TWI623188B - Control system of three-phase brushless dc motor - Google Patents
Control system of three-phase brushless dc motor Download PDFInfo
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- TWI623188B TWI623188B TW106115370A TW106115370A TWI623188B TW I623188 B TWI623188 B TW I623188B TW 106115370 A TW106115370 A TW 106115370A TW 106115370 A TW106115370 A TW 106115370A TW I623188 B TWI623188 B TW I623188B
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- 230000004913 activation Effects 0.000 claims description 11
- 239000003990 capacitor Substances 0.000 claims description 8
- 230000002596 correlated effect Effects 0.000 claims description 7
- 230000000875 corresponding effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 238000001514 detection method Methods 0.000 description 5
- 230000014759 maintenance of location Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
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Abstract
本發明提供一種三相直流無刷馬達控制系統，包括直流無刷馬達、驅動電路、控制單元、啟動裝置、過電流保護電路以及相位保持裝置，過電流保護電路依據傳送至該直流無刷馬達的該驅動電流之大小，以決定是否關閉該直流無刷馬達。相位保持裝置依據該直流無刷馬達的轉子之位置狀態，以決定是否保持該轉子於目前相位。 The invention provides a three-phase brushless motor control system, comprising a DC brushless motor, a driving circuit, a control unit, a starting device, an overcurrent protection circuit and a phase maintaining device, wherein the overcurrent protection circuit is transmitted to the DC brushless motor. The magnitude of the drive current to determine whether to turn off the DC brushless motor. The phase maintaining means determines whether to maintain the rotor in the current phase according to the positional state of the rotor of the brushless DC motor.
Description
本發明係關於一種馬達系統，特別是關於一種三相直流無刷馬達控制系統。 The present invention relates to a motor system, and more particularly to a three-phase brushless motor control system.
直流馬達由於具備好的穩定性，同時馬達的輸入及輸出之間形成線性關係的特性，故具有較佳的控制性能，因此，廣泛應用於需要高精度控制之處。但是習知的直流馬達有下列幾種缺失：整流裝置的電刷以及換向器係為機械性接觸，易因摩擦而產生磨損、火花等問題，而導致馬達的可靠性降低與更換電刷之缺點。因此，無刷馬達是將習知的直流馬達之整流部份(電刷及換向器)以電子方式取代，而保留直流馬達可進行加速控制之特性，故為一特性較佳之直流馬達。 Since the DC motor has good stability and a linear relationship between the input and output of the motor, it has better control performance, and therefore is widely used in places where high-precision control is required. However, the conventional DC motor has the following defects: the brush of the rectifying device and the commutator are mechanically contacted, which is easy to cause wear and sparking due to friction, and the reliability of the motor is lowered and the brush is replaced. Disadvantages. Therefore, the brushless motor is an electronic motor in which the rectification portion (brush and commutator) of the conventional DC motor is electronically replaced, and the DC motor can be acceleratedly controlled.
然而，當經過直流馬達的電流超過一設定值，仍然需要作適當保護，以避免使用該馬達的系統誤動作。其次，在習知技術中，當馬達在一相位處於鎖住狀態時，其控制裝置仍會強制使直流馬達轉動至下一相位，造成對直流馬達的損害。再者，習知的直流馬達啟動瞬間電流過大或是不夠穩定，導致直流馬達的特性不佳。 However, when the current through the DC motor exceeds a set value, proper protection is still required to avoid system malfunction using the motor. Secondly, in the prior art, when the motor is in a locked state, its control device still forces the DC motor to rotate to the next phase, causing damage to the DC motor. Moreover, the conventional DC motor starts to have an excessive current or is not stable enough, resulting in poor characteristics of the DC motor.
因此需要提出一種新式的直流無刷馬達控制系統，以解決上 述之問題。 Therefore, it is necessary to propose a new type of DC brushless motor control system to solve the above problem. The problem described.
本發明之一目的在於提供一種三相直流無刷馬達控制系統，具有過電流保護的優點。 It is an object of the present invention to provide a three-phase brushless motor control system that has the advantage of overcurrent protection.
本發明之另一目的在於提供一種三相直流無刷馬達控制系統，具有相位保持的優點。 Another object of the present invention is to provide a three-phase brushless motor control system having the advantage of phase retention.
本發明之又一目的在於提供一種三相直流無刷馬達控制系統，具有緩步啟動的優點。 It is still another object of the present invention to provide a three-phase brushless motor control system having the advantage of a slow start.
本發明之另一目的在於提供一種三相直流無刷馬達控制系統，具有補償直流馬達的轉動角度以使扭矩最大之優點。 Another object of the present invention is to provide a three-phase brushless motor control system having the advantage of compensating for the angle of rotation of the DC motor to maximize torque.
為達成上述目的，本發明之一實施例中三相直流無刷馬達控制系統包括一直流無刷馬達；一驅動電路，電性連接該直流無刷馬達，用以輸出一驅動電流至該直流無刷馬達，以驅動該直流無刷馬達；一控制單元，連接該驅動電路，用以控制該直流無刷馬達的運作；一啟動裝置，電性連接該控制單元，用以產生一啟動訊號，該控制單元接收該啟動訊號並且傳送該啟動訊號至該驅動電路，該驅動電路依據該啟動訊號輸出該驅動電流至該直流無刷馬達，其中在該啟動裝置的一啟動時間區間中，該驅動電流與該啟動訊號呈線性正相關；一過電流保護電路，電性連接該驅動電路以及該控制單元，用以偵測傳送至該直流無刷馬達的該驅動電流的大小，當該驅動電流所對應的驅動電壓大於一參考電壓，該過電流保護電路產生一切換訊號，以使該控制單元依據該切換訊號關閉該直流無刷馬達；以及一相位保持裝置，電性連接該直流無刷馬達以及該控制單元，依據該直流無刷馬 達的轉子之位置狀態，當該轉子的該位置狀態大致上靜止時，該相位保持裝置藉由該控制單元保持該轉子於一目前相位。 In order to achieve the above object, a three-phase brushless motor control system according to an embodiment of the present invention includes a brushless motor; a driving circuit electrically connected to the DC brushless motor for outputting a driving current to the DC Brushing the motor to drive the DC brushless motor; a control unit connected to the driving circuit for controlling the operation of the DC brushless motor; and a starting device electrically connected to the control unit for generating a start signal, The control unit receives the start signal and transmits the start signal to the drive circuit, and the drive circuit outputs the drive current to the DC brushless motor according to the start signal, wherein the drive current is in a start time interval of the start device The start signal is linearly positively correlated; an overcurrent protection circuit is electrically connected to the driving circuit and the control unit for detecting the magnitude of the driving current transmitted to the DC brushless motor, when the driving current corresponds to The driving voltage is greater than a reference voltage, and the overcurrent protection circuit generates a switching signal to enable the control unit to switch according to the switching No. close the brushless DC motor; and a phase holding means, electrically connected to the brushless DC motor and the control unit, according to the DC brushless horse The position state of the rotor is reached, and the phase maintaining means maintains the rotor at a current phase by the control unit when the position state of the rotor is substantially stationary.
在一實施例中，該啟動裝置控制該啟動訊號由小增大，使該驅動電流在該啟動時間區間中線性地由小增加至大。 In one embodiment, the activation device controls the activation signal to increase from a small amount such that the drive current linearly increases from small to large during the startup time interval.
在一實施例中，三相直流無刷馬達控制系統還包括一電容，連接該啟動裝置，用以調整該驅動電流在該啟動時間區間之電流線性地由小增加至大，其中該啟動時間區間與該電容的大小呈正相關。 In one embodiment, the three-phase brushless motor control system further includes a capacitor connected to the starting device for adjusting the current of the driving current in the starting time interval to increase linearly from small to large, wherein the starting time interval Positively related to the size of the capacitor.
在一實施例中，該過電流保護電路包括一比較器，分別電性連接該直流無刷馬達之一輸入端以及一輸出端，該比較器由該輸出端接收該驅動電壓並且比較該驅動電壓與該參考電壓，當該驅動電壓大於該參考電壓，該比較器由該輸入端輸入該切換訊號，以關閉該直流無刷馬達。 In one embodiment, the overcurrent protection circuit includes a comparator electrically connected to one of the input ends of the brushless DC motor and an output terminal, the comparator receiving the driving voltage from the output terminal and comparing the driving voltage And the reference voltage, when the driving voltage is greater than the reference voltage, the comparator inputs the switching signal from the input terminal to turn off the DC brushless motor.
在一實施例中，該相位保持裝置判斷該轉子大致靜止一預定時間之後，該控制單元控制該驅動電路並且依據該啟動訊號重新啟動該直流無刷馬達。 In one embodiment, after the phase holding device determines that the rotor is substantially stationary for a predetermined time, the control unit controls the driving circuit and restarts the DC brushless motor according to the activation signal.
在一實施例中，該轉子包括一第一磁極，該直流無刷馬達的定子包括一目前電極以及鄰接該目前電極的下一電極，該第一磁極對準於該目前電極，該目前電極相對應於該目前相位，該下一電極相對應於下一相位，當該轉子的該位置狀態大致上靜止時，該相位保持裝置透過該控制單元控制該驅動電路以磁化該目前電極，使該第一磁極與該目前電極互相吸引，並且使該第一磁極保持在該目前相位。 In one embodiment, the rotor includes a first magnetic pole, and the stator of the brushless DC motor includes a current electrode and a next electrode adjacent to the current electrode, the first magnetic pole is aligned with the current electrode, and the current electrode phase Corresponding to the current phase, the next electrode corresponds to the next phase, and when the position state of the rotor is substantially stationary, the phase holding device controls the driving circuit to magnetize the current electrode through the control unit, so that the first phase A magnetic pole attracts the current electrode and maintains the first magnetic pole at the current phase.
在一實施例中，當該轉子的該位置狀態處於轉動狀態時，該相位保持裝置透過該控制單元控制該驅動電路控制該驅動電路以磁化該下 一電極，使該下一電極吸引與該目前電極對準的該第一磁極，並且使該第一磁極由目前相位轉動至該下一相位。 In an embodiment, when the position state of the rotor is in a rotating state, the phase holding device controls the driving circuit to control the driving circuit to magnetize the lower portion through the control unit. An electrode that causes the next electrode to attract the first magnetic pole aligned with the current electrode and rotate the first magnetic pole from the current phase to the next phase.
在一實施例中，三相直流無刷馬達控制系統還包括一角度補償裝置，電性連接該直流無刷馬達以及該控制單元，依據該轉子相對於該直流無刷馬達的一定子之轉速，以決定該轉子與該定子之間的偏移角度。 In an embodiment, the three-phase brushless motor control system further includes an angle compensation device electrically connected to the DC brushless motor and the control unit, according to a certain rotation speed of the rotor relative to the DC brushless motor. To determine the angle of offset between the rotor and the stator.
在一實施例中，該轉子的該轉速與該偏移角度呈正相關。 In an embodiment, the rotational speed of the rotor is positively correlated with the offset angle.
在一實施例中，該轉子包括一第一磁極，該直流無刷馬達的定子包括前一電極、鄰接該前一電極的一目前電極、以及鄰接該目前電極的下一電極，當該轉子以該轉速轉動時，該相位保持裝置偵測該第一磁極相對應於該前一電極與該目前電極之一偵測位置，並且該第一磁極對準於該目前電極之一實際位置，該第一磁極之偵測位置與該第一磁極之該實際位置的差異定義為該偏移角度，該控制單元控制該驅動電路以磁化該下一電極，使該下一電極吸引該實際位置上該目前電極所對準的該第一磁極。 In one embodiment, the rotor includes a first magnetic pole, and the stator of the brushless DC motor includes a front electrode, a current electrode adjacent to the front electrode, and a next electrode adjacent to the current electrode, when the rotor When the rotation speed is rotated, the phase maintaining device detects that the first magnetic pole corresponds to a detection position of the front electrode and the current electrode, and the first magnetic pole is aligned with an actual position of the current electrode, the first The difference between the detected position of a magnetic pole and the actual position of the first magnetic pole is defined as the offset angle, and the control unit controls the driving circuit to magnetize the next electrode, so that the next electrode attracts the current position to the current The first magnetic pole to which the electrode is aligned.
100‧‧‧直流無刷馬達 100‧‧‧DC brushless motor
101‧‧‧驅動電路 101‧‧‧ drive circuit
102‧‧‧控制單元 102‧‧‧Control unit
104‧‧‧啟動裝置 104‧‧‧Starting device
105‧‧‧電容 105‧‧‧ Capacitance
106‧‧‧過電流保護電路 106‧‧‧Overcurrent protection circuit
108‧‧‧相位保持裝置 108‧‧‧ phase holding device
110‧‧‧角度補償裝置 110‧‧‧Angle compensation device
112‧‧‧比較器 112‧‧‧ comparator
114a‧‧‧輸入端 114a‧‧‧ input
114b‧‧‧輸出端 114b‧‧‧output
116‧‧‧電源 116‧‧‧Power supply
118a‧‧‧第一電阻 118a‧‧‧First resistance
118b‧‧‧第二電阻 118b‧‧‧second resistance
120‧‧‧轉子 120‧‧‧Rotor
122a‧‧‧第一磁極 122a‧‧‧First magnetic pole
122b‧‧‧第二磁極 122b‧‧‧second magnetic pole
123‧‧‧感測元件 123‧‧‧Sensor components
124‧‧‧定子 124‧‧‧ Stator
126‧‧‧開汲極電路 126‧‧‧Opening pole circuit
128‧‧‧NMOS電晶體 128‧‧‧NMOS transistor
130‧‧‧邏輯元件 130‧‧‧Logical components
132a‧‧‧第一控制電晶體 132a‧‧‧First control transistor
132b‧‧‧第二控制電晶體 132b‧‧‧Second control transistor
N‧‧‧北極 N‧‧‧Arctic
P1~P6‧‧‧第一電極至第六電極 P1~P6‧‧‧first to sixth electrodes
PA‧‧‧實際位置 PA‧‧‧ actual location
PD‧‧‧偵測位置 PD‧‧‧Detection location
S‧‧‧南極 S‧‧‧Antarctic
SA‧‧‧啟動訊號 SA‧‧‧ start signal
SC‧‧‧控制訊號 SC‧‧‧Control signal
SCS‧‧‧速度控制訊號 SCS‧‧‧ speed control signal
SI‧‧‧驅動電流 SI‧‧‧ drive current
SP‧‧‧預定值 SP‧‧‧Predetermined value
SR‧‧‧參考電壓 SR‧‧‧reference voltage
SV‧‧‧驅動電壓 SV‧‧‧ drive voltage
SW‧‧‧切換訊號 SW‧‧‧Switch signal
TS‧‧‧啟動時間區間 TS‧‧‧Starting time interval
Vm‧‧‧施加電壓 Vm‧‧‧ applied voltage
θ‧‧‧偏移角度 θ‧‧‧Offset angle
為了更清楚地說明本發明實施例中的技術方案，下面將對實施例描述中所需要使用的附圖作簡單地介紹：圖1繪示本發明實施例中三相直流無刷馬達控制系統之方塊圖。 In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described. FIG. 1 illustrates a three-phase DC brushless motor control system according to an embodiment of the present invention. Block diagram.
圖2繪示本發明實施例中啟動裝置的啟動訊號所對應的驅動電流之曲線示意圖。 FIG. 2 is a schematic diagram showing the driving current corresponding to the startup signal of the starting device in the embodiment of the present invention.
圖3繪示本發明實施例中過電流保護電路之示意圖。 3 is a schematic diagram of an overcurrent protection circuit in an embodiment of the present invention.
圖4繪示本發明實施例中相位保持裝置的相位保持機制之示意圖。 4 is a schematic diagram showing a phase maintaining mechanism of a phase holding device in an embodiment of the present invention.
圖5繪示本發明實施例中角度補償裝置的角度補償機制之示意圖。 FIG. 5 is a schematic diagram of an angle compensation mechanism of an angle compensation device according to an embodiment of the present invention.
圖6繪示本發明實施例中驅動電路之示意圖。 6 is a schematic diagram of a driving circuit in an embodiment of the present invention.
請參照圖式，其中相同的元件符號代表相同的元件或是相似的元件，本發明的原理是以實施在適當的運算環境中來舉例說明。以下的說明是基於所例示的本發明具體實施例，其不應被視為限制本發明未在此詳述的其它具體實施例。 Referring to the drawings, wherein like reference numerals refer to the same or the The following description is based on the specific embodiments of the invention, which are not to be construed as limiting the invention.
參考圖1，其繪示本發明實施例中三相直流無刷馬達控制系統之方塊圖。該三相直流無刷馬達控制系統包括直流無刷馬達100、驅動電路101、控制單元102、啟動裝置104、過電流保護電路106、相位保持裝置108以及角度補償裝置110。驅動電路101電性連接該直流無刷馬達100，啟動裝置104電性連接該控制單元102，過電流保護電路106電性連接該驅動電路101以及該控制單元102，相位保持裝置108電性連接該直流無刷馬達100以及該控制單元102。本發明亦適用於更多相之直流無刷馬達控制系統，不限於三相馬達。 Referring to FIG. 1, a block diagram of a three-phase DC brushless motor control system in accordance with an embodiment of the present invention is shown. The three-phase brushless motor control system includes a DC brushless motor 100, a drive circuit 101, a control unit 102, an activation device 104, an overcurrent protection circuit 106, a phase hold device 108, and an angle compensation device 110. The driving circuit 101 is electrically connected to the DC brushless motor 100, the starting device 104 is electrically connected to the control unit 102, the overcurrent protection circuit 106 is electrically connected to the driving circuit 101 and the control unit 102, and the phase holding device 108 is electrically connected to the The DC brushless motor 100 and the control unit 102. The invention is also applicable to more phase DC brushless motor control systems, not limited to three phase motors.
如圖1所示，驅動電路101用以輸出一驅動電流SI至該直流無刷馬達100，以驅動該直流無刷馬達100。控制單元102用以依據一控制訊號SC控制該直流無刷馬達100的運作；啟動裝置104用以產生一啟動訊號SA，該控制單元102接收該啟動訊號SA並且傳送該啟動訊號SA至該驅動電路101，該驅動電路101依據該啟動訊號SA輸出該驅動電流SI至該直流無刷馬達100，其中在該啟動裝置104的一啟動時間區間TS中，該驅動電流SI與該啟動訊號SA呈線性正相關。過電流保護電路106用以偵測傳送至該直流無刷 馬達100的該驅動電流SI的大小，以決定是否關閉該直流無刷馬達100，當該驅動電流SI所對應的驅動電壓SV等於或是大於一參考電壓SR，該過電流保護電路106產生一切換訊號SW，以使該控制單元102依據該切換訊號SW關閉該直流無刷馬達100，即，使該直流無刷馬達100停止轉動。相位保持裝置108依據該直流無刷馬達100的轉子120(如圖4所示)之位置狀態，以決定是否保持該轉子120於一目前相位，當該轉子120的該位置狀態大致上靜止時，該相位保持裝置108藉由該控制單元102保持該轉子120於該目前相位。 As shown in FIG. 1, the driving circuit 101 is configured to output a driving current SI to the DC brushless motor 100 to drive the DC brushless motor 100. The control unit 102 is configured to control the operation of the DC brushless motor 100 according to a control signal SC. The activation device 104 is configured to generate an activation signal SA. The control unit 102 receives the activation signal SA and transmits the activation signal SA to the driving circuit. The drive circuit 101 outputs the drive current SI to the DC brushless motor 100 according to the start signal SA. The drive current SI is linear with the start signal SA in a start time interval TS of the start device 104. Related. The overcurrent protection circuit 106 is configured to detect the transmission to the DC brushless The magnitude of the driving current SI of the motor 100 determines whether to turn off the DC brushless motor 100. When the driving voltage SV corresponding to the driving current SI is equal to or greater than a reference voltage SR, the overcurrent protection circuit 106 generates a switching. The signal SW is caused to cause the control unit 102 to turn off the DC brushless motor 100 according to the switching signal SW, that is, to stop the DC brushless motor 100 from rotating. The phase maintaining device 108 determines the position of the rotor 120 of the brushless DC motor 100 (as shown in FIG. 4) to determine whether to maintain the rotor 120 at a current phase. When the position of the rotor 120 is substantially stationary, The phase maintaining device 108 maintains the rotor 120 at the current phase by the control unit 102.
參考圖1以及圖2，圖2繪示本發明實施例中啟動裝置104的啟動訊號SA所對應的驅動電流SI之曲線示意圖。如圖2所示，橫軸表示為時間，縱軸表示訊號的振幅。在一實施例中，啟動裝置104控制該啟動訊號SA的振幅由小增大，使該驅動電流SI在該啟動時間區間TS中線性地由小增加至大，例如是該驅動電流SI隨著該啟動訊號SA的增加，正比例地提高至一預定電流值，該啟動訊號SA表示馬達啟動時之電壓波形(即馬達的轉速)。在一實施例中，該三相直流無刷馬達控制系統還包括一電容105，連接該啟動裝置104，以調整該驅動電流SI在該啟動時間區間TS中線性地由小增加至大，該啟動時間區間TS與該電容105的大小呈正相關；在一實施例中，該電容105可控制該啟動時間區間TS達到該預定電流值的大小，當電容105越大，啟動時間區間TS越大，當電容105越小，啟動時間區間TS越小。由於習知的直流無刷馬達在啟動瞬間所需的電流較大且雜訊很大，如圖2所示之速度控制訊號SCS，該速度控制訊號SCS表示習知的馬達啟動時之電壓波形(即馬達的轉速)，本發明之啟動裝置104利用該啟動訊號SA控制該驅動電流SI逐漸增加的特性，以改善習知的該速度控制訊號SCS，例如緩步地從0伏特 加速至一預定值SP，有效解決電流過大以及雜訊太大的問題。 Referring to FIG. 1 and FIG. 2, FIG. 2 is a schematic diagram showing a driving current SI corresponding to the start signal SA of the starting device 104 in the embodiment of the present invention. As shown in Fig. 2, the horizontal axis represents time and the vertical axis represents the amplitude of the signal. In an embodiment, the starting device 104 controls the amplitude of the starting signal SA to be increased by a small amount, so that the driving current SI is linearly increased from small to large in the starting time interval TS, for example, the driving current SI follows The increase of the start signal SA is proportionally increased to a predetermined current value, and the start signal SA represents the voltage waveform at the start of the motor (ie, the rotational speed of the motor). In an embodiment, the three-phase brushless motor control system further includes a capacitor 105 connected to the starting device 104 to adjust the driving current SI to linearly increase from small to large in the starting time interval TS, the starting The time interval TS is positively correlated with the size of the capacitor 105. In an embodiment, the capacitor 105 can control the starting time interval TS to reach the predetermined current value. When the capacitor 105 is larger, the starting time interval TS is larger. The smaller the capacitance 105, the smaller the startup time interval TS. Since the conventional DC brushless motor requires a large current and a large amount of noise at the start-up instant, as shown in the speed control signal SCS shown in FIG. 2, the speed control signal SCS represents a conventional voltage waveform when the motor is started ( That is, the rotational speed of the motor), the starting device 104 of the present invention uses the start signal SA to control the gradually increasing characteristic of the drive current SI to improve the conventional speed control signal SCS, for example, slowly from 0 volts. Accelerating to a predetermined value SP effectively solves the problem of excessive current and too much noise.
參考圖1以及圖3，圖3繪示本發明實施例中過電流保護電路106之示意圖。該過電流保護電路106包括一比較器112，分別電性連接該直流無刷馬達100之一輸出端114b以及控制單元102，該比較器112由該輸出端114b接收該驅動電壓SV並且比較該驅動電壓SV與該參考電壓SR，當該驅動電壓SV大於該參考電壓SR，該比較器112由該輸入端114a輸入一切換訊號SW，以暫時關閉該輸入端114a的驅動電流SI，以關閉該直流無刷馬達100。在一實施例中，電源116施加於該直流無刷馬達100，並且在輸入端114a產生一施加電壓Vm，第一電阻118a連接於該電源116的接地端與輸出端114b之間，該比較器112由該輸出端114b與該第一電阻118a之間接收該驅動電壓SV。本發明之過電流保護電路106利用比較器112比較該驅動電壓SV與該參考電壓SR，當該驅動電壓SV大於該參考電壓SR，藉由關閉該直流無刷馬達100，以避免三相直流無刷馬達控制系統產生誤動作或是燒毀。當該驅動電壓SV小於或是等於該參考電壓SR，控制單元102控制該驅動電路101，以重新啟動該直流無刷馬達100。 Referring to FIG. 1 and FIG. 3, FIG. 3 is a schematic diagram of an overcurrent protection circuit 106 in an embodiment of the present invention. The overcurrent protection circuit 106 includes a comparator 112 electrically connected to an output end 114b of the brushless DC motor 100 and a control unit 102. The comparator 112 receives the driving voltage SV from the output terminal 114b and compares the driving. The voltage SV and the reference voltage SR, when the driving voltage SV is greater than the reference voltage SR, the comparator 112 inputs a switching signal SW from the input terminal 114a to temporarily turn off the driving current SI of the input terminal 114a to turn off the DC Brushless motor 100. In one embodiment, a power source 116 is applied to the brushless DC motor 100, and an applied voltage Vm is generated at the input terminal 114a. The first resistor 118a is coupled between the ground terminal and the output terminal 114b of the power source 116. The comparator The driving voltage SV is received between the output terminal 114b and the first resistor 118a. The overcurrent protection circuit 106 of the present invention compares the driving voltage SV with the reference voltage SR by using the comparator 112. When the driving voltage SV is greater than the reference voltage SR, the DC brushless motor 100 is turned off to avoid three-phase DC. The brush motor control system malfunctions or burns. When the driving voltage SV is less than or equal to the reference voltage SR, the control unit 102 controls the driving circuit 101 to restart the DC brushless motor 100.
參考圖1以及圖4，圖4繪示本發明實施例中相位保持裝置108的相位保持機制之示意圖。該直流無刷馬達100包括轉子120以及定子124，該轉子120在該定子124內轉動，轉子120包括第一磁極122a以及相對於該第一磁極122a(例如是北極N或是南極S永久磁鐵，此處為北極N)的第二磁極122b(例如是南極S或是北極N永久磁鐵，此處為南極S)，該定子124設有一感測元件123例如3個霍爾元件，用以感測磁場變化以及該轉子120的第一磁極122a以及第二磁極122b的位置，霍爾元件的數量不限於此，例如大於或 是小於3個。在一實施例中，該定子124包括六個電極，即第一電極P1至第六電極P6，分別相對應於六個不同的相位。在一實施例中，當第一磁極122a在第一電極P1，控制單元102將第二電極P2磁化為南極S，使該第二電極P2對該第一磁極122a產生吸力，轉子120以順時針方向旋轉；若是控制單元102將第六電極P6磁化為南極S，轉子120以逆時針方向旋轉。圖4係以順時針方向旋轉為例。 Referring to FIG. 1 and FIG. 4, FIG. 4 is a schematic diagram showing a phase maintaining mechanism of the phase holding device 108 in the embodiment of the present invention. The brushless DC motor 100 includes a rotor 120 and a stator 124. The rotor 120 rotates within the stator 124. The rotor 120 includes a first magnetic pole 122a and a first magnetic pole 122a (eg, a north pole N or a south pole S permanent magnet, Here, the second magnetic pole 122b of the north pole N) (for example, a south pole S or a north pole N permanent magnet, here a south pole S), the stator 124 is provided with a sensing element 123, for example, three Hall elements for sensing The magnetic field changes and the positions of the first magnetic pole 122a and the second magnetic pole 122b of the rotor 120, the number of Hall elements is not limited thereto, for example, greater than or It is less than 3. In one embodiment, the stator 124 includes six electrodes, namely a first electrode P1 to a sixth electrode P6, respectively corresponding to six different phases. In an embodiment, when the first magnetic pole 122a is at the first electrode P1, the control unit 102 magnetizes the second electrode P2 to the south pole S, so that the second electrode P2 generates suction force to the first magnetic pole 122a, and the rotor 120 is clockwise. The direction is rotated; if the control unit 102 magnetizes the sixth electrode P6 to the south pole S, the rotor 120 rotates in the counterclockwise direction. Figure 4 is an example of a clockwise rotation.
具體來說，如圖4所示，該相位保持裝置108判斷該轉子120大致靜止一預定時間之後，該控制單元102控制該驅動電路101依據該啟動訊號SA重新啟動該直流無刷馬達100。如圖4所示，該轉子120包括第一磁極122a，該直流無刷馬達100的定子124包括一目前電極(例如第一電極P1)以及鄰接該目前電極(例如第一電極P1)的下一電極(例如第二電極P2)，該第一磁極122a對準於該目前電極(例如第一電極P1)，該目前電極(例如第一電極P1)相對應於該目前相位，該下一電極(例如第二電極P2)相對應於下一相位，當該轉子120的該位置狀態大致上靜止時，該相位保持裝置108透過該控制單元102控制該驅動電路101以磁化該目前電極(例如第一電極P1)，使該第一磁極122a與該目前電極(例如第一電極P1)互相吸引，並且使該第一磁極122a保持在該目前相位(例如第一電極P1所在位置)。在一實施例中，該定子124的感測元件123偵測該轉子120是否大致靜止(或是小於一預定轉速)。 Specifically, as shown in FIG. 4, after the phase maintaining device 108 determines that the rotor 120 is substantially stationary for a predetermined time, the control unit 102 controls the driving circuit 101 to restart the DC brushless motor 100 according to the activation signal SA. As shown in FIG. 4, the rotor 120 includes a first magnetic pole 122a, and the stator 124 of the brushless DC motor 100 includes a current electrode (eg, the first electrode P1) and a next adjacent to the current electrode (eg, the first electrode P1). An electrode (for example, the second electrode P2), the first magnetic pole 122a is aligned with the current electrode (for example, the first electrode P1), and the current electrode (for example, the first electrode P1) corresponds to the current phase, and the next electrode For example, the second electrode P2) corresponds to the next phase, and when the position state of the rotor 120 is substantially stationary, the phase holding device 108 controls the driving circuit 101 through the control unit 102 to magnetize the current electrode (for example, the first The electrode P1) attracts the first magnetic pole 122a and the current electrode (for example, the first electrode P1), and maintains the first magnetic pole 122a at the current phase (for example, the position where the first electrode P1 is located). In one embodiment, the sensing component 123 of the stator 124 detects whether the rotor 120 is substantially stationary (or less than a predetermined rotational speed).
具體來說，如圖4所示，當該轉子120的該位置狀態處於轉動狀態時，該相位保持裝置108透過該控制單元102控制該驅動電路101以磁化該下一電極(例如第二電極P2)，使該下一電極(例如第二電極P2)吸引與該目前電極(例如第一電極P1)對準的該第一磁極122a，並且使該第一磁極122a由 目前相位(例如第一電極P1所在位置)轉動至該下一相位(例如第二電極P2所在位置)。 Specifically, as shown in FIG. 4, when the position state of the rotor 120 is in a rotating state, the phase holding device 108 controls the driving circuit 101 through the control unit 102 to magnetize the next electrode (for example, the second electrode P2). , causing the next electrode (eg, the second electrode P2) to attract the first magnetic pole 122a aligned with the current electrode (eg, the first electrode P1), and causing the first magnetic pole 122a to be The current phase (for example, the position where the first electrode P1 is located) is rotated to the next phase (for example, the position where the second electrode P2 is located).
據上所述，當直流無刷馬達100瞬間鎖住時，本發明之相位保持裝置108保持目前的相位狀態，即，固定磁化一個相位如此對直流無刷馬達100不會損傷，具有相位保持的優點。在一實施例中，當直流無刷馬達100鎖住時超過一秒，為了保護整個三相直流無刷馬達控制系統，相位保持裝置108停止對直流無刷馬達100的驅動，一直等三秒(但不限於此)後嘗試對直流無刷馬達100再啟動，以保護三相直流無刷馬達控制系統不受損壞。 According to the above, when the brushless DC motor 100 is momentarily locked, the phase maintaining device 108 of the present invention maintains the current phase state, that is, the phase of the fixed magnetization is such that the DC brushless motor 100 is not damaged, and has phase retention. advantage. In one embodiment, when the brushless DC motor 100 is locked for more than one second, in order to protect the entire three-phase brushless motor control system, the phase maintaining device 108 stops driving the brushless DC motor 100 for three seconds ( However, it is not limited to this. After that, the DC brushless motor 100 is restarted to protect the three-phase DC brushless motor control system from damage.
參考圖1以及圖5，圖5繪示本發明實施例中角度補償裝置110的角度補償機制之示意圖。三相直流無刷馬達控制系統的角度補償裝置110依據該轉子120相對於該直流無刷馬達100的定子124之轉速，以決定該轉子120與該定子124之間的偏移角度θ。在一實施例中，該轉子120的轉速與該偏移角度θ呈正相關，換言之，當轉子120的轉速越大時，偏移角度θ越大。在一實施例中，該定子124的感測元件123用以偵測該轉子120的轉速。 Referring to FIG. 1 and FIG. 5, FIG. 5 is a schematic diagram of an angle compensation mechanism of the angle compensation device 110 according to an embodiment of the present invention. The angle compensating device 110 of the three-phase brushless motor control system determines the offset angle θ between the rotor 120 and the stator 124 according to the rotational speed of the rotor 120 relative to the stator 124 of the brushless DC motor 100. In one embodiment, the rotational speed of the rotor 120 is positively correlated with the offset angle θ, in other words, the greater the rotational speed of the rotor 120, the greater the offset angle θ. In an embodiment, the sensing component 123 of the stator 124 is configured to detect the rotational speed of the rotor 120.
如圖5所示，該轉子120包括一第一磁極122a，該直流無刷馬達100的定子124包括前一電極(例如第六電極P6)、鄰接該前一電極(例如第六電極P6)的一目前電極(例如第一電極P1)、以及鄰接該目前電極(例如第一電極P1)的下一電極(例如第二電極P2)，當該轉子120以該轉速轉動時，該相位保持裝置108偵測該第一磁極122a相對應於該前一電極(例如第六電極P6)與該目前電極(例如第一電極P1)之一偵測位置PD，並且該第一磁極122a對準於該目前電極(例如第一電極P1)之一實際位置PA，該第一磁極122a之偵測位置PD與該第一磁極122a之該實際位置PA的差異定義為該偏移角度θ，該控 制單元102控制該驅動電路101以磁化該下一電極(例如第二電極P2)，使該下一電極(例如第二電極P2)吸引該實際位置PA上該目前電極(例如第一電極P1)所對準的該第一磁極122a。此時，轉子120的扭矩最大。在一實施例中，以該定子124的感測元件123偵測該第一磁極122a相對應於該前一電極(例如第六電極P6)與該目前電極(例如第一電極P1)之一偵測位置PD。 As shown in FIG. 5, the rotor 120 includes a first magnetic pole 122a. The stator 124 of the brushless DC motor 100 includes a front electrode (for example, a sixth electrode P6) adjacent to the front electrode (for example, the sixth electrode P6). a current electrode (eg, first electrode P1), and a next electrode (eg, second electrode P2) adjacent to the current electrode (eg, first electrode P1), the phase maintaining device 108 when the rotor 120 is rotated at the rotational speed Detecting that the first magnetic pole 122a corresponds to the detection position PD of one of the front electrode (for example, the sixth electrode P6) and the current electrode (for example, the first electrode P1), and the first magnetic pole 122a is aligned with the current The actual position PA of one of the electrodes (for example, the first electrode P1), the difference between the detection position PD of the first magnetic pole 122a and the actual position PA of the first magnetic pole 122a is defined as the offset angle θ, the control The driving unit 101 controls the driving circuit 101 to magnetize the next electrode (for example, the second electrode P2), so that the next electrode (for example, the second electrode P2) attracts the current electrode (for example, the first electrode P1) on the actual position PA. The first magnetic pole 122a is aligned. At this time, the torque of the rotor 120 is the largest. In one embodiment, the sensing element 123 of the stator 124 detects that the first magnetic pole 122a corresponds to one of the front electrode (for example, the sixth electrode P6) and the current electrode (for example, the first electrode P1). The position PD is measured.
據上所述，當轉子120在轉動時，由於轉子120的慣性之故，相位保持裝置108或是感測元件123無法準確地感測第一磁極122a超過目前電極(例如第一電極P1)偏移角度θ。在圖5中，本發明之角度補償裝置110提前在前一電極(例如第六電極P6)與該目前電極(例如第一電極P1)之偵測位置PD磁化該下一電極(例如第二電極P2)，藉由補償直流馬達的轉動角度，使第一磁極122a的扭矩最大。 According to the above, when the rotor 120 is rotating, the phase holding device 108 or the sensing element 123 cannot accurately sense that the first magnetic pole 122a is more than the current electrode (for example, the first electrode P1) due to the inertia of the rotor 120. Move the angle θ. In FIG. 5, the angle compensation device 110 of the present invention magnetizes the next electrode (for example, the second electrode) at a detection position PD of the previous electrode (for example, the sixth electrode P6) and the current electrode (for example, the first electrode P1). P2), by compensating the rotation angle of the DC motor, the torque of the first magnetic pole 122a is maximized.
參考圖1以及圖6，圖6繪示本發明實施例中驅動電路101之示意圖。驅動電路101包括開汲極(open drain)電路126連接至直流無刷馬達100，藉由連接驅動電路101的較低的驅動電壓或是驅動電流與較高的驅動電壓或是驅動電流，以減少電壓準位轉換電路的製造成本。在一實施例中，開汲極電路126包括一負型金屬氧化物半導體(NMOS)電晶體128以及連接NMOS電晶體128的第二電阻118b。驅動電路101接收控制訊號SC，在一實施例中，驅動電路101還包括邏輯元件130、連接該邏輯元件130的第一控制電晶體132a、以及連接該第一控制電晶體132a的第二控制電晶體132b，第二控制電晶體132b連接該開汲極電路126。 Referring to FIG. 1 and FIG. 6, FIG. 6 is a schematic diagram of a driving circuit 101 according to an embodiment of the present invention. The driving circuit 101 includes an open drain circuit 126 connected to the brushless DC motor 100, and is connected to reduce the driving voltage of the driving circuit 101 or the driving current and the higher driving voltage or driving current to reduce The manufacturing cost of the voltage level conversion circuit. In one embodiment, the open drain circuit 126 includes a negative metal oxide semiconductor (NMOS) transistor 128 and a second resistor 118b that connects the NMOS transistor 128. The driving circuit 101 receives the control signal SC. In an embodiment, the driving circuit 101 further includes a logic component 130, a first control transistor 132a connected to the logic component 130, and a second control circuit connected to the first control transistor 132a. The crystal 132b and the second control transistor 132b are connected to the open drain circuit 126.
綜上所述，本發明之三相直流無刷馬達控制系統具有過電流保護、相位保持的優點、緩步啟動、以及補償直流馬達的轉動角度以使扭 矩最大之優點。 In summary, the three-phase brushless motor control system of the present invention has the advantages of overcurrent protection, phase hold, slow start, and compensation of the rotation angle of the DC motor to make the twist The advantage of the greatest moment.
雖然本發明已用較佳實施例揭露如上，然其並非用以限定本發明，本發明所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可作各種之更動與潤飾，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 While the invention has been described above in terms of the preferred embodiments, the invention is not intended to limit the invention, and the invention may be practiced without departing from the spirit and scope of the invention. The scope of protection of the present invention is therefore defined by the scope of the appended claims.
Claims (10)
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201004614Y (en) * | 2006-09-30 | 2008-01-09 | 欣瑞连科技(深圳)有限公司 | An improved brushless fan motor control circuit |
| US8314580B2 (en) * | 2004-06-04 | 2012-11-20 | Belimo Holdings AG | Brushless DC-motor |
| TWI392216B (en) * | 2008-10-15 | 2013-04-01 | Anpec Electronics Corp | Sensorless starting method and related device for a 3-phase brushless direct-current motor |
| TWI466435B (en) * | 2012-05-29 | 2014-12-21 | Amtek Semiconductor Co Ltd | System and method for a brushless dc motor without hall sensor |
| CN102751837B (en) * | 2012-07-10 | 2015-05-13 | 张正泉 | Brushless direct current motor |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8314580B2 (en) * | 2004-06-04 | 2012-11-20 | Belimo Holdings AG | Brushless DC-motor |
| CN201004614Y (en) * | 2006-09-30 | 2008-01-09 | 欣瑞连科技(深圳)有限公司 | An improved brushless fan motor control circuit |
| TWI392216B (en) * | 2008-10-15 | 2013-04-01 | Anpec Electronics Corp | Sensorless starting method and related device for a 3-phase brushless direct-current motor |
| TWI466435B (en) * | 2012-05-29 | 2014-12-21 | Amtek Semiconductor Co Ltd | System and method for a brushless dc motor without hall sensor |
| CN102751837B (en) * | 2012-07-10 | 2015-05-13 | 张正泉 | Brushless direct current motor |
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