoke and the flute ⁇ 3 ⁇ 4, and the yoke is ⁇
- a «part that protrudes outward in the ⁇ direction and in this man part, a ⁇ M ffi with the reason and ffi facing each other is inserted parallel to the circulatory pattern, and the ic iH has a small outer 3 ⁇ 4 ⁇ . It is made to have a slanted side face like a child.
- a control device is a position sensorless ⁇ brushless DC motor control system that utilizes a conduction state of a reflux diode, and includes an output pattern mode circuit, a «timing signal circuit, and the above-mentioned output.
- the output of the above-mentioned constant circuit has a discrepancy, it has a matching judgment circuit for checking the coincidence between the signals output from the pattern mode regeneration circuit and the above-mentioned 21 timing timing signal avoidance circuit. It is an inspiration to stop the horse sleeping power and to try again.
- the control device is a control system equipped with a tipper control for a few brushless DC motors. It is a position sensorless that utilizes the conduction state of a torrent diode.
- the control system has means for detecting the number of motors nn, and means for detecting the output signal of the word ⁇ stage and the motor [section determined by the number of HI words], and the output signal of the word means.
- the religion is to change the frequency of the chiyopa.
- the control device is a control system for a brushless DC motor, which is equipped with a control of the brushless DC motor for controlling the number of horses that sleeps, and which is a position sensor without the conduction of a stagnation diode. Therefore, it has a circuit that produces a pulse proportional to the number of motors and an F / conversion circuit that provides a pulse proportional to the number of pulses mentioned above. Inspire what you have decided to change.
- the control device has a device for detecting a work on the motor and a device for detecting the electric power after the rotation ⁇ .
- control device has a circuit that detects the number of motors and a device that later detects the power consumption.
- the control device is provided with a device that detects a brushless DC motor ⁇ 3 ⁇ 4 3 ⁇ 4-determined shock and a device that determines the m 3 ⁇ 4 3 ⁇ 4 ⁇ and performs a permanent determination.
- FIG. 1 shows a first example of the present invention and is a circuit diagram of an inverter circuit and the like of a position sensorless / brushless DC motor.
- Fig. 2 is a cross-sectional view in the axial direction of a position sensorless ⁇ brushless DC motor.
- FIG. 3 is a block configuration diagram of a control circuit showing a second example of a water invention.
- FIG. 4 is a training diagram showing the ⁇ f sequence of the pattern matching determination circuit.
- Figure 5 is a timing chart showing the relationship of various signals in the leg circuit.
- FIG. 6 is a diagram showing the relationship among the output pattern mode, the excitation turn, and the timing detection phase.
- FIG. 7 is a flowchart showing the startup sequence.
- FIG. 8 is a block configuration diagram of the control circuit showing the third uninvented grain.
- FIG. 9 is a block diagram of a control circuit showing a fourth grain of the invention.
- Figure 10 is a diagram of the FZV converter! ⁇ .
- Figure 11 is a diagram of the FZV converter and.
- FIG. 12 is a block diagram of the control circuit in the fifth column of Xingming.
- FIG. 13 is a circuit diagram of the iffi3 ⁇ 4tf detection circuit.
- Figure 14 is a signal diagram of the detection circuit of.
- Figure 15 is a graph showing the relationship between the value and the ⁇ ⁇ energy release time.
- Figure 16 is a circuit diagram of the detection Mi circuit.
- FIG. 17 is a signal diagram of the detection ⁇ It circuit.
- FIG. 18 is a block configuration diagram of a control circuit in the sixth column of the present invention.
- Figure 19 is a graph showing the relationship between and the release time of Nergi.
- FIG. 20 is a block configuration diagram of a control circuit according to a seventh example of the present invention.
- FIG. 21 is a block configuration diagram of the rotation detection circuit.
- Fig. 23, Fig. 24, and Fig. 25 are waveform diagrams showing cranes with the timing of energization.
- FIG. 26 is a transverse cross-sectional view of the position-less sensorless brushless DC motor, half-crushed.
- FIG. 27 is a circuit diagram showing the inverter circuit, showing the sub-sequence.
- FIG. 28 is a diagram showing the relation between « ⁇ and the horse ⁇ signal.
- Figure 29 is a flow chart showing the summary and summary. The best way to make an invention ⁇
- Figure 1 shows the training of the position sensorless ⁇ brushless DC motor control system ⁇ (
- Position sensorless Brushless DC motor leg system detects the position of [1 »" 3 by using position sensorless brushless DC motor 1, power supply 21 and inverter circuit 2 2 for chiyono control. Mode detector circuit 2 3 and a control circuit 2 4 that controls the inverter circuit 2 2.
- Position sensorless ⁇ Brushless DC motor 1 is composed of a stator 2 and [ ⁇ 3. It Position sensorless ⁇ brushless DC motor 1 in this m-row is a three-phase inverter-driven motor, and the symbols U, V, and W are shown by symbolizing the coils of the stator 2, respectively. The symbol Vn indicates between the coils U, V, W. IIEVn is selectively generated between two coils among the three coils U, V, W by switching of the inverter circuit 22.
- the power supply 21 is a power supply in a state where m3 ⁇ 43 ⁇ 4 is H-flowed, and the symbols Ed (Ed +, Ed-) indicate electromotive force.
- the inverter circuit 22 is made up of a series of diodes Da +, Db + , Dc +, Da ", Db", Dc "and three transistors, Ta +, Tb + , Tc +, Ta-, Tb", Tc ". ..
- the inverter circuit 22 includes P j transistors Ta +, Tb +, and Tc + to which freewheeling diodes Da + , Db + , and Dc + are connected, and N-side transistors to which each of the diode diodes Da_, Db “, and Dc" is sold. It is composed of Ta_, Tb ", and Tc", and the P-side transistor and the N-side transistor are combined together to perform three-phase DC, and three-phase direct current is supplied. Of these, the two windings are selectively forward-condensed to form a magnetic field, which causes the tu3 ⁇ 4i® to be favorable.
- the output pattern mode of the horse sleep signal corresponding to the excitation ⁇ turn to sell the normal rotation of the motor is 5 ⁇ .
- the relationship between each excitation! ⁇ ⁇ 'turn and the commutation timing detection phase and conduction diode is shown in Fig. 6, and the motor sleeps by commutating in this order.
- the mode detection circuit 23 which judges the conduction state of each precession diode of the inverter circuit 22 based on the ⁇ power supplied to each winding line of the motor 1, is seen in the inverter circuit 22, and in the control circuit 24, the mode detection circuit 23
- the commutation timing of each of the phase springs U, V, and W is detected based on the detection signal from, and the horse sleep signal of the inverter circuit 22 is output to the phase springs of each of the U, V, and W phases at the appropriate timing. It is output to each transistor, and the inverter circuit 22 controls it.
- the inverter circuit 22 repeats the above operation based on the horse sleep signal. Due to the above operation, 01 ⁇ 7 ⁇ 3 is misunderstood [U
- stator 2 Rotating the positionless sensor, brushless DC motor 1 in the sequence The enlarged cross-sectional view is shown.
- the stator 2 has 3 inside, and 24 solid ⁇ ! Protruding toward p3 ⁇ 4 towards 3 ⁇ 4
- a coil (not shown) is wound around these fixed iron parts 5.
- the fixed S 6 inside the fixed head 5 is located on the same cylinder of the Egret fish from the center of the source 4.
- the HI ⁇ 3 is rotatably supported by the rotating shaft 4.
- the yoke 7 of the rotor 3 is formed by stacking a large number of silicon ⁇ H slabs into "H" pieces.
- the yoke 7 has four ridges 8 and 9 protruding outward in the radiation direction on the outer circumference. It has 10 and 11.
- ⁇ In 3 ⁇ 43 ⁇ 4 ⁇ of Hl3 ⁇ 4 rnmm, ⁇ , a pair of ⁇ f i «5i2, 13 is inserted in parallel with m3 ⁇ 4i reason 4.
- the 3 ⁇ 41 trees are arranged opposite to each other. ⁇
- the magnetic fluxes of ⁇ 12 and 13 are shown in Fig.
- dO be the image between 131 and ⁇ ⁇ : ⁇ ⁇ and the corresponding fixed sword 5 fixed tongue P2.
- the solids on both sides of the fixed ffiP2 are defined as PI and P3, respectively, and the fixed Satsuma PI, P3 and ⁇
- 03 ⁇ 4 ⁇ 3 having a curved surface as described above always produces the largest side power at the circumferential center of each shaft, and can prevent the detection M at the lower position of ⁇ 3 ⁇ 4 ⁇ .
- ⁇ m ⁇ 12, ⁇ 3 is formed by forming the other side of the s pole so that the outer s pole has a small knot, as shown in the figure.
- the magnetic fluxes of ⁇ ⁇ permanent search 12, 13 are concentrated in ⁇ 3 ⁇ 4 ⁇ in the circumferential direction of the S pole side ⁇ , and the magnetic flux of rotor 3 is centered in the circumferential direction of the rotating surface 14, 16. It will be the largest. Furthermore, since the ⁇ image of « ⁇ ⁇ 12, 13 is opened by
- the explanation was made with the example of the grain in which the Shununan was formed on the ran surface of a small diameter, but in both mm and its circumferential direction, it was larger than the fixed amber.
- the cross section of the rotation is the source of the spring. It may be a curved surface.
- each of the n n is formed so that only the circumferential direction ⁇ is greatly separated from the fixed direction, and it is formed so as to come closest to the fixed magnetic ⁇ at one point in the circumferential center, the same effect can be obtained. Be done.
- this may be attached to the outer circumference of the direction of m3 ⁇ 4f.
- the rotating magnet ⁇ having a favorable rotation is formed on the curved surface bulging outward, and the distance between the rotation me and the fixed point is one point of the Ef of each ⁇ 3 ⁇ 43 ⁇ 4 ⁇ . Since the ia 3 ⁇ 4 vertical malon is formed so as to be the smallest at, the ⁇ is the largest at the point where the gi of the fixed 3 ⁇ 4 ⁇ is the smallest, and ⁇ -
- Position sensorless ⁇ Brushless DC motor that can accurately detect the position of the HH part can be obtained.
- the position sensorless of the 1st invention which has 111 ⁇ with ⁇ incorporated in the yoke, ⁇
- the brushless DC motor has a rotary weave section protruding outward in the vertical direction on the outer circumference of the yoke.
- ⁇ Mffl's ridges are concentrated more on ⁇ in the circular direction of 1 ⁇ 3 ⁇ 4 ⁇ .
- the side surface of is formed to be inclined, the width of the bridging portion of the yoke is wide, and the yoke can have a sufficient value for the external force of ⁇ i.
- the grain example according to the second invention will be described below with reference to FIGS. 3 to 7.
- 3 is a block diagram of the control circuit of the invention.
- the mode detection circuit 23 includes a reference mEE d (E d +, E d-), which is below the jlltt direction 3 ⁇ 4J »of the freewheel diode built into the inverter 2 2 and each of the diode by isr. Half of the continuity of state, encouraged! ⁇ Detect turn mode. ⁇ m ⁇
- the innoter circuit 22 is configured as a three-phase bipolar inverter, and as shown in Fig. 6, there are six U +, U—, V +, V—, W +, W— associated with each excitation turn.
- the phase conduction state is detected and the detection signal corresponding to each is output to the control circuit 24.
- the wholesale circuit 24 is a vehicle timing signal detection circuit 25, an output pattern mode generation circuit 26, a horse »signal" ⁇ generation circuit 2 7, a no turn coincidence determination circuit 2 8, a control circuit.
- the commutation timing signal detection circuit 25 detects the commutation timing by the output of the mode detection circuit 23 and forms a clock.
- Output pattern mode circuit 2 6 The signals from the six modes shown in Fig. 6 are generated by the clock from the above-mentioned ⁇ flow signal detection circuit 25, whereby the horse sleep signal circuit 27 forms the motor horse eye signal.
- the pattern matching judgment circuit 28 one of the six kinds of commutation timing signals, h 1 and 3-2 of the output pattern mode 2 are logically summed with the six kinds of commutation timing signals.
- Mamaginoshi formation circuit 27 forms a motor horse sleep signal by the signal h 3 from output pattern mode circuit 26 and the signal from horn control circuit 29, and the selection circuit 30 outputs the output from the output pattern.
- Judge the positive side and the positive side and send a signal to the Ma-maginashi formation circuit 27.
- the chopper signal from the chitoba signal avoiding circuit 3 1 is superimposed on the local signal generation circuit 2 7 to drive each transistor of the inverter 2 2.
- Figure 4 shows the configuration of the circuit 28 that performs pattern matching judgment.
- the output pattern mode circuit 26 has, as a down-counter for avoiding sequential pulses, six outputs from 5 to 0: using the OR signal h2 of six kinds of
- Mode 5 is output as a message * 1, then mode 3, and modes 2, 1, 0, and 5 are output in this order at the time of finishing and collecting. (Note that this sequence will be described.)
- Output pattern mode ⁇ The output of the circuit 2 6 h 3 1 2 and the motion 3 ⁇ 4 timing-no signal hi are input to the EX-OR gate 3 2.
- the output h 4 of the 0 R gate 3 2 and the 0 R signal h 2 of the six vehicle timing signals are input to the NAND gate 3 3. That is, during the period in which the 0 R signal h 2 of the six vehicle rough timing signals is being output, the output h 3 — 2 of the output pattern mode surname circuit 26 and the vehicle timing signal h 1 are checked for coincidence. Then, the output h O of the NAND gate 3 3 is set to H igh when the time is not good. Then, the tooth output is input to the start control circuit 29.
- Figure 5 shows the time chart for the mutual relationship of these signals.
- the output pattern mode 2 is the previous mode, that is, when the excitation ⁇ turn of 3 is detected, if the vehicle timing signal is detected from U-of the open phase U, the excitation ⁇ turn is switched accordingly, and V + It is shown that the normal m3 ⁇ 4 is turned by changing from U to U.
- FIG. 7 is a flowchart showing an example startup sequence.
- step T 1 excitation is performed in a fixed pattern.
- the output pattern is set to mode 5.
- the excitation! ⁇ Turn is determined as the U phase + V phase one, and this is used as the output pattern for 10 to: L5 A, and at step T2, that state is 0.8 seconds, and is turned into a blight.
- the rotor is 180 at 3 ⁇ 4. It is fixed by rotating in the forward or reverse direction, and the Hi ⁇ position is H3 ⁇ 4.
- step T3 the male is performed.
- Step T 5 determines whether the output pattern mode and the phase of the timing signal are in phase with each other.Specifically, since the formed $ 3 ⁇ 4 timing signal advances the output pattern mode by 1, it becomes the mode 2. See the agreement between the signal and the 3 ⁇ 4 timing signal from U-phase 1. If the result of is in agreement, proceed to step T6, sell the sensorless operation, and if not "" ⁇ , proceed to step ⁇ 7 ⁇ It to stop the output pattern, and at step T 8 for 2 seconds S ⁇ , open; go back to step T 1 which is the beginning of the top and repeat the stallion sequence. It is desirable to say the time until it stops, and in the case of ⁇ «, 2 seconds crane is good.
- ⁇ value, time, and output pattern in the description of m are appropriate values and patterns in the example, and in other embodiments, the value and pattern of Needless to say.
- the rotating state i of the motor can be detected even under the load that may cause the changing state when assembled, and even if the rotating movement vibrates, the sequence Since it can be returned to the beginning of the process and the re-force can be applied, it is possible to provide a more 5 ⁇ horn with a simple circuit formation.
- FIG. 8 is a block diagram illustrating an example control circulation.
- the mode detection circuit 23 determines the conduction state of each fiber diode as described above.
- the control circuit 24 of im n is a commutation timing signal detection circuit 25, phase shift circuit 35, 6 step 3 ⁇ 4 ⁇ 3 ⁇ 4 circuit 36, sleep signal generation circuit 27, three-way circuit circuit 37, ⁇ / V conversion
- the comparator 39 the first, the second 3 ⁇ 43 ⁇ 4 40, 41, etc.;! Is made.
- the phase shift circuit 35 is a delay circuit composed of a counter for obtaining the vehicle's current timing of the vehicle from the output signal of the vehicle rough timing signal detection circuit 25. ⁇ 30. Phase shift (boat) in the range of. 6 step wave
- the F-to-V conversion circuit 38 is a circuit that performs F / V conversion on the clock that is output from the
- the quasi 3 ⁇ 4 ⁇ determined by the number of motors m $ are raised by the comparator 39, and as a result, the triangle ⁇ : [ ⁇ 1st filter 40 input to the circuit 37, and this first 1 Wisdom 4 0 is used to switch the quasi-triangular wave of No. 2 4 1 whose steel wave number is different with switch 4 2.
- the frequency of the 1st m40 is set to 5 kHz and the frequency of 2 m4 1 is set to l 5 kHz, and the motor mi number is 5 0 0 0 m $ ⁇ (switch 4 2 is the im 4
- the frequency of the chopper can be switched according to the wave number of the motor, so that it is possible to suppress the frequency of the inverter element while keeping it at the minimum switching frequency of the inverter. ..
- the column control circuit 24 includes a timing detection circuit 25, a position shift circuit 35, 6 step 3 ⁇ 4 ⁇ circuit 36, a horse generation circuit 27, and a three-fish circuit 37.
- the timing signal detection circuit 25 detects the timing obtained from the choke-off period by the output of the mode detection circuit 23 and forms a clock.
- the phase shift circuit 35 is a ⁇ ! Circuit 'composed of a counter for obtaining the iai timing from the output signal of the «timing signal detection circuit 25, which is generally 15 in angle. Phase shift in the range of ⁇ 30 °.
- the 6-step wave ⁇ circuit 36 causes the 6-mode »by the clock from the above-mentioned phase shift circuit 35, and by this, the motor horse signal is formed by the horse-power" ⁇ -composing circuit 27, and the three fish ⁇ t Inverter circuit 2 2 ⁇ ⁇
- the MA conversion circuit 38 is proportional to the number of motors output from the ⁇ 3 ⁇ 4 timing signal detection circuit 25. This is a circuit for FZV conversion of the generated clock, and the direct current « ⁇ obtained by this is input to the decoupling 43 to generate a reference triangle with a period proportional to the direct current S and a wave to generate a triangle.
- the power circuit 37 outputs the «53 ⁇ 4 quasi-triangular wave and the voltage at the right time!
- FIG. 10 shows an example of the circuit from the FZV conversion circuit 38 to the rectifier 43 in FIG. 9, and FIG. 11 shows the main part of these circuits.
- the signal kl from the timing signal detection circuit 25, which outputs 6 pulses per motor rotation is input to the FZV conversion circuit 38 composed of the operational amplifier 44, diode, resistor, capacitor, etc. Then, a direct Ek 2 proportional to the number of HH is obtained. if self-directed k 2 turns on the gate of FET 4 6 and changes the 0 N resistance of F ET4 6 like a spring. Opeanph.
- the output signal k from the operational amplifier 4 7 is obtained by inserting a FET in 45 and an opamp ′ 47, and a triangular resistor 3 ⁇ 4 circuit 37 formed by a resistor, a capacitor, and a zener diode.
- a reference triangular wave having a frequency proportional to the frequency of the signal k 1 from the vehicle timing signal detection circuit 25 is obtained in 3.
- the time axes of »kl, k 2, and k 3 in each part in Fig. 11 are obtained by expanding k 3 relatively for the sake of explanation.
- the number of motors is allowed to be in the range of 2 kHz to 15 kHz within a range of 10,000 dg from the time of stop.
- the frequency of the chhopper can be switched in accordance with the frequency of the motor! You can suppress the work.
- An example according to the fifth aspect of the invention will be described below with reference to FIGS. 12 to 17.
- 2 2 is an inverter circuit
- 2 3 is a ⁇ electric: ⁇ output circuit (above 1 to 4). This is a circuit that has the same function as the grain mode detection circuit, and is referred to below as a power circuit.;)
- the inverter circuit 22 is the horseshoe circuit of the brushless DC motor 1. Is brushless DC motor 1 fixed? ⁇ Permanent magnet rotor 3 rotates due to the magnetic field created by roughening, which consists of ⁇ wires, U, V, W, magnetite 13 ⁇ 3, etc. 0
- the example control circuit 2 4 consists of the output device 5 0, job level detection circuit 5 1, detection ⁇ it circuit 5 2, position shift circuit 5 3, and energization cloud circuit 5 4. 1 done.
- the output circuit 23 is input with the brushless DC motor 1, and the bundle of open phases is detected from its ⁇ FE.
- the device for detecting the size of the hood of the motor 1 is composed of a lifting device 50 and a mounting level detection circuit 51.
- the «I detection circuit 50 can detect shunt resistors and current transformers by shelving them.
- the view level detection circuit 51 can be easily constructed by using a beak hold circuit.
- the detection ⁇ ih circuit 52 is a circuit for detecting the target power ⁇ Lh after the conversion.
- the phase shift circuit 5 3 sets the phase of the output signal of the detection circuit 5 2 to 30 °. It is a device for delaying.
- Energization signal circuit 54 Is a circuit that creates the word for iSll the inverter circuit 22.
- Figure 13 shows the circuit configuration of the back electromotive force detection circuit 23.
- the output waveform m2 of ffiFmffim 1 of brushless DC motor 1 and collecting circuit 2 3 is It looks like Figure 14.
- t indicates the electrical energy release time, and t changes with the load and the number.
- Figure 15 shows the observed value I and the target energy release time t as a graph based on the data obtained in the experiment with [U3 ⁇ 4 number as a parameter. As shown in Fig. 15, it can be seen that the ⁇ -like energy release time t becomes longer. Therefore, in the control unit, the minimum expected! It is only necessary to detect the time Lh with respect to the number. However, if it is prohibited at an angle of more than 30 °, it will be prohibited to detect ⁇ even if it should be detected.
- Figure 16 shows a specific circuit example of the detection ⁇ Ih circuit 52.
- Monomers 5 6 and 5 8 are configured such that the signal output from ⁇ level detection circuit 5 1 is input to 6 1, 6 2 and 6 3 and the output pulse time is narrowed. In the end circuit example, the output pulse time is changed by turning on and off the timing capacitor.
- ⁇ W in Fig. 16 is shown in Fig. 17. In Fig. 17, when m4 is high level, m2 is dropped to ground and no signal is transmitted.
- the output of the OR gate 6 4 becomes a no level. That is, if m4 and ⁇ 15 are set as shown in Fig. 17, the detection time of the electric energy is ⁇ lh. m3 is the output terminal of the detection ⁇ Lh circuit 52.
- the circuit in Fig. 16 requires only the motor phase. Furthermore, since the signal of m 3 is a signal that it has advanced by an electrical angle of 30 ° from the energization timing of i3 ⁇ 4, it is necessary to delay it by an angle of 30 ° by the f-th shift circuit 5 3.
- the phase shift circuit 53 can be easily configured by using a counter.
- the energizing signal circuit 54 avoids the sleep signal of the inverter circuit 22.
- the & f-th eye shift circuit 5 3 is operated and separated.
- the position sensorless horse riding performance can be obtained even if the motor load and body are fluctuated. Therefore, the position sensorless 1 ⁇ is possible even in the field where the position sensorless Ma Oki was ⁇ BJ capability due to the load and the number of ghosts.
- FIGS. 18 and 19 The sixth embodiment of the present invention will be described below with reference to FIGS. 18 and 19 as an example of the control circuit 24.
- a detection inhibition it circuit 52 a phase shift circuit
- the circuit is composed of 5 3, energizing cloud circuit 5 4 and output circuit 6 5.
- the detection ⁇ It circuit 52 is a circuit for detecting the whole package after the vehicle is squeezed.
- the phase shift circuit 5 3 sets the phase of the output signal of the detection circuit 5 2 to 30 °. It is a device for delaying.
- the energization signal circuit 5 4 is a circuit that generates a signal for ISirT the inverter circuit 2 2.
- the rotation speed detection circuit 65 is a device that detects the rotation speed of the motor 1, and its information is input to the detection ⁇ ih circuit 52.
- FIG. 19 shows a graph of the HI $ number N and the temporal energy release time t based on the data obtained by discussion with the load as a parameter. As shown in Fig. 19, it can be seen that the release time increases by t as the load increases. For this reason, in the equipment as well, as in the above example, the time for the expected load of the dead may be detected by ⁇ :. But horn 30. If you do so, you will not be able to detect even the power that should be detected, so Ih?
- the column detection circuit 52 has a circuit configuration similar to that of Fig. 16 of the above-mentioned a5
- the output signal is from the energizing timing of the dragon ⁇ ; Since it is an advanced issue, the angle shift circuit 5 3 turns the angle 30. It is delayed only by the output signal from the phase shift circuit 5 3 and the energizing signal circuit 5 4 outputs the! ⁇ Signal of the inverter circuit 2 2 0
- the position sensorless i® function can also be used as a position sensorless horsepower tool.
- the examples of the fifth and sixth inventions are based on the midpoint t. Although the method has been described, the method of detecting the iron power from the conduction state of the reflux diode described above can be similarly applied.
- Figure 20 shows the block diagram of: itt 3 ⁇ 4.
- the control device 24 of the example is composed of an output circuit 50, an isolation amplifier 6 6, a 111 $ ⁇ «output circuit 6 7, and an energization signal circuit 5 4.
- the ⁇ 1 output circuit 50 is a device that detects the current flowing to the DC motor, and can be configured by using a shunt resistor, a current transformer, or the like. Energization signal 3 ⁇ 4 4 circuits
- Numeral 5 4 is a device for arranging a signal for gluing the inverter circuit 22.
- the device for determining ⁇ ⁇ ⁇ ⁇ ⁇ to determine ⁇ ⁇ ⁇ ⁇ consists of an isolation amplifier 6 6 and an output circuit 6 7.
- Figure 7 shows the configuration of 6 7.
- the output n 1 of the isolation amplifier 66 is input to the analog-to-digital conversion circuit 68, and the power is sampled at once and converted to a digital signal.
- a microcomputer 72 consisting of CPU 69, RAM 70, ROM 71, etc., and waveform diagnosis is performed by the microcomputer 72.
- the star 7 speech input is input to the microcomputer 7 2 from the input terminal 7 3.
- a signal is output from the microcomputer: output from the microcomputer 7 2 in a certain period and is sent to the energization signal circuit 5 4 for a brushless DC motor. Operate 1 synchronously (step T21). After that, the brushless DC motor 1 continues the same T operation for a predetermined time t at which it reaches a constant value (11/3) (step T 22).
- the predetermined time t is described according to the characteristics of the brushless DC motor used.
- step T22 when a predetermined time is reached and the signal is synchronized HH, the microcomputer 72 determines in step T23 whether energization (commutation) has started to the phase in which electricity is detected, and energization starts.
- step T 24 the voltage output from the analog-guage converter circuit 68 is fetched and stored in the RAM 70, and m m is fetched until the energization mode is switched (step T 25).
- the 1169 reads the impulse « ⁇ stored in 1 3 ⁇ 4 170 to determine the beak position of the impulse (steps T 26, T 27). Detect the position of.
- the difficult energization timing and fixed wire It is determined that they match the relative position of. If the beak is in the middle of the stink (ti> t 2 ) as shown in Fig. 24, it is judged that the energization timing is delayed. If the beak position is in the first half as shown in Figure 25 (ti ⁇ t 2 ), it is determined that the energization timing is early.
- brushless DC motors have a It is possible to detect the position accurately, to secure enough structure, and to make a ne ne ne, so it is suitable for motors with high temperature ⁇ (semi-molded like a scroll).
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69124702T DE69124702T2 (de) | 1990-10-19 | 1991-10-18 | Bürstenloser Gleichstrommotor ohne Positionssensor |
KR1019930700468A KR100227599B1 (ko) | 1990-10-19 | 1991-10-18 | 무위치센서.무브러시 직류 모우터와 그 제어장치 |
EP91917807A EP0553354B1 (en) | 1990-10-19 | 1991-10-18 | Brushless DC motor without position sensor |
Applications Claiming Priority (14)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP28153690 | 1990-10-19 | ||
JP2/281536 | 1990-10-19 | ||
JP31230690 | 1990-11-17 | ||
JP31230590 | 1990-11-17 | ||
JP2/312305 | 1990-11-17 | ||
JP2/312306 | 1990-11-17 | ||
JP2/315452 | 1990-11-20 | ||
JP2/315451 | 1990-11-20 | ||
JP31545190 | 1990-11-20 | ||
JP31545290 | 1990-11-20 | ||
JP31546990 | 1990-11-20 | ||
JP2/315469 | 1990-11-20 | ||
JP3/150144 | 1991-06-21 | ||
JP15014491 | 1991-06-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1992007412A1 true WO1992007412A1 (en) | 1992-04-30 |
Family
ID=27566144
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1991/001433 WO1992007412A1 (en) | 1990-10-19 | 1991-10-18 | Brushless dc motor without position sensor and its controller |
Country Status (6)
Country | Link |
---|---|
EP (3) | EP0553354B1 (ja) |
KR (1) | KR100227599B1 (ja) |
CA (1) | CA2093906A1 (ja) |
DE (3) | DE69131913T2 (ja) |
SG (1) | SG79989A1 (ja) |
WO (1) | WO1992007412A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU684902B2 (en) * | 1990-12-19 | 1998-01-08 | Fisher & Paykel Appliances Limited | Improvements in or relating to methods of and/or apparatus for electronically commutated motor control |
JP2013538034A (ja) * | 2010-09-27 | 2013-10-07 | ワールプール,ソシエダッド アノニマ | ブラシレス電気モータをモニタし制御するためのシステム及び方法 |
JP2016106520A (ja) * | 2011-03-30 | 2016-06-16 | アスモ株式会社 | モータ及び電動ポンプ |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2714773B1 (fr) * | 1993-12-31 | 1996-01-26 | Renault | Moteur synchrone à aimants permanents et à commutation électronique. |
US5616994A (en) * | 1994-01-12 | 1997-04-01 | Mitsubishi Denki Kabushiki Kaisha | Drive circuit for brushless motor |
MY122977A (en) * | 1995-03-14 | 2006-05-31 | Panasonic Corp | Refrigerating apparatus, and refrigerator control and brushless motor starter used in same |
DE19815425A1 (de) | 1998-04-07 | 1999-10-14 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ansteuerung eines elektronisch kommutierten Mehrphasen-Gleichstrommotors |
CN1520024A (zh) * | 1998-07-16 | 2004-08-11 | ������������ʽ���� | 不带位置传感器的电动机的控制方法及其控制装置 |
ES2168922B1 (es) * | 1999-12-01 | 2003-11-01 | Internac Hispacold S A | Sistema para la deteccion de la posicion rotorica en motores de corriente continua sin escobillas. |
DE10023370A1 (de) | 2000-05-12 | 2001-11-22 | Mulfingen Elektrobau Ebm | System zur elektronischen Kommutierung eines bürstenlosen Gleichstrommotors |
DE102006014087A1 (de) * | 2006-03-24 | 2007-09-27 | Demag Ergotech Gmbh | Spritzgießmaschine |
CN105281614B (zh) * | 2015-10-29 | 2017-09-05 | 天津大学 | 一种新型无刷直流电机强鲁棒电流控制方法 |
JP7126315B2 (ja) * | 2018-07-02 | 2022-08-26 | シチズン時計株式会社 | ステップモータ駆動装置 |
BR102020024059A2 (pt) * | 2020-11-25 | 2022-06-07 | Embraco Indústria De Compressores E Soluções Em Refrigeração Ltda. | Método de extinção acelerada de corrente residual e método de controle de duração do método de extinção acelerada de corrente residual |
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JPS56133994A (en) * | 1980-03-21 | 1981-10-20 | Shinko Electric Co Ltd | Commutatorless motor |
JPS62140880U (ja) * | 1986-02-26 | 1987-09-05 | ||
JPH01308192A (ja) * | 1988-06-02 | 1989-12-12 | Fujitsu General Ltd | センサレス・ブラシレスモータの起動方法 |
JPH02241394A (ja) * | 1989-03-14 | 1990-09-26 | Mitsubishi Electric Corp | ブラシレス直流モータの駆動装置 |
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US3124733A (en) * | 1964-03-10 | andrews | ||
US3860843A (en) * | 1970-06-26 | 1975-01-14 | Matsushita Electric Ind Co Ltd | Rotating electric machine with reduced cogging |
DE3028269A1 (de) * | 1980-07-25 | 1982-02-11 | Siemens AG, 1000 Berlin und 8000 München | Permanentmagneterregte elektrische maschine |
US4573003A (en) * | 1983-09-30 | 1986-02-25 | Wisconsin Alumni Research Foundation | AC Machine optimized for converter operation |
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US4631459A (en) * | 1984-12-25 | 1986-12-23 | Matsushita Electric Industrial Co., Ltd. | Brushless DC motor |
FR2590423B1 (fr) * | 1985-11-21 | 1993-09-03 | Valeo | Procede et dispositif pour assurer le demarrage d'un moteur electrique a commutation electronique |
JPH07118944B2 (ja) * | 1986-03-17 | 1995-12-18 | 株式会社日立製作所 | ブラシレス直流モ−タ |
JPS63140644A (ja) * | 1986-12-03 | 1988-06-13 | Fuji Electric Co Ltd | 回転電機の永久磁石付き回転子 |
DE3641538A1 (de) * | 1986-12-05 | 1988-06-09 | Heidelberger Druckmasch Ag | Einrichtung zum erfassen der drehzahl eines buerstenlosen gleichstrommotors |
JP2875529B2 (ja) * | 1987-10-31 | 1999-03-31 | ソニー株式会社 | センサレスブラシレスモータの駆動装置 |
WO1990010973A1 (en) * | 1989-03-15 | 1990-09-20 | International Business Machines Corporation | Starting a brushless dc motor |
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1991
- 1991-10-18 WO PCT/JP1991/001433 patent/WO1992007412A1/ja active IP Right Grant
- 1991-10-18 DE DE69131913T patent/DE69131913T2/de not_active Expired - Fee Related
- 1991-10-18 SG SG9802969A patent/SG79989A1/en unknown
- 1991-10-18 EP EP91917807A patent/EP0553354B1/en not_active Expired - Lifetime
- 1991-10-18 CA CA002093906A patent/CA2093906A1/en not_active Abandoned
- 1991-10-18 KR KR1019930700468A patent/KR100227599B1/ko not_active IP Right Cessation
- 1991-10-18 EP EP95108346A patent/EP0671811B1/en not_active Expired - Lifetime
- 1991-10-18 DE DE69124702T patent/DE69124702T2/de not_active Expired - Fee Related
- 1991-10-18 DE DE69133373T patent/DE69133373T2/de not_active Expired - Fee Related
- 1991-10-18 EP EP98113499A patent/EP0881761B1/en not_active Expired - Lifetime
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JPS4933482B1 (ja) * | 1965-12-08 | 1974-09-07 | ||
JPS56133994A (en) * | 1980-03-21 | 1981-10-20 | Shinko Electric Co Ltd | Commutatorless motor |
JPS62140880U (ja) * | 1986-02-26 | 1987-09-05 | ||
JPH01308192A (ja) * | 1988-06-02 | 1989-12-12 | Fujitsu General Ltd | センサレス・ブラシレスモータの起動方法 |
JPH02241394A (ja) * | 1989-03-14 | 1990-09-26 | Mitsubishi Electric Corp | ブラシレス直流モータの駆動装置 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU684902B2 (en) * | 1990-12-19 | 1998-01-08 | Fisher & Paykel Appliances Limited | Improvements in or relating to methods of and/or apparatus for electronically commutated motor control |
JP2013538034A (ja) * | 2010-09-27 | 2013-10-07 | ワールプール,ソシエダッド アノニマ | ブラシレス電気モータをモニタし制御するためのシステム及び方法 |
JP2016106520A (ja) * | 2011-03-30 | 2016-06-16 | アスモ株式会社 | モータ及び電動ポンプ |
Also Published As
Publication number | Publication date |
---|---|
KR100227599B1 (ko) | 1999-11-01 |
DE69131913D1 (de) | 2000-02-17 |
EP0671811B1 (en) | 2000-01-12 |
DE69133373D1 (de) | 2004-04-08 |
EP0881761B1 (en) | 2004-03-03 |
EP0553354B1 (en) | 1997-02-12 |
SG79989A1 (en) | 2001-04-17 |
DE69124702T2 (de) | 1997-06-19 |
EP0881761A1 (en) | 1998-12-02 |
EP0671811A1 (en) | 1995-09-13 |
CA2093906A1 (en) | 1992-04-20 |
EP0553354A1 (en) | 1993-08-04 |
EP0553354A4 (en) | 1994-11-02 |
DE69131913T2 (de) | 2000-06-15 |
KR930701855A (ko) | 1993-06-12 |
DE69124702D1 (de) | 1997-03-27 |
DE69133373T2 (de) | 2005-02-24 |
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