WO2014035658A2 - Circuit électronique, et procédé permettant d'ajuster automatiquement la phase d'un signal d'entraînement appliqué à un moteur électrique en fonction d'un courant nul détecté dans un enroulement du moteur électrique et de détecter le courant nul - Google Patents

Circuit électronique, et procédé permettant d'ajuster automatiquement la phase d'un signal d'entraînement appliqué à un moteur électrique en fonction d'un courant nul détecté dans un enroulement du moteur électrique et de détecter le courant nul Download PDF

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Publication number
WO2014035658A2
WO2014035658A2 PCT/US2013/054639 US2013054639W WO2014035658A2 WO 2014035658 A2 WO2014035658 A2 WO 2014035658A2 US 2013054639 W US2013054639 W US 2013054639W WO 2014035658 A2 WO2014035658 A2 WO 2014035658A2
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WO
WIPO (PCT)
Prior art keywords
signal
motor
values
power supply
signals
Prior art date
Application number
PCT/US2013/054639
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English (en)
Other versions
WO2014035658A3 (fr
Inventor
Timothy Reynolds
Chengyi JIN
Original Assignee
Allegro Microsystems, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US13/599,225 external-priority patent/US8917043B2/en
Priority claimed from US13/599,234 external-priority patent/US8917044B2/en
Application filed by Allegro Microsystems, Llc filed Critical Allegro Microsystems, Llc
Priority to KR1020157007898A priority Critical patent/KR102139948B1/ko
Priority to KR1020207001949A priority patent/KR102159616B1/ko
Priority to CN201380056237.5A priority patent/CN104756395B/zh
Priority to JP2015529838A priority patent/JP6429777B2/ja
Publication of WO2014035658A2 publication Critical patent/WO2014035658A2/fr
Publication of WO2014035658A3 publication Critical patent/WO2014035658A3/fr

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Classifications

    • 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

Definitions

  • This invention relates generally to electric motor control circuits and, more particularly, to an electric motor control circuit that can provide an automatic adjustment of a phase of drive signal applied to an electric motor and that can detect a zero current in a winding of an electric motor,
  • Circuits to control and chive brushless DC (BLDC) electric motors are known.
  • the circuits provide a phase advance of drive signals thai drive the electric motor, the phase advance related to rotational speed of the electric motor or related to a measured motor total current,
  • BLDC brushless DC
  • Such circuits are only able to provide one relationship, or a small number of relationships, between phase advances and rotational, speeds.
  • external components and pins of a motor control integrated circuit (IC) may be required to set the parameter for each electric motor or each electric motor application.
  • a BLDC electric motor can exhibit different efficiency behaviors versus speed when used in different applications. For example . , the same BLDC electric motor can be used wife different fan blade arrangements in different applications. Different types of BLDC electric motors can also exhibit different efficiency behaviors versus speed.
  • Motor noise, vibration, and efficiency are influenced by a variety of characteristics.
  • One such characteristic is a phase of currents that appear in. the motor windings relati ve to a rotational position of the .motor. Parti cu!arly as a motor speed increases or decreases, the phase of the currents can lag or lead, respectively, a reference rotational position of the motor. Also, at high motor speeds, the current hi the motor windings can tend to lag t!ie reference position of the motor. h view of the above, it would be desirable to provide an electric motor control circuit and associated method that can generate electric motor drive signals having automatic phase adjustments determined in accordance with a detected phase difference between motor winding current and motor rotational position.
  • an electric motor control circuit and associated method mat can detect a phase of a current in a motor winding, for example, by detecting a zero crossing of the current.
  • the present invention provides an electric motor control circuit and associated method that can generate electric motor drive signals having automatic phase
  • the present invention also provides an electric motor control circuit and associated method mat can detect a phase of a current in. a motor winding, for example, by detecting a zero crossing of the current
  • a method of driving a multiphase motor having a plurality of motor windings includes generating a zero current signal indicative of a zero crossing of a current though at least one of the plurality of motor windings; generating a position reference signal indicative of a reference position of an angular rotation of the motor; comparing a phase of the zero current signal with a phase of the position reference signal to generate a phase comparison signal; generating a plurality of modulation signals, each having a phase related to a value of the phase comparison signal; and generating a plurality of motor drive signals to the plurality of motor windings in accordance with the plurality of modulation signals.
  • the above method can include one or more of the following aspects.
  • the generating the position reference signals comprises:
  • the generating the position reference signals comprises;
  • the generating the position reference signal comprises:
  • the generating the plurality of modulation signals comprises:
  • the generating the zero current si gnal comprises:
  • each half bridge circuit comprising;
  • the detecting the reverse current comprises: delecting the reverse current by sampling a voltage at the output node only at times when the first and second transistors are both turned off.
  • each one of the plurality of motor dri ve signal comprises: ⁇ ' respective plurality of pulse width modulated signals, each one of the plurality of pulse width signals having high states comprising steady state high values proximate to the high power supply voltage and transient high values higher than the higher power sup l voltage, and each one of the plurality of pulse width signals also having low states comprisi g steady state low values proximate to the lo power supply voltage and transient low values lower than the lower power supply voltage.
  • an electronic circuit or driving a multi-phase motor having a plurality of motor windings includes a current measure module configured to generate a zero current signal indicative of a zero crossing of a current though at least one of the plurality of motor windings.
  • the electronic circuit also includes a position measure module configured to generate a posi tion reference signal indicative of a refera .ce position of an angular rotation of the motor.
  • the electronic circuit also includes a modulation signal generation module configured to compare a phase of the zero current signal with a phase of the position reference signal to generate a phase comparison signal, and configured to generate a plurality of modulation signals, each having a phase related to a value of the phase comparison signal.
  • the electronic circuit also includes a drive circuit configured to generate a plurality of motor drive signals to the plurality of motor windings in accordance with the plurality of modulation signals.
  • the above electronic circuit can include one or more of the following aspects.
  • the position measure module is further configured to generate the position signal in accordance with a Hail signal generated by a Hall sensor disposed proximate to the motor.
  • the position measure module is further configured to generate the position signal in accordance with a back EMF signal generated in a motor winding
  • the generating the position reference signal comprises: stopping a motor drive signal to at least one of me plurality of motor windings during a time window proximate to the motor achieving the reference position; and detecting the reference position during the time window by a zero crossing of a back EMF signal
  • a sawtooth generator configured to generate a first continuous sawtooth ramp signal having a smallest value and a largest value and a plurality of values between the smallest and largest valn.es;
  • a timingphase error detector coupled to receive a signal representative of the zero current signal, coupled to receive a signal representative of the position reference signal, and configured to generate a signal representative of the phase comparison signal; and a summation module configured to add to the first continuous sawtooth ramp signal a value related to the pfea.se comparison signal to generate a second continuous sawtooth ramp signal having the smallest value and the largest value and the plurality of values between the smallest and largest values, wherein the smallest and largest values of the second continuous sawtooth ramp signal are shifted in time by an adjustment time from the smallest and largest values of the first continuous sawtooth ramp signal, wherein the adjustment time is related to the phase comparison signal, wherein the adjusted continuous sawtooth ramp signal is used to sequentially look up values in the look up table to generate the at least one of the plurality of modulation signals and also used, to generate at least one other modulation signal at a predetermined phase relationship to the at least one of the plurality of modulation signals.
  • the electronic circuit further comprises:
  • each half bridge circuit comprising:
  • a respective power supply high voltage node for receiving a high power supply voltage
  • a respective power supply tow voltage node for receiving a low power supply voltage
  • At least one comparator configured to generate a respective at least one comparator output signal indicative of a reverse current passing through at least one of the first or the second transistors of at least one of the pl urality of half bridge circuits by detecting at least one of:
  • a processor configured to generate the zero current signal indicative of the zero crossing of the current though the at least one of the plurality of motor windings in accordance with the at least one comparator output signal.
  • the detecting comprises:
  • each one of the plurality of motor drive signal comprises;
  • each one of the pluralit of pulse width signals having high states comprising steady state high values proximate to the high power supply voltage and transient high values higher than the higher power supply voltage, and each one of the plurality of pulse width signals also having low states comprising steady state low values proximate to the low power supply voltage and transient low values lower than the lower power supply voltage.
  • a method of driving a multi-phase motor having a plurality of motor windings includes generating a motor drive signal with a half bridge circuit coupled to the electri c motor.
  • the half bridge circuit includes first and second series coupled transistors; a power supply high voltage node for receiving a high power supply voltage; a power supply low voltage node for receiving a low power supply voltage; and an output node at which the motor drive signal is generated, '
  • the method also includes detecting a reverse current passing through at least one of the first or the second transistors.
  • the detecting includes at least one of detecting a voltage at die output node that is above the high power supply voltage; or detecting a voltage at the output node feat is below the low power supply voltage, the method also includes generating a zero current signal indicative of a zero crossing of a current though at least one of the plurality of motor windings in accordance with the detecting the reverse current.
  • the above method can include one or more of the following aspects.
  • fee detecting the reverse current comprises: detecting the reverse current by sampling a voltage at the output node only at. times whe the first and second transistors are both turned off.
  • fee motor drive signal comprises:
  • each one of the plurality of pulse width signals having high states comprising steady state high values proximate to the high power supply voltage and. transient high values higher than the higher power supply voltage, and each one of the plurality of pulse width signals also having low states comprising steady state low values proximate to the low power supply voltage and transient low values lower than the lower power supply voltage.
  • the method former comprises:
  • the generating the position reference signals comprises:
  • the generating the position reference signals comprises:
  • the generating the position reference signal comprises:
  • the generating the plurality of modulation signals comprises:
  • an electronic circuit for driving a multi-phase motor having a plurality of motor windings includes a half bridge circuit coupled to the electric motor for generating a motor drive ' signal.
  • the half bridge circuit includes first and second series coupled transistors; a power supply high voltage node for receiving a high power supply voltage; a power supply low voltage node for receiving a low power supply voltage; and an output node at which the motor drive signal is generated.
  • the electronic circuit also includes at least one comparator configured, to generate a respective at least one comparator output signal indicative of a reverse current passing through at least one of the first or the second transistors by detecting at least, one of; a voltage at the output node that is above the high power supply voltage; or a voltage at Hie output node that is below fee low power supply voltage.
  • the electronic circuit also includes a processor configurer! to generate a zero current signal indicative of a zero crossing of a current though at least one of the plurality of motor windings in accordance with the at least one comparator output signal hi some embodiments, the above electronic circuit can include one or more of the following aspects.
  • fee detecting comprises;
  • the motor drive signal comprises: a plurality of pulse width modulated signals, each one of fee plurality of pulse width signals having high states comprising steady state high values proximate to the high power supply voltage and transient high values higher than the higher power supply voltage, and each one of the plurality of pulse width signals also having low states comprising steady state low values proximate to the low power supply voltage and transient low values lower than the lower power supply voltage, la son ' s e em edments, the electronic circuit further comprises:
  • a position measure module configured to generate a position reference signal indicative of a refers .ce position of an angular rotation of the motor
  • the position measure module is further configured to generate the position signal in accordance with a Hall signal generated by a Hall sensor disposed proximate to the motor.
  • the position measure module is further configured to generate the position signal in accordance with, a back EMF signal generated in a motor winding.
  • the electronic circuit is configured to stop a motor drive signal to the at least one of the plurality of motor windings during a time window proximate to the motor achieving the reference position, and wherein the position measure module is configured to generate the position reference signal indicative of the reference position daring the time window.
  • the modulation signal generation module comprises:
  • a sawtooth generator configured to generate a first continuous sawtooth ramp signal having a smallest value and a largest value and a plurality of values between the smallest and largest values
  • a timing/phase error detector coupled to receive a signal representative of the zero current signal, coupled to receive a signal representative of the position reference signal, and configured to generate a signal representative of the phase comparison signal; and a summation module configured to add to the first continuous sawtooth ramp signal a value related to the phase comparison signal to generate a second continuous sawtooth, ramp signal having the smallest value and the largest value and the plurality of values between the smallest and largest values, wherein the smallest and largest values of the second continuous sawtooth ramp signal are shifted in time by an adjustment time from the smallest and largest values of the first continuous sawtooth ramp signal, wherein the adjustment time is related to the phase comparison signal, wherein the adjusted continuous sawtooth ramp signal is used to sequentially look up values i the look up table to generate the at least one of the plurality of modulation signals and also used to generate at least one other modulation signal at a predetermined phase relationship to the at least one of the plurality of modulation signals, each modulation signal related to a respective one of the plurality of pulse width
  • FIG. 1 is a block diagram of an exemplary motor control circuit having a modulation signal generation module and having a current measurement module;
  • FIG. 2 is a graph showing a variety of waveforms associated with the exemplary motor control circuit of FIG. 1, in particular, when the motor control circuit is used to provide a sinusoidal chive to a motor;
  • FIG, 3 is another graph showing a variety of waveforms associated with exemplary motor control circuit of FIG. 1, in particular, when the motor control circuit is ased to provide a sinusoidal drive to the motor, and showing phase differences between a current signal and a position reference signal;
  • FIG. 4 is a block diagram of an exemplary modulation signal generation module that can be used as a. modulation signal generation module of the exemplary motor control circuit of FIG, 1;
  • FIGS. 5 and 5A are block diagrams showing exemplary half bridge output stages of the exemplary motor control circuit of FIG-. 1, and showing directions of motor winding current at differen t phases of operation;
  • FIG. 6 is a graph showing waveforms associated with the motor winding, in particular, a sinusoidal current a modulation waveform associated with a sinusoidal drive of the motor winding, arid a pulse width modulated (PWM) signal that drives a motor in accordance with the modulation waveform;
  • PWM pulse width modulated
  • FIG. 7 is a pictorial showing details of positive and negative states of the PWM signal of FIG, 6;
  • FIG, 7A is a graph showing a PWM drive signal applied to an electric motor, and showing a sinusoidal current associated with the PWM drive signal;
  • FIG, 8 is a block diagram of another exemplary motor control circuit having a modulation signal generation module and having a current .measure module in the form of a zero current detection module;
  • FIG. 9 is a graph showing a variety of waveforms from which a zero current in a motor winding can be detected, in particular, when a trapezoidal drive to a .motor is used.
  • the terra "modulation waveform" is used to describe an envelope or characteristic function of another signal, for example, a pulse width, modulated (PWM) signal.
  • PWM pulse width, modulated
  • an exemplary motor control circuit 102 is coupled to drive an electric motor 104.
  • the motor 104 is shown to include three windings lG4a > 104b, 104c, which are each often depicted as a respective equivalent circuit having an inductor in series with a resistor and in series with a back EMF voltage source.
  • the winding A 104a is shown to include an inductor 130 in series with a resistor 131 and in series with, a hack EMF voltage source VA 136.
  • the voltage of the hack EMF voltage source VA 136 is not directl observable when a current is flowing in an associated motor winding, but it directly observable whe the current through the associated winding is zero.
  • the voltage across a motor winding is governed by the following equation: Vou A-YooBimon - VA +IR+Ld dt, wnere:
  • VoutA observable voltage at one end of the inding A
  • I current through winding
  • the motor control circuit 102 includes a speed demand generator 107 coupled to receive an external speed demand signal 106 from outside of the motor control circuit 102,
  • the external speed demand signal 106 can be in one of a variety of formats. In general the external speed demand signal 106 is indicative of a speed of the motor 104 that is requested from outside of the motor control circuit 102,
  • the speed demand generator 107 is configured to generate a speed demand signal 107a
  • a pulse width modulation (PWM) generator 108 is coupled to receive the speed demand signal 107a and configured to generate PWM signals 108a, a maximum duty cycle of which is controlled by the speed demand signal 107a.
  • the PWM generator 108 is also coupled to receive modulation waveforms 146a, 146b, 146c from a modulation signal generation module 146,
  • the PWM signals 108a are generated with a modulation characteristic (i.e., a relative time-varying duty cycle) in accordance with the modulation waveforms 146a, 146b, 146c. Modulation waveforms and associated PWM signals are described more fully below hi conjunction with FIG. 6,
  • the motor control circuit 102 also includes a gate driver circuit 110 coupled to receive the P WM signals 108 a and configured to generate PWM gate drive signals 1 1 Oa, 110b, 110c, HOd, l l e, 11 Of to drive six transistors 1 12, 114, 1 1.6, 118, 120, 122 arranged as three half bridge circuits 112/114, ⁇ 6/118, 120/122,
  • the six transistors 1 1.2, 114, 116, 118, 1.20, 122 operate in saturation to provide three motor drive signals VoutA, VowtB, VoutC, 124, 126, 128, respectively, at nodes 102d, 102c, 102b, respectively.
  • the motor control circuit 10.2 can also include a position -measurement module 142, which can be coupled to receive either hack EMF signal(s) (e.g., can be coupled to receive ooe or more of the motor drive signals 124, 126, 128, which include back EMF signals directly observable at times when the motor windings 104a, 104b, 1.04c are not being driven and respective -winding currents are zero) or Hall element signals from Hall elements (not shown).
  • the position measure module 142 is configured to generate a position reference signal 142a indicative of a rotational reference position of the motor
  • the motor control circuit 102 can also include a current measurement module 144, wbieli can be coupled to receive one of the motor drive signals 124, 126, 128.
  • the current measurement module 144 is configured, to generate a zero current signal 144a indicative of a zero crossing of the current through one or more of the motor windings.
  • An exemplary current measurement module is described in further detail below in conjunction with FIG.
  • the modulation signal generation module 146 is coupled to receive the position reference signal 142a and the zero current signal 144a.
  • the modulation signal generation module 146 is configured to change a phase of the modulation waveforms 146a, 146b, 146c in accordance with a phase difference between die position reference signal 142a and the zero current signal 144a.
  • An exemplary modulation signal generation module 146 is described below in conjunction with FIG. 4.
  • the motor control circuit 1.02 can be coupled to receive a motor voltage VMOT, or simply VM, at a node 102a, which is supplied to the motor through the transistors 112, 116, 120 during times when the upper transistors 112, 116, 120 are turned on. It will be understood, that there can he a small voltage drop (for example, 0.1 volts) through, the transistors 112, 116, 120 when they are turned on and supplying current to the motor 104, As described above, the motor control circuit 102 can automatically adjust a timing, i.e., a phase, of the drive signals 124, 126, 128 in relation to a sensed rotational position, of the motor 104,
  • a timing i.e., a phase
  • graphs 200, 220, 240, and 260 have a horizontal axes with scal es in units of time in arbitrary units.
  • the graphs 200, 220, 240 have vertical axes with scales in units of voltage in arbitrary units.
  • the graph 260 lias a vertical axis with a scale in units of current in arbitrary units.
  • a signal 202 is representative of a back EMF signal (i.e., a voltage signal) on one of the motor windings (e.g., winding A 104a) of the motor 104 of FIG. 1 when the motor 104 is spinning.
  • the back EMF voltage 202 is generally sinusoidal.
  • the zero crossing of the back EMF signal 202 can be used by the position measurement module 142 to identify a reference rotational position, of the motor 104. .It is desirable that the zero crossing of She back EMF signal 202 at the time 208 be coincident or nearly coincident with a zero current passing through the .motor winding upo which the back EMF signal 202 is generated. Such a relationship will result in most efficient motor operation.
  • a back EMF signal is not used to detect rotational position of the motor 104. Instead, Ball elements are positioned about the motor 104 and. Hall element signals 222, 224, 226 are generated as the motor 104 rotates. It should be apparent that the signals 2.22, 224, 226 are representative of rotational positions of the motor 104. Characteristically, it can be seen that none of the transitions of the Hall element signals 222, 224, 226 align with the zero crossing of the back EMF signal 202, Nevertheless, the time 208 can be identified by the signals 222, 224, 226 as being part way, e.g., halfway, between particular transitions of the signals 222, 224, 226.
  • Signals 242, 244, 246 are representative of the above-described modulation waveforms 146a, 146b, 146c of FIG. 1.
  • the modulation waveforms 242, 244, 246 are used to generate PWM signals to drive the motor 104. Correspondence between the modulation waveforms 242, 244, 246 and the PWM signals is described more fully below in exjunction with FIG. 6.
  • the modulation waveform 242 is associated with the winding A 104a of FIG . 1 and generally aligns with the back EMF signal 202 that is associated with the same winding.
  • the other modulation waveforms 244, 246 are associated with the other windings B, C 104b, 104c, respectively, of the motor 104 of FIG.
  • Signals 262, 264, 266 are representative of currents that appear on the windings A, B, C ⁇ 04a, 104b, 104 c, respectively, of the motor 104 of FIG. 1 , It will be understood that the actual current signals on the motor windings may be more complex than those shown in the signals 262, 264, 266. However the current signals 262, 264, 266 are representative of an average current versus time through the three motor windings. It will be understood that the current 262 on the motor winding A 104a is generally in phase with the back EMF signal 202. However, there can be a phase difference between the current signal 262 and the associated back EMF signal 202 as described more fully below in conjunction with FIG. 3.
  • An electrical revolution of the motor 104 can be divided into six states, or time periods, 201a, 201b, 201c, 20! 201e, 201 f.
  • a graph 300 has a horizontal axis with a scale in. units of time in arbitrary units.
  • the graph 300 also has a vertical axis with a scale in units of voltage and current in arbitrary units.
  • a graph 320 has a horizontal axis with a scale in units of time in arbitrary unite.
  • the graph 320 also includes a vertical axis with a scale in units of voltage in arbitrary units.
  • a signal 304 is representative of a current signal on the winding A 104a of FIG. 1. Thus, the signal 304 corresponds to the signal 262 of FIG, 2.
  • a signal 302 is
  • a time difference 308 is indicative of a time difference between a zero crossing of the back EMF signal 302 and a. zero crossing of the current signal 304. Therefore, the time difference 308 is representative of a time difference between a rotational position reference (i.e., the z&ro crossing of the back EMF signal 302) and a zero current passing through, fee associated motor winding,
  • A. signal 306 is representative of a current signal on the winding A 1.04a. of FIG. 1 during a time period during which the motor 104 is accelerating i rotational speed or during which the motor 104 is rotating at high speed. It can be seen that relative phases have shifted.
  • the zero crossing of the current signal 306 is retarded with respect to the zero crossing of the back EMF signal 302,
  • the zero crossing of the back EMF signal 302 is indicative of a reference rotational position of the motor .104.
  • the zero crossing of the current signal 306 is representative of a zero current through the motor winding A 104a. It is desirable that the zero crossings coincide in time and phase. A lack of time coincidence will result in increased motor noise and vibration, and. decreased motor efficiency.
  • a modulation waveform 322 is fee same as or similar to the modulation waveform 242 of FIG. 2.
  • the current signal 306 is retarded relative to the modulation waveform 322.
  • the modulation signal generation module 146 of FIG. 1 is able to advance or retard the various modulation waveforms 146a, 146b, 146c in accordance with a received rotational position, reference signal 142a and in accordance with the zero current signal 1.44a, of which the back EMF signal 302 and the current signals 304, 306 are representative.
  • a sinusoidal motor drive signal 142b can be provided by the position measurement module 142 to the gate driver 110.
  • a modulation signal generation module 402 can be used as the modulation signal generation module 146 of FIG. 1.
  • the modulation signal generation module 402 is coupled to receive a detected position reference signal 414 and a detective zero current signal 418.
  • the detected position reference signal 41.4 can be the same as or similar to the position reference sigaal 142a of FIG. 1.
  • the detected zero current signal 418 can be the same as or similar to the zero current signal 144a of FIG. 1.
  • the detected position reference signal 414 can be generated in conjunction with zero crossings of a back EMF signal using a sinusoidal drive waveform by using a short time period during which the sinusoidal drive to a winding is stopped. In other embodiments, the detected position reference signal 414 can be generated in conjunction with Hail elements disposed around the motor 104 of FIG. A and associated Hall element signals.
  • the modulation signal generation module 402 is also coupled to receive a system clock sigaal 416 having a fixed high f equency.
  • a so-called "tlieta ramp generator” 404 is coupled to receive the detected position reference signal 414 and the system clock signal 41.6.
  • the theta ramp generator 404 is configured to generate an unadjusted theta signal 404a, which can be a digital signal comprised of a sequence of values representative of a ramp signal that periodically reaches a terminal value and resets to zero.
  • the reset time of the ramp signal is fixed in relation to the position reference (i.e., a fixed rotational position of the motor 104) of which, the detected position reference signal 414 is indicative.
  • the theta ramp generator 404 can identify a time period, measured by counting a number of system clock transitions, between posi tion references identified by the detected position reference signal 414, In oilier words, the theta ramp generator 404 can identify a time (i.e., a number of transitions of the system clock signal 416) that it takes the motor 104 to turn tlirougli one electrical rotation, The theta ramp generator 404 can divide the identified number of transitions of the system clock 416 by a fixed scalar, for example, by 256. Thus, a motor electrical revolution can be divided into 256 parts.
  • the clock s gnal 402 can have a frequency that achieves, for example, 256 transitions during one electrical revolution of the motor.
  • the clock signal 402 can be generated by and used by the theta ramp generator 404 to generate a rate at which ramp values of fee unadjusted theta signal 404a are incremented and output within the unadjusted theta signal 404a.
  • resets to zero of the ramp signal in. the 'unadjusted theta signal 404a are achieved once for every electrical revolution of the motor, and there can be, for example, 256 steps in the ramp.
  • a timing phase error detector 410 is coupled to receive the detected zero current signal 418, coupled to receive the detected position reference signal 414, and coupled to receive the clock signal 402.
  • the timing/phase error detector 410 is configured to identify a time difference (i.e., a phase difference) between a position reference identified by the detected position, reference signal 414 and a zero current crossing identified by the detected zero current signal 418.
  • the timingphase error detector 410 is operable to identify a time difference between the zero crossing of the current signal 304 or 306 and a zero crossing of aback EMF voltage signal 302,
  • the inning/phase error detector 410 is configured to generate an error signal 410a, which, in some embodiments, can be a digital value, representati ve of the identified, time (i.e,, phase) difference.
  • a proportional integrator differentiator (PID), or, in other embodiments, a proportion integrator (PI) can he coupled to receive the error signal 410a, and configured to essentially filter the error signal 410a to generate an adjustment signal 412a,
  • the adjustment signal 412a can be a digital value proportional to the time difference identified by the timing/phase error detector 410,
  • a summing module 406 is coupled o receive the unadjusted theta signal 404a (i.e.. a sequential set of digital values representative of a resetting ramp signal at a fixed phase), coupled to receive the adjustment signal 412a, and configured to generate a theta signal
  • theta signal 406a is a resetting ramp signal like the unadjusted theta signal 404a, but for which the reset times of the ramp signal are moved in time, i.e., adjusted phase, in accordance with a value of the adjustmej signal 412a.
  • a modulation profile look up table and processor 408 is coupled to receive the theta signal 406a, ' The modulation profile look up table and processor 408 is configured to store therein value representative of one or more modulation profiles, for example, the modulation profile 242 of FIG, 2.
  • theta signal 406a is used to sequence between values of the stored modulation signal within the modulation profile look up table and processor 408, It will be -understood that, a phase of the theta signal 406a, of which reset portions of the theta signal 406a are representative, is adjustable according to a time difference between a.
  • a phase i.e., a timing of, a modulation signal 408a generated by the modulation profile look up table and processor 408 is adjustable.
  • a processor portion of the modulation profile look up table and processor 408 can automatically generate other modulation profiles 408b, 408c at other fixed phases, for example, the modulation profiles 244, 246 of F G. 2, which can be at fixed phases relati ve to the modulation profile 408a, e.g., the modulation profile 242 of FIG. 2.
  • three half bridge circuits 502, 504, 506 correspond to the three half bridge circuits 112/114, .1 J 6/118, 120/122 of FIG. 1 and are shown driving three motor windings.
  • Currents through the half bridge circuit 502 and through one of the o motor windings are indicated by dashed lines identified by circled numbers 1 , 2, and 3.
  • the currents 1, 2, and 3 are indicative of currents at different times through the half bridge circuit 502 during a positive polarity of a current signal in the motor winding, e.g., during positive parts of the current signal 262 of FIG. 2.
  • the current 1 is indicative of the upper FET being on
  • the current 3 is indicative of the lower FET being on
  • the current 2 is 5 indicative of both FETS being turned off.
  • the current 2 passes through an intrinsic diode of the lower FET, and thus, the voltage VoutA (see e.g., signal 124 of FIG, 1) achieves a voltage approximatel 0,7 volts below ground beginning when the two FETs of the half bridge 502 are turned off and returns to ground voltage when the lower FET turns on.
  • the voltage VoutA see e.g., signal 124 of FIG, 1
  • FIG. 5 A in which like elements of FIG. 5 are shown having like reference designations, currents through the half bridge circuit 502 and through one of the motor windings are again indicated by dashed lines identified by circled numbers 1, 2, and 3.
  • the currents 1, 2, and 3 are indicative of currents at different times through the half bridge circuit 502 during a negative polarity of a current signal in the motor winding, e.g., during negative parts of the current signal 262 of FIG. 2.
  • the current 2 is indicative of the upper FET being on
  • the current 3 is indicative of the lower FET being on
  • the current 2 is indicative of both FETS being turned off.
  • the current 2 passes through an intrinsic diode of the upper FET, and thus, the voltage VoutA achieves a voltage approximately 0.7 volts above the voltage VM beginning when the two FETs of the half bridge 502 are turned off and returns to the voltage VM when the upper FET turns on
  • the voltage VoutA By detecting the voltage VoutA going above the voltage VM a d returning to the voltage VM, an actual zero current through the half bridge 502 and through the associated motor winding can be identified.
  • a graph 600 has a horizontal axis with a scale in units of tinw in arbitrary units and a vertical axis with a scale in unit of current in arbitrary units.
  • a graph 620 has a horizontal axis wife a scale in units of time in arbitrary units and a vertical axis with a scale in unit of voltage m arbitrary units.
  • a graph 640 has a horizontal, axis with a scale in units of time in arbitrary units and a vertical axis with a scale in unit of voltage in arbitrary units.
  • a signal 602 is representative of a current signal in a motor winding A when a sinusoidal drive signal is used.
  • the current signal 602 can be fee same as o similar to the current signal 262 of FIG. 2.
  • the current signal 602 can appear more complex, but the signal 602 is generally representative of an average current through the winding A,
  • the current signal has zero crossings at time 606, 608,
  • a modulation signal 622 can he the same as or similar to the modulation signal 242 of FIG. 2.
  • the modulation signal 622 can have six time periods or phases, of which four arc shown 604a, 604b, 604c, 604d.
  • a PWM signal 642 can be generated in accordance with the modulation waveform 622 and can have times of high duty cycle 642a, 642b at times of peaks 622a, 622b of the modulation waveform 622 and times of lower duty cycle at times of other portions of the modulation waveform 622 in accordance with values of the modulation waveform 622.
  • the PWM signal 642 can be the signal actually applied to the motor winding A 104a of the motor 104 of FIG. 1 for a sinusoidal drive.
  • PWM pulses 702, 702* are indicative of the PWM pulses 642 of FIG, 6 during negative polarity portions of the current, signal 602.
  • a PWM pulse 704 is indicative of fee PWM pulses 642 of FIG. 6 during positive polarit portions of the entreat signal 602.
  • the PWM poises 702, 702 * have raised or transient portions 702b, 702c, 702b', 702c' and steady state portions 702a, 702a'.
  • the transient signal portions 702b, 702c, 704b, 704c, 702b', 702c' result.
  • the transient signal portions 702b, 702c, 704b, 704c, 702b', 702c * can occur for a short time period, for example, for about live hundred nanoseconds.
  • the direction of the transient voltage signal portions 702b, 702c, 704b, 704c, 702b', 702c' change direction upon each occurrence of a zero crossing of the current signal 602, i.e., at times 606, 608.
  • detection of changes in direction of the transient signal portions 702b, 702c, 704b, 704c, 702b * , 702c * can be used to identify a zero current in the associated motor winding.
  • a graph 720 has a horizontal axis with a scale in unite of time in arbitrary unite and a vertical axis with a scale in unit of voltage in arbitrary units
  • a graph 740 has a horizontal axis with a scale in units of time in arbitrary units and a vertical axis wife a scale in units of current i arbitrary units.
  • a signal 722 is representative of the PWM signal 642 of FIG, 6, but showing transient signal portions like the transient portions 702b, 702c, 704c, 704d, 702b% 702c' of FIG. 7.
  • a signal 742 is the same as or similar to the current signal 602 of FIG. 6.
  • Times tl 49 occur during the transient signal portions. From discussion above in conjunction with. FIGS. 5 and 5 A, it will be apparent that the transient signal portions occur when both FETs of an. associated half bridge circuit driving a motor winding are turned off.
  • the transient signal portion changes orientation coincident or nearly coincident with a zero crossing of the current signal 742.
  • the change of orientation of the transient signal portions can he used to detect a zero current crossing is a motor winding.
  • the transient signal portions extend above the motor voltage VM,
  • the transient signal portions extend below ground.
  • Another change or orientation (not shown) of the transient signal portions occurs at a next zero crossing of the current, signal 742, and can also be used to detect the next zero crossing.
  • a circuit see, e.g., comparators 808, 810 shown below in FIG. 8) can he operable to sample the signal VoutA 722 to detect the signal transient portions only at or near to the times tl-t9, and also at other similar times that follow.
  • the times tl-t9 and similar times that follow are known, since both FETs are momentarily turned off at those times.
  • the signal 722 can be continually sampled to detect the transient signal portions.
  • the changes of orientations of the transient signal portions can he detected with two comparators. Both zero crossings of the current si gnal 742 can be detected. However, in other embodiments, one comparator can be used to detect the presence or absence of transient signal portions that either extend, upward or that extend downward. Still, both zero crossings of the current signal 742 can he detected with one comparator.
  • a zero current detection module 802 can be the same as or similar to the current measurement module 144 of FIG, 1.
  • the zero current detectio module 802 can include a first comparator 808 coupled to the three motor windings via a selectable switch 804.
  • the zero current detection module 802 can also include a second comparator 810 coupled to the three motor windings via a selectable switch 806.
  • the first comparator SOS can be coupled to receive a reference voltage equal to or dose to the motor voltage VM.
  • the second comparator 810 can be coupled to receive a reference voltage equal to or close to ground..
  • the first comparator 808 is configured to generate an output signal 808a indicative of voltage on a selected motor winding going above the motor voltage.
  • the second comparator 810 is configured to generate an output signal 810a indicative of voltage on a selected motor winding going below ground.
  • the first comparator 808 operable to detect the positive transient signal portions 702b, 702c, 7Q2h ⁇ 702c 5 of the PWM signal of FIG, 7 associated with a sinusoidal motor drive.
  • the second comparator 810 is operable to detec the negative transient signal portions 704b, 704c of the PWM signal of FI G. 7 associated with a sinusoidal motor dri ve.
  • the zero current detection module 802 can also include a multiplexer 81.2 coupled to receive the output signal 808a, 810a and configured to generate and output single 81.2a representative of a selected one of the output signals 808a, 810a.
  • the multiplexer 812 can be coupled to receive a control signal 146d from the modulation signal generation module 146.
  • the switches 804, 806 can be coupled to receive other control signals (not shown) from the modulation signal generation module 146.
  • the modulation signal generation module 146 can use a variety of types of logic to identify a zero current crossing in one or more of the motor windings. For example, in accordance with the discussion above in conjunction with FIGS. 7 and 7 A, for a PWM sinusoidal motor drive signal, the output signals 808a, 810a can be used to identify a change in direction of the transient signal portions 702b, 702c, 704b, 704c, 702b ⁇ 702c * of the PWM signal 642. Essentially, the multiplexer 812 can switch to view the other comparator whenever detection is made of a particular direction of the transient signal portions.
  • the switches are not used and only one motor winding is used to provide signals to fee comparators 808, 810. h some embodiments, only one comparator is used aid the multiplexer 8 2 is not necessary.
  • a variety of different types of logic can be used by the modulation signal generation module 1 6 to i dentify a zero crossing of a current through a motor winding by using the above described technique of detecting when a voltage on a motor winding goes above the motor voltage VM and/or below ground.
  • a graph 900 has a horizontal axis with a scale in unite of time in arbitrary units.
  • the graph 900 also has a vertical axis with a scale in units of current in arbitrary units.
  • a graph 920 has a horizontal axis with a scale in units of time in arbitrary units.
  • the graph 920 also has a vertical axis with a scale in units of voltage in arbitrary units.
  • a signal 904 is representative of a trapezoidal motor drive, as opposed to the sinusoidal motor drive signals described above, The signal 904 is representative of a trapezoidal current signal on a motor winding.
  • the voltage waveform 922 is representative of an actual voltage applied to a motor winding for a one hundred percent motor drive.
  • the signal 922 achieves a voltage ofVM (motor voltage) with a duty cycle of one hundred percent and at other times is zero.
  • the different trapezoidal moto drive provides a pulse width modulated signal that has a pulse width, modulation with a duty cycle in accordance with the motor drive of less than one hundred percent.
  • the time of a motor electrical revolution can be broken, into six states, with only four of the states 902a, 902b, 902c, 902d shown. Signals during fee other two states will be apparent
  • Each one of the motor windings receives a motor drive signal like the motor drive signal 922, but shifted, in phase and beginning at a different one of the phases.
  • a drive signal applied to a motor winding is zero during the first phase 902a and also zero during the -fourth phase 902d.
  • the current signal 904 achieves a zero current during a signal portion 904a and during a signal portion 904d.
  • the zero current is not. achieved, immediately at the beginning of the .first, and fourth phases 902a, 902d due to inductive behavior of the motor winding.
  • the drive voltage applied to a winding is zero, and the current decays to zero, the back EMF voltage is directly observable across the winding.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Selon la présente invention, un circuit de commande de moteur et des techniques associées peuvent ajuster la phase d'un moteur d'entraînement afin de maintenir la position de rotation de référence d'un moteur électrique à la même phase relative qu'un courant nul dans un enroulement de moteur avec des vitesses de moteur différentes et lors de l'accélération et du ralentissement du moteur. Un circuit de commande de moteur et des techniques associées détectent un passage par le point zéro d'un courant dans un enroulement de moteur grâce à la détection d'un courant inverse dans un circuit en demi-pont utilisé pour entraîner l'enroulement de moteur.
PCT/US2013/054639 2012-08-30 2013-08-13 Circuit électronique, et procédé permettant d'ajuster automatiquement la phase d'un signal d'entraînement appliqué à un moteur électrique en fonction d'un courant nul détecté dans un enroulement du moteur électrique et de détecter le courant nul WO2014035658A2 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020157007898A KR102139948B1 (ko) 2012-08-30 2013-08-13 전기 모터의 권선 내에 검출되는 영전류에 따라 전기 모터에 인가되는 구동 신호의 위상을 자동적으로 조정하고 영전류를 검출하기 위한 전기 회로 및 방법
KR1020207001949A KR102159616B1 (ko) 2012-08-30 2013-08-13 전기 모터의 권선 내에 검출되는 영전류에 따라 전기 모터에 인가되는 구동 신호의 위상을 자동적으로 조정하고 영전류를 검출하기 위한 전기 회로 및 방법
CN201380056237.5A CN104756395B (zh) 2012-08-30 2013-08-13 用于根据电动机的绕组中检测到的零电流自动调整向电动机施加的驱动信号的相位以及用于检测零电流的电子电路及方法
JP2015529838A JP6429777B2 (ja) 2012-08-30 2013-08-13 電動モータの巻線で検出されたゼロ電流に従って電動モータに印加された駆動信号の位相を自動的に調整するための、およびゼロ電流を検出するための電子回路および方法

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US13/599,225 US8917043B2 (en) 2012-08-30 2012-08-30 Electronic circuit and method for automatically adjusting a phase of a drive signal applied to an electric motor in accordance with a zero current detected in a winding of the electric motor
US13/599,234 2012-08-30
US13/599,234 US8917044B2 (en) 2012-08-30 2012-08-30 Electronic circuit and method for detecting a zero current in a winding of an electric motor
US13/599,225 2012-08-30

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US11601035B2 (en) 2021-07-21 2023-03-07 Anpec Electronics Corporation Motor current controlling circuit having voltage detection mechanism

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TWI500253B (zh) 2015-09-11
JP6429777B2 (ja) 2018-11-28
JP2015527050A (ja) 2015-09-10
KR20150048845A (ko) 2015-05-07
KR102159616B1 (ko) 2020-09-24
TW201429149A (zh) 2014-07-16
CN104756395A (zh) 2015-07-01
CN104756395B (zh) 2018-02-02
CN107565857B (zh) 2020-12-01
CN107565857A (zh) 2018-01-09
KR102139948B1 (ko) 2020-07-31
KR20200010600A (ko) 2020-01-30
WO2014035658A3 (fr) 2015-03-26

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