TWI520478B - Dc motor control method and dc motor control device - Google Patents

Dc motor control method and dc motor control device Download PDF

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TWI520478B
TWI520478B TW103109434A TW103109434A TWI520478B TW I520478 B TWI520478 B TW I520478B TW 103109434 A TW103109434 A TW 103109434A TW 103109434 A TW103109434 A TW 103109434A TW I520478 B TWI520478 B TW I520478B
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motor
driving voltage
rotational speed
voltage
control unit
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TW103109434A
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TW201535961A (en
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王世杰
林登財
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翌能科技股份有限公司
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Description

直流馬達控制方法及其裝置 DC motor control method and device thereof

本發明有關於一種馬達，且特別是一種直流馬達控制方法及其裝置。 The present invention relates to a motor, and more particularly to a DC motor control method and apparatus therefor.

請參照圖1，圖1是傳統的直流馬達的扭矩-轉速的曲線圖。傳統的直流馬達的扭矩-轉速的曲線是曲線C1，當直流馬達的轉速逐漸增加時，直流馬達的扭矩則逐漸降低。詳細的說，直流馬達的電樞線圈的方程式可表示為，V=i．R+k e ω，其中V是電樞線圈的電壓，i是電樞線圈的電流，R是電樞線圈的電阻，ke是反電勢常數，ω是角速度(對應於馬達的轉速)。傳統上，直流馬達的驅動電壓是固定的，即電樞線圈的電壓V是固定的，當直流馬達轉速上升時，反電勢(back emf)(即反電勢常數ke乘以角速度ω)也隨之增加，使得線圈電流逐漸降低，如此可能使得直流馬達的扭矩在高轉速時大幅降低。 Please refer to FIG. 1. FIG. 1 is a graph of torque-speed of a conventional DC motor. The torque-speed curve of a conventional DC motor is a curve C1, and as the speed of the DC motor gradually increases, the torque of the DC motor gradually decreases. In detail, the equation of the armature coil of the DC motor can be expressed as V = i . R + k e ω , where V is the voltage of the armature coil, i is the current of the armature coil, R is the resistance of the armature coil, k e is the back potential constant, and ω is the angular velocity (corresponding to the rotational speed of the motor). Conventionally, the driving voltage of the DC motor is fixed, that is, the voltage V of the armature coil is fixed. When the DC motor speed rises, the back emf (ie, the back potential constant k e multiplied by the angular velocity ω) also follows This increase causes the coil current to gradually decrease, which may cause the torque of the DC motor to be greatly reduced at high rotational speeds.

為了解決直流馬達扭矩在高轉速時大幅降低的情況，傳統上可利用減少線圈的匝數以減少反電勢，使得直流馬達在較高轉速時仍能維持相當的扭矩，例如使扭矩-轉速的曲線成為曲線C2。然而，減少線圈的匝數可能造成直流馬達在低轉速時的扭矩不足的問題，如圖1所示，在低轉速時曲線C2所對應的扭矩低於曲線C1所對應的扭矩。 In order to solve the situation that the DC motor torque is greatly reduced at high speeds, it is conventionally possible to reduce the number of turns of the coil to reduce the back EMF, so that the DC motor can maintain a considerable torque at a higher rotational speed, for example, a torque-rotation curve. Become curve C2. However, reducing the number of turns of the coil may cause a problem of insufficient torque of the DC motor at low rotational speeds. As shown in FIG. 1, the torque corresponding to the curve C2 at the low rotational speed is lower than the torque corresponding to the curve C1.

本發明實施例提供一種直流馬達控制方法及其裝置，用以調整直流馬達的線圈電流，並可依據直流馬達的轉速或電流的情況，改變驅動電壓，以調整直流馬達的電流。 Embodiments of the present invention provide a DC motor control method and apparatus thereof for adjusting a coil current of a DC motor, and changing a driving voltage according to a rotation speed or a current of the DC motor to adjust a current of the DC motor.

本發明實施例提供一種直流馬達控制方法，用以控制直流馬達，所述方法包括以下步驟。首先，獲得參考信號，所述參考信號代表直流馬達的轉速。然後，當直流馬達的轉速改變時，依據參考信號改變直流馬達的驅動電壓。 Embodiments of the present invention provide a DC motor control method for controlling a DC motor, and the method includes the following steps. First, a reference signal is obtained, which represents the rotational speed of the direct current motor. Then, when the rotational speed of the direct current motor is changed, the driving voltage of the direct current motor is changed in accordance with the reference signal.

本發明實施例提供一種直流馬達控制裝置，用以控制直流馬達，所述直流馬達控制裝置包括升壓電路與控制單元。升壓電路耦接直流馬達，接收電壓控制信號，並依據電壓控制信號提供驅動電壓至直流馬達。控制單元耦接升壓電路，依據參考信號產生電壓控制信號，控制單元透過電壓控制信號控制升壓電路產生之驅動電壓。其中，參考信號代表直流馬達的轉速，當直流馬達的轉速改變時，控制單元透過電壓控制信號改變升壓電路產生之驅動電壓。 Embodiments of the present invention provide a DC motor control device for controlling a DC motor, and the DC motor control device includes a booster circuit and a control unit. The boosting circuit is coupled to the DC motor, receives the voltage control signal, and provides a driving voltage to the DC motor according to the voltage control signal. The control unit is coupled to the boosting circuit, generates a voltage control signal according to the reference signal, and the control unit controls the driving voltage generated by the boosting circuit through the voltage control signal. Wherein, the reference signal represents the rotational speed of the DC motor, and when the rotational speed of the DC motor changes, the control unit changes the driving voltage generated by the boosting circuit through the voltage control signal.

本發明實施例更提供一種直流馬達控制方法，用以控制直流馬達，所述方法包括以下步驟。首先，獲得參考信號，參考信號代表直流馬達的電流。然後，當直流馬達的電流改變時，依據參考信號改變直流馬達的驅動電壓。 The embodiment of the invention further provides a DC motor control method for controlling a DC motor, the method comprising the following steps. First, a reference signal is obtained, which represents the current of the DC motor. Then, when the current of the DC motor is changed, the driving voltage of the DC motor is changed in accordance with the reference signal.

本發明實施例更提供一種直流馬達控制裝置，用以控制直流馬達，所述直流馬達控制裝置包括升壓電路與控制單元。升壓電路耦接直流馬達，接收電壓控制信號，並依據電壓控制信號提供驅動電壓至直流馬達。控制單元耦接升壓電路，依據參考信號產生電壓控制信號，控制單元透過電壓控制信號控制升壓電路產生之驅動電壓。其中，參考信號代表直流馬達的電流，當直流馬達的電流改變時，控制單元透過電壓控制信號改變升壓電路產生之驅動電壓。 The embodiment of the invention further provides a DC motor control device for controlling a DC motor, the DC motor control device comprising a booster circuit and a control unit. The boosting circuit is coupled to the DC motor, receives the voltage control signal, and provides a driving voltage to the DC motor according to the voltage control signal. The control unit is coupled to the boosting circuit, generates a voltage control signal according to the reference signal, and the control unit controls the driving voltage generated by the boosting circuit through the voltage control signal. Wherein, the reference signal represents the current of the DC motor, and when the current of the DC motor changes, the control unit changes the driving voltage generated by the boosting circuit through the voltage control signal.

綜上所述，本發明實施例提供一種直流馬達控制方法及其裝 置在不改變線圈匝數的情況下，依據判斷直流馬達的轉速或電流，以改變驅動電壓，據此調整直流馬達的電流。 In summary, the embodiment of the present invention provides a DC motor control method and the device thereof. In the case where the number of turns of the coil is not changed, the driving voltage is changed according to the determination of the rotational speed or current of the direct current motor, and the current of the direct current motor is adjusted accordingly.

為使能更進一步瞭解本發明之特徵及技術內容，請參閱以下有關本發明之詳細說明與附圖，但是此等說明與所附圖式僅係用來說明本發明，而非對本發明的權利範圍作任何的限制。 The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

S110、S120、S210、S220、S230、S310、S320‧‧‧步驟流程 S110, S120, S210, S220, S230, S310, S320‧‧‧ steps flow

C1、C2、C3‧‧‧曲線 C1, C2, C3‧‧‧ curves

1、1’、3、4‧‧‧直流馬達控制裝置 1, 1', 3, 4‧‧‧ DC motor control unit

11、31、41‧‧‧升壓電路 11, 31, 41‧‧‧ boost circuit

12、32、42‧‧‧控制單元 12, 32, 42‧‧‧ control unit

13、33、43‧‧‧電源供應器 13, 33, 43‧‧‧ power supply

2‧‧‧直流馬達 2‧‧‧DC motor

Vin‧‧‧供應電壓 Vin‧‧‧ supply voltage

Vout‧‧‧驅動電壓 Vout‧‧‧ drive voltage

GND‧‧‧接地 GND‧‧‧ Grounding

CT‧‧‧外部控制信號 CT‧‧‧External control signal

FG‧‧‧參考信號 FG‧‧‧ reference signal

CV‧‧‧電壓控制信號 CV‧‧‧ voltage control signal

CR1、CR2‧‧‧馬達控制信號 CR1, CR2‧‧‧ motor control signals

14、34、44‧‧‧驅動單元 14, 34, 44‧‧‧ drive units

35‧‧‧感測單元 35‧‧‧Sensor unit

5‧‧‧步進馬達 5‧‧‧Stepper motor

Rshunt、Ra‧‧‧電阻 Rshunt, Ra‧‧‧ resistance

圖1是傳統的直流馬達的扭矩-轉速的曲線圖。 1 is a graph of torque-speed of a conventional DC motor.

圖2A是本發明實施例提供的直流馬達控制方法的流程圖。 2A is a flow chart of a DC motor control method according to an embodiment of the present invention.

圖2B是本發明另一實施例提供的直流馬達控制方法的流程圖。 2B is a flow chart of a DC motor control method according to another embodiment of the present invention.

圖3是本發明另一實施例提供的直流馬達控制方法的流程圖。 3 is a flow chart of a DC motor control method according to another embodiment of the present invention.

圖4A是本發明實例提供的直流馬達控制裝置的電路方塊圖。 4A is a circuit block diagram of a DC motor control device provided by an example of the present invention.

圖4B是本發明另一實例提供的直流馬達控制裝置的電路方塊圖。 4B is a circuit block diagram of a DC motor control device provided by another example of the present invention.

圖5是本發明實例提供的直流馬達控制裝置相較於傳統的直流馬達控制裝置所控制的直流馬達的扭矩-轉速的曲線圖。 Figure 5 is a graph showing the torque-rotational speed of a DC motor controlled by a DC motor control device according to an example of the present invention compared to a conventional DC motor control device.

圖6是本發明另一實例提供的直流馬達控制裝置的電路方塊圖。 Figure 6 is a circuit block diagram of a DC motor control device provided by another example of the present invention.

圖7是本發明另一實施例提供的直流馬達控制裝置的電路方塊圖。 FIG. 7 is a circuit block diagram of a DC motor control apparatus according to another embodiment of the present invention.

〔直流馬達控制方法之實施例〕 [Embodiment of DC Motor Control Method]

請參照圖2A，圖2A是本發明實施例提供的直流馬達控制方法的流程圖。上述的直流馬達可以例如是直流有刷馬達、直流無刷馬達或步進馬達。所述直流馬達可應用於例如印表機的驅動馬達、散熱用的電風扇、計算機硬碟的馬達等等，但本發明並不因 此限定。本實施例的直流馬達控制方法，用以控制直流馬達，所述方法包括以下步驟。 Referring to FIG. 2A, FIG. 2A is a flowchart of a DC motor control method according to an embodiment of the present invention. The above-mentioned DC motor can be, for example, a DC brush motor, a DC brushless motor or a stepping motor. The DC motor can be applied to, for example, a drive motor of a printer, an electric fan for heat dissipation, a motor of a computer hard disk, etc., but the present invention is not This is limited. The DC motor control method of this embodiment is for controlling a DC motor, and the method includes the following steps.

步驟S110，獲得參考信號，參考信號代表直流馬達的轉速。步驟S110的實現方式可以例如是利用轉速感測單元感測直流馬達的轉速，例如透過感測直流馬達的轉子的磁極位置以獲得直流馬達的轉速，但本發明並不因此限定。或者，當直流馬達是步進馬達時，可利用控制步進馬達的命令信號作為參考信號。一般而言，控制步進馬達的命令信號是脈衝信號，每一個脈衝信號可使步進馬達轉動一個預定角度，步進馬達可依據脈衝信號的脈衝數目而對應轉動相同的次數，同時脈衝信號的頻率則影響步進馬達轉動時的速度。簡單的說，在獲得參考信號的步驟(S110)中，若直流馬達是步進馬達，則依據步進馬達的命令信號而獲得參考信號。由此可知，從步進馬達的命令信號可以得知步進馬達的轉速。在步驟S110結束後，則進行步驟S120。 In step S110, a reference signal is obtained, and the reference signal represents the rotational speed of the direct current motor. The implementation of step S110 may be, for example, sensing the rotational speed of the direct current motor by using the rotational speed sensing unit, for example, by sensing the magnetic pole position of the rotor of the direct current motor to obtain the rotational speed of the direct current motor, but the invention is not limited thereto. Alternatively, when the DC motor is a stepping motor, a command signal for controlling the stepping motor can be utilized as a reference signal. In general, the command signal for controlling the stepping motor is a pulse signal, and each pulse signal can rotate the stepping motor by a predetermined angle, and the stepping motor can rotate correspondingly according to the number of pulses of the pulse signal, and the pulse signal is The frequency affects the speed at which the stepper motor rotates. Briefly, in the step of obtaining the reference signal (S110), if the DC motor is a stepping motor, the reference signal is obtained in accordance with the command signal of the stepping motor. From this, it can be known that the rotational speed of the stepping motor can be known from the command signal of the stepping motor. After the end of step S110, step S120 is performed.

在步驟S120中，當直流馬達的轉速改變時，依據參考信號改變直流馬達的驅動電壓。在一實施例中，當直流馬達的轉速提升時，提升驅動電壓，當直流馬達的轉速降低時，降低驅動電壓。以馬達的電樞線圈的電壓而言。在相同驅動電壓的情況下，依據電樞線圈的電壓方程式V=i．R+k e ω，當反電勢(keω)接近於電樞線圈的電流i乘上電樞線圈的電阻R時，即反電勢的增加會使得電樞線圈的電流i減少。為了維持電樞線圈的電流i，可提升驅動電壓(對應於電樞線圈的電壓V)。如此則可達到圖5所示的曲線C3，圖5是本發明實例提供的直流馬達控制裝置相較於傳統的直流馬達控制裝置所控制的直流馬達的扭矩-轉速的曲線圖。其中，可利用一查找表(look-up table)獲得對應於直流馬達轉速的驅動電壓。其中，當利用微控制器(MCU)控制直流馬達時，則可達成可程式調整線圈電流。換句話說，上述的控制方法可應用在當直流馬達轉速提升時，將驅動電壓提升，以增加線圈電流。本實施例的控 制方法的詳細實現方式可參照後續實施例的說明。另一方面，當直流馬達的轉速提升時，提升驅動電壓，當直流馬達的轉速降低時，降低驅動電壓的控制方法也可用於減少馬達扭矩諧波產生，如三相馬達用空間向量脈寬調變(Space Vector Pulse Width Modulation，SVPWM)時，為了維持三相電流諧波因子(如電流總諧波失真，Total Harmonic Distortion，THD)較小，以使直流馬達的震動較低，可以用一樣或類似方法變動驅動電壓。 In step S120, when the rotational speed of the direct current motor is changed, the driving voltage of the direct current motor is changed in accordance with the reference signal. In an embodiment, when the rotational speed of the direct current motor is increased, the driving voltage is raised, and when the rotational speed of the direct current motor is decreased, the driving voltage is lowered. In terms of the voltage of the armature coil of the motor. In the case of the same driving voltage, the voltage equation V = i is used according to the armature coil. R + k e ω , when the back electromotive force (k e ω) is close to the current i of the armature coil multiplied by the resistance R of the armature coil, that is, an increase in the back electromotive force causes the current i of the armature coil to decrease. In order to maintain the current i of the armature coil, the driving voltage (corresponding to the voltage V of the armature coil) can be increased. Thus, the curve C3 shown in FIG. 5 can be achieved. FIG. 5 is a graph showing the torque-rotation speed of the DC motor control device controlled by the DC motor control device of the present invention compared to the conventional DC motor control device. Wherein, a driving voltage corresponding to the rotational speed of the direct current motor can be obtained by using a look-up table. Among them, when a DC motor is controlled by a microcontroller (MCU), a programmable coil current can be achieved. In other words, the above control method can be applied to increase the driving voltage to increase the coil current when the DC motor speed is increased. For a detailed implementation of the control method of this embodiment, reference may be made to the description of the subsequent embodiments. On the other hand, when the rotational speed of the DC motor is increased, the driving voltage is raised. When the rotational speed of the DC motor is lowered, the control method for lowering the driving voltage can also be used to reduce the generation of motor torque harmonics, such as the space vector pulse width adjustment for the three-phase motor. In the case of Space Vector Pulse Width Modulation (SVPWM), in order to maintain the three-phase current harmonic factor (such as total harmonic distortion, Total Harmonic Distortion, THD), the vibration of the DC motor is low, and the same or A similar method changes the drive voltage.

在另一實施例中，步驟S120可以應用於直流馬達的轉速油低轉速改變為高轉速的情況，因為有些馬達應用，非常在乎暫態響應，但不介意穩態特性，因此可能在馬達低速如100rpm要升到10000rpm時，需要產生很大的扭矩(即電流)，所以反而在低速需提高電壓，讓馬達有較大的扭矩，等穩態(馬達轉速穩定為高轉速)時，反而降低電壓。換句話說，步驟S120中更抱括當直流馬達的轉速由低轉速改變至高轉速的過程中，提升驅動電壓，且當直流馬達的轉速改變至高轉速後，降低驅動電壓。在步驟S120之後，則再次執行步驟S110，以持續對直流馬達進行控制。 In another embodiment, step S120 can be applied to the case where the low speed of the DC motor is changed to the high speed of the DC motor, because some motor applications are very concerned with the transient response, but do not care about the steady state characteristics, so it may be at a low speed of the motor. When 100 rpm is raised to 10,000 rpm, a large amount of torque (ie, current) needs to be generated, so instead of increasing the voltage at a low speed, the motor has a large torque, and when the steady state (the motor speed is stable to a high speed), the voltage is lowered. . In other words, in step S120, the driving voltage is raised during the process of changing the rotational speed of the direct current motor from the low rotational speed to the high rotational speed, and the driving voltage is lowered after the rotational speed of the direct current motor is changed to the high rotational speed. After step S120, step S110 is performed again to continuously control the DC motor.

請參照圖2B，圖2B是本發明另一實施例提供的直流馬達控制方法的流程圖。相較於圖2A的控制方法，圖2B的控制方法可以用於馬達的消耗功率被限制的情況下使用。以圖2A的控制方法而言，當馬達所應用的產品是插接市電(AC電源)的裝置時，例如印表機，因為電源是源源不絕，故馬達的功率消耗並非強制被限定。相對的，當馬達的消耗功率是依據其應用的產品而受限時，例如用於計算機硬碟的馬達或計算機內的散熱用的風扇，計算機的總耗電量通常是被事先設計的，計算機內的每一個部件的消耗功率通常有一個被設計的上限值，以維持計算機的穩定運作，此時本發明進一步提供限定電流的控制方式，請繼續參照圖2B的流程圖。 Please refer to FIG. 2B. FIG. 2B is a flowchart of a DC motor control method according to another embodiment of the present invention. Compared to the control method of FIG. 2A, the control method of FIG. 2B can be used in the case where the power consumption of the motor is limited. In the control method of FIG. 2A, when the product to which the motor is applied is a device that is plugged into a commercial power source (AC power source), such as a printer, since the power source is a constant source, the power consumption of the motor is not necessarily limited. In contrast, when the power consumption of the motor is limited depending on the product to which it is applied, such as a motor for a computer hard disk or a fan for heat dissipation in a computer, the total power consumption of the computer is usually designed in advance, the computer The power consumption of each component within the device typically has a designed upper limit value to maintain stable operation of the computer. In this case, the present invention further provides a control method for limiting the current. Please continue to refer to the flowchart of FIG. 2B.

首先，在步驟S210中，獲得參考信號，參考信號代表直流馬 達的轉速。步驟S210與圖2A的步驟S110相同，不再贅述。然後，在步驟S220中，當直流馬達的轉速改變時，依據參考信號改變直流馬達的驅動電壓。步驟S220也與圖2A的步驟S120相同。在一實施例中，步驟S220可以包括當直流馬達的轉速提升時，提升驅動電壓，當直流馬達的轉速降低時，降低驅動電壓。在另一實施例中，步驟S220可以包括當直流馬達的轉速由低轉速改變至高轉速的過程中，提升驅動電壓，且當直流馬達的轉速改變至高轉速後，降低驅動電壓。然後，在步驟S230中，限制直流馬達的驅動電流，以使驅動電流低於預設電流上限。在實際實施時，可例如利用電流計感測電樞線圈的電流，或者控制直流馬達的控制器依據馬達的驅動電壓換算電樞線圈的電流，但本發明並不限定獲得直流馬達的驅動電流的方式。在一實施例中，控制直流馬達的控制裝置(例如下一實施例的直流馬達控制裝置)在調整驅動電壓的過程中，限制驅動電壓不要過大，以使驅動電流低於預設電流上限。由前述的電樞線圈的電壓方程式V=i．R+k e ω，可知為了達到使電樞線圈的電流i低於預設電流上限的目的，可以限定驅動電壓(對應於電樞線圈的電壓V)的上限。所述對應於電流的預設電流上限可依據直流馬達所被限定的功率而換算得到，當電樞線圈的電流i低於預設電流上限時，直流馬達所消耗的功率也會低於所需要被限定的瓦數。在步驟S230之後，則再次執行步驟S210，以持續對直流馬達進行控制。本實施例的控制方法的詳細實現方式可參照後續實施例的說明。 First, in step S210, a reference signal is obtained, the reference signal representing the rotational speed of the direct current motor. Step S210 is the same as step S110 of FIG. 2A and will not be described again. Then, in step S220, when the rotational speed of the direct current motor is changed, the driving voltage of the direct current motor is changed in accordance with the reference signal. Step S220 is also the same as step S120 of FIG. 2A. In an embodiment, step S220 may include increasing the driving voltage when the rotational speed of the direct current motor is increased, and decreasing the driving voltage when the rotational speed of the direct current motor is decreased. In another embodiment, step S220 may include increasing the driving voltage during a change in the rotational speed of the direct current motor from the low rotational speed to the high rotational speed, and decreasing the driving voltage after the rotational speed of the direct current motor is changed to the high rotational speed. Then, in step S230, the drive current of the direct current motor is limited such that the drive current is lower than the preset current upper limit. In actual implementation, the current of the armature coil may be sensed by, for example, using an ammeter, or the controller controlling the DC motor may convert the current of the armature coil according to the driving voltage of the motor, but the present invention is not limited to obtaining the driving current of the DC motor. the way. In an embodiment, the control device for controlling the DC motor (for example, the DC motor control device of the next embodiment) limits the driving voltage from being excessively large in the process of adjusting the driving voltage so that the driving current is lower than the preset current upper limit. The voltage equation V = i from the aforementioned armature coil. R + k e ω , it can be understood that the upper limit of the driving voltage (corresponding to the voltage V of the armature coil) can be limited for the purpose of making the current i of the armature coil lower than the upper limit of the preset current. The preset current upper limit corresponding to the current can be converted according to the power defined by the DC motor. When the current i of the armature coil is lower than the preset current upper limit, the power consumed by the DC motor is also lower than required. The number of watts that are limited. After step S230, step S210 is performed again to continuously control the DC motor. For a detailed implementation of the control method of this embodiment, reference may be made to the description of the subsequent embodiments.

另外，直流馬達的溫度升高時，為避免直流馬達的溫度無限制的上升而使馬達焚毀，可以在上述的步驟中增加一個步驟：在當直流馬達的溫度上升至大於一臨界值時，不再升高驅動電壓，例如維持驅動電壓甚至降低驅動電壓。藉此，直流馬達的消耗功率不會繼續上升，直流馬達的溫度也不會繼續增加，以避免馬達起火而焚毀。 In addition, when the temperature of the DC motor rises, in order to avoid the motor from burning due to the unrestricted rise of the temperature of the DC motor, a step may be added in the above steps: when the temperature of the DC motor rises above a threshold, The driving voltage is raised again, for example, the driving voltage is maintained or even the driving voltage is lowered. Thereby, the power consumption of the DC motor will not continue to rise, and the temperature of the DC motor will not continue to increase, so as to avoid the motor burning and burning.

〔直流馬達控制方法之另一實施例〕 [Another embodiment of the DC motor control method]

請參照圖3，圖3是本發明另一實施例提供的直流馬達控制方法的流程圖。在步驟S310中，獲得參考信號，參考信號代表直流馬達的電流。步驟S310與圖2A的步驟S110的差異僅在於將參考信號代表轉速改變為代表電流。步驟S110的實現方式可以例如是利用電流感測單元(例如電流計)感測直流馬達的電流，但本發明並不因此限定。在步驟S310結束後，則進行步驟S320。 Please refer to FIG. 3. FIG. 3 is a flowchart of a DC motor control method according to another embodiment of the present invention. In step S310, a reference signal is obtained, the reference signal representing the current of the direct current motor. The difference between step S310 and step S110 of FIG. 2A is only to change the reference signal representative rotation speed to the representative current. The implementation of step S110 may be, for example, sensing the current of the direct current motor using a current sensing unit (eg, an ammeter), but the invention is not limited thereby. After the end of step S310, step S320 is performed.

在步驟S320中，當直流馬達的電流改變時，依據參考信號改變直流馬達的驅動電壓。在一實施例中，當直流馬達的轉速提升而使直流馬達的電流降低時，則提升驅動電壓，以使直流馬達的電流維持為一預設值。例如有些馬達需定電流驅動，如步進馬達，此參考信號回授不需為轉速，而是電流。當高轉速因反電勢(back emf，或稱為感動勢)提高，電流則變小，此時本實施例的控制方法可自動將驅動電壓提高，讓電流可以在高轉速維持一預設值。在步驟S320之後，則再次執行步驟S310，以持續對直流馬達進行控制。 In step S320, when the current of the direct current motor changes, the driving voltage of the direct current motor is changed in accordance with the reference signal. In one embodiment, when the speed of the DC motor is increased to lower the current of the DC motor, the driving voltage is raised to maintain the current of the DC motor at a predetermined value. For example, some motors need to be driven by a constant current, such as a stepping motor. This reference signal feedback does not need to be a speed, but a current. When the high rotation speed is increased by the back emf (or the oscillating potential), the current becomes small. At this time, the control method of the embodiment can automatically increase the driving voltage so that the current can maintain a preset value at the high rotation speed. After step S320, step S310 is performed again to continuously control the DC motor.

另外，在步驟S320之後，且在再次執行步驟S310之前，更可包括限制直流馬達的驅動電流，以使驅動電流低於預設電流上限。本實施例的控制方法的詳細實現方式可參照後續實施例的說明。 In addition, after step S320, and before step S310 is performed again, it may further include limiting the driving current of the direct current motor so that the driving current is lower than the preset current upper limit. For a detailed implementation of the control method of this embodiment, reference may be made to the description of the subsequent embodiments.

另外，直流馬達的溫度升高時，為避免直流馬達的溫度無限制的上升而使馬達焚毀，可以在上述的步驟中增加一個步驟：在當直流馬達的溫度上升至大於一臨界值時，不再升高驅動電壓，例如維持驅動電壓甚至降低驅動電壓。藉此，直流馬達的消耗功率不會繼續上升，直流馬達的溫度也不會繼續增加，以避免馬達起火而焚毀。 In addition, when the temperature of the DC motor rises, in order to avoid the motor from burning due to the unrestricted rise of the temperature of the DC motor, a step may be added in the above steps: when the temperature of the DC motor rises above a threshold, The driving voltage is raised again, for example, the driving voltage is maintained or even the driving voltage is lowered. Thereby, the power consumption of the DC motor will not continue to rise, and the temperature of the DC motor will not continue to increase, so as to avoid the motor burning and burning.

〔直流馬達控制裝置之實施例〕 [Embodiment of DC Motor Control Device]

請參照圖4A，圖4A是本發明實例提供的直流馬達控制裝置 的電路方塊圖。直流馬達控制裝置1用以控制直流馬達2，所述直流馬達2可以例如是直流有刷馬達、直流無刷馬達或步進馬達。所述直流馬達控制裝置1包括升壓電路11、控制單元12與電源供應器13。所述電源供應器13可以是電池，也可以是外部的市電電源，但本發明並不因此限定。電源供應器13用以提供升壓電路11一個供應電壓Vin，升壓電路11將供應電壓Vin升壓為驅動電壓Vout，驅動電壓Vout是大於或等於供應電壓Vin。 Please refer to FIG. 4A, which is a DC motor control device provided by an example of the present invention. Circuit block diagram. The DC motor control device 1 is used to control the DC motor 2, which may be, for example, a DC brush motor, a DC brushless motor or a stepper motor. The DC motor control device 1 includes a booster circuit 11, a control unit 12, and a power supply 13. The power supply 13 may be a battery or an external mains power supply, but the invention is not limited thereto. The power supply 13 is for supplying a boost voltage 11 to the supply voltage Vin, and the boost circuit 11 boosts the supply voltage Vin to the drive voltage Vout, and the drive voltage Vout is greater than or equal to the supply voltage Vin.

升壓電路11耦接直流馬達2，接收電壓控制信號CV，並依據電壓控制信號CV提供驅動電壓Vout至直流馬達2。本發明並不限定升壓電路11的實現方式，依據直流馬達的驅動電壓Vout與功率的需要，本領域的技術人員可以容易設計對應的升壓電路11，因此對於升壓電路11不再贅述。 The boosting circuit 11 is coupled to the DC motor 2, receives the voltage control signal CV, and supplies the driving voltage Vout to the DC motor 2 according to the voltage control signal CV. The present invention does not limit the implementation of the booster circuit 11. According to the driving voltage Vout of the DC motor and the power requirement, those skilled in the art can easily design the corresponding booster circuit 11, and thus the booster circuit 11 will not be described again.

控制單元12受控於外部控制信號CT，藉此外部的主控裝置(未繪示)或使用者(或製造商)可利用外部控制信號CT控制直流馬達2的運轉(例如轉速)。控制單元12可以是微控制器(MCU)或是其他邏輯控制電路，本發明並不因此限定。控制單元12耦接升壓電路11，控制單元12依據參考信號FG與外部控制信號CT產生電壓控制信號CV，控制單元12透過電壓控制信號CV控制升壓電路11產生之驅動電壓Vout。在一實施例中，參考信號FG是代表直流馬達2的轉速的信號，如此可實現前述圖2A和圖2B的控制方法。在另一實施例中，參考信號FG是代表直流馬達2的電流的信號，如此可實現前述圖3的控制方法。換句話說，當直流馬達2的轉速或電流改變時，控制單元12透過電壓控制信號CV改變升壓電路11產生之驅動電壓Vout。 The control unit 12 is controlled by an external control signal CT, whereby an external master (not shown) or a user (or manufacturer) can control the operation (e.g., speed) of the DC motor 2 using an external control signal CT. The control unit 12 can be a microcontroller (MCU) or other logic control circuit, and the invention is not limited thereby. The control unit 12 is coupled to the boosting circuit 11. The control unit 12 generates a voltage control signal CV according to the reference signal FG and the external control signal CT. The control unit 12 controls the driving voltage Vout generated by the boosting circuit 11 through the voltage control signal CV. In an embodiment, the reference signal FG is a signal representing the rotational speed of the direct current motor 2, so that the aforementioned control method of FIGS. 2A and 2B can be realized. In another embodiment, the reference signal FG is a signal representing the current of the direct current motor 2, so that the aforementioned control method of FIG. 3 can be implemented. In other words, when the rotational speed or current of the direct current motor 2 changes, the control unit 12 changes the drive voltage Vout generated by the boosting circuit 11 through the voltage control signal CV.

在一實施例中，當直流馬達2的轉速提升時，控制單元12透過電壓控制信號CV提升升壓電路11產生之驅動電壓Vout。當直流馬達2的轉速降低時，控制單元12透過電壓控制信號CV降低升壓電路11產生之驅動電壓Vout，例如使驅動電壓Vout回復為 一個較低的預設驅動電壓(相較於高轉速的驅動電壓)。換句話說，相較於傳統的直流馬達控制裝置，本實施例的直流馬達控制裝置1可以在控制直流馬達轉速上升的同時，提升用以驅動直流馬達的驅動電壓Vout，以達到增加直流馬達在高轉速時的扭矩的目的，如圖5所示的曲線C3在高轉速的扭矩大於曲線C1所對應的扭矩。同時，本實施例的直流馬達控制裝置1所控制的直流馬達2的電樞線圈匝數不需要改變，使得直流馬達2在低轉速的扭矩並不會減少(相較於曲線C1所對應的扭矩)。值得一提的是，在圖4A中，對應於直流馬達2的驅動電路並未繪示，依據實際所應用的直流馬達的不同可設計對應的驅動電路。同時，控制單元12、升壓電路11及相關的驅動電路也可以透過一個整合的模組來實現。 In an embodiment, when the rotational speed of the direct current motor 2 is increased, the control unit 12 boosts the driving voltage Vout generated by the boosting circuit 11 through the voltage control signal CV. When the rotation speed of the DC motor 2 decreases, the control unit 12 reduces the driving voltage Vout generated by the boosting circuit 11 through the voltage control signal CV, for example, restores the driving voltage Vout to A lower preset drive voltage (compared to the drive voltage for high speed). In other words, compared with the conventional DC motor control device, the DC motor control device 1 of the present embodiment can increase the driving voltage Vout for driving the DC motor while controlling the increase of the DC motor speed to increase the DC motor. For the purpose of torque at high speed, the torque of curve C3 at high speed is greater than the torque corresponding to curve C1 as shown in FIG. Meanwhile, the number of armature coil turns of the DC motor 2 controlled by the DC motor control device 1 of the present embodiment does not need to be changed, so that the torque of the DC motor 2 at the low speed does not decrease (compared to the torque corresponding to the curve C1). ). It is worth mentioning that, in FIG. 4A, the driving circuit corresponding to the DC motor 2 is not shown, and the corresponding driving circuit can be designed according to the actual applied DC motor. At the same time, the control unit 12, the boosting circuit 11 and the associated driving circuit can also be realized by an integrated module.

在另一實施例中，當直流馬達2的轉速由一低轉速(例如100rpm)改變至一高轉速(例如：10000rpm)的過程中，控制單元12透過電壓控制信號CV提升升壓電路11產生之驅動電壓Vout，且當直流馬達2的轉速改變至高轉速後(穩態)，控制單元12透過電壓控制信號CV降低升壓電路11產生之驅動電壓Vout。 In another embodiment, when the rotational speed of the direct current motor 2 is changed from a low rotational speed (for example, 100 rpm) to a high rotational speed (for example, 10,000 rpm), the control unit 12 boosts the boosting circuit 11 by the voltage control signal CV. The driving voltage Vout is driven, and when the rotational speed of the direct current motor 2 is changed to a high rotational speed (steady state), the control unit 12 reduces the driving voltage Vout generated by the boosting circuit 11 through the voltage control signal CV.

在另一實施例中，當參考信號FG是代表直流馬達2的電流的信號，且當直流馬達的轉速提升而使直流馬達的電流降低時，控制單元12可透過電壓控制信號CV提升升壓電路11產生之升驅動電壓Vout，以使直流馬達2的電流維持為一預設值。 In another embodiment, when the reference signal FG is a signal representing the current of the direct current motor 2, and when the rotational speed of the direct current motor is increased to lower the current of the direct current motor, the control unit 12 can boost the boosting circuit through the voltage control signal CV. 11 generates a rising driving voltage Vout to maintain the current of the direct current motor 2 at a predetermined value.

另外，在另一實施例中，升壓電路11與直流馬達(以及其驅動電路(未繪示))之間更可設置一阻抗匹配電阻Ra，請參照圖4B，圖4B是本發明另一實例提供的直流馬達控制裝置的電路方塊圖。圖4B的直流馬達控制裝置3是基於圖4A的直流馬達控制裝置1的架構下的其中一個實施方式。直流馬達控制裝置1’包括升壓電路11、控制單元12、驅動單元14與電源供應器33，其中依據直流馬達的種類不同驅動單元14可以簡單的受控於升壓電路11的驅動電壓Vout或者更受控於控制單元12。為簡化說明，本實施例的 驅動單元14僅是直接受控於升壓電路11的驅動電壓Vout。在圖4B的電路中，增加了阻抗匹配電阻Ra，耦接驅動單元14與升壓電路11之間，接收升壓電路11之驅動電壓Vout，用以縮短直流馬達2的電氣常數時間。詳細的說，因升壓電路11(通常是以倍壓與限流模阻實現)常需要做限流，所以一般會有一電阻Rshunt做電流感測以及回授之用，在本實施例中，增加阻抗匹倍電阻Ra，使電流響應更快。主要因馬達為感抗性負載，如電感(L)太大，容易造成電流延遲。當增加串聯的阻抗匹配電阻Ra，可讓直流馬達的電氣常數時間(L/R，其中阻抗匹配電阻Ra是阻值R的一部份)縮短，有利改善電流響應。至於因阻抗匹配電阻Ra所造成壓降，則可利用對升壓電路11進行補償而克服，如此不會影響穩態電流值。值得一提的是，本實施例的阻抗匹配電阻Ra也可包含阻值為零的情況(Ra=0)。本實施例並不限定阻抗匹配電阻Ra的阻值，阻抗匹配電阻Ra的阻值可以依據實際需要而設計。 In addition, in another embodiment, an impedance matching resistor Ra may be further disposed between the boosting circuit 11 and the DC motor (and its driving circuit (not shown), please refer to FIG. 4B, and FIG. 4B is another A circuit block diagram of a DC motor control device provided by the example. The DC motor control device 3 of Fig. 4B is based on one of the embodiments of the DC motor control device 1 of Fig. 4A. The DC motor control device 1' includes a boosting circuit 11, a control unit 12, a driving unit 14, and a power supply 33, wherein the driving unit 14 can be simply controlled by the driving voltage Vout of the boosting circuit 11 or according to the kind of the DC motor. It is more controlled by the control unit 12. To simplify the description, the embodiment The drive unit 14 is only directly controlled by the drive voltage Vout of the booster circuit 11. In the circuit of FIG. 4B, an impedance matching resistor Ra is added, coupled between the driving unit 14 and the boosting circuit 11, and receives the driving voltage Vout of the boosting circuit 11 for shortening the electrical constant time of the DC motor 2. In detail, since the boosting circuit 11 (usually realized by double voltage and current limiting mode resistance) often needs to perform current limiting, a resistor Rshunt is generally used for current sensing and feedback, in this embodiment, Increase the impedance of the resistance Ra to make the current response faster. Mainly because the motor is an inductive load, such as the inductance (L) is too large, it is easy to cause current delay. When the series impedance matching resistance Ra is increased, the electrical constant time (L/R, in which the impedance matching resistance Ra is a part of the resistance value R) of the DC motor can be shortened, which is advantageous for improving the current response. As for the voltage drop caused by the impedance matching resistor Ra, it can be overcome by compensating the boosting circuit 11, so that the steady-state current value is not affected. It is worth mentioning that the impedance matching resistor Ra of the present embodiment may also include a case where the resistance value is zero (Ra = 0). In this embodiment, the resistance of the impedance matching resistor Ra is not limited, and the resistance of the impedance matching resistor Ra can be designed according to actual needs.

接著請同時參照圖4A和圖6，圖6是本發明另一實例提供的直流馬達控制裝置的電路方塊圖。圖6的直流馬達控制裝置3是基於圖4A的直流馬達控制裝置1的架構下的其中一個實施方式。直流馬達控制裝置3包括升壓電路31、控制單元32、驅動單元34、感測單元35與電源供應器33。升壓電路31與電源供應器33相同於圖4A的升壓電路11與電源供應器13，請參照前一實施例的說明。驅動單元34耦接控制單元32，且耦接於升壓電路31與直流馬達2之間。驅動單元34接收升壓電路31之驅動電壓Vout，且受控於控制單元32的馬達控制信號CR1以驅動直流馬達2。所述馬達控制信號CR1用以控制直流馬達2的運轉，例如控制直流馬達2的轉速。在一實施例中，控制單元32可以是一個積體電路(IC)，驅動單元34也可以是一個積體電路。在另一實施例中，驅動單元34可以與控制單元32整合為一個單一的積體電路或晶片(chip)。 4A and FIG. 6, FIG. 6 is a circuit block diagram of a DC motor control device according to another example of the present invention. The DC motor control device 3 of Fig. 6 is one of the embodiments based on the architecture of the DC motor control device 1 of Fig. 4A. The DC motor control device 3 includes a boosting circuit 31, a control unit 32, a driving unit 34, a sensing unit 35, and a power supply 33. The booster circuit 31 and the power supply 33 are the same as the booster circuit 11 and the power supply 13 of FIG. 4A. Please refer to the description of the previous embodiment. The driving unit 34 is coupled to the control unit 32 and coupled between the boosting circuit 31 and the DC motor 2 . The drive unit 34 receives the drive voltage Vout of the booster circuit 31 and is controlled by the motor control signal CR1 of the control unit 32 to drive the DC motor 2. The motor control signal CR1 is used to control the operation of the direct current motor 2, for example, to control the rotational speed of the direct current motor 2. In an embodiment, the control unit 32 may be an integrated circuit (IC), and the drive unit 34 may also be an integrated circuit. In another embodiment, the drive unit 34 can be integrated with the control unit 32 into a single integrated circuit or chip.

感測單元35耦接直流馬達2以及控制單元32，感測單元35可以是轉速感測單元，用以感測直流馬達2的轉速，並依據直流馬達2的轉速產生參考信號FG。感測單元35可例如透過感測直流馬達2的轉子的磁極位置以獲得直流馬達2的轉速，但本發明並不因此限定。本領域具有通常知識者可以輕易了解感測單元35的實現方式，不再贅述。 The sensing unit 35 is coupled to the DC motor 2 and the control unit 32. The sensing unit 35 can be a rotational speed sensing unit for sensing the rotational speed of the DC motor 2 and generating a reference signal FG according to the rotational speed of the DC motor 2. The sensing unit 35 can obtain the rotational speed of the DC motor 2 by, for example, sensing the magnetic pole position of the rotor of the direct current motor 2, but the present invention is not limited thereto. Those skilled in the art can easily understand the implementation of the sensing unit 35, and will not be described again.

在另一實施例中，感測單元35可以是電流感測單元(例如電流計)，用以感測直流馬達2的電流，並依據直流馬達2的電流產生參考信號FG。 In another embodiment, the sensing unit 35 may be a current sensing unit (eg, an ammeter) for sensing the current of the DC motor 2 and generating a reference signal FG according to the current of the DC motor 2.

另外，當本實施例的直流馬達控制裝置3應用於限制直流馬達的最大功率的情況時，且在不改變直流馬達2的情況下，使用者或製造商可利用控制單元32設定直流馬達2的最大功率上限。 In addition, when the DC motor control device 3 of the present embodiment is applied to the case of limiting the maximum power of the DC motor, and without changing the DC motor 2, the user or the manufacturer can set the DC motor 2 by the control unit 32. Maximum power limit.

另外，直流馬達2上可裝設一個溫度感測器(未繪示)，以感測直流馬達2的溫度，用以在直流馬達2的溫度升高時，避免直流馬達2的溫度無限制的上升而使馬達焚毀。例如：可以在當直流馬達2的溫度上升至大於一臨界值時，溫度感測器將溫度感測信號傳送至控制單元12(或32)，此時控制單元12(或32)不再升高驅動電壓Vout，例如：維持驅動電壓Vout，甚至降低驅動電壓Vout。藉此，直流馬達2的消耗功率不會繼續上升，直流馬達2的溫度也不會繼續增加，以避免馬達起火而焚毀。 In addition, a temperature sensor (not shown) may be disposed on the DC motor 2 to sense the temperature of the DC motor 2 to prevent the temperature of the DC motor 2 from being unrestricted when the temperature of the DC motor 2 rises. The rise caused the motor to burn. For example, when the temperature of the DC motor 2 rises above a threshold, the temperature sensor transmits a temperature sensing signal to the control unit 12 (or 32), at which time the control unit 12 (or 32) is no longer raised. The driving voltage Vout, for example, maintains the driving voltage Vout and even lowers the driving voltage Vout. Thereby, the power consumption of the direct current motor 2 does not continue to rise, and the temperature of the direct current motor 2 does not continue to increase, so as to prevent the motor from being burned and burned.

〔直流馬達控制裝置之另一實施例〕 [Another embodiment of the DC motor control device]

圖7是本發明另一實施例提供的直流馬達控制裝置的電路方塊圖。圖7的直流馬達控制裝置4是基於圖4A的直流馬達控制裝置1的架構下的另一個實施方式。直流馬達控制裝置4包括升壓電路41、控制單元42、驅動單元44與電源供應器43。升壓電路41與電源供應器43相同於圖4A的升壓電路11與電源供應器13，請參照前面的說明。在本實施例中，直流馬達控制裝置4所控制的直流馬達是步進馬達5，馬達控制信號CR2不但可控制轉速也 可控制步進馬達5的旋轉角度。控制單元42產生馬達控制信號CR2，在本實施例中馬達控制信號CR2是控制步進馬達5的命令信號(以脈衝形式實現)。換句話說，控制單元42產生一命令信號以控制步進馬達5，且透過命令信號可以得知步進馬達5的轉速。據此，控制單元42依據命令信號而獲得代表步進馬達5的轉速的參考信號FG(圖7未繪示)，在本實施例中參考信號FG可以視為控制單元42的一個內部信號。簡單的說，控制單元42依據參考信號FG與外部控制信號CT產生電壓控制信號CV，控制單元42透過電壓控制信號CV控制升壓電路41產生之驅動電壓Vout。當步進馬達5的轉速提升時，控制單元42透過電壓控制信號CV提升升壓電路41產生之驅動電壓Vout。當步進馬達5的轉速降低時，控制單元42透過電壓控制信號CV降低升壓電路41產生之驅動電壓Vout。驅動單元44依據驅動電壓Vout與馬達控制信號CR2以控制步進馬達5。 FIG. 7 is a circuit block diagram of a DC motor control apparatus according to another embodiment of the present invention. The DC motor control device 4 of Fig. 7 is another embodiment based on the architecture of the DC motor control device 1 of Fig. 4A. The DC motor control device 4 includes a booster circuit 41, a control unit 42, a drive unit 44, and a power supply 43. The booster circuit 41 is the same as the power supply 43 and the booster circuit 11 and the power supply 13 of FIG. 4A. Please refer to the previous description. In the present embodiment, the DC motor controlled by the DC motor control device 4 is a stepping motor 5, and the motor control signal CR2 can control not only the rotation speed but also the rotation speed. The angle of rotation of the stepping motor 5 can be controlled. The control unit 42 generates a motor control signal CR2, which in the present embodiment is a command signal (implemented in the form of a pulse) that controls the stepping motor 5. In other words, the control unit 42 generates a command signal to control the stepping motor 5, and the rotational speed of the stepping motor 5 can be known through the command signal. Accordingly, the control unit 42 obtains a reference signal FG (not shown in FIG. 7) representing the rotational speed of the stepping motor 5 in accordance with the command signal, and the reference signal FG can be regarded as an internal signal of the control unit 42 in this embodiment. Briefly speaking, the control unit 42 generates a voltage control signal CV according to the reference signal FG and the external control signal CT, and the control unit 42 controls the driving voltage Vout generated by the boosting circuit 41 through the voltage control signal CV. When the rotational speed of the stepping motor 5 is increased, the control unit 42 boosts the driving voltage Vout generated by the boosting circuit 41 through the voltage control signal CV. When the rotation speed of the stepping motor 5 is lowered, the control unit 42 lowers the driving voltage Vout generated by the boosting circuit 41 through the voltage control signal CV. The drive unit 44 controls the stepping motor 5 in accordance with the drive voltage Vout and the motor control signal CR2.

另外，步進馬達5上可裝設一個溫度感測器(未繪示)，以感測步進馬達5的溫度，用以在步進馬達5的溫度升高時，避免步進馬達5的溫度無限制的上升而使馬達焚毀。例如：可以在當步進馬達5的溫度上升至大於一臨界值時，溫度感測器將溫度感測信號傳送至控制單元42，此時控制單元42不再升高驅動電壓Vout，例如：維持驅動電壓Vout，甚至降低驅動電壓Vout。藉此，步進馬達5的消耗功率不會繼續上升，步進馬達5的溫度也不會繼續增加，以避免馬達起火而焚毀。 In addition, a temperature sensor (not shown) may be disposed on the stepping motor 5 to sense the temperature of the stepping motor 5 to avoid the stepping motor 5 when the temperature of the stepping motor 5 rises. The temperature rises unrestricted and the motor burns. For example, when the temperature of the stepping motor 5 rises above a threshold, the temperature sensor transmits a temperature sensing signal to the control unit 42, at which time the control unit 42 no longer raises the driving voltage Vout, for example: maintaining The driving voltage Vout even lowers the driving voltage Vout. Thereby, the power consumption of the stepping motor 5 does not continue to rise, and the temperature of the stepping motor 5 does not continue to increase, so as to prevent the motor from being burned and burned.

〔實施例的可能功效〕 [Possible effects of the examples]

綜上所述，本發明實施例所提供的直流馬達控制方法及其裝置可在不改變線圈匝數的情況下，依據直流馬達的轉速或電流調整驅動電壓，以調整直流馬達的電流，藉此調整直流馬達的扭矩。透過調整直流馬達的驅動電壓，可增加直流馬達的可用轉速範圍，以提高產品的競爭力。例如可隨著直流馬達轉速提升驅動 電壓，以達到在不減少低轉速的扭矩的同時，並增加直流馬達在高轉速的扭矩。再者，當直流馬達以定電流驅動時，當直流馬達的電流變小時，則自動將驅動電壓提高，以讓電流可以在高轉速維持定值。或者，在直流馬達由低轉速升到高轉速的過程中提高驅動電壓，讓直流馬達的電流增加以產生較大的扭矩，等穩態馬達轉速穩定時，則降低驅動電壓。另外，為避免直流馬達的溫度無限制的上升而使馬達焚毀，當直流馬達的升溫過高時，不再提高驅動電壓，以避免馬達焚毀。 In summary, the DC motor control method and apparatus provided by the embodiments of the present invention can adjust the driving voltage according to the rotation speed or current of the DC motor without changing the number of coil turns, thereby adjusting the current of the DC motor. Adjust the torque of the DC motor. By adjusting the driving voltage of the DC motor, the available speed range of the DC motor can be increased to improve the competitiveness of the product. For example, it can be driven with the DC motor speed The voltage is achieved while not reducing the torque at low speeds and increasing the torque of the DC motor at high speeds. Furthermore, when the DC motor is driven at a constant current, when the current of the DC motor becomes small, the driving voltage is automatically increased to allow the current to maintain a constant value at a high rotational speed. Alternatively, the driving voltage is increased during the process of the DC motor rising from the low speed to the high speed, so that the current of the DC motor is increased to generate a large torque, and when the steady state motor speed is stable, the driving voltage is lowered. In addition, in order to avoid an unrestricted rise in the temperature of the DC motor, the motor is burned. When the temperature rise of the DC motor is too high, the driving voltage is no longer increased to avoid motor burning.

以上所述僅為本發明之實施例，其並非用以侷限本發明之專利範圍。 The above description is only an embodiment of the present invention, and is not intended to limit the scope of the invention.

1‧‧‧直流馬達控制裝置 1‧‧‧DC motor control unit

11‧‧‧升壓電路 11‧‧‧Boost circuit

12‧‧‧控制單元 12‧‧‧Control unit

13‧‧‧電源供應器 13‧‧‧Power supply

2‧‧‧直流馬達 2‧‧‧DC motor

Vin‧‧‧供應電壓 Vin‧‧‧ supply voltage

Vout‧‧‧驅動電壓 Vout‧‧‧ drive voltage

GND‧‧‧接地 GND‧‧‧ Grounding

CT‧‧‧外部控制信號 CT‧‧‧External control signal

FG‧‧‧參考信號 FG‧‧‧ reference signal

CV‧‧‧電壓控制信號 CV‧‧‧ voltage control signal

Claims (10)

一種直流馬達控制方法，用以控制一直流馬達，該方法包括：獲得一參考信號，該參考信號代表該直流馬達的轉速；以及當該直流馬達的轉速由一低轉速改變至一高轉速的過程中，提升該驅動電壓，且當該直流馬達的轉速改變至該高轉速後，降低該驅動電壓。 A DC motor control method for controlling a DC motor, the method comprising: obtaining a reference signal representing a rotational speed of the DC motor; and a process of changing a rotational speed of the DC motor from a low rotational speed to a high rotational speed The driving voltage is increased, and when the rotational speed of the direct current motor is changed to the high rotational speed, the driving voltage is lowered. 根據請求項第1項之直流馬達控制方法，其中當該直流馬達的轉速提升時，提升該驅動電壓，當該直流馬達的轉速降低時，降低該驅動電壓。 The DC motor control method of claim 1, wherein the driving voltage is increased when the rotational speed of the direct current motor is increased, and the driving voltage is decreased when the rotational speed of the direct current motor is decreased. 根據請求項第1項之直流馬達控制方法，更包括：限制該直流馬達的一驅動電流，以使該驅動電流低於一預設電流上限。 The DC motor control method of claim 1, further comprising: limiting a driving current of the DC motor such that the driving current is lower than a predetermined current upper limit. 根據請求項第1項之直流馬達控制方法，其中在獲得該參考信號的步驟中，該直流馬達是一步進馬達，依據該步進馬達的一命令信號而獲得該參考信號。 The DC motor control method of claim 1, wherein in the step of obtaining the reference signal, the DC motor is a stepping motor, and the reference signal is obtained according to a command signal of the stepping motor. 根據請求項第1項之直流馬達控制方法，更包括：當該直流馬達的溫度上升至大於一臨界值時，不再升高該驅動電壓。 According to the DC motor control method of claim 1, the method further includes: when the temperature of the DC motor rises above a threshold, the driving voltage is no longer raised. 一種直流馬達控制裝置，用以控制一直流馬達，該直流馬達控制裝置包括：一升壓電路，耦接該直流馬達，接收一電壓控制信號，並依據該電壓控制信號提供一驅動電壓至該直流馬達；以及一控制單元，耦接該升壓電路，依據一參考信號產生該電壓控制信號，該控制單元透過該電壓控制信號控制該升壓電路產生之該驅動電壓；其中，該參考信號代表該直流馬達的轉速，當該直流馬達的轉速由一低轉速改變至一高轉速的過程中，該控制單元透過該電壓控制信號提升該升壓電路產生之該驅動電壓，且當該直流馬達的 轉速改變至該高轉速後，該控制單元透過該電壓控制信號降低該升壓電路產生之該驅動電壓。 A DC motor control device for controlling a DC motor, the DC motor control device comprising: a booster circuit coupled to the DC motor, receiving a voltage control signal, and providing a driving voltage to the DC according to the voltage control signal And a control unit coupled to the boosting circuit to generate the voltage control signal according to a reference signal, wherein the control unit controls the driving voltage generated by the boosting circuit through the voltage control signal; wherein the reference signal represents the The speed of the DC motor, when the speed of the DC motor is changed from a low speed to a high speed, the control unit boosts the driving voltage generated by the boosting circuit through the voltage control signal, and when the DC motor After the rotation speed is changed to the high rotation speed, the control unit reduces the driving voltage generated by the boosting circuit through the voltage control signal. 根據請求項第6項之直流馬達控制裝置，其中當該直流馬達的轉速提升時，該控制單元透過該電壓控制信號提升該升壓電路產生之該驅動電壓，當該直流馬達的轉速降低時，該控制單元透過該電壓控制信號降低該升壓電路產生之該驅動電壓。 The DC motor control device of claim 6, wherein the control unit boosts the driving voltage generated by the boosting circuit by the voltage control signal when the rotational speed of the DC motor is increased, when the rotational speed of the DC motor decreases The control unit reduces the driving voltage generated by the boosting circuit through the voltage control signal. 根據請求項第6項之直流馬達控制裝置，其中該直流馬達控制裝置更包括：一驅動單元，耦接該控制單元，且耦接於該升壓電路與該直流馬達之間，接收該升壓電路之該驅動電壓，且受控於該控制單元以驅動該直流馬達。 The DC motor control device of claim 6, wherein the DC motor control device further comprises: a driving unit coupled to the control unit and coupled between the boosting circuit and the DC motor to receive the boosting The drive voltage of the circuit is controlled by the control unit to drive the DC motor. 根據請求項第6項之直流馬達控制裝置，更包括：一轉速感測單元，耦接該直流馬達以及該控制單元，感測該直流馬達的轉速，並依據該直流馬達的轉速產生該參考信號。 The DC motor control device of claim 6, further comprising: a rotation speed sensing unit coupled to the DC motor and the control unit, sensing the rotation speed of the DC motor, and generating the reference signal according to the rotation speed of the DC motor . 根據請求項第8項之直流馬達控制裝置，其中該直流馬達控制裝置更包括：一阻抗匹配電阻，耦接該驅動單元與該升壓電路之間，接收該升壓電路之該驅動電壓，用以縮短該直流馬達的電氣常數時間。 The DC motor control device of claim 8, wherein the DC motor control device further comprises: an impedance matching resistor coupled between the driving unit and the boosting circuit, and receiving the driving voltage of the boosting circuit, To shorten the electrical constant time of the DC motor.
TW103109434A 2014-03-14 2014-03-14 Dc motor control method and dc motor control device TWI520478B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI666460B (en) * 2018-08-10 2019-07-21 東元電機股份有限公司 Rapid test method for motor layer short
TWI811792B (en) * 2021-09-15 2023-08-11 致新科技股份有限公司 Motor controller
US12021465B2 (en) 2022-03-18 2024-06-25 Delta Electronics, Inc. DC motor driving system and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI666460B (en) * 2018-08-10 2019-07-21 東元電機股份有限公司 Rapid test method for motor layer short
TWI811792B (en) * 2021-09-15 2023-08-11 致新科技股份有限公司 Motor controller
US12021465B2 (en) 2022-03-18 2024-06-25 Delta Electronics, Inc. DC motor driving system and method

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