Drive circuit for brushless motor

• US 5,616,994 A
• Filed: 01/06/1995
• Issued: 04/01/1997
• Est. Priority Date: 01/12/1994
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Hoshi, Kiyotaka, Suzuki, Mitinaga, Izumi, Yukio, Nishikawa, Keiichi, Nagaoka, Hidetada, Oomura, Yuuji, Onoda, Atsuo
• Primary Examiner(s): Wysocki, Jonathan
• Application Number:
  US08/370,575
• Time in Patent Office: 816 Days
• Field of Search: 318/254, 318/138, 318/439
• US Class Current: 318/400.04
• CPC Class Codes: H02P 2209/07 Trapezoidal waveform
• CPC Class Codes: H02P 6/06 Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
• CPC Class Codes: H02P 6/14 Electronic commutators
• CPC Class Codes: H02P 6/17 and for generating speed information
• CPC Class Codes: H02P 6/18 without separate position detecting elements
• CPC Class Codes: H02P 6/188 using the voltage difference between the windings H02P6/182 takes precedence
• CPC Class Codes: H02P 6/20 Arrangements for starting H02P6/08 takes precedence

Abstract

A brushless motor driving circuit is provided for obtaining a reliable starting and stable rotation driving irrespective of the load condition of the motor. The brushless motor driving circuit has a terminal voltage detector located at each phase of the armature windings of the motor, a terminal voltage compensator for adding or subtracting a compensation value to/from the terminal voltage of the armature windings detected at respective phases during actual driving periods, and a comparator for comparing respective terminal voltages to obtain a rotor location signal after compensation has been performed. The compensation value is determined by a resistor of the armature winding and a winding current. The armature windings are driven by the rotor location signal detected at the comparator.

Claims

1. A brushless motor driving circuit for driving a plurality of armature windings of a brushless motor, comprising:

a plurality of the terminal voltage detectors, each being coupled to a respective one of the plurality of armature windings so that the plurality of terminal voltage detectors provide a plurality of terminal voltages corresponding to the plurality of armature windings;

a terminal voltage compensation circuit having a plurality of inputs, each of the plurality of inputs receiving a respective one of the plurality of terminal voltages, the terminal voltage compensation circuit modifying at least one of the plurality of terminal voltages by a compensation value to generate a plurality of compensated terminal voltages, said compensation value being determined by a winding current of the brushless motor; and

a comparator having inputs that receive the plurality of compensated terminal voltages, the comparator comparing the plurality of compensated voltages with one another to generate a rotor location signal;

said armature windings being driven by said rotor location signal generated by said comparator.

3. The brushless motor driving circuit of claim 1 or 2 further comprising:

a rising and falling signal detection means for detecting a rising and falling signal of the rotor location signal to generate a detected speed signal.

4. The brushless motor driving circuit of claim 1 wherein a plurality of driving signals are applied, in response to the rotor location signal, to a bridge circuit that is coupled to the brushless motor for exciting and driving the armature windings.

6. The brushless motor driving circuit of claim 1 further comprising:

an actual current detection resistance connected serially to a bridge circuit for exciting the armature windings, so that a current flowing through the bridge circuit also flows through the actual current detection resistance;

the current flowing in the detection resistor being applied to the terminal voltage compensation circuit as the winding current.

19. The brushless motor driving circuit of claim 1 or 2 further comprising:

a differentiation circuit for detecting an edge of a comparison signal generated from the plurality of terminal voltages; and

a timer that begins to count in response to the detected edge and that stops counting after a predetermined period; and

a latch circuit for latching each of the comparison signals to provide a plurality of latched signals when the detected edge is detected in the differentiation circuit and for releasing the plurality of latched signals when the timer has stopped counting;

said armature windings of respective phases being driven in response to a rotor location signal generated by logically combining said plurality of latched signals.

20. The brushless motor driving circuit of claim 19 wherein the predetermined period is switched according to the indicated rotation speed to the armature.

27. The brushless motor driving circuit of any one of the claims 1-2, 4-10, 16-18, 21-26 wherein

a maximum current is supplied to the armature windings during a period of starting and restarting.

2. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor, comprising:

a plurality of the terminal voltage detectors, each being coupled to a respective one of the plurality of armature windings so that the plurality of terminal voltage detectors provide a plurality of terminal voltages corresponding to the plurality of armature windings;

a terminal voltage difference compensation circuit having a plurality of inputs, each of the plurality of inputs receiving a respective one of the plurality of terminal voltages, the terminal voltage difference compensation circuit generating a plurality of voltage differences between respective terminal voltages and modifying at least one of the plurality of voltage differences to generate a plurality of compensated voltage differences; and

a comparator having inputs that receive the plurality of compensated terminal voltage differences, the comparator comparing the plurality of compensated voltage differences with one another to generate a rotor location signal;

said armature windings being driven by said rotor location signal generated by said comparator.

5. The brushless motor driving circuit of claim 2 wherein a plurality of driving signals are applied, in response to the rotor location signal, to a bridge circuit that is coupled to the brushless motor for exciting and driving the armature windings.

7. The brushless motor driving circuit of claim 2 further comprising:

an actual current detection resistance connected serially to a bridge circuit for exciting the armature windings, so that a current flowing through the bridge circuit also flows through the actual current detection resistance;

the current flowing in the detection resistor being applied to the terminal voltage difference compensation circuit as the winding current.

8. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor, comprising:

a plurality of the terminal voltages detection means located at every phase of the armature windings;

a terminal voltage compensation means for adding or subtracting a compensation value to/from the terminal voltage of an armature windings detected at respective phases during actual driving period, said compensation value is determined by a resistor of said armature winding and a winding current;

a comparator means for comparing respective terminal voltages after compensation has carried out to obtain a rotor location signal;

a differentiation circuit for detecting a rising and falling edge of comparison signal of the terminal voltages and a voltage differences between respective phases; and

a latch circuit for latching the comparison signal at the timing when the edge is detected in the differentiation circuit;

said armature windings of respective phases are driven as a rotor location signal by combining said output signals of latch circuit.

9. A brushless motor driving circuit comprising:

a rotor location signal generation means for detecting a rotor location signal of the brushless motor from the terminal voltages or a voltage differences between respective phases;

a counter for detecting edges of the rotor location signal and for counting the edges to provide an output count signal;

a pulse generating circuit, an input of which is connected to the output of the counter, for counting up the counter when the input is not obtained for a predetermined period;

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period; and

a timer or a rotor speed signal detection means;

an output count signal of said counter being applied to the armature winding at starting for driving the rotor of the brushless motor;

said switching means switching the armature windings as the starting or restarting period is completed when all following conditions are satisfied, that is, when a setting time of the timer expires, when a detected speed signal reaches a predetermined value, when a counter output reaches a predetermined value, when a detected the rotor location signal reaches a predetermined combined value, when a driving signals supplied to the respective armature winding reaches a predetermined combined value.

10. A brushless motor driving circuit comprising:

a rotor location signal generation means for detecting a rotor location signal of the brushless motor from the terminal voltages or a voltage differences between respective phases;

a counter for detecting edges of the rotor location signal and for counting the edges to provide an output count signal;

a pulse generating circuit, an input of which is connected to the output of the counter, for counting up the counter when the input is not obtained for a predetermined period;

a normal rotation detecting means for monitoring motor rotation by combining the rotor location signal with the counter output count signal;

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period; and

a timer or a rotor speed signal detection means;

said switching means switching the armature windings as the starting or restarting period is completed when all following conditions are satisfied, that is, when a setting time of the timer expires, when a detected speed signal reaches a predetermined value, when a counter output reaches a predetermined value, when a detected the rotor location signal reaches a predetermined combined value, when a driving signals supplied to the respective armature winding reaches a predetermined combined value;

said normal rotation detecting means generating a restart pulse for restarting the motor so that the output of the counter is applied to the armature windings for driving the rotor of the brushless motor during abnormal rotation.

11. The brushless motor driving circuit of claim 9 or 10 further comprising:

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period; and

a timer;

the switching means switching a starting period according the timer output.

12. The brushless motor driving circuit of claim 9 or 10 further comprising:

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period;

said switching means switching the armature windings when a counter output reaches a predetermined value as the starting period is completed.

13. The brushless motor driving circuit of claim 9 or 10 further comprising:

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period; and

a rotor speed signal detection means;

said switching means switching the armature windings when a detected speed signal reaches a predetermined value as the starting period is completed.

14. The brushless motor driving circuit of claim 9 or 10 further comprising:

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period;

said switching means switching the armature windings when a detected rotor location signal reaches a predetermined combined value as the starting period is completed.

15. The brushless motor driving circuit of claim 9 or 10 further comprising:

a switching means for switching the armature windings of respective phases in response to the counter output during a starting period; and

said switching means switching the armature windings when driving signals supplied to the respective armature winding reaches a predetermined combined value as the starting period is completed.

16. A brushless motor driving circuit comprising:

a rotor location signal generation means for detecting a rotor location signal of the brushless motor from the terminal voltages or a voltage differences between respective phases;

a counter for detecting edges of the rotor location signal and for counting the edges to provide an output count signal;

a pulse generating circuit, an input of which is connected to the output of the counter, for counting up the counter when the input is not obtained for a predetermined period; and

an output count signal of said counter being applied to the armature winding at starting for driving the rotor of the brushless motor;

wherein the counter outputs a restart pulse to make the rotor start as an abnormal rotation when the rotor location signal at the input has not changed for a predetermined period and counts up the counter forcefully.

17. A brushless motor driving circuit comprising:

a rotor location signal generation means for detecting a rotor location signal of the brushless motor from the terminal voltages or a voltage differences between respective phases;

a counter for detecting edges of the rotor location signal and for counting the edges to provide an output count signal;

a pulse generating circuit, an input of which is connected to the output of the counter, for counting up the counter when the input is not obtained for a predetermined period;

an output count signal of said counter being applied to the armature winding at starting for driving the rotor of the brushless motor;

a location detector for detecting a location deviated by electrical angle π

/6 against the rotor location signal which is detected from the terminal voltages or the voltage difference between respective phases;

a hold circuit for outputting a selection signal defined by an output of the location detector and a starting indication signal;

said counter determining a combination of the driving signals to be supplied to the armature of respective phases in response to said selection signal.

18. A brushless motor driving circuit comprising:

a rotor location signal generation means for detecting a rotor location signal of the brushless motor from the terminal voltages or a voltage differences between respective phases;

a counter for detecting edges of the rotor location signal and for counting the edges to provide an output count signal;

a pulse generating circuit, an input of which is connected to the output of the counter, for counting up the counter when the input is not obtained for a predetermined period;

an output count signal of said counter being applied to the armature winding at starting for driving the rotor of the brushless motor;

a location detector for detecting a location deviated by electrical angle π

/6 against the rotor location signal which is detected from the terminal voltages or the voltage difference between respective phases;

a hold circuit for outputting a selection signal defined by an output of the location detector and a starting indication signal; and

an output of the location detector is used as a driving signals supplied to armature of respective phases using said selection signal after starting;

said counter determining a combination of the driving signals to be supplied to the armature of respective phases in response to said selection signal after starting.

21. A brushless motor driving circuit for driving a motor having a plurality of phase windings, the brushless motor driving circuit comprising:

a rotor location signal generation means for generating a rotor location signal from a plurality of terminal voltages corresponding to the plurality of phase windings;

a pulse generating means for detecting edges of the rotor location signal to provide a series of edge detection signals and for generating an output pulse train, the output pulse train being generated from the series of edge detection signals when a predetermined number of edges are detected during a predetermined amount of time, the output pulse train being a pseudo-pulse train when the predetermined number of edges are not detected during a predetermined amount of time;

a counter for counting an output of the pulse generation means;

a normal rotation detection means for outputting an abnormal rotation signal when the rotor location signal and the output pulse train do not have a predetermined relationship; and

a restart pulse generating means for masking the abnormal rotation signal outputted from the abnormal rotation detection means during a predetermine period after starting and restarting and for outputting a restart pulse according to the abnormal rotation signal after the predetermined period;

an output of the counter being applied to the armature winding for driving the rotor of the brushless motor at starting and during the predetermined period set by the restart pulse at restarting.

22. A brushless motor driving circuit for driving a motor having a plurality of phase windings, the brushless motor driving circuit comprising:

a rotor location signal generation means for generating a rotor location signal from a plurality of terminal voltages corresponding to the plurality of phase windings;

a pulse generating means for detecting edges of the rotor location signal to provide a series of edge detection signals and for generating an output pulse train, the output pulse train being generated from the series of edge detection signals when a predetermined number of edges are detected during a predetermined amount of time, the output pulse train being a pseudo-pulse train when the predetermined number of edges are not detected during a predetermined amount of time;

a counter for counting an output of the pulse generation means;

a normal rotation detection means for outputting an abnormal rotation signal when the rotor location signal and the output pulse train do not have a predetermined relationship; and

a restart pulse generating means for masking the abnormal rotation signal outputted from the abnormal rotation detection means during a predetermine period after starting and restarting and for outputting a restart pulse according to the abnormal rotation signal after the predetermined period;

a switching means for switching the armature windings of respective phases according to a value of the counter at starting or restarting and according to the rotor location signal during a steady period after starting or restarting; and

a timer;

an output of the counter being applied to the armature winding for driving the rotor of the brushless motor at starting and during the predetermined period set by the restart pulse at restarting;

the switching means switches a starting or restarting period according the timer output.

23. A brushless motor driving circuit comprising:

a speed detection means for detecting a detected actual rotation speed of a rotor of the brushless motor;

a speed difference detecting means for outputting a difference between the detected actual rotation speed of the rotor and a target rotation speed as a speed difference signal; and

a speed difference compensation filter comprising;

a proportion--integration (P/I) filter connected in parallel with a first first order delay filter to form a parallel circuit, the input of parallel circuit being the speed difference signal, the outputs of the parallel circuit being added to form a summation signal; and

a second first order delay filter having an input that receives the summation signal and an output that is supplied to armature windings of the brushless motor as a current indication value.

24. A brushless motor detector circuit comprising:

a speed detection means for detecting a detected actual rotation speed of a rotor of the brushless motor;

a speed difference detecting means for outputting a difference between the detected actual rotation speed of the rotor and a target rotation speed as a speed difference signal; and

a speed difference compensation filter comprising;

a serial circuit including a proportion--integration (P/I) filter and a first first order delay filter coupled in serial to form a serial circuit, the input of the serial circuit being the speed difference signal, the serial circuit having an output; and

a second first order delay filter having an input that receives the output of the serial circuit and an output that is supplied to the armature windings of the brushless motor as a current indication value.

25. A brushless motor driving circuit comprising:

a speed detection means for detecting a detected actual rotation speed of a rotor of the brushless motor;

a speed difference detecting means for outputting a difference between the detected actual rotation speed of the rotor and a target rotation speed as a speed difference signal; and

a speed difference compensation filter for obtaining a current indication value from the detected speed difference signal which is supplied to the armature windings, the speed difference compensation filter receiving having an adjustable gain;

said target rotation speed of the speed difference detecting means and the adjustable gain of the speed difference compensation filter being changed in response to a selection signal, the selection signal being supplied to the brushless motor driving circuit.

26. A brushless motor driving circuit comprising:

a rotor location detection means for detecting a relative location of armature windings of the brushless motor with respect to a rotor of the brushless motor;

a commutation control means for switching a current to the armature windings at respective detected rotor locations;

a speed detecting means for detecting an actual rotor speed;

a speed difference detecting means for outputting a difference between the actual rotor speed and a target rotation speed as a speed difference signal; and

a speed difference compensation filter for obtaining a current indication value from the speed difference signal to drive the armature winding;

said commutation control means switching the current in response to the current indication value after a predetermined period.

28. The brushless motor driving circuit for driving a motor having a plurality of phase windings, the brushless motor circuit comprising:

a rotor location signal generation means for generating a rotor location signal from a plurality of phase terminal voltages corresponding to the plurality of phase windings;

a pulse generation means for detecting edges of the rotor location signal to provide a series of edge detection signals and for generating an output pulse train, the output pulse train being generated from the series of edge detection signals when a predetermined number of edges are detected during a predetermined amount of time, the output pulse train being a pseudo-pulse train when the predetermined number of edges are not detected for a predetermined amount of time; and

a counter for counting pulses of the output pulse train generated by the pulse generation means, to provide a counter output;

the counter output being supplied to drive the armature winding.

29. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor, comprising;

a plurality of the terminal voltages detection means located at every phase of the armature windings;

a terminal voltage compensation means for adding or subtracting a compensation value to/from the terminal voltage of an armature windings detected at respective phases during actual driving period, said compensation value is determined by a resistor of said armature winding and a winding current;

a comparator means for comparing respective terminal voltages after compensation has carried out to obtain a rotor location signal;

a commutation circuit for obtaining an armature winding driving signal from a rotor location signal detected in the rotor location signal detection means which includes a compensation means for compensating each terminal voltage or voltage differences of respective phases and a comparing means for comparing each terminal voltage or voltage differences between respective phases; and

a trapezoid driving signal generation circuit for forming a trapezoid driving signal from the output of the commutation circuit;

said armature windings are driven by said rotor location signal detected at said comparator means;

the trapezoid driving signal is supplied to drive the armature winding.

30. The brushless motor driving circuit of claim 29 further comprising:

a charging/discharging circuit in the trapezoid driving signal generating circuit for changing the gradient of the trapezoid driving signal by changing the time constant of the charging/discharging circuit using a control signal inputted from outside.

31. The brushless motor driving circuit of claim 29 further comprising:

a phase leading circuit for leading a phase of the rotor location signal, the leading quantity of the phase leading circuit is set to substantially 1/2 of the gradient time of the trapezoid driving signal for driving the armature winding.

32. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor, comprising:

a plurality of the terminal voltages detection means located at every phase of the armature windings;

a terminal voltage difference compensation means between respective phases for adding or subtracting a compensation value to/from the terminal voltage difference of respective phases detected between the armature windings during actual driving period, said compensation value is determined by a resistor of said armature winding and a winding current;

a comparator means for comparing respective terminal voltage difference between respective phases after compensation has carried out to obtain a rotor location signal;

a differentiation circuit for detecting a rising and falling edge of comparison signal of the terminal voltages and a voltage differences between respective phases; and

a latch circuit for latching the comparison signal at the timing when the edge is detected in the differentiation circuit;

said armature windings of respective phases are driven as a rotor location signal by combining said output signals of latch circuit.

33. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor, comprising:

a plurality of the terminal voltages detection means located at every phase of the armature windings;

a terminal voltage difference compensation means between respective phases for adding or subtracting a compensation value to/from the terminal voltage difference of respective phases detected between the armature windings during actual driving period, said compensation value is determined by a resistor of said armature winding and a winding current;

a comparator means for comparing respective terminal voltage difference between respective phases after compensation has carried out to obtain a rotor location signal;

a commutation circuit for obtaining an armature winding driving signal from a rotor location signal detected in the rotor location signal detection means which includes a compensation means for compensating each terminal voltage or voltage differences of respective phases and a comparing means for comparing each terminal voltage or voltage differences between respective phases; and

a trapezoid driving signal generation circuit for forming a trapezoid driving signal from the output of the commutation circuit;

said armature windings are driven by said rotor location signal detected at said comparator means;

the trapezoid driving signal is supplied to drive the armature winding.

34. The brushless motor driving circuit of claim 33 further comprising:

a charging/discharging circuiting the trapezoid driving signal generating circuit for changing the gradient of the trapezoid driving signal by changing the time constant of the charging/discharging circuit using a control signal inputted from outside.

35. The brushless motor driving circuit of claim 33 further comprising:

a phase leading circuit for leading a phase of the rotor location signal, the leading quantity of the phase leading circuit is set to substantially 1/2 of the gradient time of the trapezoid driving signal for driving the armature winding.