JPS61161986A - Method of controlling 3-phase brushless motor - Google Patents
Method of controlling 3-phase brushless motorInfo
- Publication number
- JPS61161986A JPS61161986A JP59279599A JP27959984A JPS61161986A JP S61161986 A JPS61161986 A JP S61161986A JP 59279599 A JP59279599 A JP 59279599A JP 27959984 A JP27959984 A JP 27959984A JP S61161986 A JPS61161986 A JP S61161986A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- position detection
- oscillation
- motor
- detection signal
- 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
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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は永久磁石を回転子とした三相ブラシレスモータ
（以下モータと略す）の回転子の位置を検出した位置検
出信号によって、該回転子の回転を持続せしむる為の制
御方法であって、特に上記モータの起動を容易に行うこ
とを可能にする制御方法に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention detects the position of the rotor of a three-phase brushless motor (hereinafter abbreviated as motor) using a permanent magnet as a rotor by detecting the position of the rotor. The present invention relates to a control method for sustaining the rotation of the motor, and particularly to a control method that allows the motor to be started easily.
従来、この種の七−夕は、大別して、ホール素子等の磁
気検出手段をモータ内に回転子の永久磁石と対向して装
着し、該モータの第１の相（以下Ｕ相と称す）、第２の
相（以下Ｖ相と称す）、第３の相（以下Ｗ相と称す）の
各々の相に対する該モータの回転子の永久磁石の磁気を
検出した３つの位置検出信号を得て、該位置検出信号を
論理化した後に適宜処理し、該モータの回転子を回転さ
せるべく該モータの固定子巻線に通電する為の信号を作
り出す制御方法と、モータの固定子巻線のり相、Ｖ相、
Ｗ相に対応する各相の巻線に生ずる誘起電圧を位置検出
信号とし、該位置検出信号を論理化した後に適宜処理し
、該モータの回転子を回転させるべく該モータの固定子
巻線に通電する為の信号を作り出す制御方法との２Ｆｌ
ｌｌ類が知られている。前者の制御方法の一例を第５図
に、後者の制御方法の一例を第６図に示す。Conventionally, this type of Tanabata is roughly divided into two types: a magnetic detection means such as a Hall element is installed in the motor facing the permanent magnet of the rotor, and the first phase (hereinafter referred to as U phase) of the motor is detected. , obtain three position detection signals that detect the magnetism of the permanent magnet of the rotor of the motor for each of the second phase (hereinafter referred to as V phase) and the third phase (hereinafter referred to as W phase). , a control method for converting the position detection signal into logic and then appropriately processing it to generate a signal for energizing the stator winding of the motor in order to rotate the rotor of the motor; , V phase,
The induced voltage generated in the windings of each phase corresponding to the W phase is used as a position detection signal, and the position detection signal is converted into logic and processed appropriately, and applied to the stator winding of the motor in order to rotate the rotor of the motor. 2Fl with a control method that creates a signal for energizing
Class II is known. An example of the former control method is shown in FIG. 5, and an example of the latter control method is shown in FIG.
第５図において、ホール素子等の磁気検出手段が装着さ
れたモータｌの該磁気検出手段からの位置検出信号８１
、Ｓｌ、８．は、論理化処理部２を経て各々Ｕ′、Ｖ′
、Ｗ′の論理化位置検出信号とされ、該論理化位置検出
信号を処理して、モータｌの固定子巻線を通電するに必
要な信号を作る信号処理部３によって、三相ブリッジに
組まれた通電制御素子で構成されたインバータ部４の各
々の通電制御素子４ａ 、４ｂ、４Ｃ１４ｄ、４ｅ、４
ｆを電気角で１２０°の通電でオン・オフせしめる信号
Ｕ、Ｖ、Ｗ、ｘ、ｙ、ｚに変換される。第７図に上記の
信号のタイムチャートを示す。In FIG. 5, a position detection signal 81 from a magnetic detection means such as a Hall element of a motor l is equipped with a magnetic detection means such as a Hall element.
, Sl, 8. are respectively U' and V' after passing through the logic processing section 2.
, W', and is assembled into a three-phase bridge by the signal processing unit 3 which processes the logical position detection signal and generates the signal necessary to energize the stator winding of the motor l. Each of the energization control elements 4a, 4b, 4C14d, 4e, 4 of the inverter section 4 is composed of energization control elements that are
It is converted into signals U, V, W, x, y, and z that turn f on and off by energizing it at an electrical angle of 120 degrees. FIG. 7 shows a time chart of the above signals.
第６図においては、モータ５のＵ相、Ｖ相、Ｗ相の誘起
電圧は位置検出部６によって位置検出信号Ｕ′、Ｖ′、
ｌに変換されて信号切換部９に入力される。In FIG. 6, the induced voltages of the U-phase, V-phase, and W-phase of the motor 5 are detected by position detection signals U', V', and
The signal is converted into 1 and input to the signal switching unit 9.
一方、自動発振を行う発振部７から出力される発振信号
Ｑ１は同期駆動信号発生部８によって第８図に示す様な
タイミングチャートに従う同期駆動信号Ｕ′、Ｖ′、Ｗ
′ に変換されて信号切換部９に入力される。信号切換
部９は、起動判別部１０の切換信号に従い、位置検出部
６の位置検出信号Ｕ′、Ｖ′、鋼
Ｗ′か、同期駆動信号発生部８の同期駆動信号Ｕ′、Ｖ
′、Ｗ′ かを選択して切換える。尚起動判別部ｌＯは
、モータ５を起動する際は、信号切換部が同期駆動信号
Ｕ′、Ｖ′、Ｗ′ を選択し、起動後モータ５が位置検
出信号１′、Ｖ′、Ｗ′ によって十分駆動されるに至
った後、位置検出信号Ｕ′、Ｖ′、Ｗ′ を選択すべく
信号切換部に切換信号を与える。信号切換部９によって
選択された信号Ｕ′、Ｖ′、Ｗ′ は第５図の場合と同
様論理化位置検出信号とされ、モータ５の固定子巻線を
通電するに必要な信号を作る信号処理部３に入力され、
該信号処理部８によって三相ブリッジに組まれた通電制
御素子で構成されたインバータ部４の各々の通電制御素
子４ｍ。On the other hand, the oscillation signal Q1 outputted from the oscillation section 7 that performs automatic oscillation is generated by the synchronous drive signal generation section 8 as synchronous drive signals U', V', and W according to the timing chart shown in FIG.
' and input to the signal switching section 9. The signal switching section 9 selects either the position detection signals U', V' and steel W' of the position detection section 6 or the synchronous drive signals U' and V of the synchronous drive signal generation section 8 according to the switching signal of the activation determination section 10.
', W' and switch. In the start determination section 1O, when starting the motor 5, the signal switching section selects the synchronous drive signals U', V', W', and after starting the motor 5 selects the position detection signals 1', V', W'. After the position detection signals U', V', and W' are sufficiently driven, a switching signal is applied to the signal switching section to select the position detection signals U', V', and W'. The signals U', V', and W' selected by the signal switching unit 9 are used as logical position detection signals as in the case of FIG. input to the processing unit 3,
Each energization control element 4m of the inverter section 4 is composed of energization control elements assembled into a three-phase bridge by the signal processing section 8.
４ｂ、 ４ｃ、 ４ｄ、 ４ｅ、 ４ｒを電気角１２０
’の通電でオンオフせしめる信号Ｕ、 Ｖ、 Ｗ、 Ｘ
ｌＹ％２に変換される。4b, 4c, 4d, 4e, 4r in electrical angle 120
Signals U, V, W, and X that are turned on and off by energizing '
Converted to lY%2.
さて、前者の制御方法即ちホール素子等の磁気検出手段
を有するモータの制御方法においては、該モータの回転
子の絶対位置が検出可能となり、該モータが停止状態に
おいても位置検出信号が得られる為、該位置検出信号に
よって前述の如く該モータ１を駆動することが出来、従
って起動の為の手段を構ず・る必要がないが、モータ内
に回転子の位置検出用の磁気検出手段を各相に対して位
置決めして設置する必要があり、又、モータからの引き
出し線は固定子巻線の３本以外に多数必要となる。従っ
てモータの部品数を増大させると共に製造工数の増加を
来たし、さらには引出線の結線に係る作業を複雑化させ
ていた。又、ホール素子等は耐熱、耐振性に弱く、高温
下若しくは激しい振動の条件下での使用には供し得ない
。Now, in the former control method, that is, a control method for a motor having magnetic detection means such as a Hall element, the absolute position of the rotor of the motor can be detected, and a position detection signal can be obtained even when the motor is stopped. As described above, the motor 1 can be driven by the position detection signal, and there is no need to provide any means for starting it. It is necessary to position and install it with respect to the phase, and a large number of lead wires from the motor are required in addition to the three stator windings. Therefore, the number of parts of the motor increases, the number of manufacturing steps increases, and furthermore, the work involved in connecting the leader wires becomes complicated. Furthermore, Hall elements and the like have poor heat resistance and vibration resistance, and cannot be used under high temperatures or conditions of severe vibration.
又、後者の制御方法即ち、モータの固定子巻線に生ずる
誘起電圧を利用する制御方法においては、モータからの
引き出し線は固定子巻線の３本で済むが、モータ起動時
においては、誘起電圧が発生しない為固定子巻線からの
位置検出信号を得ることが出来ない。従って前述の如く
、別に設けた発振部の信号によって模擬の位置検出信号
即ち前述における同期駆動信号Ｕ′、Ｖ′、Ｗ′ を発
生させる必要があり、これに付属して、同期駆動信号と
位毛
置検出信号を切換える信号切換部、起動Ｉ運転を判別す
る起動判別部等、起動のみに使用される、諸制御部を本
来モータを運転するに必要な制御部以外に多数段けねば
ならない。In addition, in the latter control method, that is, a control method that utilizes the induced voltage generated in the stator winding of the motor, the number of lead-out wires from the motor is only three in the stator winding, but when the motor is started, the induced voltage Since no voltage is generated, it is not possible to obtain a position detection signal from the stator winding. Therefore, as mentioned above, it is necessary to generate the simulated position detection signals, that is, the synchronous drive signals U', V', and W' mentioned above, using signals from a separately provided oscillator. Many control units used only for starting, such as a signal switching unit that switches the head position detection signal and a start determining unit that determines start I operation, must be provided in addition to the control units that are originally required to operate the motor.
又、同期駆動信号と位置検出信号との切換時における両
者の位相差に伴う脱調の危険性の問題が存在した。Furthermore, there is a risk of step-out due to the phase difference between the synchronous drive signal and the position detection signal when switching between them.
本発明は上記の諸問題に鑑みなされたもので、前記両制
御方法の短所を完全に除去せしめたものである。The present invention has been devised in view of the above-mentioned problems and completely eliminates the disadvantages of both of the above-mentioned control methods.
第１図は本発明の構成を示すものであり、５はモータ、
１１は位置検出部、１２は、同期発振部、１３は信号解
読部、４はインバータ部である。第２図は第１図の図中
内における各信号のタイミノグチヤードである。第１図
におけるモータ５の固定子巻線の各相巻線の電圧は、位
置検出部１１に入力され、該位置検出部内にて合成され
てＰｌなる信号に変換される。該信号Ｐｉは単純に抵抗
合成によ弓てほぼインバータ部４の電源電圧Ｖの匙を中
心にリプル信号として得られる。該信号は即ちインバー
タ部４における接地点に対してモータ５がＹ結線されて
いる場合においては１、該結線の中性点の電位の信号と
、モータ５が△結線されている場合においては、仮想の
中性点の電位の信号と同一である。FIG. 1 shows the configuration of the present invention, where 5 is a motor;
11 is a position detection section, 12 is a synchronous oscillation section, 13 is a signal decoding section, and 4 is an inverter section. FIG. 2 shows the timing chart of each signal in the diagram of FIG. 1. The voltages of the respective phase windings of the stator windings of the motor 5 in FIG. 1 are input to the position detecting section 11, where they are combined and converted into a signal Pl. The signal Pi is obtained as a ripple signal approximately centered on the spoon of the power supply voltage V of the inverter section 4 by simply combining the resistances. In other words, the signal is 1 when the motor 5 is Y-connected to the ground point in the inverter section 4, and the signal of the potential at the neutral point of the connection is 1 when the motor 5 is Δ-connected. It is the same as the potential signal at the virtual neutral point.
従ってモータ５がＹ結線されている場合においては、信
号Ｐ１は、Ｙ結線された中性点より得てもよい。Therefore, when the motor 5 is Y-connected, the signal P1 may be obtained from the neutral point of the Y-connection.
上記の如く得た信号Ｐ１を９０°の位相遅れの信号にシ
フトし、位置検出信号Ｐ２として位置検出部１１より送
出し、該位置検出信号Ｐ２を同期発振部に入力する。同
期発振部１２は、該位置検出信号Ｐ２の振幅の中央を境
界として同期して発振を行わせＰ３なる発振出力信号を
送出する。尚該同期発振部１２は、位置検出信号Ｐ２が
入力されない場合は自己発振を生じて発振出力信号を送
出する。即ち、非同期発振状態となって、位置検出信号
Ｐ８と同様の信号を送出する。該自己発振周波数は、後
述の信号解読部１８から送出される信号Ｕ、Ｖ％Ｗ、ｘ
％Ｙ、ｚによって結果として得られるモータ５の回転子
の同期運転に基づく位置検出信号が位置検出部１１によ
って出力されるに十分で且つ、該モータ５の回転子が移
動可能な範囲でなくてはならない。この様にして送出さ
れた、発振出力信号Ｐ３は信号解読部１３ に入力さ
れ、該信号解読部１３によってインバータ部４の通電制
御素子４”ｓ ４ｂ１４ｃｓ ４’、４ｅ１４「 を各
々電気角１２０’の通電でオンオフせしめるｆｉ号Ｕ、
Ｖ、 Ｗ、 Ｘ、 Ｙ％Ｚ ニ変換スル。The signal P1 obtained as described above is shifted to a signal with a phase delay of 90°, and is sent out from the position detection section 11 as a position detection signal P2, and the position detection signal P2 is input to the synchronous oscillation section. The synchronous oscillation unit 12 oscillates in synchronization with the center of the amplitude of the position detection signal P2 as a boundary, and sends out an oscillation output signal P3. Note that the synchronous oscillator 12 generates self-oscillation and sends out an oscillation output signal when the position detection signal P2 is not input. That is, it enters an asynchronous oscillation state and sends out a signal similar to the position detection signal P8. The self-oscillation frequency is determined by the signal U, V%W, x sent from the signal decoder 18, which will be described later.
%Y, z is sufficient for the position detection signal based on the synchronous operation of the rotor of the motor 5 to be output by the position detection unit 11, and the rotor of the motor 5 is not within a movable range. Must not be. The oscillation output signal P3 sent out in this way is input to the signal decoding section 13, and the signal decoding section 13 converts the energization control elements 4"s 4b14cs 4', 4e14" of the inverter section 4 into electrical angles of 120' each. Fi-U, which turns on and off when energized,
V, W, X, Y%Z conversion.
本発明によれば、起動時においては、位置検出信号Ｐ２
が得られない為、発振部１２は、前述の発振周波数を満
足する自己発振を生じ、該発振信号を信号解読部ｔａへ
送出す。該発振信号Ｐ３を受けて、信号解読部１３は、
第２図に示す如く信号Ｕ、 Ｖｌｗ、 ｘ、 ｙ、 ｚ
を送出しインバータ部４の通電制御素子をオンオフ
せしめる。従って、モータ５の固定子巻線は上記信号Ｕ
ＳＶ、Ｗ％ｘ、 ｙ、 ｚに基づく通電が各々の相に行
われモータ５の回転子は回転を初める。即ち発振部１２
の発振周波数に同期して運転される同期運転状態となる
。発振部１２の発振周波数は位置検出信号Ｐ２を得るに
十分な回転子の回転を与える為の条件を満足しているの
であるから同期運転の間に位置検出部１１は、位置検出
信号Ｐ２を出力し始める。According to the present invention, at startup, the position detection signal P2
Therefore, the oscillation section 12 generates self-oscillation satisfying the above-mentioned oscillation frequency, and sends the oscillation signal to the signal decoding section ta. Upon receiving the oscillation signal P3, the signal decoder 13:
As shown in Figure 2, the signals U, Vlw, x, y, z
is sent out to turn on and off the energization control element of the inverter section 4. Therefore, the stator winding of the motor 5 receives the above signal U.
Current is applied to each phase based on SV, W% x, y, and z, and the rotor of the motor 5 starts rotating. That is, the oscillation section 12
It enters a synchronous operation state in which it operates in synchronization with the oscillation frequency of. Since the oscillation frequency of the oscillator 12 satisfies the conditions for providing sufficient rotation of the rotor to obtain the position detection signal P2, the position detection unit 11 outputs the position detection signal P2 during synchronous operation. Begin to.
通常この種のモータはモータに加えられる電圧が徐々に
上昇する横制御される為、モータ５の回転子は加速的に
、回転速度を上昇するべくトルクを該モータ５の固定子
より受け、同期運転が行われる。上記の如く位置検出信
号Ｐ２が発振部１２に入力されると、同期発振を生じさ
せるべく発振部１２が構成されているのであるから、該
発振部１２は、入力された位置検出信号Ｐ２に同期して
発振し、自己発振によって送出されていた発振信号Ｐ３
は位置検出信号Ｐ２に同期した発振信号Ｐ８となる。信
号解読部１３は、前記の様な発振部１２の自己発振の発
振信号及び同期発振の発振信号を受けて第２図のタイミ
ングチャートの如く解読すればモータ５を駆動するに必
要な信号を送出する。Normally, this type of motor is controlled laterally, in which the voltage applied to the motor gradually increases, so the rotor of the motor 5 receives torque from the stator of the motor 5 in an accelerated manner to increase its rotational speed, and synchronizes. Driving takes place. As described above, when the position detection signal P2 is input to the oscillation unit 12, the oscillation unit 12 is configured to generate synchronous oscillation, so the oscillation unit 12 is synchronized with the input position detection signal P2. The oscillation signal P3 that was sent out by self-oscillation
becomes an oscillation signal P8 synchronized with the position detection signal P2. The signal decoder 13 receives the self-oscillation signal and the synchronous oscillation signal of the oscillation part 12 as described above and decodes them as shown in the timing chart of FIG. 2 to send out the signals necessary to drive the motor 5. do.
第３図に前述における発振部１２の一実施例を、第４図
に信号解読部１８の一実施例を示す、最初に第３図に従
って説明する
モータがＹ結線においては該Ｙ結線の中性点の電圧振幅
に対し、モータが△結線においては該△結線の仮想中性
点の電圧振幅に対し９０’位相が遅れた位置検出信号Ｐ
２はコンデンサＣ２を介し、回路中性電圧に接続された
抵抗像に印加され、抵抗部を介して演算増幅器ＯＰ１の
非反転入力端子に入力される。該非反転入力端子は、さ
らに上記演算増幅＠ＯＰｌの出力端子よりコンデンサＣ
１と抵抗Ｒ１の直列回路を介して正帰還になるべく接続
される。FIG. 3 shows an embodiment of the oscillation section 12 mentioned above, and FIG. 4 shows an embodiment of the signal decoding section 18. First, when the motor described according to FIG. When the motor is in a △ connection, the position detection signal P is delayed by 90' phase with respect to the voltage amplitude at a virtual neutral point of the △ connection.
2 is applied to a resistor image connected to the circuit neutral voltage via a capacitor C2, and is input to the non-inverting input terminal of the operational amplifier OP1 via the resistor section. The non-inverting input terminal is further connected to the capacitor C from the output terminal of the operational amplifier @OPl.
1 and a resistor R1 for positive feedback.
又、上記演算増幅器ＯＰＩの反転入力端子は、該演算増
幅器ＯＰＩの出力端子から負帰還となるべく抵抗部を介
して接続され、さらにＭを介して上記回路中性電圧に接
続される。Further, the inverting input terminal of the operational amplifier OPI is connected to the output terminal of the operational amplifier OPI via a resistor section for negative feedback, and further connected to the circuit neutral voltage via M.
以上の如く構成された回路において回路電源電圧をｖｌ
、回路中性電圧をｖ２としＶｌ＞Ｖ２なる条件を満足す
るものとする。前記位置検出信号Ｐ２が入力されない時
、仮りに演算増幅器ＯＰＩの出力端子が接地電圧レベル
にあるとすると、演算増幅器ＯＰＩの反転入力端子の電
圧は
となり、該演算増幅器ＯＰＩの非反転入力端子の電圧は
、コンデンサＣ１が直流成分の電圧に対して高インピー
ダンスとなるので、回路中性電圧が抵抗Ｒ２）抵抗部の
直列回路を介して入力される為は１！ｖ２となり、非反
転入力端子の電圧は反転入力端子の電圧を越える。ここ
で各抵抗の抵抗値が（Ｒ２＋Ｒ８）（邸、Ｒ４（Ｒ５と
すると、演算増幅器ＯＰＩの出力端子は回路電源電圧ｖ
１にほぼ等しい出力電圧を出力する。この時、該出力端
子の出力電圧は過渡的にコンデンサＣ１、抵抗Ｒ１、抵
抗部、抵抗像によって分圧されて演算増幅器ＯＰｌの非
反転入力端子を正帰還する。一方反転出力端子も、出力
電圧が抵抗部と抵抗４によって分圧されて印加される。In the circuit configured as above, the circuit power supply voltage is vl
, the circuit neutral voltage is assumed to be v2, and the condition that Vl>V2 is satisfied. If the output terminal of the operational amplifier OPI is at the ground voltage level when the position detection signal P2 is not input, the voltage at the inverting input terminal of the operational amplifier OPI will be, and the voltage at the non-inverting input terminal of the operational amplifier OPI will be Since the capacitor C1 has a high impedance with respect to the DC component voltage, the circuit neutral voltage is inputted through the series circuit of the resistor R2), so it is 1! v2, and the voltage at the non-inverting input terminal exceeds the voltage at the inverting input terminal. If the resistance value of each resistor is (R2+R8) and R4(R5), then the output terminal of the operational amplifier OPI is at the circuit power supply voltage v
Outputs an output voltage approximately equal to 1. At this time, the output voltage of the output terminal is transiently divided by the capacitor C1, the resistor R1, the resistor section, and the resistor image, and is positively fed back to the non-inverting input terminal of the operational amplifier OP1. On the other hand, the output voltage is also divided by the resistor section and the resistor 4 and applied to the inverting output terminal.
ここで演算増幅器ＯＰＩの出力電圧に関して、非反転入
力端子に供給される正帰還量が反転入力端子に供給され
る負帰還量に比べ大きければ演算増幅器ＯＰ１は、出力
電圧をほぼ回路電源電圧のｖｌに等しい電圧を出し続け
るが、正帰還側は、コンデンサＣ１を含んでいるため時
限があり、コンデンサＣ１は、演算増幅器ＯＰＩの出力
端子の出力電圧を抵抗Ｒ１、抵抗部、抵抗像を介して徐
々に回路中性電圧との電位差分を充電する。従ってやが
て正帰還量は負帰還量を下回る様になる。従って、この
様な状態になると非反転入力端子の電圧は、回路中性電
圧に近づき、反転入力端子の電圧は、現状を継続してい
る為、両者へ印加される電圧は必然的に非反転入力端子
の電圧に対して反転入力端子の電圧が上回り、演算増幅
器ＯＰＩの出力端子をほぼ接地レベルに引き下げる。Regarding the output voltage of the operational amplifier OPI, if the amount of positive feedback supplied to the non-inverting input terminal is larger than the amount of negative feedback supplied to the inverting input terminal, the operational amplifier OP1 changes the output voltage to approximately the circuit power supply voltage vl. However, since the positive feedback side includes capacitor C1, there is a time limit, and capacitor C1 gradually outputs the output voltage of the output terminal of operational amplifier OPI through resistor R1, the resistor section, and the resistor image. To charge the potential difference between the circuit neutral voltage and the circuit neutral voltage. Therefore, the amount of positive feedback eventually becomes less than the amount of negative feedback. Therefore, in such a state, the voltage at the non-inverting input terminal approaches the circuit neutral voltage, and the voltage at the inverting input terminal continues as it is, so the voltage applied to both is inevitably non-inverting. The voltage at the inverting input terminal exceeds the voltage at the input terminal, pulling the output terminal of operational amplifier OPI almost to ground level.
この時点から、前述と逆の動作によって、演算増幅器Ｏ
ＰＩの出力端子を接地点として回路中性電圧が非反転入
力端子では、抵抗像、抵抗部、抵抗Ｒ１、コンデンサＣ
１で分圧されて入力され、反転入力端子では、抵抗Ｍ１
抵抗助によって分圧されて入力される。さらに非反転入
力端子に関しては、演算増幅１ｓｏｐ１の出力端子が回
路電源電圧ｖｌに等しい電圧を出力していた際に正帰還
によってコンデンサＣ！に蓄わえられた電圧を該演算増
幅器ＯＰＩの出力端を介し、抵抗像、抵抗部、抵抗損な
る閉ループで放電することにより、−履口路中性電圧に
対して逆電位になるべく引き下げる。From this point on, the operational amplifier O
With the output terminal of PI as the grounding point, the circuit neutral voltage is at the non-inverting input terminal, the resistor image, resistor part, resistor R1, capacitor C
The voltage is divided by 1 and inputted, and at the inverting input terminal, the resistor M1
The voltage is divided by resistors and input. Furthermore, regarding the non-inverting input terminal, when the output terminal of the operational amplifier 1sop1 was outputting a voltage equal to the circuit power supply voltage vl, positive feedback caused the capacitor C! By discharging the voltage stored in the operational amplifier OPI through the output terminal of the operational amplifier OPI in a closed loop consisting of the resistor image, the resistor section, and the resistor loss, the potential is lowered as much as possible to the opposite potential with respect to the negative path neutral voltage.
従って、非反転入力端子の電圧は反転入力端子の電圧に
比べ低くなるので安定して演算増幅器ＯＰＩの出力端を
接地レベルに維持し続ける。しかしながら前述の如く正
帰還側にコンデンサＣ１を含んでいるため、時限があり
コンデンサＣ１は、蓄わえられた電圧を放出し終ると逆
に回路中性電圧を抵抗像、抵抗部、抵抗Ｒ１を介して逆
方向に充電を始める。この放電と逆方向の充電によって
正帰還量が、負帰還量を上回っている間は、演算増幅器
ＯＰＩの出力端を接地レベルに維持しているがやがてコ
ンデンサＣＩの逆方向の充電が小さくなると非反転入力
端子電圧は回路中性電圧に近づき反転入力端子の電圧を
上回る様になる。Therefore, since the voltage at the non-inverting input terminal is lower than the voltage at the inverting input terminal, the output terminal of the operational amplifier OPI continues to be stably maintained at the ground level. However, as mentioned above, since the capacitor C1 is included on the positive feedback side, there is a time limit, and when the capacitor C1 finishes releasing the stored voltage, the circuit neutral voltage is transferred to the resistor image, the resistor part, and the resistor R1. Start charging in the reverse direction. While the amount of positive feedback exceeds the amount of negative feedback due to this discharging and charging in the reverse direction, the output terminal of the operational amplifier OPI is maintained at the ground level, but as the reverse charging of the capacitor CI gradually decreases, it stops. The voltage at the inverting input terminal approaches the circuit neutral voltage and exceeds the voltage at the inverting input terminal.
よってこの時点で演算増幅器ＯＰｌの出力端は再び回路
電源電圧のｖｌに等しい電圧を出力し、以後同様の動作
を繰り返し、この実施例による回路は回路電源電圧Ｖｌ
に近い高電圧レベルの電圧を交互に発振出力信号Ｐ３と
して出力する。即ち自己発振による発振出力信号の退出
となる。一方、位置検出信号Ｐ２が入力されると、該位
置検出信号Ｐ２の振幅レベルに対し、上記自己発振ｌζ
よる演算増幅器ＯＰＩの非反転入力端子のレベル変化が
小さいものとすると、＠３図に示す実施例の回路は、該
位置検出信号Ｐ２の振幅に支配されて、発振出力Ｐ３を
出すことになる。即ち、位置検出信号Ｐ２の振幅周波数
に対しコンデノサＣ２）抵抗Ｒ２の時定数が十分大きい
とすると、該位置検出信号Ｐ２の振幅電圧はほとんど抵
抗能に入力され回路中性電圧を振幅の中心として抵抗朗
を介して、抵抗Ｒ１とコンデノサＣ１の直列回路によっ
て分圧される。しかし、仮に上記の振幅周波数に対して
コンデノサＣ１のインピーダンスが極めて小さいとして
も各抵抗値は（Ｒ２＋Ｒ３）（Ｒ５という条件であるか
らＲ８＜ Ｒ５となってその分圧は小さく、はとんどは
、非反転入力端子に印加される。従って位置検出信号Ｐ
２による非反転入力端子の電圧の振幅レベルは、位置検
出信号Ｐ２が入力される以前における自己発振時の振幅
レベルをはるかに越えるものとなり、第３図の回路は、
位置検出信号Ｐ２に同期した発振信号Ｐ３を送出する。Therefore, at this point, the output terminal of the operational amplifier OPl again outputs a voltage equal to the circuit power supply voltage Vl, and the same operation is repeated thereafter, and the circuit according to this embodiment outputs a voltage equal to the circuit power supply voltage Vl.
A voltage at a high voltage level close to 1 is alternately outputted as an oscillation output signal P3. In other words, the oscillation output signal exits due to self-oscillation. On the other hand, when the position detection signal P2 is input, the self-oscillation lζ
Assuming that the level change at the non-inverting input terminal of the operational amplifier OPI is small, the circuit of the embodiment shown in Figure @3 will output an oscillation output P3 under the influence of the amplitude of the position detection signal P2. That is, assuming that the time constant of the capacitor C2) and the resistor R2 is sufficiently large with respect to the amplitude frequency of the position detection signal P2, the amplitude voltage of the position detection signal P2 is almost resistively input, and the resistor is input with the circuit neutral voltage as the center of the amplitude. The voltage is divided by a series circuit of a resistor R1 and a capacitor C1. However, even if the impedance of capacitor C1 is extremely small for the above amplitude frequency, each resistance value is (R2 + R3) (R5), so R8 < R5, and the partial pressure is small. , is applied to the non-inverting input terminal.Therefore, the position detection signal P
2, the amplitude level of the voltage at the non-inverting input terminal far exceeds the amplitude level during self-oscillation before the position detection signal P2 is input, and the circuit of FIG.
An oscillation signal P3 synchronized with the position detection signal P2 is sent out.
次に第４図に従って説明す。Next, explanation will be given according to FIG.
１４はＮ０７回路、１５はＮＯ１’Ｌ回路、１６は第１
ノフトレジスタ、１７は第２ノフトレジスタである。14 is the N07 circuit, 15 is the NO1'L circuit, 16 is the first
Noft register 17 is a second noft register.
前述の発振出力信号Ｐ３は第２ソフトレジスタ１７１こ
シフトクロックとして入力され、第１シフトレジスタの
出力は、第１シフト出力から順にＱｌ、Ｑ２）嘲とし第
２ソフトレジスタの出力は第１ソフト出力から順にＱ４
、Ｑ５、Ｑ６とする。さらにＮＯＴ回路１４によって反
転信号Ｐ３’となって第１シフトレジスタ１６にシフト
クロックとして入力される。第１ソフトレジスタ１６は
反転信８Ｐ３′によってシフトすべきデータｄｌを自身
の第１シフト出力Ｑ１と第２シフト出力Ｑ２よりＮＯＲ
回路１５を介して得る。第２ソフトレジスタ１７は、発
振出力信号Ｐ３によってシフトすべきデータを第Ｉシフ
トレジスタ１６の第１シフト出力Ｑ１からデータＸとし
て得る。尚両シフトレジスタはシフトクロックの立ち上
りでシフト動作されるものとする。この様に構成すると
２つの発振出力信号Ｐ３の入力された後は、入力される
発振出力信号Ｐ３に対する本図の出力信号ｘ、 ｙ、
ｚ、Ｕ％Ｖ％Ｗ は第２図の様なタイミノグチヤードで
得られる。以下動作を説明する。The above-mentioned oscillation output signal P3 is input as a shift clock to the second soft register 171, and the output of the first shift register is sequentially output from the first shift output to Ql, Q2), and the output of the second soft register is input to the first soft output. Q4 in order from
, Q5, and Q6. Further, the signal is converted into an inverted signal P3' by the NOT circuit 14 and inputted to the first shift register 16 as a shift clock. The first soft register 16 NORs the data dl to be shifted by the inverted signal 8P3' from its own first shift output Q1 and second shift output Q2.
obtained via circuit 15. The second soft register 17 obtains the data to be shifted as data X from the first shift output Q1 of the I-th shift register 16 in response to the oscillation output signal P3. It is assumed that both shift registers are shifted at the rising edge of the shift clock. With this configuration, after the two oscillation output signals P3 are input, the output signals x, y, and
z, U%V%W can be obtained by a timing test as shown in FIG. The operation will be explained below.
初期において両シフトレジスタ１６及び１７の全出力が
Ｌ（７ｕＶレベルとするとＮＯＲ回路１５はシフトデー
タ（１１をＨＩＧＨレベルの信号として出力する。In the initial stage, when all outputs of both shift registers 16 and 17 are set to L (7 uV level), NOR circuit 15 outputs shift data (11) as a HIGH level signal.
発振出力信号Ｐ３の第１信号の立ち上りｌζよって第２
ノフトレジスタ１７の出力はシフトされるが第１ンフト
レジスタ■６のＱｌがＬＯＷレベルであるので第２ノフ
トレジスタ１７のシフトすべきデータは全てＬ（Ｍ’レ
ベルとなりシフトされた後も全出力はＬＯＷレベルのデ
ータとなる。Due to the rising edge lζ of the first signal of the oscillation output signal P3, the second
The output of the noft register 17 is shifted, but since Ql of the first noft register 6 is at the LOW level, all the data to be shifted in the second noft register 17 is at the L (M' level), and even after being shifted, the entire output is This becomes LOW level data.
次に発振出力信号Ｐ３の第１信号の立ち下りによって、
反転信号Ｐ３’は立ち上りとなるので第１シフトレンス
タ１６は、ＨＩＧＨレベルの信号ｄｌをＱｌへ、Ｑｌの
ＬＯＷレベルのデータは唾へ唾のＬＯｗＬ／ベルのデー
タは電へ各々シフトする。これによりＮＯＲ回路１５は
結果としてＱｌのＨＩＧＨレベルデータによって、その
出力であるノットデータｄ１をＬＯＷレベル第２ノフト
レジスタ１７は、第１シフトレジスタ１６ノＱｌノＨＩ
ＧＨレヘルノテータ、／Ｑ４へ、Ｑ４ ノＬＯＷ レベ
ルのデータは場へ、勃のＬＯｉＶレベルのデータはＱ６
へ各々シフトする。そしてこの第２信号の立ち下りによ
って、第１シフトレジスタのシフトクロックである反転
信号Ｐ３′は立ち上りとなり、Ｌ（Ｗレベルのシフトデ
ータｄｌをＱｌへ、Ｑｌの）ＩＩＧＨレベルのデータは
りへ、歳の〃肩しベルのデータは朝へ各々シフトする。Next, due to the fall of the first signal of the oscillation output signal P3,
Since the inverted signal P3' rises, the first shift lens star 16 shifts the HIGH level signal dl to Ql, the LOW level data of Ql to saliva, and the data of LOWL/bell of saliva to electric. As a result, the NOR circuit 15 changes its output, the not data d1, to the LOW level by the HIGH level data of Ql.
GH Rehernotator, /Q4, Q4's LOW level data to the field, Erection's LOiV level data to Q6
Shift each to As the second signal falls, the inverted signal P3', which is the shift clock of the first shift register, rises, and the L (W level shift data dl to Ql) IIGH level data beam is transferred. The data on the shoulder bell shifts to the morning.
ＮＯＲ回路１５は、ＱｌがＬＯＷレベルとなっても電が
ＨＩＧＨレベルとなるのでシフトデータｄ２はＬＯＷ
Ｌ／ベベルままである。In the NOR circuit 15, even if Ql is at a LOW level, the voltage is at a HIGH level, so the shift data d2 is at a LOW level.
It remains L/bevel.
次に、発振出力信号Ｐ３の第８信号の立ち上りによって
第２シフトレジスタ１７は、第１シフトレジスタ１６の
ＱｌのＬＣＦＷレベルのシフトデータをＱ４へ、Ｑ４の
■■■レベルのデータを場へ、場のＬＯＷレベルのデー
タを価へ各々シフトする。又、この第３信号の立ち下り
によって前述の如く第１シフトレジスタはＬＯ１１Ｖレ
ベルのシフトデータｄ１をＱｌへ、ＱｌのＬＣ％Ｖレベ
ルデータ１社へ、９のＨＩＧＨレベルのデータは場へ各
々シフトする。この時点でＮＯＲ回路■５は、Ｑ１％唾
ともにＬＯＷレベルとなる為次にシフトするシフトデー
タｄｌをＨＩＧＨレベルとして出力する。発振出力信号
Ｐ３の第４信号に至っては、その立ち上りによって第２
ノフトレジスタは、第２ノフトレジスタＱｌのＬＯＷレ
ベルのデータをＱ４へ、Ｑ４のＬＯＷレベルテーデー蛎
へ、蛎のＨＩＧＨレベルをＱ６へ各々シフトする。この
第４信号の立ち下りは第１ソフトレジスタにとっては反
転信号Ｐ３’が立ち上りとなってＨＩＧＨレベルである
シフトデータｄ１をＱｌへ、ＱｌのＬＣＮＬ／ベルのデ
ータをＱ２へ、唾のＬ（％Ｖレベルのデータを朝へ各々
シフトする。Next, in response to the rise of the eighth signal of the oscillation output signal P3, the second shift register 17 transfers the shift data of the LCFW level of Ql of the first shift register 16 to Q4, and transfers the data of Q4 of the ■■■ level to the field. Shift the LOW level data of the field to the value respectively. Also, as mentioned above, with the fall of this third signal, the first shift register shifts the shift data d1 at LO11V level to Ql, the LC%V level data of Ql to 1 company, and the HIGH level data of 9 to field. do. At this point, the NOR circuit (2) 5 outputs the shift data dl to be shifted next as a HIGH level since both Q1% and the output are at a LOW level. As for the fourth signal of the oscillation output signal P3, the second signal
The noft register shifts the LOW level data of the second noft register Ql to Q4, shifts the LOW level data of Q4 to the larvae, and shifts the HIGH level of the larvae to Q6. For the first soft register, the fall of the fourth signal is the rise of the inverted signal P3', which transfers the shift data d1 at HIGH level to Ql, the data of LCNL/bell of Ql to Q2, and transfers the data of LCNL/bell of Ql to Q2. Shift the V level data to the morning.
以後は、前述の発振出力信号Ｐ３の第２信号から第４信
号までの３つの信号を１周期とする繰返し動作が行われ
、第２図のタイミノグチヤードに示す、Ｕ、 Ｖ、 Ｗ
、 Ｘ、 Ｙ、 Ｚの各信号が送出される。尚、第４図
においては第１シフトレジスタのシフト出力は、第１ノ
フトＱ１の出力信号をＸとして順にＹ。Thereafter, a repetitive operation is performed in which one cycle consists of the three signals from the second signal to the fourth signal of the oscillation output signal P3, and the signals U, V, and W shown in the timing diagram of FIG.
, X, Y, and Z signals are sent out. In FIG. 4, the shift outputs of the first shift register are sequentially Y, with the output signal of the first noft Q1 being X.
ｚとし第２シフトレノスタはＱ４の出力信号をＷとして
順にＵ、Ｖとする。z, and the second shift renostar takes the output signal of Q4 as W and sequentially outputs U and V.
以１により、発振出力信号Ｐ３の単純な１（ＩＧＨ、Ｌ
ＯＷの両レベルによってこれを解読せしめ、第１図に示
すインバータ部４の各制御素子を各々電気角１２０°の
通電を可能にする信）を送出すること力咄来得る。以上
図面ではＹ結線の三相ブラルスモークを示したかへ結線
の三相ブラルスモータでも同様である。By the above 1, the oscillation output signal P3 is simply 1 (IGH, L
It is possible to decode this using both levels of OW and send a signal that enables each control element of the inverter section 4 shown in FIG. 1 to be energized at an electrical angle of 120 degrees. In the above drawings, a three-phase Brarus motor with a Y-connection is shown, but the same applies to a three-phase Brarus motor with a hexagonal wire connection.
なお、本発明の説明において位置検出信号の検出方法に
ついて、説明をしなかったが、モータの固定子巻線の各
相の電圧を抵抗合成したのちコンデンサ積分を行なえば
簡単に該抵抗合成された電圧振幅に対して、９０°位相
の遅れたリップル信号が得られこれを本発明にかかわる
、位置検出信号とすればよい。Although the method of detecting the position detection signal was not explained in the description of the present invention, it is easy to combine the voltages of each phase of the motor's stator windings with resistances and then perform capacitor integration. A ripple signal whose phase is delayed by 90 degrees with respect to the voltage amplitude may be obtained and used as a position detection signal according to the present invention.
以上説明した様に、本発明によれば、モータに何等の回
転子の位置検出手段を構する必要のないモータの固定子
巻線に生ずる誘起電圧を利用する制御方法をとりながら
従来の起動の為に別に設けられる前述の発振部や模擬の
位置検出信号を作り出す同期駆動信号発生部、信号切換
部さらに起動判別部等を特に必要とせず本発明の実施例
の如く構成すればホール素子等の磁気検出手段を有する
モータの制御方法で行われる回路の構成同様に起動の心
配なくモータを起動状態から運転状態へ移行せしめるこ
とが可能となる。As explained above, according to the present invention, the control method utilizes the induced voltage generated in the stator winding of the motor, which eliminates the need for the motor to be equipped with any rotor position detection means. There is no particular need for the above-mentioned oscillation section, a synchronous drive signal generation section for generating a simulated position detection signal, a signal switching section, a start-up determination section, etc., which are provided separately for the purpose of the present invention. Similar to the circuit configuration performed in the method of controlling a motor having magnetic detection means, it is possible to shift the motor from a starting state to an operating state without worrying about starting.
即ち、磁気検出手段を有するモータの制御方法の利点と
固定子巻線に生ずる誘起電圧を利用するモータの制御方
法の利点を兼合せ持つ制御方法である。That is, this is a control method that combines the advantages of a motor control method having magnetic detection means and the advantages of a motor control method that utilizes induced voltage generated in the stator windings.
以上の点から要約すれば
（１） モータに特別な回転子の位置検出手段を施す
必要がない
（２）起動だけに利用する諸口路を設ける必要がない
＋８） （２３項に付随して、回路が簡素化されるこ
とによる装置の縮小が可能となる等その他、これらの利
点から派出する多くの利点が生ずる。To summarize from the above points, (1) there is no need to provide the motor with a special rotor position detection means (2) there is no need to provide various ports used only for starting +8) (In conjunction with item 23, Many other advantages arise from these advantages, such as the ability to reduce the size of the device due to circuit simplification.
第１図、本発明に係る制御方法の構成図第２図は第１図
内における各部の波形のタイミノグチヤード
第３図は、同期発振部の実施例
第４図は、信号解読部の実施例
第５図、第６図は従来の制御方法の構成の１例第７図、
第８図は第６図、第７図内の各部の波形のタイミングチ
ャート
１．５・・三相ブラシレスモータ ２・・・・・位置検
出部８・・・・・・信号処理部 ４・・・・・インバ
ータ部１１．６・・・・・・位置検出部 ７．１２・
・・・・・発振部８・・・・・・同期駆動信号発生部
９・・・切換部ＩＯ・・・起動判別部FIG. 1 is a block diagram of the control method according to the present invention. FIG. 2 is a timing diagram of the waveforms of each part in FIG. 1. FIG. 3 is an example of the synchronous oscillation section. Examples Fig. 5 and Fig. 6 are an example of the configuration of the conventional control method Fig. 7;
Figure 8 is a timing chart of the waveforms of each part in Figures 6 and 7. 1.5 Three-phase brushless motor 2 Position detection section 8 Signal processing section 4. ... Inverter section 11.6 ... Position detection section 7.12.
...Oscillation section 8 ...Synchronized drive signal generation section
9...Switching unit IO...Start-up determination unit
Claims (1)
回転子の位置検出信号によって三相ブリッジに組まれた
通電制御素子を電気角１２０°の通電となるべくオンオ
フせしめて前記三相ブラシレスモータの固定子巻線の通
電を制御する三相ブラシレスモータの制御方法において
、前記位置検出信号は前記三相ブラシレスモータの固定
子巻線がΔ結線されたものでは仮想中性点の電圧の振幅
信号に対し、又、Ｙ結線されたものでは中性点の電位の
振幅信号に対し電気角９０°の位相の遅れた位置検出信
号とし、該位置検出信号は、同期発振が可能な発振手段
を経て発振出力信号とされ、該発振出力信号を解読する
信号解読手段を経て前記通電制御素子をオンオフせしめ
る信号に変換されることを特徴とする三相ブラシレスモ
ータの制御方法。 ２） 特許請求の範囲第１項において、前記位置検出信
号の入力なき場合、前記通電制御素子をオンオフせしめ
る信号が、前記三相ブラシレスモータの回転子が該位置
検出信号を得るに必要な回転速度に達するに十分で、且
つ該回転子が移動可能な範囲の周波数で前記信号解読手
段から送出されるべく前記発振手段が自己発振可能であ
ることを特徴とする三相ブラシレスモータの制御方法。[Scope of Claims] 1) The energization control element assembled in the three-phase bridge is turned on and off as much as possible to achieve energization at an electrical angle of 120 degrees by a rotor position detection signal of a three-phase brushless motor having a permanent magnet as a rotor. In a three-phase brushless motor control method for controlling energization of a stator winding of a three-phase brushless motor, the position detection signal is at a virtual neutral point when the stator winding of the three-phase brushless motor is Δ-connected. The position detection signal has a phase delay of 90 degrees electrical angle with respect to the amplitude signal of the voltage, or with respect to the amplitude signal of the potential of the neutral point in the case of a Y-connected type, and the position detection signal is capable of synchronous oscillation. A method for controlling a three-phase brushless motor, characterized in that the oscillation output signal is converted into an oscillation output signal through an oscillation means, and the oscillation output signal is converted into a signal for turning on and off the energization control element through a signal decoding means for decoding the oscillation output signal. 2) In claim 1, when the position detection signal is not input, the signal for turning on and off the energization control element has a rotational speed necessary for the rotor of the three-phase brushless motor to obtain the position detection signal. 1. A method for controlling a three-phase brushless motor, characterized in that the oscillation means is capable of self-oscillation so that the signal is transmitted from the signal decoding means at a frequency sufficient to reach the rotor and within a range in which the rotor can move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59279599A JPH0669310B2 (en) | 1984-12-31 | 1984-12-31 | Controller for three-phase brushless motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59279599A JPH0669310B2 (en) | 1984-12-31 | 1984-12-31 | Controller for three-phase brushless motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61161986A true JPS61161986A (en) | 1986-07-22 |
| JPH0669310B2 JPH0669310B2 (en) | 1994-08-31 |
Family
ID=17613228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59279599A Expired - Lifetime JPH0669310B2 (en) | 1984-12-31 | 1984-12-31 | Controller for three-phase brushless motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0669310B2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5854891A (en) * | 1981-09-25 | 1983-03-31 | Secoh Giken Inc | Driving device for semiconductor motor |
-
1984
- 1984-12-31 JP JP59279599A patent/JPH0669310B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5854891A (en) * | 1981-09-25 | 1983-03-31 | Secoh Giken Inc | Driving device for semiconductor motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0669310B2 (en) | 1994-08-31 |
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