TWI748906B

TWI748906B - Driving device and control method of motor

Info

Publication number: TWI748906B
Application number: TW110111587A
Authority: TW
Inventors: 后世傑; 陳維忠; 鍾尚書; 王惠琪
Original assignee: 朋程科技股份有限公司
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-12-01
Also published as: TW202239132A

Abstract

A driving device and a control method for a motor are provided. The control method includes: after a power up sequence of the motor, driving the motor according to a bipolar current driving scheme by a driver; detecting a black electro-motive force (BEMF) of the motor by a controller, and calculating rotating speed information and position information according to the BEMF; generating a judge result according to the rotating speed information and position information by the controller; and deciding whether to switch to drive the motor by a single current driving scheme.

Description

馬達的驅動裝置及其控制方法Motor drive device and control method thereof

本發明是有關於一種馬達的驅動裝置及其控制方法，且特別是有關於一種可以提升電能使用效率的馬達的驅動裝置及其控制方法。The present invention relates to a motor driving device and a control method thereof, and more particularly to a motor driving device and a control method thereof that can improve the efficiency of electric energy use.

在電動機的技術領域中，有一種所謂的無感測器的永磁無刷直流馬達。其中，無感測器的永磁無刷直流馬達在進行控制動作時，可透過計算馬達的反電動勢（Black ElectroMotive Force, BEMF）來得知馬達的轉速、位置等資訊，並不需要設置用以偵測轉速、位置的偵測器。In the technical field of electric motors, there is a so-called sensorless permanent magnet brushless DC motor. Among them, when a sensorless permanent magnet brushless DC motor is performing a control action, it can calculate the motor's back electromotive force (Black ElectroMotive Force, BEMF) to know the motor's speed, position and other information, and it does not need to be set for detection. Detector for measuring speed and position.

在習知技術中，關於利用反電動勢的控制機制中，常利用開迴路的架構來執行控制動作。這樣的作法易於發生啟動動作的失敗，例如使馬達轉速無法帶高，並發生鎖住的現象。習知技術也存在利用閉迴路架構來執行反電動勢的控制機制。這種作法也存在有在啟動動作中，虛耗去大量的電能，並甚至導致馬達轉速無法帶高，且發生鎖住的現象。In the conventional technology, in the control mechanism using the back electromotive force, an open-loop architecture is often used to perform control actions. Such an approach is prone to failure of the starting action, for example, the motor speed cannot be increased, and the phenomenon of lock-up occurs. The prior art also has a control mechanism that uses a closed-loop architecture to execute back-EMF. This method also consumes a large amount of electric energy during the start-up action, and even causes the motor speed to be unable to increase, and the phenomenon of lock-up occurs.

本發明提供一種馬達的驅動裝置及其控制方法，可提升電能的使用效率。The invention provides a motor driving device and a control method thereof, which can improve the use efficiency of electric energy.

本發明的馬達的控制方法包括：在馬達的電源啟動後，使驅動器以依據雙極性電流驅動機制以驅動馬達；使控制器偵測馬達的反電動勢，並依據反電動勢計算出馬達的轉速資訊以及位置資訊；使控制器依據轉速資訊及位置資訊以產生判斷結果；以及，依據判斷結果以決定是否使驅動器切換以依據單極性電流驅動機制以驅動馬達。The control method of the motor of the present invention includes: after the power of the motor is started, the driver drives the motor according to the bipolar current driving mechanism; the controller detects the back electromotive force of the motor, and calculates the speed information of the motor based on the back electromotive force, and Position information; enable the controller to generate a judgment result based on the rotational speed information and the position information; and, according to the judgment result, determine whether to switch the driver to drive the motor according to a unipolar current drive mechanism.

本發明的馬達的驅動裝置包括驅動器以及控制器。驅動器具有多個開關組，分別依據多組控制信號以產生具有不同相位的多個驅動電壓。控制器耦接至馬達，用以：在馬達的電源啟動後，使驅動器以依據雙極性電流驅動機制以驅動馬達；依據馬達的多個電氣參數以計算出馬達的反電動勢，並依據反電動勢計算出馬達的轉速資訊以及位置資訊；依據轉速資訊及位置資訊以產生判斷結果；以及，依據判斷結果以決定是否使驅動器切換為依據單極性電流驅動機制以驅動馬達。The driving device of the motor of the present invention includes a driver and a controller. The driver has a plurality of switch groups, which respectively generate a plurality of driving voltages with different phases according to the plurality of control signals. The controller is coupled to the motor to enable the driver to drive the motor according to the bipolar current driving mechanism after the power of the motor is started; to calculate the back electromotive force of the motor according to a plurality of electrical parameters of the motor, and to calculate it according to the back electromotive force Output the speed information and position information of the motor; generate a judgment result based on the speed information and position information; and, according to the judgment result, determine whether to switch the driver to a unipolar current drive mechanism to drive the motor.

基於上述，本發明的馬達驅動裝置依序依據雙極性電流驅動機制以及單極性電流驅動機制來驅動馬達，有效提升馬達的電能使用效率。Based on the above, the motor driving device of the present invention sequentially drives the motor according to the bipolar current driving mechanism and the unipolar current driving mechanism, which effectively improves the electric energy use efficiency of the motor.

請參照圖1，圖1繪示本發明一實施例的馬達的驅動裝置的示意圖。驅動裝置100用以驅動馬達MT。驅動裝置100包括控制器110以及驅動器120。驅動器120具有由多個電晶體T11~T32所構成的多個開關組。其中，電晶體T11、T12形成第一開關組，並分別依據由控制信號UGH、UGL以產生具有驅動電壓U；電晶體T21、T22形成第二開關組，並分別依據由控制信號VGH、VGL以產生具有驅動電壓V；電晶體T31、T32形成第三開關組，並分別依據由控制信號WGH、WGL以產生具有驅動電壓W。驅動電壓U、V、W可分別具有不同的相位，例如，驅動電壓U、V、W的其中之任二的相位差相差120 ⁰。 Please refer to FIG. 1. FIG. 1 is a schematic diagram of a motor driving device according to an embodiment of the present invention. The driving device 100 is used to drive the motor MT. The driving device 100 includes a controller 110 and a driver 120. The driver 120 has a plurality of switch groups formed by a plurality of transistors T11 to T32. Among them, the transistors T11 and T12 form a first switch group, and respectively generate a driving voltage U according to the control signals UGH and UGL; the transistors T21 and T22 form a second switch group, and are respectively controlled by the control signals VGH and VGL. A driving voltage V is generated; the transistors T31 and T32 form a third switch group, and the driving voltage W is generated according to the control signals WGH and WGL, respectively. The driving voltages U, V, and W may have different phases, for example, the phase difference of any two of the driving voltages U, V, and W is 120 ⁰ .

在耦接細節上，電晶體T11的第一端接收電源電壓BP，電晶體T11的第二端用以提供驅動電壓U，電晶體T11的控制端接收控制信號UGH；電晶體T12的第一端則耦接至電晶體T11的第二端，電晶體T12的第二端接收參考接地電壓GND，電晶體T12的控制端則接收控制信號UGL。電晶體T21的第一端接收電源電壓BP，電晶體T21的第二端用以提供驅動電壓V，電晶體T21的控制端接收控制信號VGH；電晶體T22的第一端則耦接至電晶體T21的第二端，電晶體T22的第二端接收參考接地電壓GND，電晶體T22的控制端則接收控制信號VGL。另外，電晶體T31的第一端接收電源電壓BP，電晶體T31的第二端用以提供驅動電壓W，電晶體T31的控制端接收控制信號WGH；電晶體T32的第一端則耦接至電晶體T31的第二端，電晶體T32的第二端接收參考接地電壓GND，電晶體T32的控制端則接收控制信號WGL。In terms of coupling details, the first terminal of the transistor T11 receives the power supply voltage BP, the second terminal of the transistor T11 is used to provide the driving voltage U, the control terminal of the transistor T11 receives the control signal UGH; the first terminal of the transistor T12 It is coupled to the second end of the transistor T11, the second end of the transistor T12 receives the reference ground voltage GND, and the control end of the transistor T12 receives the control signal UGL. The first terminal of the transistor T21 receives the power supply voltage BP, the second terminal of the transistor T21 is used to provide the driving voltage V, the control terminal of the transistor T21 receives the control signal VGH; the first terminal of the transistor T22 is coupled to the transistor The second end of T21 and the second end of transistor T22 receive the reference ground voltage GND, and the control end of transistor T22 receives the control signal VGL. In addition, the first terminal of the transistor T31 receives the power supply voltage BP, the second terminal of the transistor T31 is used to provide the driving voltage W, the control terminal of the transistor T31 receives the control signal WGH; the first terminal of the transistor T32 is coupled to The second end of the transistor T31 and the second end of the transistor T32 receive the reference ground voltage GND, and the control end of the transistor T32 receives the control signal WGL.

在本實施例中，相同的電晶體組中的二電晶體（以電晶體T11、T12為例）可交互被導通以產生對應的驅動電壓（例如驅動電壓U）。例如，當電晶體T11依據控制信號UGH被導通時，電晶體T12依據控制信號UGL可被截止，並透過被導通的電晶體T11以產生等於電源電壓BP的驅動電壓U。相對的，當電晶體T11依據控制信號UGH被截止時，電晶體T12可依據控制信號UGL被導通，並透過被導通的電晶體T12以產生等於參考接地電壓GND的驅動電壓U。In this embodiment, the two transistors in the same transistor group (taking the transistors T11 and T12 as examples) can be turned on alternately to generate the corresponding driving voltage (for example, the driving voltage U). For example, when the transistor T11 is turned on according to the control signal UGH, the transistor T12 can be turned off according to the control signal UGL, and generates the driving voltage U equal to the power supply voltage BP through the turned on transistor T11. In contrast, when the transistor T11 is turned off according to the control signal UGH, the transistor T12 can be turned on according to the control signal UGL, and through the turned on transistor T12 to generate the driving voltage U equal to the reference ground voltage GND.

驅動器120耦接至馬達MT，並可分別提供驅動電壓U、V、W至馬達MT的定子的多個繞組（例如由電感L1~L3所構成），並藉以驅動馬達MT。The driver 120 is coupled to the motor MT, and can respectively provide driving voltages U, V, and W to a plurality of windings of the stator of the motor MT (for example, composed of inductors L1 to L3), and thereby drive the motor MT.

在另一方面，控制器110耦接至驅動器120以及馬達MT。控制器110可透過偵測馬達MT的驅動電壓U、V、W，並依據驅動電壓U、V、W來進行計算以獲得馬達MT的反電動勢。控制器110並可進一步的依據馬達MT的反電動勢來計算出馬達MT的轉速資訊以及位置資訊。再依據判斷馬達MT的轉速資訊來判斷馬達MT的轉速是否等於一預設轉速，及/或依據馬達MT的位置資訊判斷馬達MT的轉子是否等於一預設位置，來產生一判斷結果。On the other hand, the controller 110 is coupled to the driver 120 and the motor MT. The controller 110 can detect the driving voltages U, V, and W of the motor MT, and perform calculations based on the driving voltages U, V, and W to obtain the back electromotive force of the motor MT. The controller 110 may further calculate the rotational speed information and position information of the motor MT based on the back electromotive force of the motor MT. Then determine whether the rotation speed of the motor MT is equal to a preset rotation speed according to the rotation speed information of the judging motor MT, and/or determine whether the rotor of the motor MT is equal to a preset position according to the position information of the motor MT, to generate a judgment result.

依據上述的判斷結果，控制器110可透過產生控制信號UGH、UGL、VGH、VGL、WGH及WGL以使驅動器120以雙極性電流驅動的機制或以單極性電流驅動的機制來驅動馬達MT。According to the above judgment result, the controller 110 can generate the control signals UGH, UGL, VGH, VGL, WGH, and WGL so that the driver 120 can drive the motor MT by a bipolar current driving mechanism or a unipolar current driving mechanism.

關於控制器110所執行的驅動機制切換的流程，可同步參照圖1以及圖2，其中圖2繪示本發明實施例的馬達的控制方法的動作流程圖。其中，步驟S210中，馬達MT的電源被開啟，接著，在步驟S220中，控制器110可透過驅動器120以應用雙極性電流驅動機制來驅使馬達MT動作。在此，所謂的雙極性電流驅動機制，是透過使馬達MT所接收的驅動電壓U、V、W中的兩者，在相同的時間區間中，分別為相位相反的週期性信號（例如為18千赫茲的方波）。以使驅動電壓U、V分別為相位相反的週期性信號為例，此時馬達MT上的電感L1、L2的兩端可感應正、反方向兩極性的電流，並消耗較多的電能以使馬達MT執行啟動的動作。Regarding the process of switching the driving mechanism performed by the controller 110, please refer to FIG. 1 and FIG. Wherein, in step S210, the power of the motor MT is turned on, and then, in step S220, the controller 110 can apply a bipolar current driving mechanism through the driver 120 to drive the motor MT to move. Here, the so-called bipolar current drive mechanism is to make two of the drive voltages U, V, and W received by the motor MT, in the same time interval, be periodic signals with opposite phases (for example, 18 Kilohertz square wave). Take, for example, that the driving voltages U and V are periodic signals with opposite phases. At this time, the two ends of the inductors L1 and L2 on the motor MT can induce currents in both positive and negative directions, and consume more power to make The motor MT executes the starting action.

在馬達MT的運轉過程中，在步驟S230中，控制器110可持續監控馬達MT以及驅動器120有無產生過電流現象。在當馬達MT以及驅動器120的其中之一產生過電流現象時，控制器110可驅使驅動器120以執行步驟S260來使馬達煞車，以維護系統的安全。若馬達MT以及驅動器120均無產生過電流現象時，控器110可持續執行馬達MT的運轉動作。During the operation of the motor MT, in step S230, the controller 110 can continuously monitor whether the motor MT and the driver 120 have overcurrent. When an overcurrent phenomenon occurs in one of the motor MT and the driver 120, the controller 110 can drive the driver 120 to perform step S260 to brake the motor to maintain the safety of the system. If neither the motor MT nor the driver 120 generates an overcurrent phenomenon, the controller 110 can continue to perform the operation of the motor MT.

在另一方面，控制器110可即時的計算馬達MT的反電動勢，並依據反電動勢來計算出馬達MT的轉速資訊以及位置資訊。接著，在步驟S240中，控制器110則依據轉速資訊以及位置資訊來判斷馬達MT的轉速是否已達預定轉速（預定目標），及/或判斷馬達MT的位置是否已達預定位置（預定目標）。在當馬達MT的轉速及/或位置未達預定目標時，控制器110回復執行步驟S220，並使驅動器120應用雙極性電流驅動機制來驅動馬達MT。相對的，在步驟S240中，在當馬達MT的轉速及/或位置已達預定目標時，控制器110則執行步驟S220，並使驅動器120應用單極性電流驅動機制來驅動馬達MT。On the other hand, the controller 110 can calculate the back electromotive force of the motor MT in real time, and calculate the rotational speed information and position information of the motor MT based on the back electromotive force. Next, in step S240, the controller 110 determines whether the rotation speed of the motor MT has reached a predetermined rotation speed (predetermined target), and/or determines whether the position of the motor MT has reached a predetermined position (predetermined target) based on the rotation speed information and the position information . When the rotation speed and/or position of the motor MT does not reach the predetermined target, the controller 110 returns to perform step S220 and causes the driver 120 to apply a bipolar current driving mechanism to drive the motor MT. In contrast, in step S240, when the rotation speed and/or position of the motor MT has reached the predetermined target, the controller 110 executes step S220 and causes the driver 120 to apply a unipolar current driving mechanism to drive the motor MT.

在單極性電流驅動機制中，在相同的時間區間中，驅動器120可使馬達MT所接收的驅動電壓U、V、W的其中之一者為週期性的信號（例如為18千赫茲的方波），並使驅動電壓U、V、W的其中之另一為直流信號。在這樣的驅動機制下，以使驅動電壓U週期性信號，驅動電壓V為直流電壓為例，此時馬達MT上的電感L1、L2的兩端可感應單一方向的單一極性電流，並消耗較少的電能以使馬達MT維持住運轉的狀態。In the unipolar current driving mechanism, in the same time interval, the driver 120 can make one of the driving voltages U, V, W received by the motor MT a periodic signal (for example, a square wave of 18 kHz ), and make the other of the drive voltages U, V, W a DC signal. Under such a driving mechanism, taking the driving voltage U as a periodic signal and the driving voltage V as a DC voltage as an example, the two ends of the inductors L1 and L2 on the motor MT can induce a single-polarity current in a single direction, and consume more Less electric energy to keep the motor MT running.

值得一提的是，當馬達MT受到外力的干擾而造成轉動不順暢時，控制器110可依據反電動勢的計算，來得知馬達MT的轉動不順暢的狀態，並使驅動器120變更以依據步驟S220，以應用雙極性電流驅動機制來驅動馬達MT。It is worth mentioning that when the motor MT is disturbed by the external force and the rotation is not smooth, the controller 110 can know the state of the rotation of the motor MT according to the calculation of the back electromotive force, and make the driver 120 change according to step S220 , To drive the motor MT by applying a bipolar current drive mechanism.

由上述的說明可以得知，本發明實施例的馬達MT的控制方法中，控制器110透過交互應用雙極性電流驅動機制以及單極性電流驅動機制的驅動馬達MT。使馬達MT可以在啟動階段（轉速不穩定階段）應用雙極性電流驅動機制，來此轉速及/或位置可快速達到預期目標，並在維持轉速穩定運轉的階段，使馬達MT應用單極性電流驅動機制以節省功率消耗。如此一來，馬達MT的運轉效能可以進一步被提升。According to the above description, in the method for controlling the motor MT according to the embodiment of the present invention, the controller 110 alternately applies the bipolar current driving mechanism and the unipolar current driving mechanism to drive the motor MT. Allows the motor MT to apply a bipolar current drive mechanism during the start-up phase (the phase of unstable speed), where the speed and/or position can quickly reach the expected target, and the motor MT is driven by a unipolar current while maintaining the stable rotation of the speed. Mechanism to save power consumption. In this way, the operating efficiency of the motor MT can be further improved.

以下請參照圖1、圖3A以及圖3B，其中圖3A繪示本發明實施例的馬達的驅動裝置的雙極性電流驅動機制的波形圖，圖3B繪示本發明實施例的馬達的驅動裝置的單極性電流驅動機制的波形圖。在圖3A中，在雙極性電流驅動機制下，控制器110可發送控制信號UGH、UGL、VGH、VGL、WGH、WGL至驅動器120已分別控制電晶體T11、T12、T21、T22、T31以及T32的導通或截止狀態。其中，在時間區間TP1中，控制器110發送為週期性信號（方波信號）的控制信號UGH、VGL以使電晶體T11、T22週期性的在導通以及截止的狀態間切換。其中，基於控制信號UGH、VGL的相位互補，電晶體T11、T22的導通被截止狀態相反。Please refer to FIG. 1, FIG. 3A and FIG. 3B below. FIG. 3A shows a waveform diagram of the bipolar current driving mechanism of the motor driving device according to an embodiment of the present invention, and FIG. 3B shows the waveform diagram of the motor driving device according to an embodiment of the present invention. Waveform diagram of unipolar current drive mechanism. In FIG. 3A, under the bipolar current driving mechanism, the controller 110 can send control signals UGH, UGL, VGH, VGL, WGH, WGL to the driver 120 to control the transistors T11, T12, T21, T22, T31, and T32, respectively. The on or off state. Among them, in the time interval TP1, the controller 110 sends the control signals UGH and VGL as periodic signals (square wave signals) to make the transistors T11 and T22 periodically switch between the on and off states. Among them, based on the complementary phases of the control signals UGH and VGL, the conduction and cut-off states of the transistors T11 and T22 are opposite.

同時，控制器110發送為低電壓（例如等於參考接地電壓GND）的控制信號VGH、UGL、WGL以使電晶體T12、T22、T32恆為截止的狀態。At the same time, the controller 110 sends control signals VGH, UGL, and WGL that are low voltages (for example, equal to the reference ground voltage GND) to make the transistors T12, T22, and T32 always turn off.

對應上述的電晶體T11~T32的導通截止狀態，驅動器120可在時間區間TP1間提供為週期性信號的驅動電壓U、V（請見區域Z1），其中驅動電壓U、V的相位互補。透過相位互補的驅動電壓U、V，此時馬達MT上的電感L1、L2的兩端可感應正、反方向兩極性的電流，並透過消耗較多的電能的方始來使馬達MT執行啟動的動作。Corresponding to the above-mentioned on-off states of the transistors T11 to T32, the driver 120 can provide driving voltages U and V (see area Z1) as periodic signals during the time interval TP1, wherein the phases of the driving voltages U and V are complementary. Through the phase-complementary driving voltages U and V, the two ends of the inductors L1 and L2 on the motor MT can induce currents in both the positive and negative directions, and the motor MT can start the motor by consuming more power. action.

附帶一提，在時間區間TP1中，驅動電壓W為一下降的斜坡信號。Incidentally, in the time interval TP1, the driving voltage W is a falling ramp signal.

在時間區間TP1後的時間區間TP2中，控制器110產生為週期性信號的控制信號UGH、WGL，並產生為低電壓（例如等於參考接地電壓GND）的控制信號VGH、WGH、UGL、VGL。在時間區間TP2中，驅動電壓U、W為相位互補的週期性信號，驅動電壓V則為上升的斜坡信號。在時間區間TP2後的時間區間TP3中，控制器110產生為週期性信號的控制信號VGH、WGL，並產生為低電壓（例如等於參考接地電壓GND）的控制信號VGL、WGH、UGL、VGL。在時間區間TP3中，驅動電壓V、W為相位互補的週期性信號，驅動電壓U則為下降的斜坡信號。在時間區間TP3後的時間區間TP4中，控制器110產生為週期性信號的控制信號VGH、UGL，並產生為低電壓（例如等於參考接地電壓GND）的控制信號VGL、WGH、UGH、VGL。在時間區間TP4中，驅動電壓V、U為相位互補的週期性信號，驅動電壓W則為上升的斜坡信號。在時間區間TP4後的時間區間TP5中，控制器110產生為週期性信號的控制信號WGH、UGL，並產生為低電壓（例如等於參考接地電壓GND）的控制信號VGL、WGL、UGH、VGL。在時間區間TP5中，驅動電壓U、W為相位互補的週期性信號，驅動電壓V則為下降的斜坡信號。在時間區間TP5後的時間區間TP6中，控制器110產生為週期性信號的控制信號WGH、VGL，並產生為低電壓（例如等於參考接地電壓GND）的控制信號VGL、WGL、UGH、VGH。在時間區間TP6中，驅動電壓V、W為相位互補的週期性信號，驅動電壓U則為上升斜坡信號。In the time interval TP2 after the time interval TP1, the controller 110 generates the control signals UGH and WGL as periodic signals, and generates the control signals VGH, WGH, UGL, and VGL as low voltages (for example, equal to the reference ground voltage GND). In the time interval TP2, the driving voltages U and W are periodic signals with complementary phases, and the driving voltage V is a rising ramp signal. In the time interval TP3 after the time interval TP2, the controller 110 generates the control signals VGH and WGL as periodic signals, and generates the control signals VGL, WGH, UGL, and VGL as low voltages (for example, equal to the reference ground voltage GND). In the time interval TP3, the driving voltages V and W are periodic signals with complementary phases, and the driving voltage U is a falling ramp signal. In the time interval TP4 after the time interval TP3, the controller 110 generates the control signals VGH, UGL as periodic signals, and generates the control signals VGL, WGH, UGH, VGL as low voltages (for example, equal to the reference ground voltage GND). In the time interval TP4, the driving voltages V and U are periodic signals with complementary phases, and the driving voltage W is a rising ramp signal. In the time interval TP5 after the time interval TP4, the controller 110 generates the control signals WGH and UGL as periodic signals, and generates the control signals VGL, WGL, UGH, and VGL as low voltages (for example, equal to the reference ground voltage GND). In the time interval TP5, the driving voltages U and W are periodic signals with complementary phases, and the driving voltage V is a falling ramp signal. In the time interval TP6 after the time interval TP5, the controller 110 generates the control signals WGH and VGL as periodic signals, and generates the control signals VGL, WGL, UGH, and VGH as low voltages (for example, equal to the reference ground voltage GND). In the time interval TP6, the driving voltages V and W are periodic signals with complementary phases, and the driving voltage U is a rising ramp signal.

在上述的說明中，時間區間TP1~TP6的每一者，均佔去驅動器120整個運作週期的1/6，也就是60 ⁰的相位。時間區間TP7、TP8為驅動器120的下一個運作週期，其動作細節同時間區間TP1、TP2中的動作細節，以下不多贅述。 In the above description, each time interval TP1 ~ TP6, and account for the entire operation of the driver 120 to 1/6 cycle, i.e. a ⁶⁰⁰ phase. The time intervals TP7 and TP8 are the next operation cycle of the driver 120, and the details of the actions are the same as those in the time intervals TP1 and TP2, and will not be described in detail below.

在圖3B中，在單極性電流驅動機制中，控制器110可在時間區間TP1中發送為週期性信號的控制信號UGH以使電晶體T11週期性的導通及截止。同時，控制器110並在時間區間TP1中提供為低電壓（例如參考接地電壓GND）的控制信號VGH、WGH、UGL、WGL，提供為高電壓（例如為電源電壓BP）的控制信號VGL至驅動器120，使電晶體T12、T21、T31、T32維持截止，並使電晶體T22維持導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓U以及維持為低電壓（例如參考接地電壓GND）的驅動電壓V（如區域Z2）。此時馬達MT上的電感L1、L2的兩端可感應單一方向的單一極性電流，並消耗較少的電能以使馬達MT維持住運轉的狀態。附帶一提的，在時間區間TP1中，驅動電壓W為一下降斜坡信號。In FIG. 3B, in the unipolar current driving mechanism, the controller 110 may send the control signal UGH as a periodic signal in the time interval TP1 to make the transistor T11 periodically turn on and off. At the same time, the controller 110 provides control signals VGH, WGH, UGL, WGL with low voltage (for example, reference ground voltage GND) in the time interval TP1, and provides control signal VGL with high voltage (for example, power supply voltage BP) to the driver 120, the transistors T12, T21, T31, and T32 are kept off, and the transistor T22 is kept on. In this way, the driver 120 can generate a driving voltage U that is a periodic signal (such as a square wave signal) and a driving voltage V that is maintained at a low voltage (such as the reference ground voltage GND) (such as the zone Z2). At this time, the two ends of the inductances L1 and L2 on the motor MT can induce a single-polarity current in a single direction, and consume less electric energy to keep the motor MT running. Incidentally, in the time interval TP1, the driving voltage W is a falling ramp signal.

在時間區間TP1後的時間區間TP2中，控制器110提供週期性信號的控制信號UGH以使電晶體T11週期性的導通及截止。控制器110另提供為低電壓（例如參考接地電壓GND）的控制信號VGH、WGH、UGL、VGL，提供為高電壓（例如為電源電壓BP）的控制信號WGL至驅動器120，使電晶體T12、T21、T31、T22截止，並使電晶體T32導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓U以及維持為低電壓（例如參考接地電壓GND）的驅動電壓W。在時間區間TP2中，驅動電壓V為一上升斜坡信號。In the time interval TP2 after the time interval TP1, the controller 110 provides a periodic signal control signal UGH to periodically turn on and turn off the transistor T11. The controller 110 further provides control signals VGH, WGH, UGL, VGL as low voltage (for example, reference ground voltage GND), and provides control signals WGL as high voltage (for example, the power supply voltage BP) to the driver 120, so that the transistors T12, T21, T31, and T22 are cut off, and the transistor T32 is turned on. In this way, the driver 120 can generate a driving voltage U that is a periodic signal (for example, a square wave signal) and a driving voltage W that is maintained at a low voltage (for example, the reference ground voltage GND). In the time interval TP2, the driving voltage V is a rising ramp signal.

在時間區間TP2後的時間區間TP3中，控制器110提供週期性信號的控制信號VGH以使電晶體T21週期性的導通及截止。控制器110提供為低電壓（例如參考接地電壓GND）的控制信號UGH、WGH、UGL、VGL，提供為高電壓（例如為電源電壓BP）的控制信號WGL至驅動器120，使電晶體T12、T21、T31、T22截止，並使電晶體T32導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓V以及維持為低電壓（例如參考接地電壓GND）的驅動電壓W。在時間區間TP3中，驅動電壓U為一下降斜坡信號。In the time interval TP3 after the time interval TP2, the controller 110 provides a periodic signal control signal VGH to periodically turn on and turn off the transistor T21. The controller 110 provides control signals UGH, WGH, UGL, VGL with low voltage (for example, reference ground voltage GND), and provides control signal WGL with high voltage (for example, power supply voltage BP) to the driver 120 to make the transistors T12 and T21. , T31, T22 are cut off, and the transistor T32 is turned on. In this way, the driver 120 can generate a driving voltage V that is a periodic signal (for example, a square wave signal) and a driving voltage W that is maintained at a low voltage (for example, the reference ground voltage GND). In the time interval TP3, the driving voltage U is a falling ramp signal.

在時間區間TP3後的時間區間TP4中，控制器110提供週期性信號的控制信號VGH以使電晶體T21週期性的導通及截止。控制器110提供為低電壓（例如參考接地電壓GND）的控制信號UGH、WGH、WGL、VGL，提供為高電壓（例如為電源電壓BP）的控制信號UGL至驅動器120，使電晶體T32、T21、T31、T22截止，並使電晶體T12導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓V以及維持為低電壓（例如參考接地電壓GND）的驅動電壓U。在時間區間TP4中，驅動電壓W為一上升斜坡信號。In the time interval TP4 after the time interval TP3, the controller 110 provides a periodic signal control signal VGH to turn the transistor T21 on and off periodically. The controller 110 provides the control signals UGH, WGH, WGL, VGL as low voltage (for example, reference ground voltage GND), and provides the control signal UGL as high voltage (for example, the power supply voltage BP) to the driver 120 to make the transistors T32 and T21. , T31, T22 are cut off, and the transistor T12 is turned on. In this way, the driver 120 can generate a driving voltage V that is a periodic signal (for example, a square wave signal) and a driving voltage U that is maintained at a low voltage (for example, the reference ground voltage GND). In the time interval TP4, the driving voltage W is a rising ramp signal.

在時間區間TP4後的時間區間TP5中，控制器110提供週期性信號的控制信號WGH以使電晶體T31週期性的導通及截止。控制器110提供為低電壓（例如參考接地電壓GND）的控制信號UGH、VGH、WGL、VGL，提供為高電壓（例如為電源電壓BP）的控制信號UGL至驅動器120，使電晶體T32、T21、T31、T22截止，並使電晶體T12導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓W以及維持為低電壓（例如參考接地電壓GND）的驅動電壓U。在時間區間TP5中，驅動電壓V為一下降斜坡信號。In the time interval TP5 after the time interval TP4, the controller 110 provides a periodic signal control signal WGH to periodically turn on and turn off the transistor T31. The controller 110 provides the control signals UGH, VGH, WGL, VGL as low voltage (for example, reference ground voltage GND), and provides the control signal UGL as high voltage (for example, the power supply voltage BP) to the driver 120 to make the transistors T32 and T21. , T31, T22 are cut off, and the transistor T12 is turned on. In this way, the driver 120 can generate a driving voltage W that is a periodic signal (for example, a square wave signal) and a driving voltage U that is maintained at a low voltage (for example, the reference ground voltage GND). In the time interval TP5, the driving voltage V is a falling ramp signal.

在時間區間TP5後的時間區間TP6中，控制器110提供週期性信號的控制信號WGH以使電晶體T31週期性的導通及截止。控制器110提供為低電壓（例如參考接地電壓GND）的控制信號UGH、VGH、WGL、UGL，提供為高電壓（例如為電源電壓BP）的控制信號VGL至驅動器120，使電晶體T32、T21、T31、T12截止，並使電晶體T22導通。如此一來，驅動器120可產生為週期性信號（例如方波信號）的驅動電壓W以及維持為低電壓（例如參考接地電壓GND）的驅動電壓V。在時間區間TP6中，驅動電壓U為一上升斜坡信號。In the time interval TP6 after the time interval TP5, the controller 110 provides a periodic signal control signal WGH to periodically turn on and turn off the transistor T31. The controller 110 provides control signals UGH, VGH, WGL, UGL with low voltage (for example, reference ground voltage GND), and provides control signal VGL with high voltage (for example, power supply voltage BP) to the driver 120, so that the transistors T32, T21 , T31, T12 are cut off, and the transistor T22 is turned on. In this way, the driver 120 can generate a driving voltage W that is a periodic signal (for example, a square wave signal) and a driving voltage V that is maintained at a low voltage (for example, the reference ground voltage GND). In the time interval TP6, the driving voltage U is a rising ramp signal.

在圖3B的實施例中，時間區間TP7以及TP8的動作細節與時間區間TP1以及TP2的動作細節相同，以下不多贅述。In the embodiment of FIG. 3B, the details of the actions in the time intervals TP7 and TP8 are the same as the details of the actions in the time intervals TP1 and TP2, which will not be described in detail below.

請參照圖4，圖4繪示本發明實施例的馬達驅動裝置的控制器的實施方式的示意圖。控制器400包括反電動勢偵測電路410、保護偵測電路420、數位運算電路430、控制信號產生器440以及參考信號產生器450。反電動勢偵測電路410由馬達端接收驅動電壓U、V、W，並針對驅動電壓U、V、W來執行運算，以計算出馬達的反電動勢。保護偵測電路420用以偵測馬達的過電流狀態，並在馬達產生過電路狀態時執行保護動作，例如使馬達執行煞車動作。保護偵測電路420也可用以偵測馬達的過電壓狀態、過溫狀態，或其他任意的不正常工作狀態，並據以啟動保護機制或警示機制。Please refer to FIG. 4. FIG. 4 is a schematic diagram of an implementation of a controller of a motor driving device according to an embodiment of the present invention. The controller 400 includes a back electromotive force detection circuit 410, a protection detection circuit 420, a digital operation circuit 430, a control signal generator 440, and a reference signal generator 450. The back-EMF detection circuit 410 receives the driving voltages U, V, and W from the motor terminal, and performs calculations on the driving voltages U, V, and W to calculate the back-EMF of the motor. The protection detection circuit 420 is used to detect the over-current state of the motor, and perform a protection action when the motor generates an over-circuit state, such as causing the motor to perform a braking action. The protection detection circuit 420 can also be used to detect the over-voltage state, over-temperature state, or any other abnormal working state of the motor, and activate the protection mechanism or the warning mechanism accordingly.

數位運算電路430可依據馬達的反電動勢來計算出馬達目前的轉動狀態，並據以獲得轉速資訊及/或位置資訊。數位運算電路430並可依據轉速資訊及/或位置資訊來與目標轉速、目標位置進行比較，並產生比較結果。數位運算電路430另依據比較結果來控制馬達的運作流程，以使馬達可工作在雙極性驅動電流或單極性驅動電流的機制下。數位運算電路430可將流程控制的相關資訊傳送至控制信號產生器440，並使控制信號產生器440產生對應的控制信號UGH、UGL、WGH、WGL、VGH、VGL。參考信號產生器450則用以產生一個或多個參考信號，用以提供反電動勢偵測電路410、保護偵測電路420、數位運算電路430、控制信號產生器440執行運算時所需的參考值。The digital arithmetic circuit 430 can calculate the current rotation state of the motor according to the back electromotive force of the motor, and obtain speed information and/or position information according to it. The digital arithmetic circuit 430 can compare the target rotation speed and the target position based on the rotation speed information and/or the position information, and generate a comparison result. The digital arithmetic circuit 430 further controls the operation process of the motor according to the comparison result, so that the motor can work under the mechanism of bipolar driving current or unipolar driving current. The digital arithmetic circuit 430 can transmit information related to process control to the control signal generator 440, and the control signal generator 440 generates corresponding control signals UGH, UGL, WGH, WGL, VGH, VGL. The reference signal generator 450 is used to generate one or more reference signals to provide the reference values required by the back-EMF detection circuit 410, the protection detection circuit 420, the digital operation circuit 430, and the control signal generator 440 when performing operations. .

本發明實施例的控制器400可以應用數位電路來建構，其中的反電動勢偵測電路410、保護偵測電路420、數位運算電路430、控制信號產生器440以及參考信號產生器450均可應數位運算的方式來執行相關的動作。反電動勢偵測電路410、保護偵測電路420、數位運算電路430、控制信號產生器440以及參考信號產生器450的硬體架構可應用本領域具通常知識者所熟知的數位電路設計方式來實現，例如硬體描述語言、卡諾圖、真值表等方法，沒有固定的限制。The controller 400 of the embodiment of the present invention can be constructed using digital circuits. The back electromotive force detection circuit 410, the protection detection circuit 420, the digital operation circuit 430, the control signal generator 440, and the reference signal generator 450 can all be digital The way of calculation to perform related actions. The hardware architecture of the back-EMF detection circuit 410, the protection detection circuit 420, the digital operation circuit 430, the control signal generator 440, and the reference signal generator 450 can be implemented using digital circuit design methods well known to those skilled in the art , Such as hardware description language, Karnaugh map, truth table and other methods, there is no fixed limit.

值得一提的，本實施例的反電動勢偵測電路410的運作細節，可應用本領域通常知識者所熟知的計算馬達的反電動勢的任意演算法來實現，沒有特定的限制。It is worth mentioning that the operation details of the back-EMF detection circuit 410 of this embodiment can be implemented by applying any algorithm for calculating the back-EMF of the motor well known to those skilled in the art, and there is no specific limitation.

綜上所述，本發明依據馬達的運作狀態，使馬達動態的在雙極性電流驅動以及單極性電流驅動機制間動態切換，可有效提升馬達的工作效能。In summary, the present invention enables the motor to dynamically switch between the bipolar current drive and the unipolar current drive mechanism according to the operating state of the motor, which can effectively improve the working efficiency of the motor.

100:驅動裝置 110、400:控制器 120:驅動器 410:反電動勢偵測電路 420:保護偵測電路 430:數位運算電路 440:控制信號產生器 450:參考信號產生器 BP:電源電壓 GND:參考接地電壓 L1~L3:電感 MT:馬達 S210~S240:控制步驟 T11~T32:電晶體 TP1~TP8:時間區間 U、V、W:驅動電壓 UGH、UGL、VGH、VGL、WGH、WGL:控制信號100: Drive 110, 400: Controller 120: drive 410: Back-EMF detection circuit 420: protection detection circuit 430: Digital Operation Circuit 440: Control signal generator 450: Reference signal generator BP: power supply voltage GND: Reference ground voltage L1~L3: Inductance MT: Motor S210~S240: Control steps T11~T32: Transistor TP1~TP8: Time interval U, V, W: drive voltage UGH, UGL, VGH, VGL, WGH, WGL: control signal

圖1繪示本發明一實施例的馬達的驅動裝置的示意圖。圖2繪示本發明實施例的馬達的控制方法的動作流程圖。圖3A繪示本發明實施例的馬達的驅動裝置的雙極性電流驅動機制的波形圖。圖3B繪示本發明實施例的馬達的驅動裝置的單極性電流驅動機制的波形圖。圖4繪示本發明實施例的馬達驅動裝置的控制器的實施方式的示意圖。 FIG. 1 is a schematic diagram of a driving device of a motor according to an embodiment of the present invention. Fig. 2 shows an action flow chart of a motor control method according to an embodiment of the present invention. 3A is a waveform diagram of the bipolar current driving mechanism of the driving device of the motor according to the embodiment of the present invention. 3B is a waveform diagram of the unipolar current driving mechanism of the driving device of the motor according to the embodiment of the present invention. FIG. 4 is a schematic diagram of the implementation of the controller of the motor driving device according to the embodiment of the present invention.

100:驅動裝置 100: Drive

110:控制器 110: Controller

120:驅動器 120: drive

BP:電源電壓 BP: power supply voltage

GND:參考接地電壓 GND: Reference ground voltage

L1~L3:電感 L1~L3: Inductance

MT:馬達 MT: Motor

T11~T32:電晶體 T11~T32: Transistor

U、V、W:驅動電壓 U, V, W: drive voltage

UGH、UGL、VGH、VGL、WGH、WGL:控制信號 UGH, UGL, VGH, VGL, WGH, WGL: control signal

Claims

一種馬達的控制方法，包括：在該馬達的電源啟動後，使一驅動器以依據一雙極性電流驅動機制以驅動該馬達；使一控制器偵測該馬達的一反電動勢，並依據該反電動勢計算出該馬達的一轉速資訊以及一位置資訊；使該控制器依據該轉速資訊及該位置資訊以產生一判斷結果；以及依據該判斷結果以決定是否使該驅動器切換為依據一單極性電流驅動機制以驅動該馬達。 A method for controlling a motor includes: After the power of the motor is started, a driver is used to drive the motor according to a bipolar current driving mechanism; Enabling a controller to detect a back electromotive force of the motor, and calculate a rotational speed information and a position information of the motor based on the back electromotive force; Enabling the controller to generate a judgment result based on the rotational speed information and the position information; and According to the judgment result, it is determined whether to switch the driver to drive the motor according to a unipolar current driving mechanism.

如請求項1所述的控制方法，其中使該驅動器以依據該雙極性電流驅動機制以驅動該馬達的步驟包括：使該驅動器提供相位不同的一第一驅動電壓、一第二驅動電壓以及一第三驅動電壓以驅動該馬達，其中，在該雙極性電流驅動機制下，在一第一時間區間中，該第一驅動電壓與該第二驅動電壓的極性相反；在一第二時間區間中，該第一驅動電壓與該第三驅動電壓的極性相反；在一第三時間區間中，該第二驅動電壓與該第三驅動電壓的極性相反。 The control method according to claim 1, wherein the step of enabling the driver to drive the motor according to the bipolar current driving mechanism includes: Enabling the driver to provide a first driving voltage, a second driving voltage, and a third driving voltage with different phases to drive the motor, Wherein, in the bipolar current driving mechanism, in a first time interval, the first driving voltage and the second driving voltage have opposite polarities; in a second time interval, the first driving voltage and the second driving voltage The polarities of the three driving voltages are opposite; in a third time interval, the polarities of the second driving voltage and the third driving voltage are opposite.

如請求項2所述的控制方法，其中在該單極性電流驅動機制下，在一第四時間區間中，該第一驅動電壓為一週期性電壓，該第二驅動電壓為一直流電壓；在一第五時間區間中，該第一驅動電壓為該週期性電壓，該第三驅動電壓為該直流電壓；在一第六時間區間中，該第二驅動電壓為該週期性電壓，該第三驅動電壓為該直流電壓；在一第七時間區間中，該第二驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第八時間區間中，該第二驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第九時間區間中，該第三驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第十時間區間中，該第三驅動電壓為該週期性電壓，該第二驅動電壓為該直流電壓。The control method according to claim 2, wherein under the unipolar current driving mechanism, in a fourth time interval, the first driving voltage is a periodic voltage, and the second driving voltage is a DC voltage; In a fifth time interval, the first driving voltage is the periodic voltage, the third driving voltage is the DC voltage; in a sixth time interval, the second driving voltage is the periodic voltage, the third The driving voltage is the DC voltage; in a seventh time interval, the second driving voltage is the periodic voltage, the first driving voltage is the DC voltage; in an eighth time interval, the second driving voltage is For the periodic voltage, the first driving voltage is the direct current voltage; in a ninth time interval, the third driving voltage is the periodic voltage, and the first driving voltage is the direct current voltage; and a tenth time interval Wherein, the third driving voltage is the periodic voltage, and the second driving voltage is the direct current voltage.

如請求項2所述的控制方法，其中該第一驅動電壓、該第二驅動電壓以及該第三驅動電壓兩兩間的相位差為120 ⁰。 The control method according to claim 2, wherein the phase difference between the first driving voltage, the second driving voltage, and the third driving voltage is 120 ⁰ .

如請求項1所述的控制方法，其中使該控制器依據該轉速資訊及該位置資訊以產生該判斷結果的步驟包括：使該控制器依據該轉速資訊判斷該馬達的轉速是否等於一預設轉速，並依據該位置資訊以判斷該馬達的轉子位置是否等於一預設位置來產生該判斷結果。 The control method according to claim 1, wherein the step of causing the controller to generate the judgment result according to the rotational speed information and the position information includes: The controller determines whether the rotation speed of the motor is equal to a preset rotation speed according to the rotation speed information, and determines whether the rotor position of the motor is equal to a preset position according to the position information to generate the judgment result.

如請求項5所述的控制方法，其中依據該判斷結果以決定是否使該驅動器切換以依據該單極性電流驅動機制以驅動該馬達的步驟包括：當該馬達的轉速等於該預設轉速且該馬達的轉子位置等於該預設位置時，使該驅動器切換以依據該單極性電流驅動機制以驅動該馬達。 The control method according to claim 5, wherein the step of determining whether to switch the driver to drive the motor according to the unipolar current driving mechanism according to the judgment result includes: When the rotation speed of the motor is equal to the preset rotation speed and the rotor position of the motor is equal to the preset position, the driver is switched to drive the motor according to the unipolar current driving mechanism.

如請求項6所述的控制方法，其中依據該判斷結果以決定是否使該驅動器切換以依據該單極性電流驅動機制以驅動該馬達的步驟更包括：當該馬達的轉速不等於該預設轉速及/或該馬達的轉子位置不等於該預設位置時，使該驅動器維持以依據該雙極性電流驅動機制以驅動該馬達。 The control method according to claim 6, wherein the step of determining whether to switch the driver to drive the motor according to the unipolar current driving mechanism according to the judgment result further comprises: When the rotation speed of the motor is not equal to the preset rotation speed and/or the rotor position of the motor is not equal to the preset position, the driver is maintained to drive the motor according to the bipolar current driving mechanism.

如請求項1所述的控制方法，更包括：使該控制器執行一過電流偵測機制，並在一過電流現象發生時，使該馬達進行一煞車程序。 The control method as described in claim 1, further including: Make the controller execute an over-current detection mechanism, and make the motor perform a braking procedure when an over-current phenomenon occurs.

一種馬達的驅動裝置，包括：一驅動器，具有多個開關組，分別依據多組控制信號以產生具有不同相位的多個驅動電壓；以及一控制器，耦接至該馬達，用以：在該馬達的電源啟動後，使該驅動器以依據一雙極性電流驅動機制以驅動該馬達；依據該馬達的多個電氣參數以計算出該馬達的一反電動勢，並依據該反電動勢計算出該馬達的一轉速資訊以及一位置資訊；依據該轉速資訊及該位置資訊以產生一判斷結果；以及依據該判斷結果以決定是否使該驅動器切換為依據一單極性電流驅動機制以驅動該馬達。 A driving device for a motor includes: A driver having a plurality of switch groups, respectively generating a plurality of driving voltages with different phases according to the plurality of control signals; and A controller, coupled to the motor, for: After the power of the motor is started, the driver is driven to drive the motor according to a bipolar current driving mechanism; Calculating a back electromotive force of the motor according to a plurality of electrical parameters of the motor, and calculating a rotational speed information and a position information of the motor according to the back electromotive force; Generate a judgment result based on the rotational speed information and the position information; and According to the judgment result, it is determined whether to switch the driver to drive the motor according to a unipolar current driving mechanism.

如請求項9所述的驅動裝置，其中該驅動器提供相位不同的一第一驅動電壓、一第二驅動電壓以及一第三驅動電壓以驅動該馬達，在該雙極性電流驅動機制下，在一第一時間區間中，該第一驅動電壓與該第二驅動電壓的極性相反；在一第二時間區間中，該第一驅動電壓與該第三驅動電壓的極性相反；在一第三時間區間中，該第二驅動電壓與該第三驅動電壓的極性相反。The driving device according to claim 9, wherein the driver provides a first driving voltage, a second driving voltage, and a third driving voltage with different phases to drive the motor, and under the bipolar current driving mechanism, a In the first time interval, the first driving voltage and the second driving voltage have opposite polarities; in a second time interval, the first driving voltage and the third driving voltage have opposite polarities; and in a third time interval Wherein, the second driving voltage and the third driving voltage have opposite polarities.

如請求項10所述的驅動裝置，其中在該單極性電流驅動機制下，在一第四時間區間中，該第一驅動電壓為一週期性電壓，該第二驅動電壓為一直流電壓；在一第五時間區間中，該第一驅動電壓為該週期性電壓，該第三驅動電壓為該直流電壓；在一第六時間區間中，該第二驅動電壓為該週期性電壓，該第三驅動電壓為該直流電壓；在一第七時間區間中，該第二驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第八時間區間中，該第二驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第九時間區間中，該第三驅動電壓為該週期性電壓，該第一驅動電壓為該直流電壓；在一第十時間區間中，該第三驅動電壓為該週期性電壓，該第二驅動電壓為該直流電壓。The driving device according to claim 10, wherein under the unipolar current driving mechanism, in a fourth time interval, the first driving voltage is a periodic voltage, and the second driving voltage is a DC voltage; In a fifth time interval, the first driving voltage is the periodic voltage, the third driving voltage is the DC voltage; in a sixth time interval, the second driving voltage is the periodic voltage, the third The driving voltage is the DC voltage; in a seventh time interval, the second driving voltage is the periodic voltage, the first driving voltage is the DC voltage; in an eighth time interval, the second driving voltage is For the periodic voltage, the first driving voltage is the direct current voltage; in a ninth time interval, the third driving voltage is the periodic voltage, and the first driving voltage is the direct current voltage; and a tenth time interval Wherein, the third driving voltage is the periodic voltage, and the second driving voltage is the direct current voltage.

如請求項9所述的驅動裝置，其中該控制器依據該轉速資訊判斷該馬達的轉速是否等於一預設轉速，並依據該位置資訊以判斷該馬達的轉子位置是否等於一預設位置來產生該判斷結果。The driving device according to claim 9, wherein the controller determines whether the rotation speed of the motor is equal to a preset rotation speed according to the rotation speed information, and determines whether the rotor position of the motor is equal to a preset position according to the position information. The judgment result.

如請求項12所述的驅動裝置，其中當該馬達的轉速等於該預設轉速且該馬達的轉子位置等於該預設位置時，該控制器使該驅動器切換以依據該單極性電流驅動機制以驅動該馬達。The driving device according to claim 12, wherein when the rotation speed of the motor is equal to the preset rotation speed and the rotor position of the motor is equal to the preset position, the controller causes the driver to switch to drive the mechanism according to the unipolar current Drive the motor.

如請求項13所述的驅動裝置，其中當該馬達的轉速不等於該預設轉速及/或該馬達的轉子位置不等於該預設位置時，該控制器使該驅動器維持以依據該雙極性電流驅動機制以驅動該馬達。The driving device according to claim 13, wherein when the rotation speed of the motor is not equal to the preset rotation speed and/or the rotor position of the motor is not equal to the preset position, the controller maintains the driver according to the bipolar Electric current drive mechanism to drive the motor.

如請求項9所述的驅動裝置，其中該控制器更用以執行一過電流偵測機制，並在一過電流現象發生時，使該馬達進行一煞車程序。The driving device according to claim 9, wherein the controller is further used to implement an overcurrent detection mechanism, and when an overcurrent phenomenon occurs, the motor performs a braking procedure.