WO2013136673A1 - 電動工具 - Google Patents

電動工具 Download PDF

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Publication number
WO2013136673A1
WO2013136673A1 PCT/JP2013/000947 JP2013000947W WO2013136673A1 WO 2013136673 A1 WO2013136673 A1 WO 2013136673A1 JP 2013000947 W JP2013000947 W JP 2013000947W WO 2013136673 A1 WO2013136673 A1 WO 2013136673A1
Authority
WO
WIPO (PCT)
Prior art keywords
brushless motor
motor
control unit
abnormality detection
detection time
Prior art date
Application number
PCT/JP2013/000947
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
宮崎　博
昌樹 池田
Original Assignee
パナソニック 株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニック 株式会社 filed Critical パナソニック 株式会社
Priority to EP13761505.0A priority Critical patent/EP2826604B1/en
Priority to CN201380013355.8A priority patent/CN104159712B/zh
Publication of WO2013136673A1 publication Critical patent/WO2013136673A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the present invention relates to an electric tool provided with a brushless motor.
  • a protective operation for preventing a motor failure due to an abnormality in the rotor position signal by the rotational position detection sensor is performed.
  • the appearance pattern of the rotational position signal is continuous when normal, but the appearance pattern may be shifted when abnormal.
  • the motor is stopped to stop the motor.
  • the inventor of the present application has studied a method for detecting an abnormality of a power tool.
  • the output interval of the position information signal from the rotational position detection sensor is set as the abnormality detection time, and the next position information is detected within the abnormality detection time after the actual position information signal is detected. When a signal cannot be detected, it is determined as abnormal.
  • the inventor of the present application has found that in the abnormality determination method of the reference example, when the abnormality detection time is extremely short, there is a possibility that the abnormality is determined although it is normal. Conversely, if the abnormality detection time is extremely long, there may be a situation where power is supplied to the switching element of the brushless motor during the period when the abnormality occurs, and there is a possibility that damage to the switching element cannot be avoided. The present inventor has noticed.
  • An object of the present invention is to provide an electric tool capable of more appropriately setting the length of the abnormality detection time.
  • an electric tool includes a brushless motor capable of rotating forward and reverse, and a sensor that detects a rotational position of the brushless motor and outputs a position information signal that notifies a change in the rotational position.
  • a drive circuit that has a plurality of switching elements and supplies power to the brushless motor, and a control unit that controls the drive circuit based on the rotational position of the brushless motor detected by the sensor unit.
  • the control unit estimates an output interval of the position information signal from the sensor unit based on a rotation speed of the brushless motor, and sets an abnormality detection time according to the estimated output interval.
  • the controller determines that the position information signal from the sensor section is abnormal when the next position information signal cannot be confirmed within the abnormality detection time after actually detecting the position information signal from the sensor section.
  • the control unit includes an abnormality time setting algorithm for setting the abnormality detection time to be shorter as the rotation speed of the brushless motor is faster and setting the detection time to be longer as the rotation speed of the brushless motor is slower.
  • control unit determines that the abnormality has occurred, the control unit performs an abnormal stop to stop power supply from the drive circuit to the brushless motor.
  • the electric tool includes an operation state selection unit that selects either driving or stopping of the brushless motor according to a user's operation
  • the control unit includes the operation state selection unit after executing the abnormal stop. If the drive of the brushless motor is selected via the control, the brushless motor is redriven.
  • control unit controls the switching element of the drive circuit at a duty ratio lower than the duty ratio before execution of the abnormal stop to redrive the brushless motor.
  • control unit limits the number of times the re-driving operation is performed to a predetermined number.
  • control unit notifies the user that the re-driving operation has reached a predetermined number of times.
  • control unit preferably performs advance angle control of the brushless motor before the re-drive, and does not perform the advance angle control at the start of the re-drive.
  • FIG. 1 It is a fragmentary sectional view of the electric tool in an embodiment. It is a block diagram which shows the electric constitution of an electric tool same as the above. It is a block diagram of a drive circuit.
  • (A) (b) is explanatory drawing for demonstrating the state of the signal input into each switching element.
  • (A)-(d) is a flowchart for demonstrating operation
  • the electric tool 1 of the present embodiment includes a motor 3 as a drive source, and a hall as a sensor unit that detects a rotational position of the motor 3 and outputs a position information signal that notifies a change in the rotational position.
  • An element S, a drive circuit 15 that supplies power to the motor 3, and a control circuit 14 as a control unit that controls the drive circuit 15 are provided.
  • the motor 3 is accommodated in a cylindrical motor housing 2 having an open end 2 a and a bottom, and the rotating shaft 4 of the motor 3 is in the axial direction of the motor housing 2 (left and right direction in FIG. 1). It is extended.
  • a dome portion 5 that gradually decreases in diameter from the proximal end toward the distal end 5 a is attached to the opening end 2 a of the motor housing 2.
  • the output shaft 6 protrudes from the opening end 2 a of the dome portion 5.
  • the output shaft 6 is connected to the rotating shaft 4 of the motor 3 via a torque amplifier 7 accommodated in the dome portion 5.
  • a bit mounting portion 8 to which a tool (bit) (not shown) can be mounted is formed at the tip 6 a of the output shaft 6.
  • a trigger switch 10 as an operation state selection unit that selects either driving or stopping of the motor 3 according to a user's operation is a handle unit 9 formed in the vicinity of the opening end 2 a of the motor housing 2.
  • the trigger switch 10 has a main body portion 10a fixed in the handle portion 9, and an operation portion 10b having a tip protruding from the front end of the handle portion 9 and urged in the protruding direction from the main body portion 10a.
  • the trigger switch 10 supplies the control circuit 14 with a speed signal corresponding to a user's operation amount (a pulling amount of the trigger switch 10) for adjusting the rotation speed of the motor 3.
  • a rotation direction selection unit (forward / reverse switch) 11 that selects the rotation direction of the motor 3 in accordance with a user operation is disposed on the surface of the handle unit 9 slightly above the trigger switch 10.
  • the rotation direction selection unit 11 has an operation knob supported so as to be movable, and the rotation direction of the motor 3 is switched to a rotation direction corresponding to the movement direction of the operation knob.
  • the electric power tool 1 is battery-driven, and a battery mounting portion 12 is formed at the lower end of the handle portion 9, and a battery 13 as a power source is mounted on the battery mounting portion 12.
  • the control circuit 14 controls the operation of the motor 3 as a drive source via the drive circuit 15 based on the operation state of the trigger switch 10 and the rotation direction selection unit 11.
  • the drive circuit 15 generates and supplies drive power to the motor 3 according to the control of the control circuit 14.
  • the control circuit 14 is accommodated in the handle portion 9, for example, and the drive circuit 15 is accommodated in the motor housing 2, for example.
  • ⁇ A brushless motor is used for the motor 3.
  • the Hall element S is electrically connected to the control circuit 14, detects the rotational position of the rotor of the brushless motor, and sends a position information signal notifying the change of the rotational position to the control circuit 14. To supply.
  • FIG. 3 is a block diagram illustrating a schematic electrical configuration of the electric power tool 1.
  • the drive circuit 15 may include a PWM inverter formed by connecting a plurality of (for example, six) switching elements 16 to 21.
  • the drive circuit 15 includes a series circuit of switching elements 16 and 19, a series circuit of switching elements 17 and 20, and a series circuit of switching elements 18 and 21 connected in parallel.
  • the upper switching elements 16, 17 and 18 are connected to the positive terminal of the battery 13, and the lower switching elements 19, 20 and 21 are connected to the negative terminal of the battery 13.
  • a node between the switching elements 16 and 19, a node between the switching elements 17 and 20, and a node between the switching elements 18 and 21 are connected to the motor coils 3 u, 3 v, 3 w of the motor 3 via connection points 22 u, 22 v, 22 w.
  • Each of the switching elements 16 to 21 can be composed of, for example, an FET.
  • the control circuit 14 can control the drive circuit 15 according to the rotational position information of the motor 3 based on the position information signal from the Hall element S. For example, the control circuit 14 generates a motor control signal according to the rotational position information of the motor 3, and supplies the control signal to the switching elements 16-21. Each of the switching elements 16 to 21 operates at a duty ratio (that is, an ON / OFF ratio) of the motor control signal. The control circuit 14 changes the duty ratio of the switching elements 16 to 21 by appropriately changing the duty ratio of the motor control signal.
  • the drive circuit 15 converts the DC voltage of the battery 13 into three-phase drive power and supplies it to the motor 3. When the switching elements 16 to 21 are FETs, the motor control signal may be called a gate on / off signal supplied to the gates of the switching elements 16 to 21.
  • the control circuit 14 of the electric power tool 1 sequentially switches the motor control signals supplied to the switching elements 16 to 21 when rotating the motor 3 between the modes A to F shown in FIG. Output.
  • the switching elements 16 to 21 are turned on / off as shown in FIG.
  • the control circuit 14 supplies motor control signals corresponding to the modes to the terminals U +, U ⁇ , V +, V ⁇ , W +, W ⁇ connected to the switching elements 16 to 21, respectively.
  • the commutation control is executed.
  • the switching element is an FET, each terminal U +, U ⁇ , V +, V ⁇ , W +, W ⁇ is connected to the gate of the corresponding switching element.
  • the control circuit 14 controls the current supplied to the motor coils 3u, 3v, and 3w by PWM control of the motor control signal, and controls the rotation speed of the motor 3.
  • Modes A to F are selected according to the sensor signal from the hall element S constituting the rotor position detection sensor.
  • the control circuit 14 first performs an initial setting process as shown in FIG. 5A (step S10).
  • the control circuit 14 reads the signal from the rotation direction selection unit 11 and determines the rotation direction of the motor 3 (step S11).
  • the control circuit 14 executes volume input processing for processing the speed signal acquired from the trigger switch 10 according to a predetermined algorithm (step S12), and calculates a duty ratio according to the input speed signal (step S13).
  • the control circuit 14 calculates the time to be advanced in accordance with the rotational speed of the motor 3 (step S14), and then performs a driving process for the motor 3 (step S15). Thereafter, steps S11 to S15 are repeated.
  • the control circuit 14 converts the input speed signal into a volume signal corresponding to the pull-in amount of the trigger switch 10, and takes it in.
  • the advance angle is ⁇ °
  • the timing of the external interrupt that is, the sensor signal input timing is 60 ° in electrical angle.
  • the timer interrupt signal is output with a delay of 60- ⁇ ) °.
  • the control circuit 14 can perform advance angle control of the advance angle ⁇ °.
  • This interrupt process is performed using the edge of the sensor signal (position information signal) from the Hall element S that detects the rotor position of the motor 3 as a trigger.
  • the control circuit 14 receives the count value of the edge of the sensor signal input at the previous Step S20 and the current Step S20.
  • the edge interval (sensor signal interval) is calculated from the edge count value of the sensor signal (step S21).
  • the control circuit 14 starts a drive output timer (step S22).
  • the control circuit 14 calculates the rotation speed of the motor 3 from the cycle between edges calculated in step S21, and calculates the abnormality detection time from the calculated rotation speed (step S23). For example, the control circuit 14 estimates the output interval of the sensor signal (position information signal) from the Hall element S based on the calculated rotation speed, and sets the abnormality detection time (detection window) according to the estimated output interval.
  • the control circuit 14 includes an abnormality time setting algorithm for setting the abnormality detection time longer as the calculated rotation speed is slower and setting the abnormality detection time shorter as the calculated rotation speed is faster.
  • the abnormality detection is performed according to the abnormality time setting algorithm. You can set the time.
  • the abnormal time setting algorithm may include a function or a map indicating the relationship between the calculated rotation speed and the abnormality detection time, for example, as shown in FIG.
  • control circuit 14 starts an abnormality detection timer (step S24) and returns to the main routine.
  • control circuit 14 turns off the drive output timer when the advance time calculated in step S13 of the main routine has elapsed, and starts the interrupt process of FIG.
  • the control circuit 14 outputs a motor drive signal and a PWM signal (step S25), and then returns to the main routine.
  • the control circuit 14 determines that an abnormality has occurred when the abnormality detection time has elapsed before the next sensor signal edge is input, and turns off the abnormality detection timer, as shown in FIG.
  • the abnormal stop process is started as an interrupt process.
  • the control circuit 14 performs an abnormal stop in step S30.
  • the abnormal stop may be referred to as a drive power supply stop triggered by abnormality detection or abnormality determination.
  • an H level motor control signal is supplied to the terminals U +, U ⁇ , V +, V ⁇ , W +, and W ⁇ so that all the switching elements 16 to 21 receive the signals.
  • the output is turned off and the power supply to the motor 3 is cut off.
  • the control circuit 14 can count and hold the number of abnormal stops.
  • the held count value can be reset by a predetermined procedure.
  • control circuit 14 determines whether or not the trigger switch 10 is turned on (drawn) after the abnormal stop (step S31). If the trigger switch 10 is in an off state (step S31: NO), the control circuit 14 continues the abnormal stop state (step S32).
  • step S31 if the trigger switch 10 is turned on (step S31: YES), the control circuit 14 determines whether or not the number of abnormal stops exceeds a predetermined number (for example, 10 times) (step S33). If the number of abnormal stops exceeds the predetermined number (step S33: YES), the control circuit 14 continues the abnormal stop state.
  • a predetermined number for example, 10 times
  • step S33 determines whether the number of abnormal stops is equal to or less than the predetermined number. If the number of abnormal stops is equal to or less than the predetermined number (step S33: NO), the control circuit 14 executes a volume input process for processing the speed signal of the trigger switch 10 according to a predetermined algorithm (step S34). Next, the control circuit 14 calculates a duty ratio according to the input speed signal (step S35).
  • step S36 compares the duty ratio calculated in step S35 with the duty ratio before the abnormal stop. If the duty ratio calculated in step S35 is equal to or higher than the duty ratio before the abnormal stop (step S36: YES), the control circuit 14 changes the calculated duty ratio to a duty ratio lower than the duty ratio before the abnormal stop. The motor 3 is driven again (step S37). On the other hand, if the duty ratio calculated in step S35 is less than the duty ratio before the abnormal stop (step S36: NO), the control circuit 14 determines that the calculated duty ratio (that is, the duty ratio lower than the duty ratio before the abnormal stop). ) To drive the motor 3 again (step S38).
  • control circuit 14 does not perform the advance angle control at the time of re-driving in step S37 and step S38. After driving the motor 3 in step S37 or step S38, the control circuit 14 returns to step S11 of the main routine shown in FIG.
  • the control circuit 14 estimates the sensor signal output interval from the Hall element S based on the rotational speed of the motor 3, and sets the abnormality detection time according to the estimated output interval.
  • the control circuit 14 determines that there is an abnormality when the next sensor signal is not confirmed within the abnormality detection time after actually detecting the sensor signal from the Hall element S.
  • the control circuit 14 includes an algorithm for setting the abnormality detection time to be shorter as the rotation speed of the motor 3 is higher, and setting the abnormality detection time to be longer as the rotation speed of the motor 3 is lower. Thus, even if the abnormality detection time is set to be shorter as the rotational speed of the motor 3 is faster, the output interval of the sensor signal is shortened according to the rotational speed of the motor 3 to appropriately detect whether or not there is an abnormality. It becomes possible.
  • the abnormality detection time it is possible to suppress the energization of the switching elements 16 to 21 of the motor 3 in an abnormal state, so that the damage to the switching elements 16 to 21 can be suppressed.
  • the abnormality detection time is lengthened as the rotational speed of the motor 3 is slower, the output interval becomes longer according to the rotational speed of the motor 3, so that it is suppressed from being judged abnormal even though it is normal. Can do.
  • control circuit 14 determines that there is an abnormality, the control circuit 14 stops the power supply from the drive circuit 15 to the motor 3 and executes an abnormal stop to stop the motor 3, so that the switching elements 16 to 21 are in an abnormal state. It is possible to suppress the flow of current, and it is possible to suppress damage to the switching element.
  • the control circuit 14 is connected to a trigger switch 10 as an operation state selection unit that selects either driving or stopping of the motor 3 in accordance with a user operation.
  • the control circuit 14 drives the motor 3 again.
  • the control circuit 14 re-drives the motor 3 by controlling the switching elements 16 to 21 of the drive circuit 15 at a duty ratio lower than the duty ratio before the abnormal stop is executed.
  • the speed of the motor 3 is reduced due to the abnormal stop, when the motor 3 is turned on at the same duty ratio as before the abnormal stop, the bit rotates rapidly due to the current overshoot and the user is expected. There is a risk of giving a reaction.
  • steps S37 and S38 by re-driving the motor 3 after an abnormal stop at a duty ratio lower than the duty ratio before the abnormal stop (see steps S37 and S38), current overshoot and unexpected reaction can be reduced or prevented. This can improve the safety of the electric power tool 1.
  • control circuit 14 limits the number of re-drives to a predetermined number. In this case, it is possible to reduce breakage of the switching elements 16 to 21 that are overused by repeating the abnormality detection and the restart of the motor 3.
  • the control circuit 14 performs commutation control of the motor 3 before re-driving, and does not perform advance angle control at the start of re-driving.
  • the rotation of the motor 3 is unstable at the start of redrive, particularly at the start of redrive immediately after an abnormal stop. By stopping the advance angle control during unstable rotation, the rotation state of the motor 3 can be quickly stabilized.
  • the length of the abnormality detection time is changed according to the rotation speed of the motor 3, but in addition to this, as shown in FIG. You may change the size.
  • the control circuit 14 can include an abnormality time setting algorithm for shortening the abnormality detection time if the duty ratio is large and increasing the abnormality detection time if the duty ratio is small.
  • the number of re-drivings is limited to a predetermined number, but the present invention is not limited to this.
  • the configuration is such that the advance angle control of the motor 3 is not performed at the start of re-driving, but this is not restrictive.
  • control circuit 14 may notify the user that the motor 3 has been redriven a predetermined number of times. With such a configuration, it is possible to make the user recognize an abnormal state.
  • the method of this notification is not specifically limited, For example, it can carry out via the visual, auditory, or tactile notification part which can be provided in the electric tool 1.
  • SYMBOLS 1 Electric tool, 3 ... Motor (brushless motor), 10 ... Trigger switch as an operation state selection part, 11 ... Rotation direction selection part, 14 ... Control circuit as a control part, 15 ... Drive circuit, 16-21 ... Switching Element, S: Hall element as a sensor part.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Portable Power Tools In General (AREA)
PCT/JP2013/000947 2012-03-13 2013-02-20 電動工具 WO2013136673A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP13761505.0A EP2826604B1 (en) 2012-03-13 2013-02-20 Electric tool
CN201380013355.8A CN104159712B (zh) 2012-03-13 2013-02-20 电动工具

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012055966A JP2013188825A (ja) 2012-03-13 2012-03-13 電動工具
JP2012-055966 2012-03-13

Publications (1)

Publication Number Publication Date
WO2013136673A1 true WO2013136673A1 (ja) 2013-09-19

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PCT/JP2013/000947 WO2013136673A1 (ja) 2012-03-13 2013-02-20 電動工具

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EP (1) EP2826604B1 (zh)
JP (1) JP2013188825A (zh)
CN (1) CN104159712B (zh)
WO (1) WO2013136673A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12005540B2 (en) 2021-04-28 2024-06-11 Milwaukee Electric Tool Corporation Power tool including a machine learning block for controlling field weakening of a permanent magnet motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6090581B2 (ja) 2013-09-28 2017-03-08 日立工機株式会社 電動工具
JP6133818B2 (ja) * 2014-06-11 2017-05-24 トヨタ自動車株式会社 車両の制御装置
CN107520816B (zh) * 2016-06-21 2020-01-14 苏州宝时得电动工具有限公司 动力工具的保护方法及***
JP6814032B2 (ja) 2016-11-24 2021-01-13 株式会社マキタ 電動作業機
JP6524274B2 (ja) * 2017-05-26 2019-06-05 ローム株式会社 信号灯モニタ
US11085582B2 (en) 2017-08-30 2021-08-10 Milwaukee Electric Tool Corporation Power tool having object detection
CN111774722B (zh) * 2020-06-30 2022-07-01 大族激光科技产业集团股份有限公司 一种基于激光***电容传感器反馈信号衰变的智能控制方法

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JP2009165280A (ja) * 2008-01-08 2009-07-23 Makita Corp モータ制御装置とそれを用いた電動工具
JP2011011313A (ja) 2009-07-03 2011-01-20 Hitachi Koki Co Ltd 電動工具

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JP5476177B2 (ja) * 2010-03-26 2014-04-23 パナソニック株式会社 電動工具
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JP2009165280A (ja) * 2008-01-08 2009-07-23 Makita Corp モータ制御装置とそれを用いた電動工具
JP2011011313A (ja) 2009-07-03 2011-01-20 Hitachi Koki Co Ltd 電動工具

Cited By (1)

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Publication number Priority date Publication date Assignee Title
US12005540B2 (en) 2021-04-28 2024-06-11 Milwaukee Electric Tool Corporation Power tool including a machine learning block for controlling field weakening of a permanent magnet motor

Also Published As

Publication number Publication date
CN104159712B (zh) 2016-08-03
EP2826604A1 (en) 2015-01-21
EP2826604B1 (en) 2017-11-22
CN104159712A (zh) 2014-11-19
EP2826604A4 (en) 2016-01-13
JP2013188825A (ja) 2013-09-26

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