JPH0568393A - Brushless motor driver - Google Patents
Brushless motor driverInfo
- Publication number
- JPH0568393A JPH0568393A JP3226970A JP22697091A JPH0568393A JP H0568393 A JPH0568393 A JP H0568393A JP 3226970 A JP3226970 A JP 3226970A JP 22697091 A JP22697091 A JP 22697091A JP H0568393 A JPH0568393 A JP H0568393A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- output
- input
- rotation direction
- energization
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はモータコイルに誘起され
る逆起電圧を基に、モータコイルに通電を行なうブラシ
レスモータの駆動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brushless motor drive device for energizing a motor coil based on a back electromotive force induced in the motor coil.
【０００２】[0002]
【従来の技術】近年、各種駆動用モータはその長寿命
化，高信頼性化，あるいは形状の薄型化などのため、ブ
ラシレスモータが用いられることが多くなってきた。一
般にブラシレスモータは可動子の位置を検出するホール
素子等の位置検出素子が必要であり、より一層の低価格
化，小形化，高信頼性等が必要な分野では位置検出器の
無いいわゆるセンサレスモータが使用されている。一
方、各種駆動用モータはその用途により回転方向を切換
える必要が生じる。以下、従来のセンサレスモータの駆
動装置について図面に基づいて説明する。図５は、従来
のセンサレスモータの駆動装置の回路構成図である。図
５において駆動コイル１〜３の一端Ｎ0は共通で、駆動
コイル１の他端Ｕ0は駆動トランジスタ４および５のコ
レクタに接続され、駆動コイル２の他端Ｖ0は駆動トラ
ンジスタ６および７のコレクタに接続され、駆動コイル
３の他端Ｗ0は駆動トランジスタ８および９のコレクタ
に接続され、また前記駆動コイルの共通接続点Ｎ0およ
び前記駆動コイルの他端Ｕ0，Ｖ0，Ｗ0はそれぞれ逆起
電圧検出器１０の入力側に接続され、逆起電圧検出器１
０の出力側はフィルタ回路２０の入力側に接続されてい
る。駆動トランジスタ４，６，８のエミッタは共通でモ
ータ印加電圧源ＶＭに接続され、駆動トランジスタ５，
７，９のエミッタは共通で接地されている。フィルタ回
路２０の出力側は電圧制御発振器３０の入力側に接続さ
れ、電圧制御発振器３０の出力側は論理回路４０の入力
側に接続されている。論理回路４０の出力ＣＤは逆起電
圧検出器１０に入力され、論理回路４０の出力Ｕ１，Ｕ
２，Ｖ１，Ｖ２，Ｗ１，Ｗ２はそれぞれ回転方向切換え
器５０に入力され、回転方向切換え器５０の出力ＵＨ，
ＵＬ，ＶＨ，ＶＬ，ＷＨ，ＷＬは電力増幅器６０を介し
て駆動トランジスタ４，５，６，７，８，９のベースに
それぞれ入力されている。2. Description of the Related Art In recent years, brushless motors have been increasingly used for various drive motors because of their long life, high reliability, and thin shape. Generally, a brushless motor requires a position detecting element such as a Hall element for detecting the position of a mover, and so-called a sensorless motor without a position detector in fields where further cost reduction, downsizing and high reliability are required. Is used. On the other hand, it is necessary to switch the rotation direction of various drive motors depending on the application. A conventional sensorless motor driving device will be described below with reference to the drawings. FIG. 5 is a circuit configuration diagram of a conventional sensorless motor drive device. In FIG. 5, one ends N 0 of the drive coils 1 to 3 are common, the other end U 0 of the drive coil 1 is connected to the collectors of the drive transistors 4 and 5, and the other end V 0 of the drive coil 2 is the drive transistors 6 and 7. Of the drive coil 3 and the other end W 0 of the drive coil 3 is connected to the collectors of the drive transistors 8 and 9, and the common connection point N 0 of the drive coils and the other ends U 0 , V 0 , W of the drive coil are connected. 0 is connected to the input side of the counter electromotive voltage detector 10, and the counter electromotive voltage detector 1
The output side of 0 is connected to the input side of the filter circuit 20. The emitters of the drive transistors 4, 6 and 8 are commonly connected to the motor applied voltage source VM,
The emitters of 7 and 9 are commonly grounded. The output side of the filter circuit 20 is connected to the input side of the voltage controlled oscillator 30, and the output side of the voltage controlled oscillator 30 is connected to the input side of the logic circuit 40. The output CD of the logic circuit 40 is input to the counter electromotive voltage detector 10, and the outputs U1 and U of the logic circuit 40 are input.
2, V1, V2, W1 and W2 are respectively input to the rotation direction switching unit 50, and the outputs UH,
UL, VH, VL, WH, and WL are input to the bases of the drive transistors 4, 5, 6, 7, 8, and 9 via the power amplifier 60, respectively.
【０００３】ここでフィルタ回路２０と電圧制御発振器
３０と論理回路４０は通電制御器１００を構成してい
る。また、モータの回転方向切換え指令信号は論理回路
４０に入力されている。以上のように構成された従来の
センサレスモータの駆動装置について、以下その動作を
説明する。図６は図５における動作説明図であり、駆動
コイル逆起電圧と駆動コイル通電波形の位相関係を示す
ものである。図６（Ａ）は前記逆起電圧（破線部）と前
記通電波形（実線部）の位相関係が最適状態にある場合
であり、同図（Ｂ），（Ｃ）は位相角ψだけ最適状態か
らずれた場合を示している。ここで図６において、電圧
制御発振器３０の出力は論理回路４０，電力増幅器５
０，駆動トランジスタ４〜９を通して駆動コイル１〜３
に伝達されている。従って電圧制御発振器３０の出力と
駆動コイル１〜３の通電波形には一定の位相関係が存在
する。すなわち電圧制御発振器の発振周波数および位相
を制御することにより、駆動コイル逆起電圧と駆動コイ
ル通電波形の位相差を制御することが可能となる。そこ
で図６（Ｂ），（Ｃ）に示したように、駆動コイル逆起
電圧と駆動コイル通電波形との間に位相差ψのずれを生
じた場合、その位相誤差ψを逆起電圧検出器１０により
検出しフィルタ回路２０により電圧レベルに変換しψが
零となるよう電圧制御発振器３０の発振周波数および位
相を制御する位相制御ループを設けることにより、図６
（Ａ）に示すような最適通電状態を確保することが可能
となる。Here, the filter circuit 20, the voltage controlled oscillator 30, and the logic circuit 40 constitute an energization controller 100. The motor rotation direction switching command signal is input to the logic circuit 40. The operation of the conventional sensorless motor driving device configured as described above will be described below. FIG. 6 is a diagram for explaining the operation in FIG. 5, and shows the phase relationship between the drive coil counter electromotive voltage and the drive coil energization waveform. FIG. 6A shows the case where the phase relationship between the back electromotive force (broken line portion) and the energization waveform (solid line portion) is in the optimum state, and FIGS. 6B and 6C show the optimum state for the phase angle ψ. The figure shows the case of deviation. Here, in FIG. 6, the output of the voltage controlled oscillator 30 is the logic circuit 40 and the power amplifier 5.
0, drive coils 1 to 3 through drive transistors 4 to 9
Have been transmitted to. Therefore, there is a certain phase relationship between the output of the voltage controlled oscillator 30 and the energization waveforms of the drive coils 1 to 3. That is, by controlling the oscillation frequency and phase of the voltage controlled oscillator, it becomes possible to control the phase difference between the drive coil counter electromotive voltage and the drive coil energization waveform. Therefore, as shown in FIGS. 6B and 6C, when the phase difference ψ is deviated between the drive coil counter electromotive voltage and the drive coil energization waveform, the phase error ψ is calculated as a counter electromotive voltage detector. By providing a phase control loop for detecting the oscillation frequency and the phase of the voltage controlled oscillator 30 so that ψ becomes zero by detecting by 10 and converted into a voltage level by the filter circuit 20, FIG.
It is possible to secure the optimum energization state as shown in (A).
【０００４】次に、モータの回転方向切換えについて説
明する。図７（Ａ）はモータが時計方向（以下ＣＷ方向
と称する）に回転している場合のモータコイル１〜３に
誘起される逆起電圧Ｕｅ，Ｖｅ，Ｗｅとモータコイルの
最適通電タイミングＵＨCW，ＵＶCW，ＶＨCW，ＶＬCW，
ＷＨCW，ＷＬCWを示している。同図（Ｂ）はモータが反
時計方向（以下ＣＣＷと称する）に回転している場合の
モータコイル１〜３に誘起される逆起電圧Ｕｅ，Ｖｅ，
Ｗｅとモータコイルの最適通電タイミングＵＨ CCW，Ｕ
ＶCCW，ＶＨCCW，ＶＬCCW，ＷＨCCW，ＷＬCCWを示して
いる。同図（Ａ），（Ｂ）が示すようにモータの回転方
向が切り換わると逆起電圧の位相順が入れ代わる。そこ
で、従来のセンサレスモータの駆動装置のＣＷからＣＣ
Ｗへの回転方向の切換えは、回転方向切換え指令信号が
論理回路４０に入力されると、通電タイミングをＵ
ＨCW，ＵＬCW，ＶＨCW，ＶＬCW，ＷＨCW，ＷＬCWからそ
れぞれＵＨCCW，ＵＬCCW，ＶＨCCW，ＶＬCCW，Ｗ
ＨCCW，ＷＬCCWに切換えることで行なっていた。図８
は、モータの回転方向がＣＷからＣＣＷへ切換わる過程
のモータ逆起電圧Ｕｅ，Ｖｅ，Ｗｅと回転方向切換え指
令信号と通電タイミングを示している（本来逆起電圧は
モータの回転数に比例して振幅が変化するが、同図では
簡略している。）。同図は、ＣＷ定常回転時（期間
（Ａ）），減速期（期間（Ｂ）），およびＣＣＷ回転時
（期間（Ｃ））の三つの場合に分けることができる。ま
ずＣＷ定常回転数は、Ｕ→Ｖ→Ｗの順に通電し、回転方
向切換え指令信号ＦＲがＨＩＧＨレベルになると前記Ｆ
Ｒ信号が論理回路に入力され、Ｗ→Ｖ→Ｕの順に通電が
切換えられ、その結果逆トルクが発生しモータは減速す
る。やがてモータは停止し次の瞬間からＣＣＷ方向に回
転する（モータの回転方向が変わると逆起電圧の位相順
とピークの極性が逆になる。）。ＣＣＷからＣＷへの切
換えも同様に行われる。Next, switching of the rotation direction of the motor will be explained.
Reveal In FIG. 7 (A), the motor is clockwise (hereinafter, CW direction).
Motor coil 1 to 3 when rotating)
Induced back electromotive force Ue, Ve, We and the motor coil
Optimal energization timing UHCW, UVCW, VHCW, VLCW，
WHCW, WLCWIs shown. In the same figure (B), the motor is
When rotating clockwise (hereinafter referred to as CCW)
Back electromotive force Ue, Ve induced in the motor coils 1 to 3,
Optimal energization timing UH for We and motor coil CCW, U
VCCW, VHCCW, VLCCW, WHCCW, WLCCWShowing
There is. How to rotate the motor as shown in (A) and (B)
When the directions are switched, the phase order of the back electromotive voltages is switched. There
Then, from CW to CC of the conventional sensorless motor drive
When switching the rotation direction to W, the rotation direction switching command signal
When input to the logic circuit 40, the energization timing is changed to U
HCW, ULCW, VHCW, VLCW, WHCW, WLCWKarasou
UHCCW, ULCCW, VHCCW, VLCCW, W
HCCW, WLCCWIt was done by switching to. Figure 8
Is the process of switching the motor rotation direction from CW to CCW.
Motor back electromotive force Ue, Ve, We and rotation direction switching finger
The command signal and energization timing are shown.
The amplitude changes in proportion to the number of rotations of the motor.
It's simple. ). The figure shows the CW steady rotation (period
(A)), deceleration period (period (B)), and CCW rotation
(Period (C)) can be divided into three cases. Well
Without CW, the steady-state rotation speed is determined by energizing in the order of U → V → W
When the direction switching command signal FR becomes HIGH level, the above F
The R signal is input to the logic circuit, and power is turned on in the order of W → V → U.
Switching, resulting in reverse torque and motor deceleration
It Eventually the motor will stop and rotate in the CCW direction from the next moment.
Rotation (when the rotation direction of the motor changes, the phase order of the back electromotive force changes
And the polarities of the peaks are reversed. ). Switching from CCW to CW
The replacement is similarly performed.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら上記の従
来の構成では、回転方向切換え指令信号が入力されてか
らモータが実際に逆転するまでの期間にモータコイルに
通電される位相は、最大逆トルクを発生する位相からず
れており、従って逆転までの時間がかかり過ぎるという
問題点を有していた。However, in the above conventional configuration, the phase energized to the motor coil during the period from the input of the rotation direction switching command signal to the actual reverse rotation of the motor is the maximum reverse torque. There is a problem that the generated phase is deviated, and therefore it takes too much time to reverse.
【０００６】本発明は上記従来の問題点を解決するもの
で、ホール素子などの位置検出素子を必要とせず、すば
やくモータの回転方向を切換えることができるブラシレ
スモータの駆動装置を提供することを目的とする。The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a drive device for a brushless motor which does not require a position detecting element such as a hall element and can quickly switch the rotation direction of the motor. And
【０００７】[0007]
【課題を解決するための手段】この目的を達成するため
に本発明のブラシレスモータの駆動装置は、複数相のモ
ータ駆動コイルと、前記駆動コイルの逆起電圧を検出す
る逆起電圧検出器と、前記逆起電圧検出器の出力に応じ
て前記複数相のコイルへの通電を制御する通電制御器
と、モータの速度を検出する速度検出器と、回転方向切
換え指令信号が入力されると前記速度検出器の出力に応
じて前記通電制御器の出力の通電位相を変化させる回転
方向切換え器を有している。In order to achieve this object, a brushless motor drive device of the present invention comprises a plurality of phases of motor drive coils, and a back electromotive voltage detector for detecting back electromotive voltages of the drive coils. An energization controller that controls energization of the coils of the plurality of phases according to the output of the counter electromotive voltage detector, a speed detector that detects the speed of the motor, and a rotation direction switching command signal when the rotation direction switching command signal is input. It has a rotation direction changer that changes the energization phase of the output of the energization controller according to the output of the speed detector.
【０００８】[0008]
【作用】この構成により、モータ駆動コイルに発生する
逆起電圧と同コイルの通電切換え信号の位相差を検出
し、その検出位相差に応じて通電切換え信号を制御する
ことにより、回転子の位置に対して通電切換え信号が一
定位相関係を保持するよう帰還ループすなわち位相制御
ループ（ＰＬＬ）を構成している。また、モータの回転
方向切換え指令信号が入力されると、まず最大逆トルク
が発生する位相で通電しモータの回転数が十分減速した
ことを検出し、そののち通電切換えの順序を逆にしてモ
ータの回転方向を切換えることができる。With this configuration, the back electromotive voltage generated in the motor drive coil and the phase difference between the energization switching signals of the coil are detected, and the energization switching signal is controlled in accordance with the detected phase difference to control the position of the rotor. On the other hand, a feedback loop, that is, a phase control loop (PLL) is configured so that the energization switching signal maintains a constant phase relationship. When the motor rotation direction switching command signal is input, it is first detected that the motor is energized at the phase where maximum reverse torque is generated and the motor rotation speed is sufficiently reduced, and then the energization switching order is reversed. The rotation direction of can be switched.
【０００９】[0009]
【実施例】以下本発明の一実施例について、図面を参照
しながら説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
【００１０】図１は本発明の実施例におけるブラシレス
モータの駆動装置の回路構成図である。図１において、
図５の従来のブラシレスモータの駆動装置と同一機能を
有する部分は同一記号を付し、その説明を省略する。図
１において、速度検出器７０にはモータの速度に比例し
た信号ＭＳが入力され、速度検出器７０の出力は回転方
向切換え器５０に入力され、回転方向切換え指令信号Ｆ
Ｒは回転方向切換え器５０に入力され、回転方向切換え
器５０には論理回路４０の出力Ｕ１，Ｕ２，Ｖ１，Ｖ
２，Ｗ１，Ｗ２が入力され、回転方向切換え器５０の出
力ＵＨ，ＵＬ，ＶＨ，ＶＬ，ＷＨ，ＷＬは電力増幅器６
０を介して駆動トランジスタ４〜９のベースにそれぞれ
入力されている。ここで前記モータの速度に比例した信
号ＭＳはたとえばＦＧ信号のようなものであり、また逆
起電圧から合成したものでも良い。以上のように構成さ
れたブラシレスモータの駆動装置について、以下その動
作を説明する。モータの駆動方法について、一定回転方
向に駆動する場合は従来の方式と同様なので説明を省略
する。FIG. 1 is a circuit diagram of a brushless motor driving device according to an embodiment of the present invention. In FIG.
Parts having the same functions as those of the conventional brushless motor drive device shown in FIG. 5 are designated by the same reference numerals, and the description thereof will be omitted. In FIG. 1, a signal MS proportional to the speed of the motor is input to the speed detector 70, an output of the speed detector 70 is input to the rotation direction switching device 50, and a rotation direction switching command signal F is input.
R is input to the rotation direction switching device 50, and the outputs U1, U2, V1, V of the logic circuit 40 are input to the rotation direction switching device 50.
2, W1 and W2 are input, and the outputs UH, UL, VH, VL, WH and WL of the rotation direction switching device 50 are the power amplifier 6
It is input to the bases of the drive transistors 4 to 9 via 0 respectively. Here, the signal MS proportional to the speed of the motor is, for example, an FG signal, or may be synthesized from the counter electromotive voltage. The operation of the brushless motor driving device configured as described above will be described below. The method of driving the motor is the same as the conventional method when the motor is driven in the constant rotation direction, and thus the description thereof is omitted.
【００１１】図２は本発明のモータの回転方向切換え方
法を説明する動作原理図であり、モータの逆起電圧Ｕ
ｅ，Ｖｅ，Ｗｅと、回転方向切換え指令信号ＦＲと、モ
ータコイルの通電切換え信号ＵＨ，ＶＨ，ＷＨ，ＵＬ，
ＶＬ，ＷＬの位相関係を示すものである。図２におい
て、期間（Ａ）はモータがＣＷ方向に効率良く回転して
いる状態（ＦＲはＬＯＷレベル）で、期間（Ｂ）は回転
方向切換え指令信号がＨＩＧＨレベルとなり、モータに
最大逆トルクが発生するように通電位相が変化しモータ
が減速している状態（モータの回転方向は依然ＣＷ）で
あり、期間（Ｃ）はモータの回転方向が切換わりＣＣＷ
方向に効率良く回転している状態を示している。ここで
図１において、速度検出器７０の出力は回転方向切換え
器５０に入力され、回転方向切換え指令信号ＦＲは回転
方向切換え器５０に入力され、回転方向切換え回路５０
の出力は電力増幅器６０を介して駆動トランジスタのベ
ースに入力されている。したがってモータの回転方向切
換え指令信号が入力されると、まず最大逆トルクが発生
する位相で通電しモータの回転数が十分減速したことを
検出し、そののち通電切換えの順序を逆にすることです
ばやくモータの回転方向を切換えることができる。速度
検出器７０および回転方向切換え器５０の具体的な構成
としては、例えば図３に示したようなものが考えられ
る。FIG. 2 is a diagram showing the principle of operation for explaining the motor rotating direction switching method according to the present invention.
e, Ve, We, rotation direction switching command signal FR, and motor coil energization switching signals UH, VH, WH, UL,
It shows a phase relationship between VL and WL. In FIG. 2, during the period (A), the motor is efficiently rotating in the CW direction (FR is at the LOW level), and during the period (B), the rotation direction switching command signal is at the HIGH level, and the maximum reverse torque is applied to the motor. The energization phase is changed so that the motor is decelerating (the rotation direction of the motor is still CW), and during the period (C), the rotation direction of the motor is switched to CCW.
It shows a state in which it is efficiently rotating in the direction. Here, in FIG. 1, the output of the speed detector 70 is input to the rotation direction switching device 50, the rotation direction switching command signal FR is input to the rotation direction switching device 50, and the rotation direction switching circuit 50.
Is output to the base of the drive transistor via the power amplifier 60. Therefore, when the motor rotation direction switching command signal is input, it is first detected that the motor is energized in the phase in which the maximum reverse torque is generated and the motor rotation speed is sufficiently decelerated, and then the energization switching order is reversed. The rotation direction of the motor can be switched quickly. As specific configurations of the speed detector 70 and the rotation direction switch 50, for example, those shown in FIG. 3 can be considered.
【００１２】図３において、図１と同一機能を有する部
分は同一記号を付す。すなわちモータの回転速度に比例
した信号ＭＳは、周波数／電圧変換回路（以下Ｆ／Ｖ回
路と称す）７１に入力され、Ｆ／Ｖ回路７１の出力は比
較器７２の入力端子の一方に入力にされ、比較器７２の
入力端子の他方は基準電源７３を介して接地されてい
る。比較器７２の出力Ｔは、Ｄフリップフロップ（以下
ＤＦＦと称す）６１のクロック端子に入力され、ＤＦＦ
の出力ＱはエクスクルーシブＯＲゲート（以下ＥＸＯＲ
ゲートと称す）６２とＮＡＮＤゲート１２０，１２２，
１２４，１２６の一方の入力端子に入力されると共にイ
ンバータ１３２を介してＮＡＮＤゲート１１９，１２
１，１２３，１２５の一方の入力端子に入力されてい
る。回転方向切換え指令信号ＦＲはＤＦＦ６１のデータ
入力端子に入力されると共にＥＸＯＲゲート６２の他方
の入力端子に入力されている。ＥＸＯＲゲート６２の出
力ＡはＮＡＮＤゲート１０２，１０４，１０６，１０
８，１１０，１１２の一方の入力端子に入力されると共
にインバータ１３１を介してＮＡＮＤゲート１０１，１
０３，１０５，１０７，１０９，１１１の一方の入力端
子に入力されている。モータコイルの通電タイミングで
ある論理回路４０の出力Ｕ１はＮＡＮＤゲート１０１，
１０４の他方の入力端子に入力され、同様に論理回路４
０の出力Ｕ２はＮＡＮＤゲート１０２，１０３の他方の
入力端子に、論理回路４０の出力Ｖ１はＮＡＮＤゲート
１０５，１０８の他方の入力端子に、論理回路４０の出
力Ｖ２はＮＡＮＤゲート１０６，１０７の他方の入力端
子に、論理回路４０の出力Ｗ１はＮＡＮＤゲート１０
９，１１２の他方の入力端子に、論理回路４０の出力Ｗ
２はＮＡＮＤゲート１１０，１１１の他方の入力端子に
それぞれ入力されている。In FIG. 3, parts having the same functions as in FIG. 1 are given the same symbols. That is, the signal MS proportional to the rotation speed of the motor is input to the frequency / voltage conversion circuit (hereinafter referred to as F / V circuit) 71, and the output of the F / V circuit 71 is input to one of the input terminals of the comparator 72. The other input terminal of the comparator 72 is grounded via the reference power source 73. The output T of the comparator 72 is input to the clock terminal of a D flip-flop (hereinafter referred to as DFF) 61, and the DFF
Output Q is an exclusive OR gate (hereinafter EXOR
62) and NAND gates 120, 122,
NAND gates 119 and 12 are input to one of the input terminals of 124 and 126 and via an inverter 132.
It is input to one of the input terminals of 1, 123 and 125. The rotation direction switching command signal FR is input to the data input terminal of the DFF 61 and the other input terminal of the EXOR gate 62. The output A of the EXOR gate 62 is the NAND gates 102, 104, 106, 10
NAND gates 101, 1 are input to one of the input terminals of 8, 110, 112 and via an inverter 131.
It is input to one of the input terminals of 03, 105, 107, 109 and 111. The output U1 of the logic circuit 40, which is the energization timing of the motor coil, is the NAND gate 101,
It is input to the other input terminal of 104, and similarly, the logic circuit 4
The output U2 of 0 is to the other input terminal of the NAND gates 102 and 103, the output V1 of the logic circuit 40 is to the other input terminal of the NAND gates 105 and 108, and the output V2 of the logic circuit 40 is the other of the NAND gates 106 and 107. Output W1 of the logic circuit 40 to the input terminal of the NAND gate 10
The output W of the logic circuit 40 is applied to the other input terminals of the terminals 9 and 112.
2 is input to the other input terminals of the NAND gates 110 and 111, respectively.
【００１３】ＮＡＮＤゲート１０１，１０２の出力はＮ
ＡＮＤゲート１１３の入力端子にそれぞれ入力されてい
る。同様にＮＡＮＤゲート１０３，１０４の出力はＮＡ
ＮＤゲート１１４の入力端子に、ＮＡＮＤゲート１０
５，１０６の出力はＮＡＮＤゲート１１５の入力端子
に、ＮＡＮＤゲート１０７，１０８の出力はＮＡＮＤゲ
ート１１６の入力端子に、ＮＡＮＤゲート１０９，１１
０の出力はＮＡＮＤゲート１１７の入力端子に、ＮＡＮ
Ｄゲート１１１，１１２の出力はＮＡＮＤゲート１１８
の入力端子に、ＮＡＮＤゲート１１９，１２０の出力は
ＮＡＮＤゲート１２７の入力端子に、ＮＡＮＤゲート１
２１，１２２の出力はＮＡＮＤゲート１２８の入力端子
に、ＮＡＮＤゲート１２３，１２４の出力はＮＡＮＤゲ
ート１２９の入力端子に、ＮＡＮＤゲート１２５，１２
６の出力はＮＡＮＤゲート１３０の入力端子にそれぞれ
入力されている。ＮＡＮＤゲート１１５の出力はＮＡＮ
Ｄゲート１１９，１２４の他方の入力端子に入力され、
ＮＡＮＤゲート１１６の出力はＮＡＮＤゲート１２１，
１２６の他方の入力端子に入力され、ＮＡＮＤゲート１
１７の出力はＮＡＮＤゲート１２０，１２３の他方の入
力端子に入力され、ＮＡＮＤゲート１１８の出力はＮＡ
ＮＤゲート１２２，１２５の他方の入力端子に入力され
ている。The outputs of the NAND gates 101 and 102 are N
They are respectively input to the input terminals of the AND gate 113. Similarly, the outputs of the NAND gates 103 and 104 are NA
The NAND gate 10 is connected to the input terminal of the ND gate 114.
The outputs of the NAND gates 115 and 106 are connected to the input terminals of the NAND gate 115, and the outputs of the NAND gates 107 and 108 are connected to the input terminals of the NAND gate 116.
The output of 0 is input to the input terminal of the NAND gate 117 by the NAN.
The outputs of the D gates 111 and 112 are the NAND gate 118.
Output of the NAND gates 119 and 120 to the input terminal of the NAND gate 127.
The outputs of 21 and 122 are input to the NAND gate 128, the outputs of NAND gates 123 and 124 are input to the NAND gate 129, and the NAND gates 125 and 12 are output.
The outputs of 6 are input to the input terminals of the NAND gate 130, respectively. The output of the NAND gate 115 is NAN
Input to the other input terminal of the D gates 119 and 124,
The output of the NAND gate 116 is the NAND gate 121,
NAND gate 1 is input to the other input terminal of 126
The output of the NAND gate 118 is input to the other input terminals of the NAND gates 120 and 123, and the output of the NAND gate 118 is NA.
It is input to the other input terminals of the ND gates 122 and 125.
【００１４】ＮＡＮＤゲート１１３，１１４，１２７，
１２８，１２９，１３０の出力は回転切換え器の出力Ｕ
Ｈ，ＵＬ，ＶＨ，ＶＬ，ＷＨ，ＷＬをそれぞれ構成して
いる。以上のように構成された速度検出器および回転方
向切換え器について、以下その動作を説明する。図４に
おいて、モータの速度に比例した信号ＭＳはＦ／Ｖ回路
７１を介して比較器７２に入力され、比較器７２はＦ／
Ｖ回路７１の出力電圧レベルと、基準電圧源７３の電圧
レベルとを比較した結果Ｔを出力する。したがって基準
電圧源７３の電圧レベルを所定の値にすることによりモ
ータが任意の回転数より低くなったときだけＨＩＧＨレ
ベルになるような比較結果Ｔを得ることができる。図４
は速度検出器および回転方向切換え器の動作説明図であ
り、モータコイルに発生する逆起電圧Ｕｅ，Ｖｅ，Ｗｅ
と、ＣＷ方向にモータが回転している場合の通電切換え
タイミングＵ１，Ｕ２，Ｖ１，Ｖ２，Ｗ１，Ｗ２と、回
転方向切換え指令信号ＦＲと、速度検出器７０の出力Ｔ
と、モータコイルの通電切換え信号ＵＨ，ＶＨ，ＷＨ，
ＵＬ，ＶＬ，ＷＬ，ＤＦＦ６１の出力ＱおよびＥＸＯＲ
ゲート６２の出力Ａの位相関係を示している。同図にお
いてまず回転方向切換え指令信号ＦＲがＬＯＷレベルの
とき、モータはＣＷ方向に定常回転数にて駆動されてい
るとすると、比較器７２の出力ＴはＬＯＷレベルを継続
し、すなわちＤＦＦ６１の出力ＱもＬＯＷレベルを継続
する。NAND gates 113, 114, 127,
The outputs of 128, 129 and 130 are the output U of the rotation switching device.
H, UL, VH, VL, WH, and WL are respectively configured. The operation of the speed detector and rotation direction changer configured as described above will be described below. In FIG. 4, the signal MS proportional to the speed of the motor is input to the comparator 72 via the F / V circuit 71, and the comparator 72 outputs F / V.
A result T obtained by comparing the output voltage level of the V circuit 71 and the voltage level of the reference voltage source 73 is output. Therefore, by setting the voltage level of the reference voltage source 73 to a predetermined value, it is possible to obtain the comparison result T such that the motor goes to the HIGH level only when the motor speed becomes lower than an arbitrary number of revolutions. Figure 4
FIG. 4 is an operation explanatory view of the speed detector and the rotation direction changer, and the counter electromotive voltages Ue, Ve, We generated in the motor coil are shown.
And energization switching timings U1, U2, V1, V2, W1 and W2 when the motor is rotating in the CW direction, the rotation direction switching command signal FR, and the output T of the speed detector 70.
And motor coil energization switching signals UH, VH, WH,
Output Q and EXOR of UL, VL, WL, DFF61
The phase relationship of the output A of the gate 62 is shown. In the figure, first, when the rotation direction switching command signal FR is at the LOW level, assuming that the motor is driven in the CW direction at the steady rotation speed, the output T of the comparator 72 continues at the LOW level, that is, the output of the DFF 61. Q also keeps the LOW level.
【００１５】回転方向切換え指令信号ＦＲがＬＯＷレベ
ル、かつＤＦＦ６１の出力ＱがＬＯＷレベルの場合ＥＸ
ＯＲゲート６２の出力ＡはＬＯＷレベルとなり、その結
果ＮＡＮＤゲート１０２，１０４，１０６，１０８，１
１０，１１２の出力は他方の入力レベルにかかわらずＨ
ＩＧＨレベルとなる。一方、ＮＡＮＤゲート１０１，１
０３，１０５，１０７，１０９，１１１の一方の入力は
ＥＸＯＲゲートの反転信号すなわちＨＩＧＨレベルが入
力される。ＮＡＮＤゲート１０１の他方の入力端子には
モータコイルの通電タイミングＵ１が接続されており、
一方の入力はＨＩＧＨレベルだから前記ＮＡＮＤゲート
の出力は前記Ｕ１の反転信号となり、ＮＡＮＤゲート１
１３に入力される。前記ＮＡＮＤゲートの他方の入力は
ＨＩＧＨレベルだから前記ＮＡＮＤゲートの出力は、前
記Ｕ１の反転、すなわち前記Ｕ１となる。同様にＮＡＮ
Ｄゲート１１４，１１５，１１６，１１７，１１８の出
力はそれぞれＵ２，Ｖ１，Ｖ２，Ｗ１，Ｗ２となる。ま
た同様にＤＦＦ６１の出力ＱがＬＯＷレベルの場合ＮＡ
ＮＤゲート１２７，１２８，１２９，１３０の出力はそ
れぞれＶ１，Ｖ２，Ｗ１，Ｗ２となる。ここでＮＡＮＤ
ゲート１１３，１１４，１２７，１２８，１２９，１３
０の出力は、回転方向切換え回路の出力ＵＨ，ＵＬ，Ｖ
Ｈ，ＶＬ，ＷＨ，ＷＬを構成している。すなわち、ＵＨ
＝Ｕ１，ＵＬ＝Ｕ２，ＶＨ＝Ｖ１，ＶＬ＝Ｖ２，ＷＨ＝
Ｗ１，ＷＬ＝Ｗ２となり、モータは効率良くＣＷ方向に
駆動される。EX when the rotation direction switching command signal FR is LOW level and the output Q of the DFF 61 is LOW level
The output A of the OR gate 62 becomes LOW level, and as a result, the NAND gates 102, 104, 106, 108, 1
The output of 10,112 is H regardless of the input level of the other.
It becomes the IGH level. On the other hand, NAND gates 101, 1
One of the inputs 03, 105, 107, 109 and 111 receives the inverted signal of the EXOR gate, that is, the HIGH level. A motor coil energization timing U1 is connected to the other input terminal of the NAND gate 101,
Since one input is at the HIGH level, the output of the NAND gate becomes an inverted signal of U1 and the NAND gate 1
13 is input. Since the other input of the NAND gate is at the HIGH level, the output of the NAND gate is the inversion of the U1, that is, the U1. Similarly NAN
The outputs of the D gates 114, 115, 116, 117 and 118 are U2, V1, V2, W1 and W2, respectively. Similarly, when the output Q of the DFF 61 is LOW level, NA
The outputs of the ND gates 127, 128, 129 and 130 are V1, V2, W1 and W2, respectively. NAND here
Gates 113, 114, 127, 128, 129, 13
The output of 0 is the output of the rotation direction switching circuit UH, UL, V
H, VL, WH, and WL are configured. That is, UH
= U1, UL = U2, VH = V1, VL = V2, WH =
Since W1 and WL = W2, the motor is efficiently driven in the CW direction.
【００１６】次に回転方向切換え指令信号ＦＲがＨＩＧ
Ｈレベルになると、ＥＸＯＲゲート６２の出力ＡはＨＩ
ＧＨレベルとなり、ＮＡＮＤゲート１０１，１０３，１
０５，１０７，１０９，１１１の一方の入力はＬＯＷレ
ベルとなり、他方の入力にかかわらずＮＡＮＤゲート１
０１，１０３，１０５，１０７，１０９，１１１の出力
はＨＩＧＨレベルとなり、ＮＡＮＤゲート１１３，１１
４，１１５，１１６，１１７，１１８の一方の入力もＨ
ＩＧＨレベルとなる。またＮＡＮＤゲート１０２，１０
４，１０６，１０８，１１０，１１２の一方の入力はＨ
ＩＧＨレベルとなり、その出力はそれぞれＵ２，Ｕ１，
Ｖ２，Ｖ１，Ｗ２，Ｗ１の反転信号となり、ＮＡＮＤゲ
ート１１３，１１４，１１５，１１６，１１７，１１８
の出力はそれぞれＵ２，Ｕ１，Ｖ２，Ｖ１，Ｗ２，Ｗ１
となる。ＤＦＦ６１の出力ＱはＬＯＷレベルを継続して
いるので回転方向切換え回路の出力ＵＨ，ＵＬ，ＶＨ，
ＶＬ，ＷＨ，ＷＬはそれぞれＵ２，Ｕ１，Ｖ２，Ｖ１，
Ｗ２，Ｗ１となる。したがってモータには最大の逆トル
クが発生し、急激に減速する。やがてモータの回転数が
所定の回転数（十分低い回転数）まで低下すると、速度
検出器の出力ＴがＨＩＧＨレベルとなり、ＤＦＦ６１の
データ入力（Ｆ／Ｒ信号）はＨＩＧＨなのでＤＦＦ６１
の出力ＱはＨＩＧＨレベルとなる。Next, the rotation direction switching command signal FR becomes HIG.
When it becomes H level, the output A of the EXOR gate 62 becomes HI.
It becomes the GH level, and the NAND gates 101, 103, 1
One of the inputs of 05, 107, 109, and 111 becomes LOW level, and the NAND gate 1 regardless of the other input.
The outputs of 01, 103, 105, 107, 109, and 111 become HIGH level, and the NAND gates 113 and 11
One of the inputs of 4, 115, 116, 117 and 118 is also H
It becomes the IGH level. In addition, the NAND gates 102 and 10
One of the inputs of 4, 106, 108, 110 and 112 is H
IGH level, the output is U2, U1, respectively
It becomes an inverted signal of V2, V1, W2, W1 and becomes NAND gates 113, 114, 115, 116, 117, 118.
Output of U2, U1, V2, V1, W2, W1 respectively
Becomes Since the output Q of the DFF 61 continues to be LOW level, the outputs UH, UL, VH,
VL, WH, WL are U2, U1, V2, V1, respectively.
W2 and W1. Therefore, the maximum reverse torque is generated in the motor and the motor decelerates rapidly. When the number of rotations of the motor eventually drops to a predetermined number of rotations (sufficiently lower number of rotations), the output T of the speed detector becomes HIGH level, and the data input (F / R signal) of DFF61 is HIGH, so DFF61
Output Q becomes HIGH level.
【００１７】ＤＦＦ６１の出力ＱがＨＩＧＨレベルとな
ると、ＥＸＯＲゲート６２の出力ＡはＬＯＷレベルとな
り、ＮＡＮＤゲート１０２，１０４，１０６，１０８，
１１０，１１２の一方の入力はＬＯＷレベルとなり、他
方の入力にかかわらずＮＡＮＤゲート１０２，１０４，
１０６，１０８，１１０，１１２の出力はＨＩＧＨレベ
ルとなり、ＮＡＮＤゲート１１３，１１４，１１５，１
１６，１１７，１１８の一方の入力もＨＩＧＨレベルと
なる。またＮＡＮＤゲート１０１，１０３，１０５，１
０７，１０９，１１１の一方の入力はＨＩＧＨレベルと
なり、その出力はそれぞれＵ２，Ｕ１，Ｖ２，Ｖ１，Ｗ
２，Ｗ１の反転信号となり、ＮＡＮＤゲート１１３，１
１４，１１５，１１６，１１７，１１８の出力はそれぞ
れＵ１，Ｕ２，Ｖ１，Ｖ２，Ｗ１，Ｗ２となる。またＤ
ＦＦ６１の出力ＱがＨＩＧＨレベルになると、ＮＡＮＤ
ゲート１１９，１２１，１２３，１２５の一方の入力は
ＬＯＷレベルとなり、他方の入力にかかわらずその出力
はＨＩＧＨレベルとなる。またＮＡＮＤゲート１２０，
１２２，１２４，１２６の一方の入力はＨＩＧＨレベル
となり、他方の入力にはそれぞれＷ１，Ｗ２，Ｖ１，Ｖ
２が入力されているので、ＮＡＮＤゲート１２７，１２
８，１２９，１３０の出力すなわち回転方向切換え回路
の出力ＵＨ，ＵＬ，ＶＨ，ＶＬ，ＷＨ，ＷＬはそれぞれ
Ｕ１，Ｕ２，Ｗ１，Ｗ２，Ｖ１，Ｖ２となる。When the output Q of the DFF 61 becomes HIGH level, the output A of the EXOR gate 62 becomes LOW level, and the NAND gates 102, 104, 106, 108 ,.
One of the inputs 110 and 112 becomes LOW level, and the NAND gates 102, 104,
The outputs of 106, 108, 110, 112 become HIGH level, and the NAND gates 113, 114, 115, 1
One of the inputs 16, 117 and 118 also becomes HIGH level. In addition, NAND gates 101, 103, 105, 1
One of the inputs 07, 109 and 111 becomes HIGH level, and the outputs thereof are U2, U1, V2, V1 and W, respectively.
2, W1 becomes an inverted signal, and NAND gates 113, 1
The outputs of 14, 115, 116, 117 and 118 are U1, U2, V1, V2, W1 and W2, respectively. Also D
When the output Q of FF61 becomes HIGH level, NAND
One of the inputs of the gates 119, 121, 123 and 125 is at the LOW level, and its output is at the HIGH level regardless of the other input. In addition, the NAND gate 120,
One of the inputs 122, 124, 126 becomes HIGH level, and the other inputs have W1, W2, V1, V respectively.
Since 2 is input, NAND gates 127, 12
Outputs 8, 129, 130, that is, outputs UH, UL, VH, VL, WH, WL of the rotation direction switching circuit are U1, U2, W1, W2, V1 and V2, respectively.
【００１８】したがって、モータは効率良くＣＣＷ方向
に駆動され、モータの回転方向が短時間に切換えられ
る。ＣＣＷ方向からＣＷ方向への回転方向の切換えも同
様に行われる。以上のように本実施例によれば、モータ
駆動コイルに誘起される逆起電圧を逆起電圧検出器によ
り検出しフィルタ回路を介して電圧レベルに平滑し前記
電圧レベルで電圧制御発振器を発振させ、前記発振周波
数を基に通電タイミングを合成し駆動トランジスタを介
してモータコイルに通電を行うことにより、ホール素子
等の位置検出素子等を必要とせず効率良くモータを駆動
でき、かつモータの回転方向切換え指令信号が入力され
ると、回転方向切換え器により最大逆トルクが発生する
位相でモータコイルに通電し、モータの速度を速度検出
器により検出した結果を前記回転方向切換え器に入力す
ることで適切なタイミングで通電順序を切換えてすばや
く回転方向を切換えることができる。Therefore, the motor is efficiently driven in the CCW direction, and the rotation direction of the motor is switched in a short time. Switching of the rotation direction from the CCW direction to the CW direction is similarly performed. As described above, according to the present embodiment, the counter electromotive voltage induced in the motor drive coil is detected by the counter electromotive voltage detector, smoothed to the voltage level through the filter circuit, and the voltage controlled oscillator is oscillated at the voltage level. By combining the energization timing based on the oscillation frequency and energizing the motor coil through the drive transistor, the motor can be efficiently driven without the need for position detection elements such as Hall elements, and the rotation direction of the motor When the switching command signal is input, the motor coil is energized in the phase in which the maximum reverse torque is generated by the rotation direction changer, and the result of detecting the motor speed by the speed detector is input to the rotation direction changer. The energizing order can be switched at an appropriate timing to quickly switch the rotation direction.
【００１９】[0019]
【発明の効果】以上の説明で明らかなように本発明のブ
ラシレスモータの駆動装置は、複数相のモータ駆動コイ
ルと、前記駆動コイルの逆起電圧を検出する逆起電圧検
出器と、前記逆起電圧検出器の出力に応じて前記複数相
のコイルへの通電を制御する通電制御器と、モータの速
度を検出する速度検出器と、回転方向切換え指令信号が
入力されると前記速度検出器の出力に応じて前記通電制
御器の出力の通電位相を変化させ出力する回転方向切換
え器を設けることにより、ホール素子等の位置検出器を
必要とせず効率良くモータが駆動でき、かつモータの回
転方向切換え指令信号が入力されると、回転方向切換え
器により最大逆トルクが発生する位相でモータコイルに
通電し、モータの速度を速度検出器により検出した結果
を前記回転方向切換え器に入力することで適切なタイミ
ングで通電順序を切換えてすばやく回転方向を切換える
ことができる。As is apparent from the above description, the brushless motor drive device of the present invention includes a plurality of motor drive coils, a back electromotive voltage detector for detecting back electromotive voltages of the drive coils, and An energization controller that controls energization to the coils of the plurality of phases according to the output of the electromotive voltage detector, a speed detector that detects the speed of the motor, and the speed detector when a rotation direction switching command signal is input. By providing a rotation direction changer that changes and outputs the energization phase of the output of the energization controller according to the output of the motor, it is possible to drive the motor efficiently without requiring a position detector such as a hall element, and to rotate the motor. When the direction switching command signal is input, the motor coil is energized in the phase in which the maximum reverse torque is generated by the rotation direction switch, and the result of motor speed detected by the speed detector By entering the example device switching the supply order at an appropriate timing can be switched quickly rotational direction.
【図１】本発明のブラシレスモータの駆動装置の回路構
成図FIG. 1 is a circuit configuration diagram of a brushless motor driving device of the present invention.
【図２】図１のモータの回転方向切換え方法の動作原理
説明図FIG. 2 is an explanatory diagram of the operating principle of the rotation direction switching method of the motor of FIG.
【図３】速度検出器および回転方向切換え器の具体的回
路構成図FIG. 3 is a specific circuit configuration diagram of a speed detector and a rotation direction changer.
【図４】図３の回路の動作説明図4 is an explanatory diagram of the operation of the circuit of FIG.
【図５】従来のブラシレスモータの駆動装置の回路構成
図FIG. 5 is a circuit configuration diagram of a conventional brushless motor drive device.
【図６】図５の装置の動作説明図6 is an explanatory diagram of the operation of the apparatus of FIG.
【図７】（Ａ）はモータの回転方向切換え方法を説明す
るための、モータがＣＷ方向回転時の逆起電圧と通電位
相の図 （Ｂ）はモータの回転方向切換え方法を説明するため
の、モータがＣＣＷ方向回転時の逆起電圧と通電位相の
図FIG. 7A is a diagram of a back electromotive voltage and a conduction phase when the motor rotates in the CW direction, for explaining the motor rotation direction switching method. FIG. 7B is a diagram for explaining the motor rotation direction switching method. , Diagram of back electromotive force and energization phase when motor rotates in CCW direction
【図８】モータの回転方向切換え時の通電タイミングの
図FIG. 8 is a diagram of energization timing when switching the rotation direction of the motor.
１〜３ 駆動コイル ４〜９ 駆動トランジスタ １０ 逆起電圧検出器 ５０ 回転方向切換え器 ６０ 電力増幅器 ７０ 速度検出器 １００ 通電制御器 1 to 3 Drive coil 4 to 9 Drive transistor 10 Back electromotive voltage detector 50 Rotation direction switcher 60 Power amplifier 70 Speed detector 100 Energization controller
Claims (1)
イルの逆起電圧を検出する逆起電圧検出器と、前記逆起
電圧検出器の出力に応じて前記複数相のコイルへの通電
を制御する通電制御器と、モータの速度を検出する速度
検出器と、回転方向切換え指令信号が入力されると前記
速度検出器の出力に応じて前記通電制御器の出力である
通電位相を切換える回転方向切換え器を備えたブラシレ
スモータの駆動装置。1. A multi-phase motor drive coil, a back electromotive voltage detector for detecting a back electromotive voltage of the drive coil, and energization to the multi-phase coils according to the output of the back electromotive voltage detector. An energization controller for controlling, a speed detector for detecting the speed of the motor, and a rotation for switching the energization phase which is the output of the energization controller according to the output of the speed detector when a rotation direction switching command signal is input. Brushless motor drive with direction changer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22697091A JP3156289B2 (en) | 1991-09-06 | 1991-09-06 | Drive device for brushless motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22697091A JP3156289B2 (en) | 1991-09-06 | 1991-09-06 | Drive device for brushless motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0568393A true JPH0568393A (en) | 1993-03-19 |
| JP3156289B2 JP3156289B2 (en) | 2001-04-16 |
Family
ID=16853477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22697091A Expired - Lifetime JP3156289B2 (en) | 1991-09-06 | 1991-09-06 | Drive device for brushless motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3156289B2 (en) |
-
1991
- 1991-09-06 JP JP22697091A patent/JP3156289B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP3156289B2 (en) | 2001-04-16 |
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