JPH07222477A - Rotating direction detector - Google Patents
Rotating direction detectorInfo
- Publication number
- JPH07222477A JPH07222477A JP6009233A JP923394A JPH07222477A JP H07222477 A JPH07222477 A JP H07222477A JP 6009233 A JP6009233 A JP 6009233A JP 923394 A JP923394 A JP 923394A JP H07222477 A JPH07222477 A JP H07222477A
- Authority
- JP
- Japan
- Prior art keywords
- voltage
- motor
- electric motor
- detected
- terminals
- 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
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業界で広く利用され
ている電動機の回転方向を検出するための回転方向検出
装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation direction detecting device for detecting the rotation direction of an electric motor, which is widely used in industry.
【０００２】[0002]
【従来の技術】電動機は従来産業界で広く利用されてい
ることはいうまでもないが、その中でも直流電動機は、
その制御の容易さやコストの安さから主流を占めてい
る。特に、自動車分野ではパワーウインドモータやワイ
パーモータなど多用されている。2. Description of the Related Art Needless to say, electric motors have been widely used in industry, but among them, DC motors are
It is the mainstream because of its ease of control and low cost. In particular, in the field of automobiles, power window motors and wiper motors are widely used.
【０００３】従来の電動機は、主としてパワーを取り出
すために使用されていたが、近年パワー制御のみならず
位置制御も必要とされるようになってきた。そのために
は、電動機に位置センサを取り付ける必要がある。位置
センサには、アナログ式とディジタル式があるが、近年
のマイクロコンピュータによる制御の発展から主として
ディジタル式が使用されることが多い。ディジタル式に
も、アブソリュート式とインクリメンタル式があるが、
コストの安いインクリメンタル式が一般的である。Conventional electric motors have been used mainly for extracting power, but in recent years, not only power control but also position control has been required. For that purpose, it is necessary to attach a position sensor to the electric motor. The position sensor includes an analog type and a digital type, but a digital type is often used mainly due to the recent development of control by a microcomputer. The digital type also has an absolute type and an incremental type,
Incremental formulas, which are cheaper, are common.
【０００４】位置センサ出力の相数は、電動機の回転に
伴うパルスの変化をそれぞれ９０゜位相差を持たせた２
相式が一般的である。２相式は、一方の相の立ち上がり
または立ち下がりエッヂのタイミングでもう一方の相が
ＨＩＧＨ、またはＬＯＷレベルかどうかを判断すること
により回転方向を判定することができる。The number of phases of the output of the position sensor is 2 obtained by giving a 90 ° phase difference to the change of the pulse accompanying the rotation of the electric motor.
The phase formula is general. In the two-phase type, the rotation direction can be determined by determining whether the other phase is at the HIGH or LOW level at the timing of the rising or falling edge of the one phase.
【０００５】よって、電動機の位置センサとしては２相
インクリメンタル式が使用されるのが一般的である。Therefore, a two-phase incremental type is generally used as the position sensor of the electric motor.
【０００６】[0006]
【発明が解決しようとする課題】このような従来の電動
機の位置センサでは、２相のパルス信号をマイクロコン
ピュータに読み込み、一方の相の立ち上がりまたは立ち
下がりエッヂのタイミングでもう一方の相がＨＩＧＨ、
またはＬＯＷレベルかどうかを判断することにより回転
方向を簡単に判定することができる。In such a conventional position sensor for an electric motor, a two-phase pulse signal is read into a microcomputer, and the other phase is HIGH at the timing of the rising or falling edge of one phase.
Alternatively, it is possible to easily determine the rotation direction by determining whether it is the LOW level.
【０００７】しかしながらセンサの実現方法によって
は、２相式はコストや工数の増大につながり１相式で設
計せざるをえないことがある。この場合は、回転方向を
他の手段で検出しなければならない。However, depending on the method of realizing the sensor, the two-phase type may increase the cost and man-hours and may be forced to be designed by the one-phase type. In this case, the rotation direction must be detected by other means.
【０００８】本発明は上記課題を解決するもので、位置
センサとして、１相のパルス信号しかない場合でも回転
方向を検出し、電動機の位置制御を可能にするものであ
る。The present invention solves the above-mentioned problems, and as a position sensor, it is possible to control the position of an electric motor by detecting the direction of rotation even when there is only one phase pulse signal.
【０００９】[0009]
【課題を解決するための手段】本発明は上記目的を達成
するために、現在の電動機への制御指令を一時記憶手段
に格納し、その制御指令により現在の電動機の端子接続
状態を判断し、電動機に電圧が印加されているとき、ま
たは電動機の両端子が開放されているときは電動機の両
端子の端子電圧を電圧検出手段によりそれぞれ検出し、
その検出電圧を電圧比較手段により比較して電動機の回
転方向を判定し、電動機の両端子が短絡されているとき
は所定時間だけ電動機の両端子を開放するように制御指
令を変更し、その後電動機の両端子の端子電圧を電圧検
出手段によりそれぞれ検出し、その検出電圧を電圧比較
手段により比較して電動機の回転方向を判定し、その後
前記記憶手段に格納された制御指令を復帰するように構
成する。In order to achieve the above object, the present invention stores a control command for a current electric motor in a temporary storage means, and judges the current terminal connection state of the electric motor according to the control command. When voltage is applied to the electric motor, or when both terminals of the electric motor are opened, the terminal voltage of both terminals of the electric motor is detected by the voltage detecting means, respectively.
The detected voltage is compared by the voltage comparison means to determine the rotation direction of the electric motor, and when both terminals of the electric motor are short-circuited, the control command is changed to open both terminals of the electric motor for a predetermined time, and then the electric motor is changed. The voltage detecting means detects the terminal voltages of both terminals, the voltage comparing means compares the detected voltages, the direction of rotation of the electric motor is determined, and then the control command stored in the storing means is restored. To do.
【００１０】[0010]
【作用】本発明は上記した構成により、電動機に付加す
る位置センサが１相式でよく、センサの低コスト化が可
能になる。According to the present invention, the position sensor to be added to the electric motor may be of the single-phase type, and the cost of the sensor can be reduced.
【００１１】[0011]
【実施例】以下本発明の一実施例について、図１および
図２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 FIGS.
【００１２】図１は本発明の一実施例における直流電動
機の正逆回転可能なドライブ回路を示したものである。FIG. 1 shows a drive circuit capable of rotating the DC motor in forward and reverse directions according to an embodiment of the present invention.
【００１３】１，２，３，４はスイッチング素子を表し
ている。これらの素子をＨブリッヂに組み、直流電動機
５を接続する。Reference numerals 1, 2, 3, and 4 represent switching elements. These elements are assembled in the H bridge and the DC motor 5 is connected.
【００１４】スイッチング素子は、マイクロコンピュー
タからの指令によりプリドライブ回路を介して駆動され
る。The switching element is driven via a pre-drive circuit according to a command from the microcomputer.
【００１５】例えばスイッチング素子１，４をＯＮし、
スイッチング素子２，３をＯＦＦすれば図１のＡ端子に
プラスの電圧がかかり、Ｂ端子にはマイナスの電圧がか
かる。よって電動機５は、例えばＣＷ方向に回転する。For example, switching elements 1 and 4 are turned on,
When the switching elements 2 and 3 are turned off, a positive voltage is applied to the A terminal and a negative voltage is applied to the B terminal in FIG. Therefore, the electric motor 5 rotates in the CW direction, for example.
【００１６】スイッチング素子２，３をＯＮし、スイッ
チング素子１，４をＯＦＦすればＣＣＷ方向に回転す
る。When the switching elements 2 and 3 are turned on and the switching elements 1 and 4 are turned off, they rotate in the CCW direction.
【００１７】スイッチング素子３，４をＯＮし、スイッ
チング素子１，２をＯＦＦすれば電動機５は電磁制動が
かかり停止する。When the switching elements 3 and 4 are turned on and the switching elements 1 and 2 are turned off, the electric motor 5 is electromagnetically braked and stopped.
【００１８】抵抗８，９は分圧回路であり、抵抗１０，
コンデンサ１１はフィルタ回路である。ツェナーダイオ
ード７，１２はそれぞれ過電圧保護回路である。コンパ
レータ１３はＣ点，Ｄ点の電圧を比較してＨＩＧＨ、ま
たはＬＯＷ信号を出力する電圧比較回路である。The resistors 8 and 9 are voltage dividing circuits, and the resistors 10 and 9 are
The capacitor 11 is a filter circuit. Zener diodes 7 and 12 are overvoltage protection circuits, respectively. The comparator 13 is a voltage comparison circuit that compares the voltages at points C and D and outputs a HIGH or LOW signal.
【００１９】電動機５の回転方向検出は、次のように行
われる。スイッチング素子１，４がＯＮ、２，３がＯＦ
ＦのときはＡ点にほぼ電源電圧、Ｂ点にほぼグランド電
圧がかかっており、Ｄ点よりもＣ点の電圧が高いので図
１の回路では電圧比較回路の出力はＨＩＧＨとなる。The detection of the rotation direction of the electric motor 5 is performed as follows. Switching elements 1 and 4 are ON, 2 and 3 are OF
In the case of F, almost the power supply voltage is applied to the point A, the ground voltage is applied to the point B, and the voltage of the point C is higher than that of the point D. Therefore, in the circuit of FIG. 1, the output of the voltage comparison circuit becomes HIGH.
【００２０】スイッチング素子２，３がＯＮ、１，４が
ＯＦＦのときはＬＯＷになる。ある種の応用では、電動
機停止時は電磁制動がかかる状態にすることがある。It is LOW when the switching elements 2 and 3 are ON and 1 and 4 are OFF. In some applications, electromagnetic braking may be applied when the motor is stopped.
【００２１】このときは、スイッチング素子３，４がＯ
Ｎ、１，２がＯＦＦである。もちろん、スイッチング素
子１，２がＯＮ、３，４がＯＦＦでもよい。At this time, the switching elements 3 and 4 are turned off.
N, 1 and 2 are OFF. Of course, the switching elements 1 and 2 may be ON, and the switching elements 3 and 4 may be OFF.
【００２２】このときのＡ点，Ｂ点の電圧は、スイッチ
ング素子３，４によってショートされているのでほぼゼ
ロであり、たとえ電動機が電磁制動を受けながらも回転
しているときその回転方向は検出できない。At this time, the voltage at the points A and B is almost zero because it is short-circuited by the switching elements 3 and 4, and the direction of rotation is detected even when the electric motor is rotating under electromagnetic braking. Can not.
【００２３】よって、回転方向出力信号を読み込む前に
まず現在のスイッチング素子の状態を記憶する。Therefore, before reading the rotational direction output signal, the current state of the switching element is first stored.
【００２４】もし、電動機の端子がショート状態ならば
次にスイッチング素子１，２，３，４をすべてＯＦＦに
する。If the terminals of the motor are short-circuited, then all the switching elements 1, 2, 3, 4 are turned off.
【００２５】電動機が回転しておれば、誘起電圧を発生
しているのでＡ端子，Ｂ端子には電位差が現れる。If the electric motor is rotating, an induced voltage is generated, so that a potential difference appears at the A terminal and the B terminal.
【００２６】スイッチング素子の状態が十分安定してか
ら、この電位差による電圧比較回路からの回転方向出力
信号を読み取る。After the state of the switching element is sufficiently stabilized, the rotation direction output signal from the voltage comparison circuit based on this potential difference is read.
【００２７】その後、スイッチング素子の状態を記憶し
ていた状態に戻す。上記動作は、主としてマイクロコン
ピュータによって指令される。After that, the state of the switching element is returned to the stored state. The above operation is mainly instructed by the microcomputer.
【００２８】そのフローチャートを図２に示す。このよ
うに本発明の実施例によれば、電動機に印加される電圧
や誘起電圧を検出して回転方向を判定するので、位置セ
ンサ信号が１相式でも位置制御をかけることが可能とな
る。The flowchart is shown in FIG. As described above, according to the embodiment of the present invention, since the rotation direction is determined by detecting the voltage or the induced voltage applied to the electric motor, it is possible to perform the position control even if the position sensor signal is the one-phase type.
【００２９】[0029]
【発明の効果】以上の実施例から明らかなように本発明
によれば、電動機に電圧が印加されているときはその端
子電圧によって回転方向を検出し、電動機がショートさ
れているときは一旦電動機を開放し、その誘起電圧によ
って回転方向を検出するので位置センサ信号が１相式で
も位置制御が可能となり、安価な電動機制御システムを
提供することができる。As is apparent from the above embodiments, according to the present invention, when the voltage is applied to the electric motor, the rotation direction is detected by the terminal voltage of the electric motor, and when the electric motor is short-circuited, the electric motor is temporarily turned on. Is opened and the rotational direction is detected by the induced voltage, position control can be performed even if the position sensor signal is a one-phase type, and an inexpensive motor control system can be provided.
【図１】本発明の一実施例の回転方向検出回路図FIG. 1 is a circuit diagram of a rotation direction detection circuit according to an embodiment of the present invention.
【図２】本発明の一実施例におけるマイクロコンピュー
タのプログラムフローチャートFIG. 2 is a program flowchart of a microcomputer according to an embodiment of the present invention.
１，２，３，４ スイッチング素子 ５ 電動機 ６ パルス信号発生器 ７，１２ ツェナーダイオード ８，９，１０ 抵抗 １１ コンデンサ １３ コンパレータ 1,2,3,4 Switching element 5 Electric motor 6 Pulse signal generator 7,12 Zener diode 8,9,10 Resistor 11 Capacitor 13 Comparator
Claims (1)
転方向検出装置において、現在の電動機への制御指令を
一時記憶手段に格納し、この制御指令により現在の電動
機の端子接続状態を判断し、電動機に電圧が印加されて
いるとき、または電動機の両端子が開放されているとき
は電動機の両端子の端子電圧を電圧検出手段によりそれ
ぞれ検出し、この検出電圧を電圧比較手段により比較し
て電動機の回転方向を判定し、電動機の両端子が短絡さ
れているときは所定時間だけ電動機の両端子を開放する
ように制御指令を変更し、この後電動機の両端子の端子
電圧を電圧検出手段によりそれぞれ検出し、この検出電
圧を電圧比較手段により比較して電動機の回転方向を判
定し、この後前記記憶手段に格納された制御指令を復帰
することを特徴とする回転方向検出装置。1. A rotation direction detecting device in a forward / reverse rotation stop control of a DC electric motor, wherein a control command for the current electric motor is stored in a temporary storage means, and the current terminal connection state of the electric motor is judged by the control command. When a voltage is applied to the electric motor or when both terminals of the electric motor are open, the terminal voltage of both terminals of the electric motor is detected by the voltage detecting means, and the detected voltage is compared by the voltage comparing means and the electric motor is compared. The rotation direction of the motor is determined, and when both terminals of the motor are short-circuited, the control command is changed so that both terminals of the motor are opened for a predetermined time.After that, the terminal voltage of both terminals of the motor is detected by the voltage detection means. Each is detected, the detected voltage is compared by the voltage comparison means to determine the rotation direction of the electric motor, and then the control command stored in the storage means is restored. That the rotation direction detection apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00923394A JP3458436B2 (en) | 1994-01-31 | 1994-01-31 | Rotation direction detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00923394A JP3458436B2 (en) | 1994-01-31 | 1994-01-31 | Rotation direction detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07222477A true JPH07222477A (en) | 1995-08-18 |
| JP3458436B2 JP3458436B2 (en) | 2003-10-20 |
Family
ID=11714693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP00923394A Expired - Fee Related JP3458436B2 (en) | 1994-01-31 | 1994-01-31 | Rotation direction detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3458436B2 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0997736A2 (en) * | 1998-10-27 | 2000-05-03 | DaimlerChrysler AG | Method for detecting the movement, direction of movement and position of a moving part driven by an electrical motor, and suitable circuit |
| EP1049242A3 (en) * | 1999-04-28 | 2002-06-12 | Keyence Corporation | DC motor driving apparatus |
| US6545439B2 (en) | 1998-10-27 | 2003-04-08 | Daimlerchrysler Ag | Method and circuit arrangement for detecting motion, direction and position of a part driven by an electric motor |
| US6953415B2 (en) | 2002-09-03 | 2005-10-11 | Nissan Motor Co., Ltd. | Vehicle control apparatus |
| CN100356141C (en) * | 2004-03-17 | 2007-12-19 | 三菱电机株式会社 | Rotation state detecting device and rotation state detecting method |
| WO2008104640A1 (en) * | 2007-02-28 | 2008-09-04 | Iws International Oy | Intelligent current distribution node |
| WO2009052808A2 (en) * | 2007-10-27 | 2009-04-30 | Marquardt Gmbh | Circuit arrangement for a power tool |
| US20100127645A1 (en) * | 2008-11-19 | 2010-05-27 | Roman Gronbach | Electrical full bridge circuit configuration |
| US7737730B2 (en) * | 2007-08-31 | 2010-06-15 | Infineon Technologies Ag | Method of detecting the frequency of an input clock signal of an integrated circuit and integrated circuit |
| EP2278339A1 (en) * | 2009-07-11 | 2011-01-26 | ebm-papst St. Georgen GmbH & Co. KG | Single phase brushless motor |
| JP2012108013A (en) * | 2010-11-18 | 2012-06-07 | Nsk Ltd | Motor angle detector |
| JP2013130513A (en) * | 2011-12-22 | 2013-07-04 | Denso Corp | Position detector |
-
1994
- 1994-01-31 JP JP00923394A patent/JP3458436B2/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0997736A2 (en) * | 1998-10-27 | 2000-05-03 | DaimlerChrysler AG | Method for detecting the movement, direction of movement and position of a moving part driven by an electrical motor, and suitable circuit |
| EP0997736A3 (en) * | 1998-10-27 | 2000-08-23 | DaimlerChrysler AG | Method for detecting the movement, direction of movement and position of a moving part driven by an electrical motor, and suitable circuit |
| US6545439B2 (en) | 1998-10-27 | 2003-04-08 | Daimlerchrysler Ag | Method and circuit arrangement for detecting motion, direction and position of a part driven by an electric motor |
| EP1049242A3 (en) * | 1999-04-28 | 2002-06-12 | Keyence Corporation | DC motor driving apparatus |
| US6953415B2 (en) | 2002-09-03 | 2005-10-11 | Nissan Motor Co., Ltd. | Vehicle control apparatus |
| CN100356141C (en) * | 2004-03-17 | 2007-12-19 | 三菱电机株式会社 | Rotation state detecting device and rotation state detecting method |
| WO2008104640A1 (en) * | 2007-02-28 | 2008-09-04 | Iws International Oy | Intelligent current distribution node |
| US7737730B2 (en) * | 2007-08-31 | 2010-06-15 | Infineon Technologies Ag | Method of detecting the frequency of an input clock signal of an integrated circuit and integrated circuit |
| WO2009052808A3 (en) * | 2007-10-27 | 2009-07-02 | Marquardt Gmbh | Circuit arrangement for a power tool |
| WO2009052808A2 (en) * | 2007-10-27 | 2009-04-30 | Marquardt Gmbh | Circuit arrangement for a power tool |
| US20100127645A1 (en) * | 2008-11-19 | 2010-05-27 | Roman Gronbach | Electrical full bridge circuit configuration |
| US8461787B2 (en) * | 2008-11-19 | 2013-06-11 | Robert Bosch Gmbh | Electrical full bridge circuit configuration |
| EP2278339A1 (en) * | 2009-07-11 | 2011-01-26 | ebm-papst St. Georgen GmbH & Co. KG | Single phase brushless motor |
| JP2012108013A (en) * | 2010-11-18 | 2012-06-07 | Nsk Ltd | Motor angle detector |
| JP2013130513A (en) * | 2011-12-22 | 2013-07-04 | Denso Corp | Position detector |
| US8941399B2 (en) | 2011-12-22 | 2015-01-27 | Denso Corporation | Position detecting device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3458436B2 (en) | 2003-10-20 |
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