WO2014174557A1 - モータ駆動装置 - Google Patents
モータ駆動装置 Download PDFInfo
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- WO2014174557A1 WO2014174557A1 PCT/JP2013/007596 JP2013007596W WO2014174557A1 WO 2014174557 A1 WO2014174557 A1 WO 2014174557A1 JP 2013007596 W JP2013007596 W JP 2013007596W WO 2014174557 A1 WO2014174557 A1 WO 2014174557A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/12—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by short-circuit or resistive braking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
Definitions
- the present invention relates to a motor drive device.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2008-72876
- a motor drive device that controls a current flowing through a coil of a motor, wherein a comparison unit that compares a current flowing through the coil and an input control current is compared with a comparison between the comparison unit According to the result, an operation selection unit that selects any one of a driving state, a regenerative state, and a braking state, an energization mode for passing a current to the coil, and a stop mode for stopping a current flowing to the coil
- the coil is driven in the operation state selected by the operation selection unit, and the designation signal designating the stop mode is received.
- a drive unit that drives the coil in the braking state, and a start of a designation signal that designates the stop mode or a start of a period in which the control current is zero.
- FIG. 1 is a diagram illustrating an overall configuration of a motor drive device 10.
- FIG. 3 is a diagram illustrating a configuration of a control unit 26.
- FIG. 3 is a diagram illustrating a configuration of a setting unit 14.
- FIG. It is a figure which shows the relationship between the designation
- FIG. 2 is a diagram illustrating an overall configuration of a motor driving device 60.
- 6 is a diagram illustrating a configuration of a setting unit 62.
- FIG. It is a timing diagram in a stop mode. It is a figure which shows the relationship between an electric current mode and the electric current which flows into the coil. It is a figure explaining the whole structure of the motor drive device. It is a figure which shows the relationship between an electric current mode and the electric current which flows into the coil.
- FIG. 1 is a diagram illustrating the overall configuration of the motor drive device 10.
- the motor driving device 10 controls a current flowing through a driving coil 90 such as a stepping motor.
- a driving coil 90 such as a stepping motor.
- the motor drive device 10 receives the designation signal MSO for designating a current mode including an energization mode for causing a current to flow through the coil 90 and a stop mode for stopping the current flowing to the coil 90, and controls the current of the coil 90. .
- the motor drive device 10 designates the stop mode by delaying the designation signal MS that designates the stop mode, and continues the energization mode for a while after receiving the designation of the stop mode.
- the time from when the designated signal MS is output until the current is stopped is shortened.
- the motor driving device 10 includes a clock output unit 12, a setting unit 14, a D / A converter 16, a comparison unit 18, a setting unit 14, an H bridge circuit 22, a sense resistor 24, and a control unit 26. Prepare.
- the clock output unit 12 is connected to the control unit 26.
- the clock output unit 12 outputs a clock CLK for controlling the motor driving device 10 to the control unit 26.
- the setting unit 14 is connected to the D / A converter 16.
- the setting unit 14 outputs the control current value DIN to the D / A converter 16.
- the control current value DIN is a digital value of the current passed through the coil 90, and is a value for determining which operating state to use.
- the D / A converter 16 is connected to the comparison unit 18.
- the D / A converter 16 converts the control voltage CV corresponding to the control current value DIN output from the setting unit 14 from analog to analog, and outputs it to the non-inverting input of the comparison unit 18.
- the control voltage CV corresponding to the analog-converted control current value DIN is rotated at a constant speed, the control voltage CV changes with time along a sine wave or a cosine wave.
- the setting unit 14 is connected to the control unit 26.
- the setting unit 14 outputs a designation signal MSO that designates the current mode.
- the current mode includes an energization mode having a forward direction mode and a reverse direction mode, and a stop mode.
- the energization mode is a mode in which a current is passed through the coil 90.
- the stop mode is a mode in which the current flowing through the coil 90 is stopped.
- the inverting input of the comparison unit 18 is connected to the sense resistor 24.
- the comparison unit 18 compares the control voltage CV corresponding to the control current value DIN analog-converted by the D / A converter 16 and input to the non-inverting input, and the sense voltage SV corresponding to the sense current flowing through the sense resistor 24. To do. In other words, the comparison unit 18 compares the magnitude of the control current with the magnitude of the sense current.
- the sense current is the same current that flows through the coil 90.
- the output side of the comparison unit 18 is connected to the control unit 26.
- the comparison unit 18 outputs a comparison result CR between the control current and the sense current to the control unit 26.
- the comparison result CR becomes a high level when the sense current is larger than the control current, and becomes a low level when the sense current is smaller than the control current.
- the H bridge circuit 22 includes four transistors Tr1, Tr2, Tr3, and Tr4 that function as switches.
- the on-resistances of the transistors Tr1, Tr2, Tr3, and Tr4 are, for example, several hundred m ⁇ .
- the resistance of the coil 90 is several hundred m ⁇ to several ⁇ .
- the drain of the transistor Tr1 is connected to the power source. Therefore, the power supply voltage VDD is applied to the drain of the transistor Tr1Tr2.
- the source of the transistor Tr1 is connected to one end of the coil 90.
- the drain of the transistor Tr2 is connected to the power source. Accordingly, the power supply voltage VDD is applied to the drain of the transistor Tr2.
- the source of the transistor Tr2 is connected to the other end of the coil 90.
- the drain of the transistor Tr3 is connected to one end of the coil 90 and the drain of the transistor Tr1.
- the source of the transistor Tr3 is connected to one end of the sense resistor 24.
- the drain of the transistor Tr4 is connected to the other end of the coil 90 and the source of the transistor Tr2.
- the source of the transistor Tr4 is connected to one end of the sense resistor 24. Note that the diodes Di1, Di2, Di3, and Di4 connected in parallel to the transistors Tr1, Tr2, Tr3, and Tr4 are parasitic diodes formed in structure.
- the other end of the sense resistor 24 is grounded to the reference potential.
- One end of the sense resistor 24 is connected to the sources of the transistors Tr3 and Tr4 of the H bridge circuit 22 and the inverting input of the comparison unit 18. Therefore, the sense voltage SV corresponding to the same sense current as the current flowing through the coil 90 is input to the inverting input of the comparison unit 18.
- the control unit 26 turns on the transistors Tr1, Tr2, Tr3, and Tr4 based on the clock CLK output from the clock output unit 12, the comparison result CR input from the comparison unit 18, and the current mode designation signal. Control signals SC1, SC2, SC3 and SC4 for switching off / off are output. Thereby, the control unit 26 controls the value and direction of the current flowing through the coil 90.
- FIG. 2 is a diagram illustrating the configuration of the control unit 26. As shown in FIG. 2, the control unit 26 includes an operation selection unit 30 and a drive unit 34.
- the input side of the operation selection unit 30 is connected to the output side of the comparison unit 18 and the output side of the clock output unit 12. Further, the output side of the operation selection unit 30 is connected to the input side of the drive unit 34.
- the operation selection unit 30 is in any one of a driving state (Charge Drive state), a regenerative state (Fast Decay state), and a braking state (Slow Decay state or Break state) according to the comparison result CR of the comparison unit 18.
- the operation state is selected and the selection result is output to the drive unit 34.
- a current is supplied from the power source to the coil 90.
- the regenerative state current is regenerated from the coil 90 to the power source to charge the power source.
- the capacitor may be charged instead of the power source.
- current is circulated through a current path including the coil 90.
- the operation selection unit 30 includes a one-shot unit 40, an SR latch unit 42, a NOT circuit 44, a D-FF unit 46, and an AND circuit 48.
- the one-shot unit 40 acquires the clock CLK.
- the one-shot unit 40 outputs a blanking pulse BP including a rising pulse shorter than the rising pulse of the acquired clock CLK to the SR latch unit 42 and the NOT circuit 44.
- the Set port of the SR latch unit 42 is connected to the comparison unit 18.
- the Set port of the SR latch unit 42 acquires the comparison result CR from the comparison unit 18.
- the Reset port of the SR latch unit 42 is connected to the one-shot unit 40.
- the Reset port of the SR latch unit 42 acquires the blanking pulse BP from the one-shot unit 40.
- the SR latch unit 42 has reset priority. Accordingly, when the blanking pulse BP is at a high level, the SR latch unit 42 outputs a latch output LO at a low level. On the other hand, when the comparison result CR is at a high level and the blanking pulse BP is at a low level, the SR latch unit 42 outputs a high level latch output LO.
- the SR latch unit 42 holds the level of the latch output LO output to the drive unit 34 when both the comparison result CR and the blanking pulse BP are at the low level.
- the NOT circuit 44 is connected to the one-shot unit 40.
- the NOT circuit 44 acquires the blanking pulse BP from the one-shot unit 40.
- the NOT circuit 44 outputs an inverted blanking pulse ABP obtained by inverting the acquired blanking pulse BP to the D-FF unit 46 and the AND circuit 48.
- the data port of the D-FF unit 46 acquires the comparison result CR from the comparison unit 18.
- the clock port of the D-FF unit 46 acquires the inverted blanking pulse ABP from the NOT circuit 44.
- the D-FF unit 46 outputs the comparison result CR at the rising edge of the inverted blanking pulse ABP, that is, the falling edge of the blanking pulse BP, as the FF output FF, and holds it until the next rising edge of the inverted blanking pulse ABP.
- the AND circuit 48 is connected to the D-FF unit 46 and the NOT circuit 44.
- the AND circuit 48 acquires the FF output FF from the D-FF unit 46 and the inverted blanking pulse ABP from the NOT circuit 44, and outputs a logical product. That is, the AND circuit 48 outputs a high level Fast output FO to the drive unit 34 when both the FF output FF and the inverted blanking pulse ABP are at a high level.
- the AND circuit 48 outputs a low-level Fast output FO to the drive unit 34 when either the FF output FF or the inverted blanking pulse ABP is at a low level.
- the operation selection unit 30 outputs four combinations of the high level and low level of the latch output LO and the high level and low level of the Fast output FO to the drive unit 34 as the selection result of the operation state.
- the output of the operation selection unit 30 means a driving state.
- the output of the operation selection unit 30 means a regenerative state.
- the output of the operation selection unit 30 means a braking state.
- the drive unit 34 receives a designation signal MSO that designates a current mode including an energization mode in which a current is passed through the coil 90 and a stop mode in which the current passed through the coil 90 is stopped.
- a designation signal MSO that designates a current mode including an energization mode in which a current is passed through the coil 90 and a stop mode in which the current passed through the coil 90 is stopped.
- the drive unit 34 drives the coil 90 in the operation state selected by the operation selection unit 30.
- the drive unit 34 drives the coil 90 in the braking state.
- FIG. 3 is a diagram illustrating the configuration of the setting unit 14.
- the setting unit 14 includes an instruction unit 36 and a delay control unit 32.
- the instruction unit 36 When the control current becomes 0, the instruction unit 36 outputs a stop signal SS that delays the stop mode separately from the designation signal MS.
- the instruction unit 36 When the control current becomes zero, the instruction unit 36 outputs a high level stop signal SS.
- the delay control unit 32 is connected to the instruction unit 36.
- the delay control unit 32 outputs the designation signal MS to the drive unit 34 without delay while receiving the designation signal MS designating the energization mode in the current mode.
- the delay control unit 32 delays the designation signal MS for designating the stop mode for the drive unit 34.
- the delay control unit 32 includes a D-FF unit 50, a delay unit 52, a NOT circuit 54, an AND circuit 56, and a switch 58.
- the data port of the D-FF unit 50 acquires the designation signal MS from the instruction unit 36.
- the clock port of the D-FF unit 50 acquires the stop signal SS from the instruction unit 36.
- the output port of the D-FF unit 50 is connected to the switch 58.
- the output port of the D-FF unit 50 holds the data port input at the rising edge of the stop signal SS input to the clock port, and outputs the data port to the switch 58.
- the stop signal SS rises when the control current becomes zero, the D-FF unit 50 always outputs the designation signal MS for designating the energization mode to the switch 58.
- the delay unit 52 is connected to the instruction unit 36.
- the delay unit 52 acquires the stop signal SS from the instruction unit 36.
- the delay unit 52 outputs a delay signal DS obtained by delaying the stop signal SS for a predetermined delay time ⁇ t to the NOT circuit 54.
- the delay time ⁇ t is shorter than the time when the control current should be 0, that is, the time when the stop signal SS is at the low level.
- the delay time ⁇ t is a time during which the current flowing through the coil 90 can be reduced to 0 by the regenerative state. It should be noted that the delay time ⁇ t is preferably longer than shorter than the time during which the current flowing through the coil 90 can be made zero by the regenerative state.
- the NOT circuit 54 is connected to the delay unit 52.
- the NOT circuit 54 acquires the delay signal DS delayed by the delay unit 52.
- the NOT circuit 54 outputs an inverted delay signal ADS obtained by inverting the delay signal DS.
- the AND circuit 56 is connected to the instruction unit 36 and the NOT circuit 54.
- the AND circuit 56 acquires the stop signal SS from the setting unit 14, acquires the inverted delay signal ADS from the NOT circuit 54, and outputs a logical product of these signals.
- the AND circuit 56 outputs a high-level switching signal CS when both the stop signal SS and the inverted delay signal ADS are at a high level. Therefore, the AND circuit 56 outputs the high-level switching signal CS during the delay time ⁇ t after obtaining the stop signal SS, and outputs the low-level switching signal CS during other times.
- the switch 58 is connected to the AND circuit 56.
- the switch 58 acquires the switching signal CS from the AND circuit 56.
- the switch 58 switches the connection destination of the drive unit 34 between the instruction unit 36 and the D-FF unit 50 in accordance with the switching signal CS.
- the switch 58 acquires the high-level switching signal CS
- the switch 58 connects the output port of the D-FF unit 50 and the drive unit 34.
- the switch 58 acquires the low-level switching signal CS
- the switch 58 connects the instruction unit 36 and the drive unit 34. Accordingly, the switch 58 connects the drive unit 34 to the D-FF unit 50 during the delay time ⁇ t after the stop signal SS is input, and connects the drive unit 34 to the instruction unit 36 during other times. .
- the delay control unit 32 outputs the energization mode designation signal held by the D-FF unit 50 to the drive unit 34 for the delay time ⁇ t after the stop signal SS is input, and the stop signal After the delay time ⁇ t has elapsed since the SS was input, a stop mode designation signal is output to the drive unit 34.
- the delay control unit 32 delays the designation signal MS designating the stop mode for the delay time ⁇ t, and then outputs it to the drive unit 34.
- FIG. 4 is a diagram illustrating a relationship between the designation signal MS output from the setting unit 14 and the control current.
- the horizontal axis in FIG. 4 is time.
- the upper part of FIG. 4 shows the designation signal MS that the setting unit 14 outputs.
- the lower part of FIG. 4 shows the control current output by the setting unit 14.
- the setting unit 14 when the control current is not 0, the setting unit 14 outputs a designation signal MS that designates the energization mode.
- the setting unit 14 outputs a designation signal MS that designates the stop mode while the control current is zero.
- FIG. 5 is a diagram for explaining a current path in the positive direction mode of the energization mode.
- the forward direction mode of the energization mode includes a driving state, a regeneration state, and a braking state.
- the drive unit 34 turns on the transistors Tr1 and Tr4 and turns off the transistors Tr2 and Tr3.
- current flows through the current path CP11 from the power source in the order of the transistor Tr1, the coil 90, the transistor Tr4, and the sense resistor 24.
- the current flowing through the coil 90 can be measured from the voltage of the sense resistor 24.
- the drive unit 34 turns on the transistors Tr3 and Tr2, and turns off the transistors Tr1 and Tr4.
- current flows through the current path CP12a in the order of the sense resistor 24, the transistor Tr3, the coil 90, and the transistor Tr2.
- the drive unit 34 may turn on the transistor Tr3 and turn off the transistor Tr2.
- current flows through the current path CP12b in the order of the sense resistor 24, the transistor Tr3, the coil 90, and the parasitic diode Di2 of the transistor Tr2.
- the current is preferably passed through the current path CP12a including the transistor Tr2 having a low resistance from the viewpoint of suppressing heating of the motor or the like.
- the drive unit 34 turns on the transistors Tr3 and Tr4 and turns off the transistors Tr1 and Tr2.
- the current flows through the current path CP13 in the order of the transistor Tr3, the coil 90, and the transistor Tr4.
- the current flowing through the coil 90 slowly decreases due to the loss associated with the circulation.
- FIG. 6 is a diagram illustrating a current path in the stop mode after the forward direction mode.
- the stop mode includes a braking state.
- the transistors Tr3 and Tr4 are turned on. Thereby, the current flows through the current path CP13 in the order of the transistor Tr3, the coil 90, and the transistor Tr4. Thereby, in the braking state, the current flowing through the coil 90 gradually decreases to zero.
- FIG. 7 is a diagram for explaining a current path in the reverse mode of the energization mode.
- the reverse mode when a current is passed in the forward direction in the forward direction mode, the motor rotation direction is maintained, and when the motor is rotated in the same direction as the forward direction mode, the current flowing in the coil 90 is the forward direction. This is the mode opposite to the mode.
- the reverse mode of the energization mode includes a drive state, a regeneration state, and a braking state.
- the driving unit 34 turns on the transistors Tr2 and Tr3. Thereby, in the driving state, the current flows through the current path CP21 from the power source in the order of the transistor Tr2, the coil 90, the transistor Tr3, and the sense resistor 24.
- the drive unit 34 turns on the transistors Tr1 and Tr4. In this regenerative state, the current flows through the current path CP22a in the order of the sense resistor 24, the transistor Tr4, the coil 90, and the transistor Tr1. In the regenerative state, the drive unit 34 may turn on the transistor Tr4 and turn off the transistor Tr1. In this regenerative state, current flows through the current path CP22b in the order of the sense resistor 24, the transistor Tr4, the coil 90, and the parasitic diode Di1 of the transistor Tr1. In the braking state, the drive unit 34 turns on the transistors Tr3 and Tr4. Thereby, in the braking state, the current flows through the current path CP23 in the order of the transistor Tr4, the coil 90, and the transistor Tr3.
- FIG. 8 is a diagram for explaining a current path in the stop mode after the reverse mode.
- the stop mode includes a braking state.
- the transistors Tr3 and Tr4 are turned on. Thereby, the current flows through the current path CP23 in the order of the transistor Tr4, the coil 90, and the transistor Tr3.
- FIG. 9 is a timing chart in the energization mode. Note that the energization mode shown in FIG. 9 is the forward direction mode. The uppermost part of FIG. 9 shows an operation state among a drive state, a regenerative state, and a brake state among the operation states.
- the second stage from the top shows the clock CLK output from the clock output unit 12.
- the third row from the top shows the blanking pulse BP output from the one-shot unit 40.
- the fourth row from the top shows a sense current (solid line) flowing through the sense resistor 24 indicated by a solid line, and a control current (bold dotted line) corresponding to the control current value output by the setting unit 14.
- the fourth row from the top shows the regenerative current (one-dot chain line) flowing through the coil 90 in the regenerative state and the braking current (two-dot chain line) flowing through the coil 90 in the braking state.
- the fifth row from the top shows the comparison result CR output from the comparison unit 18.
- the sixth stage from the top shows the latch output LO output from the SR latch unit 42.
- the seventh row from the top shows the Fast output FO output from the AND circuit 48.
- the one-shot unit 40 outputs a blanking pulse BP having a high level shorter than the high level of the clock CLK in synchronization with the rising of the clock CLK. To do.
- the SR latch unit 42 outputs the latch output LO at the low level.
- the drive unit 34 drives the transistors Tr1 to Tr4 in the drive state.
- the current flows along the current path CP ⁇ b> 11 including the coil 90.
- the current flowing through the coil 90 can be measured by the voltage of the sense resistor 24.
- the latch output LO is maintained at the low level. Even if the current is made to flow in the driving state while the blanking pulse BP is at the high level, It shows that the sense current was smaller than the control current. In this case, even after the high level of the blanking pulse BP ends, the driving unit 34 controls the transistors Tr1 to Tr4 to be in a driving state and causes a current to flow through the coil 90.
- the sense current increased according to the driving state becomes equal to or higher than the control current, and the comparison result CR acquired by the Set port of the SR latch unit 42 becomes high level.
- the SR latch unit 42 outputs a high level latch output LO.
- the drive unit 34 drives the transistors Tr1 to Tr4 in a braking state.
- the drive unit 34 switches from the drive state to the braking state asynchronously with the clock CLK.
- the current flows along the current path CP ⁇ b> 13 including the coil 90.
- the sense current that is greater than or equal to the control current gradually decreases.
- the latch output LO is maintained at a high level and the Fast output FO is maintained at a low level. Maintain state. Since the sense current cannot be measured in the braking state, the sense current is zero.
- the drive unit 34 drives the transistors Tr1 to Tr4 in the drive state.
- the D-FF unit 46 uses the high-level comparison result CR input to the data port as an FF output FF and an AND circuit Output to 48.
- the comparison result CR maintains a high level for a minute time from the time t5.
- the AND circuit 48 outputs a fast output FO at a high level.
- the drive unit 34 controls the transistors Tr1 to Tr4 to be in a regenerative state. As a result, as shown in FIG. 5, a current flows along the current path CP12a including the coil 90. Note that the drive unit 34 may control the current to flow along the current path CP12b.
- the drive unit 34 can control the current in the regenerative state to increase the decrease in the coil current. Thereby, the drive part 34 can make the electric current of a coil below control current rapidly.
- the decrease in the coil current is small. The time to become longer.
- the driving unit 34 controls the driving state by resetting the latch output LO to the low level as the blanking pulse BP rises.
- the comparison result CR is at the low level, so the latch output LO is maintained at the low level.
- the drive unit 34 maintains the drive state even after the blanking pulse BP becomes low level. As a result, the coil current gradually increases.
- FIG. 10 is a timing chart in the stop mode. The uppermost part of FIG. 10 shows the control current.
- the second row from the top shows the designation signal MS output from the instruction unit 36.
- the third row from the top shows the stop signal SS output from the instruction unit 36.
- the fourth row from the top shows the delay signal DS output from the delay unit 52.
- the fifth stage from the top shows the inverted delay signal ADS output from the NOT circuit 54.
- the sixth stage from the top shows the switching signal CS output from the AND circuit 56.
- the seventh row from the top shows the designation signal MSO output from the setting unit 14.
- the AND circuit 56 Since the stop signal SS is low level until the control current becomes 0, the AND circuit 56 outputs a low level switching signal CS. Thereby, the switch 58 directly connects the instruction unit 36 and the drive unit 34. Therefore, the instruction unit 36 outputs the designation signal MS directly to the drive unit 34 until the control current becomes zero.
- the instruction unit 36 When the control current becomes zero, the instruction unit 36 outputs a designation signal MS for designating the stop mode, and also outputs a high level stop signal SS as shown in the third row from the top in FIG. Output to the clock port.
- the stop signal SS rises, since the designation signal MS for designating the energization mode is still input to the data port of the D-FF unit 50, the D-FF unit 50 holds it after the rise of the stop signal SS.
- the designation signal MS for designating the current conduction mode is output.
- the delay unit 52 When the delay unit 52 acquires the stop signal SS from the instruction unit 36, the delay unit 52 outputs a delay signal DS obtained by delaying the stop signal SS by the delay time ⁇ t to the NOT circuit 54 as shown in the fourth stage from the top in FIG. .
- the NOT circuit 54 obtains the delay signal DS from the delay unit 52
- the inverted delay signal ADS obtained by inverting the delay signal DS is input to one input of the AND circuit 56 as shown in the fifth stage from the top in FIG. To do.
- the other input of the AND circuit 56 acquires the stop signal SS directly from the instruction unit 36. Accordingly, both inputs of the AND circuit 56 become high level for the delay time ⁇ t after the stop signal SS becomes high level. Accordingly, the output of the AND circuit 56 becomes high level during the delay time ⁇ t after the stop signal SS becomes high level.
- the switch 58 connects the drive unit 34 and the D-FF unit 50 during the delay time ⁇ t.
- the drive unit 34 retains and outputs the designation signal MS that is held by the D-FF unit 50.
- the acquisition of the designation signal MS that designates the energization mode before the designation of the stop mode is continued for the delay time ⁇ t. Therefore, since the drive unit 34 continues the energization mode specified before the stop mode is specified and drives the coil 90, the coil 34 can be driven by any one of the driving state, the regenerative state, and the braking state shown in FIG. 90 currents are controlled.
- the control current is 0, the drive unit 34 performs control in the regenerative state until the delay time ⁇ t has elapsed. As a result, the drive unit 34 can rapidly bring the current flowing through the coil 90 close to zero.
- the delay unit 52 When the delay time ⁇ t elapses, the delay unit 52 outputs the high level delay signal DS, so that the NOT circuit 54 outputs the low level inverted delay signal ADS. As a result, one input of the AND circuit 56 becomes low level, and the AND circuit 56 outputs a low level switching signal CS. Accordingly, since the switch 58 directly connects the instruction unit 36 and the drive unit 34, the drive unit 34 acquires the designation signal MS that designates the stop mode output by the instruction unit 36. Thus, the drive unit 34 switches from the energization mode to the stop mode, and thus controls the current of the coil 90 according to the braking state shown in FIG.
- the drive unit 34 acquires the designation signal MS output from the instruction unit 36 without delay, the drive unit 34 also acquires the end of the designation signal MS designating the stop mode without delay. Thereby, the drive part 34 will complete
- FIG. 11 is a diagram showing the relationship between the current mode and the current flowing through the coil 90.
- the uppermost part of FIG. 11 shows the control current output by the instruction unit 36.
- the second row from the top shows the designation signal MS output from the instruction unit 36.
- the third row from the top shows the designation signal MS acquired by the drive unit 34.
- the fourth row from the top shows the current flowing through the coil 90 when the designation signal MS for designating the stop mode according to the present embodiment is delayed.
- the fifth row from the top shows the current flowing in the coil 90 when the designation signal MS designating the stop mode is not delayed for comparison with the present embodiment.
- the instruction unit 36 when the control current becomes 0, the instruction unit 36 outputs a designation signal MS for designating the stop mode, but the drive unit 34 designates designating the stop mode after the delay time ⁇ t has elapsed. A signal MS is acquired. Accordingly, the drive unit 34 causes a current to flow through the coil 90 in the regenerative state in the energization mode until the delay time ⁇ t has elapsed after the control current becomes zero. As a result, as shown in the fourth row from the top in FIG. 11, the drive unit 34 can quickly reduce the coil current to zero.
- the drive unit 34 acquires the designation signal MS designating the stop mode output from the instruction unit 36 without delay
- the control current becomes 0 and at the same time, the energization mode is switched to the stop mode. Therefore, in the stop mode, a current is passed through the coil 90 in the braking state, so that the time until the current flowing through the coil 90 is delayed is delayed compared to the case where the stop mode is delayed as in the present embodiment.
- the time T is longer than the case.
- the drive unit 34 turns off the transistors other than the regenerative current path in the regenerative state selected within the delay time ⁇ t, and turns off the transistors on the power source side of the regenerative current path.
- the off state may be set to a regenerative state in which a part of the regenerative current path is formed with a parasitic diode connected in parallel to the transistor on the power source side of the regenerative current path.
- the transistors Tr1 and Tr4 other than the regenerative current path are turned off, the transistor Tr3 is turned on, and the power supply for the regenerative current path
- the side transistor Tr2 is turned off, and the regenerative state that forms part of the path of the regenerative current may be performed by the parasitic diode Di2 connected in parallel to the power supply side transistor Tr2 of the path of the regenerative current.
- the drive unit 34 turns on all the transistors in the regenerative current path and turns off the transistors other than the regenerative current path.
- the drive unit 34 turns on all the transistors in the regenerative current path and turns off the transistors other than the regenerative current path.
- the drive unit 34 turns on all the transistors in the regenerative current path and turns off the transistors other than the regenerative current path.
- the drive unit 34 when the drive unit 34 receives the designation signal designating the stop mode, the drive unit 34 turns off the transistor on the opposite side to the power supply of the regenerative current path flowing in the regenerative state selected within the delay time ⁇ t.
- the transistor on the opposite side to the power source may be turned on to enter a regenerative state.
- the transistor on the opposite side to the power source is, for example, a transistor on the opposite side of the power source with the coil 90 interposed therebetween.
- the drive unit 34 turns on the transistor Tr2 and generates the regenerative current that flows in the regenerative state selected within the delay time ⁇ t. It is only necessary to turn off the transistor Tr3 on the opposite side to the power source of the path and to bring the parasitic diode Di3 connected in parallel to the power source of the regenerative current path and the transistor Tr3 on the opposite side into a regenerative state that forms part of the path of the regenerative current.
- the drive unit 34 turns on the transistor Tr3 and the transistor Tr2 on the opposite side to the power source of the regenerative current path to enter the regenerative state. Good.
- the paths of the regenerative current are CP12b and CP22b, respectively, so that the current can be regenerated through the parasitic diodes Di1 and Di2 of the transistors Tr1 and Tr2.
- the motor drive device 10 can prevent backflow.
- the current path in the regenerative state is CP12b and CP22b, and other than the delay time ⁇ t, for example, the current path in the regenerative state in the energization mode is CP12a and CP22a. Backflow can be prevented, and power loss during regeneration in a period other than the delay time ⁇ t can be minimized.
- the transistor here is an example of a switch.
- FIG. 12 is a diagram illustrating the overall configuration of the motor driving device 60.
- the motor driving device 60 controls a current flowing through a driving coil 90 such as a stepping motor.
- a driving coil 90 such as a stepping motor.
- the motor drive device 60 receives the designation signal MS for designating the current mode including the energization mode for flowing current to the coil 90 and the stop mode for stopping the current flowing to the coil 90, and controls the current of the coil 90.
- the motor drive device 60 shortens the time until the current is stopped by setting the control current to 0 before receiving the designation of the stop mode by advancing the control current value DIN by a predetermined time.
- the setting unit 62 is connected to the D / A converter 16.
- the setting unit 62 outputs the control current value DINO to the D / A converter 16.
- the control current value DINO is a digital value of a current flowing through the coil 90, and is a value for determining which operation state to use.
- the setting unit 62 is connected to the control unit 26.
- the setting unit 62 outputs a designation signal MS that designates the current mode.
- the current mode includes an energization mode having a forward direction mode and a reverse direction mode, and a stop mode.
- the energization mode is a mode in which a current is passed through the coil 90.
- the stop mode is a mode in which the current flowing through the coil 90 is stopped.
- FIG. 13 is a diagram illustrating the configuration of the setting unit 62.
- the setting unit 62 includes an instruction unit 36 and a shift unit 64.
- the instruction unit 36 outputs a shift signal FS that advances the control current value DIN separately from the control current value DIN before the control current becomes zero.
- the instruction unit 36 outputs a high level shift signal FS before the control current becomes zero.
- the shift unit 64 is connected to the instruction unit 36. While receiving the non-zero control current value DIN, the shift unit 64 outputs the control current value DIN to the D / A converter 16 without advancing the control current value DIN.
- the shift unit 64 advances the control current value DIN immediately before receiving the control current of 0.
- the shift unit 64 is connected to the instruction unit 36.
- the shift unit 64 acquires the shift signal FS from the instruction unit 36.
- the shift unit 64 outputs to the D / A converter 16 a control current value DINO in which a section in which the control current value DIN is 0 becomes 0 earlier by a predetermined early time ⁇ t.
- the shift unit 64 accelerates the start of the period in which the control current is zero.
- the shift unit 64 does not advance the end of the period in which the control current is zero.
- the early time ⁇ t is shorter than the time when the control current should be zero.
- the early time ⁇ t is a time during which the current flowing through the coil 90 can be reduced to 0 by the regenerative state.
- the early time ⁇ t is preferably longer than a short time with respect to a time during which the current flowing through the coil 90 can be reduced to 0 by the regenerative state.
- the shift unit 64 may change the early time ⁇ t that accelerates the start of the period in which the control current is zero.
- the setting unit 62 outputs to the D / A converter 16 a control current value DINO with the control current set to 0 before the earlier time ⁇ t than the designation signal MS designating the stop mode.
- FIG. 14 is a timing chart in the stop mode.
- the uppermost part of FIG. 14 shows the control current.
- the second row from the top shows the designation signal MS output from the instruction unit 36.
- the third row from the top shows the shift signal FS output from the instruction unit 36.
- the fourth stage from the top shows the control current output from the shift unit 64.
- the shift signal FS is low level until just before the control current becomes zero. Accordingly, the shift unit 64 outputs the control current value DIN directly to the D / A converter 16 as shown in the fourth stage from the top in FIG.
- the shift unit 64 If the control current becomes 0 before an early time ⁇ t, the shift signal FS becomes high level. The time when the drive unit side control current becomes 0 is shifted by the earlier time ⁇ t than the control current shown in the first stage from the top of FIG. Therefore, as shown in the fourth stage from the top in FIG. 14, the shift unit 64 outputs a drive unit side control current of 0 to the D / A converter 16. When the control current becomes zero, the instruction unit 36 outputs a designation signal MS that designates the stop mode. Accordingly, the shift unit 64 outputs the control current directly to the D / A converter 16 as the drive unit side control current, as shown in the fourth stage from the top in FIG.
- the control current value DIN becomes 0, and the control unit DIN converts the control current value DINO at which the control current becomes 0 earlier than the output of the designation signal MS for designating the stop mode by the early time ⁇ t. 16 is output. Therefore, since the drive unit 34 drives the coil 90 with the control current set to 0 before the stop mode is designated, for example, the current of the coil 90 is controlled by any one of the drive state, the regenerative state, and the braking state shown in FIG. To do. In particular, since the control current is 0, the drive unit 34 controls in the regenerative state during the early time ⁇ t. As a result, the drive unit 34 can rapidly bring the current flowing through the coil 90 close to zero.
- the drive unit 34 acquires the designation signal MS that designates the stop mode output from the instruction unit 36.
- the drive unit 34 switches from the energization mode to the stop mode, and thus controls the current of the coil 90 according to the braking state shown in FIG.
- the drive unit 34 also acquires the end of the designation signal MS that designates the stop mode.
- the drive part 34 will complete
- FIG. 15 is a diagram showing the relationship between the current mode and the current flowing through the coil 90.
- the uppermost part of FIG. 15 shows the control current output from the instruction unit 36.
- the second row from the top shows the control current on the drive unit side output from the shift unit 64.
- the third row from the top shows the designation signal MS output from the instruction unit 36.
- the fourth row from the top shows the current flowing through the coil 90 when the section in which the control current according to the present embodiment is 0 is shifted.
- the fifth row from the top shows the current flowing through the coil 90 when the section where the control current is 0 is not shifted for comparison with the present embodiment.
- the instruction unit 36 when the control current becomes zero, the instruction unit 36 outputs a designation signal MS designating the stop mode, but the shift unit 64 is earlier than outputting the designation signal MS designating the stop mode.
- a control current that becomes 0 is acquired before time ⁇ t. Therefore, the drive unit 34 has a control current of 0 before the time ⁇ t before the output of the designation signal MS designating the stop mode, and causes a current to flow through the coil 90 in the regenerative state of the energization mode.
- the drive unit 34 can quickly reduce the coil current to zero.
- the drive unit 34 acquires the control current output from the instruction unit 36 without shifting, the control current becomes 0 and at the same time, the energization mode is switched to the stop mode. Therefore, in the stop mode, since a current flows through the coil 90 in the braking state, the time until the current flowing through the coil 90 becomes zero is delayed as compared with the case where the control current is shifted as in the present embodiment. The time T is longer than the case.
- FIG. 16 is a diagram illustrating the overall configuration of the motor driving device 70.
- the current flowing in the driving coil 90 such as the motor driving device 70 and the stepping motor is controlled.
- the motor has a plurality of coils 90, only one coil 90 is shown as a representative in FIG. 16 for convenience of explanation.
- the motor drive device 70 receives the designation signal MS for designating a current mode including an energization mode in which a current is passed through the coil 90 and a stop mode in which the current passed through the coil 90 is stopped, and controls the current in the coil 90. .
- the motor drive device 70 After receiving the designation signal designating the energization mode, the motor drive device 70 receives the designation signal designating the reverse energization mode before receiving the designation signal MS designating the stop mode. In the meantime, the time until the current is stopped is shortened by continuing the energization mode.
- Receiving the designation signal designating the reverse energization mode means that after receiving the designation signal designating the energization mode in the forward direction mode and before receiving the designation signal MS designating the stop mode, the energization mode in the reverse mode A designation signal that designates the energization mode in the forward direction mode after receiving the designation signal that designates the stop mode or the designation signal MS that designates the stop mode after receiving the designation signal that designates the energization mode in the reverse direction mode. Including receiving.
- a microcomputer 72 is connected to the D / A converter 16.
- the microcomputer 72 outputs the control current value DIN to the D / A converter 16.
- the control current value DIN is a digital value of the current passed through the coil 90, and is a value for determining which operating state to use.
- the microcomputer 72 is connected to the control unit 26.
- the microcomputer 72 outputs a designation signal MS that designates the current mode.
- the current mode includes an energization mode having a forward direction mode and a reverse direction mode, and a stop mode.
- the energization mode is a mode in which a current is passed through the coil 90.
- the stop mode is a mode in which the current flowing through the coil 90 is stopped.
- the microcomputer 72 sets the designation signal for designating the reverse energization mode after receiving the designation signal for designating the stop mode after receiving the designation signal for designating the energization mode based on the preset set time. To do. For example, after receiving the designation signal designating the energization mode in the forward direction mode, the microcomputer 72 sets the designation signal designating the energization mode in the reverse direction mode before receiving the designation signal MS designating the stop mode. Alternatively, the microcomputer 72 sets a designation signal for designating the energization mode in the forward direction mode after receiving the designation signal designating the energization mode in the reverse mode and before receiving the designation signal MS designating the stop mode. The microcomputer 72 may change the set time for setting the designation signal for designating the reverse energization mode before receiving the designation signal MS for designating the stop mode after receiving the designation signal designating the energization mode. Good.
- FIG. 17 is a diagram showing the relationship between the current mode and the current flowing through the coil 90.
- the top row in FIG. 17 shows the control current output from the microcomputer 72.
- Signal MS is shown.
- the third row from the top shows the designation signal MS acquired by the drive unit 34.
- the fourth row from the top shows the current flowing in the coil 90 when the designation signal designating the reverse energization mode is received before the designation signal MS designating the stop mode according to the present embodiment.
- the current flowing through the coil 90 when the designation signal designating the reverse energization mode is not received before the designation signal MS designating the stop mode is received. Show.
- the microcomputer 72 sets a designation signal for designating the reverse energization mode before outputting the designation signal MS for designating the stop mode.
- the drive unit 34 acquires the designation signal designating the reverse energization mode before receiving the designation signal MS designating the stop mode. Therefore, the drive unit 34 causes a current to flow through the coil 90 in the regenerative state or the drive state in the energization mode until the set time ⁇ t elapses after the control current becomes zero. Thereby, as shown in the fourth row from the top in FIG. 17, the drive unit 34 can quickly reduce the coil current to zero.
- the drive unit 34 acquires the designation signal MS for designating the stop mode output from the microcomputer 72 without additionally setting the reverse energization mode
- the control current becomes 0 and at the same time, the energization mode is switched to the stop mode. Therefore, in the stop mode, a current is passed through the coil 90 in the braking state, so that the time until the current flowing through the coil 90 is delayed is delayed compared to the case where the stop mode is delayed as in the present embodiment.
- the time T is longer than the case.
- the delay control unit 32 may change the delay time ⁇ t.
- the delay control unit 32 may set the delay time ⁇ t based on the current flowing through the coil 90 when the designation signal MS designating the stop mode is received, that is, the current flowing through the sense resistor 24.
- the delay control unit 32 may increase the delay time ⁇ t as the current flowing through the coil 90 increases.
- the delay control unit 32 may end the delay time ⁇ t when the current flowing through the coil 90, that is, the current flowing through the sense resistor 24 becomes equal to or lower than the reference current during the delay time ⁇ t.
- control for setting the current flowing through the coil 90 to 0 has been described.
- the above-described embodiment may be applied to the control when the rotation of the motor is stopped.
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Abstract
Description
特許文献1 特開2008-72876号公報
図1は、モータ駆動装置10の全体構成を説明する図である。モータ駆動装置10は、ステッピングモータ等の駆動用のコイル90に流れる電流を制御する。ここでモータは、複数のコイル90を有するが、図1においては、説明の便宜上、代表として1個のコイル90のみを記載する。モータ駆動装置10は、コイル90に電流を流す通電モード、及び、コイル90へ流す電流を停止させる停止モードを含む電流モードを指定する指定信号MSOを受けて取って、コイル90の電流を制御する。ここで、モータ駆動装置10は、停止モードを指定する指定信号MSを遅延させることによって、停止モードの指定を受けた後も、しばらくの間、通電モードを継続させることにより、停止モードを指定する指定信号MSを出力してから電流を停止させるまでの時間を短縮させる。
指示部36は、制御電流が0になった場合、指定信号MSとは別に停止モードを遅延させる停止信号SSを出力する。指示部36は、制御電流が0になると、ハイレベルの停止信号SSを出力する。
遅延制御部32は、指示部36と接続されている。遅延制御部32は、電流モードのうち通電モードを指定する指定信号MSを受け取っている間、指定信号MSを遅延させることなく、駆動部34に出力する。遅延制御部32は、電流モードのうち停止モードを指定する指定信号MSを受け取った場合、駆動部34に対する停止モードを指定する指定信号MSを遅延させる。
図12は、モータ駆動装置60の全体構成を説明する図である。モータ駆動装置60は、ステッピングモータ等の駆動用のコイル90に流れる電流を制御する。ここでモータは、複数のコイル90を有するが、図12においては、説明の便宜上、代表として1個のコイル90のみを記載する。モータ駆動装置60は、コイル90に電流を流す通電モード、及び、コイル90へ流す電流を停止させる停止モードを含む電流モードを指定する指定信号MSを受けて取って、コイル90の電流を制御する。ここで、モータ駆動装置60は、制御電流値DINを所定時間早めることによって、停止モードの指定を受ける前に、制御電流を0にすることにより、電流を停止させるまでの時間を短縮させる。
指示部36は、制御電流が0になる前に、制御電流値DINとは別に制御電流値DINを早めるシフト信号FSを出力する。指示部36は、制御電流が0になる前に、ハイレベルのシフト信号FSを出力する。
シフト部64は、指示部36と接続されている。シフト部64は、0でない制御電流値DINを受け取っている間、制御電流値DINを早めることなく、D/Aコンバータ16に出力する。シフト部64は、0の制御電流を受け取る直前に、制御電流値DINを早める。
指示部36は、制御電流が0になると、停止モードを指定する指定信号MSを出力する。従って、シフト部64は、図14の上から4段目に示すように、D/Aコンバータ16へ制御電流を直接駆動部側制御電流として出力する。
図16は、モータ駆動装置70の全体構成を説明する図である。モータ駆動装置70、ステッピングモータ等の駆動用のコイル90に流れる電流を制御する。ここでモータは、複数のコイル90を有するが、図16においては、説明の便宜上、代表として1個のコイル90のみを記載する。モータ駆動装置70は、コイル90に電流を流す通電モード、及び、コイル90へ流す電流を停止させる停止モードを含む電流モードを指定する指定信号MSを受けて取って、コイル90の電流を制御する。ここで、モータ駆動装置70は、通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆の通電モードを指定する指定信号を受けることによって、しばらくの間、通電モードを継続させることにより、電流を停止させるまでの時間を短縮させる。逆の通電モードを指定する指定信号を受けることとは、正方向モードの通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆方向モードの通電モードを指定する指定信号を受ける、あるいは、逆方向モードの通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、正方向モードの通電モードを指定する指定信号を受けることを含む。
12 クロック出力部
14、62 設定部
16 D/Aコンバータ
18 比較部
22 Hブリッジ回路
24 センス抵抗
26 制御部
30 動作選択部
32 遅延制御部
34 駆動部
36 指示部
40 ワンショット部
42 SRラッチ部
44 NOT回路
46 D-FF部
48 AND回路
50 D-FF部
52 遅延部
54 NOT回路
56 AND回路
58 スイッチ
64 シフト部
72 マイコン
90 コイル
Claims (22)
- モータのコイルに流れる電流を制御するモータ駆動装置であって、
前記コイルを流れる電流と入力される制御電流とを比較する比較部と、
前記比較部の比較結果に応じて、駆動状態、回生状態、および、制動状態のいずれかの動作状態を選択する動作選択部と、
前記コイルに電流を流す通電モード、および、前記コイルに流す電流を停止させる停止モードを含む電流モードを指定する指定信号を受け取り、前記通電モードを指定する指定信号を受け取ると、前記動作選択部が選択した動作状態で前記コイルを駆動し、前記停止モードを指定する指定信号を受け取ると、前記制動状態で前記コイルを駆動する駆動部と、
前記停止モードを指定する指定信号の開始または前記制御電流が0の期間の開始を制御する設定部と、
を備えるモータ駆動装置。 - 前記設定部は、前記電流モードのうち前記停止モードを指定する指定信号を受け取った場合、前記駆動部に対する前記停止モードを指定する指定信号の開始を遅延させる遅延制御部と、
を備える
請求項1に記載のモータ駆動装置。 - 前記通電モードは、前記コイルに正方向の電流を流す正方向モード、及び、前記コイルに前記正方向と逆方向の電流を流す逆方向モードを含む
請求項2に記載のモータ駆動装置。 - 前記遅延制御部が、前記停止モードを指定する指定信号を受け付けて前記停止モードの指定する指定信号を遅延させている間、前記駆動部は、前記停止モードの指定前に指定されている前記電流モードで前記コイルを駆動する
請求項3に記載のモータ駆動装置。 - 前記遅延制御部は、前記停止モードの終了を遅延させない
請求項2から4のいずれか1項に記載のモータ駆動装置。 - 前記遅延制御部は、予め定められた遅延時間に基づいて、前記停止モードを指定する指定信号の開始を遅延させる
請求項2から5のいずれか1項に記載のモータ駆動装置。 - 前記遅延制御部は、前記停止モードを指定する指定信号の開始を遅延させる遅延時間を変化させる
請求項2から5のいずれか1項に記載のモータ駆動装置。 - 前記遅延制御部は、前記停止モードを指定する指定信号を受け付けたときの前記コイルに流れる電流に基づいて、前記遅延時間を設定する
請求項7に記載のモータ駆動装置。 - 前記駆動部は、
前記停止モードを指定する指定信号を受け取った場合、前記遅延時間内に選択される前記回生状態において流れる回生電流の経路の電源側のスイッチをオフとして、前記回生電流の経路の電源側の前記スイッチに並列接続されたダイオードをもって前記回生電流の経路の一部をなす回生状態として、
前記通電モードを指定する指定信号を受け取った場合に選択される前記回生状態において、前記回生電流の経路の前記電源側の前記スイッチをオンとして前記回生状態とする
請求項2から8のいずれか1項に記載のモータ駆動装置。 - 前記駆動部は、
前記停止モードを指定する指定信号を受け取った場合、前記遅延時間内に選択される前記回生状態において流れる回生電流の経路の電源と逆側のスイッチをオフとして、前記回生電流の経路の電源と逆側の前記スイッチに並列接続されたダイオードをもって前記回生電流の経路の一部をなす回生状態として、
前記通電モードを指定する指定信号を受け取った場合に選択される前記回生状態において、前記回生電流の経路の前記電源と逆側の前記スイッチをオンとして前記回生状態とする
請求項2から8のいずれか1項に記載のモータ駆動装置。 - 前記設定部は、前記制御電流が0の期間の開始を早めるシフト部と、
を備える
請求項1に記載のモータ駆動装置。 - 前記通電モードは、前記コイルに正方向の電流を流す正方向モード、及び、前記コイルに前記正方向と逆方向の電流を流す逆方向モードを含む
請求項11に記載のモータ駆動装置。 - 前記シフト部が、前記制御電流が0の期間の開始を早めた期間、前記駆動部は、前記停止モードの指定前に指定されている前記電流モードで前記コイルを駆動する
請求項12に記載のモータ駆動装置。 - 前記シフト部は、前記制御電流が0の期間の終了を早めない
請求項11から13のいずれか1項に記載のモータ駆動装置。 - 前記シフト部は、予め定められた早期時間に基づいて、前記制御電流が0の期間の開始を早める
請求項11から14のいずれか1項に記載のモータ駆動装置。 - 前記シフト部は、前記制御電流が0の期間の開始を早める早期時間を変化させる
請求項11から14のいずれか1項に記載のモータ駆動装置。 - 前記設定部は、マイクロコンピュータであって、通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆の通電モードを指定する指定信号を設定する
請求項1に記載のモータ駆動装置。 - 前記通電モードは、前記コイルに正方向の電流を流す正方向モード、及び、前記コイルに前記正方向と逆方向の電流を流す逆方向モードを含む
請求項17に記載のモータ駆動装置。 - 前記設定部は、正方向モードの通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆方向モードの通電モードを指定する指定信号を設定する
請求項18に記載のモータ駆動装置。 - 前記設定部は、逆方向モードの通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、正方向モードの通電モードを指定する指定信号を設定する
請求項18に記載のモータ駆動装置。 - 前記設定部は、予め定められた設定時間に基づいて、通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆の通電モードを指定する指定信号を設定する
請求項17から20のいずれか1項に記載のモータ駆動装置。 - 前記設定部は、通電モードを指定する指定信号を受けた後に、停止モードを指定する指定信号MSを受ける前に、逆の通電モードを指定する指定信号を設定する設定時間を変化させる
請求項17から21のいずれか1項に記載のモータ駆動装置。
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JP7206975B2 (ja) * | 2019-02-05 | 2023-01-18 | セイコーエプソン株式会社 | 電子時計、ムーブメントおよび時計用モーター制御回路 |
US11646684B2 (en) | 2019-08-15 | 2023-05-09 | Texas Instruments Incorporated | Average current control in stepper motor |
US10931216B1 (en) * | 2019-08-15 | 2021-02-23 | Texas Instruments Incorporated | Motor stepper driver having a sine digital-to-analog converter |
US11296622B2 (en) * | 2020-06-23 | 2022-04-05 | Asia Vital Components (Shen Zhen) Co., Ltd. | Active brake circuit for fan with backup power |
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