Motor control device and motor control method

• US 6,388,416 B1
• Filed: 08/04/2000
• Issued: 05/14/2002
• Est. Priority Date: 08/05/1999
• Status: Expired due to Term

• Current Assignee: Sharp Kabushiki Kaisha (Hon Hai Precision Industry Co., Ltd.)
• Original Assignee: Sharp Kabushiki Kaisha (Hon Hai Precision Industry Co., Ltd.)
• Inventors: Ohtsuka, Hideshi, Nakatani, Masaji
• Primary Examiner(s): Nappi, Robert E.
• Assistant Examiner(s): SMITH, TYRONE W
• Application Number:
  US09/632,656
• Time in Patent Office: 648 Days
• Field of Search: 318/700, 318/701, 318/705, 318/254, 318/802, 318/805, 318/811, 318/138, 318/721, 318/722, 318/800
• US Class Current: 318/700
• CPC Class Codes: H02P 6/085 in a bridge configuration
• CPC Class Codes: H02P 6/20 Arrangements for starting H02P6/08 takes precedence
• CPC Class Codes: H02P 6/28 Arrangements for controlling current H02P6/10 takes precedence

Abstract

A motor current detection amplifier detects a motor current'"'"'s areas in two phase periods with reference to a motor voltage. A controlling microcomputer computed the ratio of the motor current areas of the two phase periods and provides the same as phase difference information which is in turn used to control a motor drive voltage to apply a sine wave of a predetermined period to the motor'"'"'s coil to allow 180°-driving including a sine wave conduction resistant to noise and achieving a reduced cost hike.

Claims

1. A motor control device for controlling a synchronous motor comprising:

motor current detection means for detecting a motor current flowing through a coil of a synchronous motor;

detection means for detecting phase difference information between said motor current and a drive voltage supplied to said coil; and

control means for referring to said phase difference information and thereby detecting a condition of said synchronous motor, and for referring to said condition of said synchronous motor to control said drive voltage applied to a terminal of said coil and a frequency of a conduction to the terminal of said coil,

wherein said phase difference information is a ratio between a first area of a waveform of said motor current in a first predetermined phase period of a waveform of said drive voltage and a second area of a waveform of said motor current in a second predetermined phase period of a waveform of said drive voltage.

2. The motor control device of claim 1, wherein:

said first area is an accumulation of values obtained by analog-digital sampling of said motor current at predetermined intervals; and

said second area is an accumulation of values obtained by analog-digital sampling of said motor current at predetermined intervals.

3. The motor control device of claim 1, wherein said control means refers to a variation of said phase difference information to detect that said synchronous motor has been completely started and thus rotates in stable manner.

4. The motor control device of claim 1, wherein said control means refers to a variation of said phase difference information to detect that said synchronous motor rotates in unstable manner, and in response to said synchronous motor rotating in unstable manner having been detected said control means refers to a subsequent variation of said phase difference information to detect that said synchronous motor has been completely started and thus rotates in stable manner.

5. The motor control device of claim 3, wherein said control means compares a variation of said phase difference information with a predetermined value to detect whether said synchronous motor has been completely started and thus rotates in a stable manner.

6. The motor control device of claim 1, wherein said control means compares a variation of said phase difference information with a first predetermined value to detect whether said synchronous motor rotates in unstable manner and said control means compares a variation of said phase difference information with a second predetermined value to detect whether said synchronous motor has been completely started and thus rotates in stable manner.

7. The motor control device of claim 1, wherein after starting said synchronous motor is started and until said synchronous motor has been completely started and thus rotates in stable manner, said control means maintains said conduction frequency at a predetermined value and varies a reference duty value of said drive voltage with time.

8. The motor control device of claim 1, wherein after starting said synchronous motor is started and until said synchronous motor has been completely started and thus rotates in stable manner, said control means maintains said drive voltage at a predetermined value and varies said conduction frequency with time.

9. The motor control device of claim 1, wherein after starting said synchronous motor is started and until said synchronous motor has been completely started and thus rotates in stable manner, said control means maintains each of said conduction frequency and said drive voltage at a value corresponding to said synchronous motor having been completely started and thus rotating in stable manner.

10. The motor control device of claim 1, wherein in starting said synchronous motor said control means refers to a variation of said phase difference information to set an amount of variation in a reference duty value of said drive voltage.

11. The motor control device of claim 1, wherein in starting said synchronous motor said control means refers to a condition of said synchronous motor to set an amount of variation in a reference duty value of said drive voltage.

12. The motor control device of claim 1, wherein said control means limits a reference duty value of said drive voltage to a value.

13. The motor control device of claim 1, wherein in starting said synchronous motor said control means refers to a variation of said phase difference information to set an amount of variation in said conduction frequency.

14. The motor control device of claim 1, wherein in starting said synchronous motor said control means refers to a condition of said synchronous motor to set an amount of variation in said conduction frequency.

15. The motor control device of claim 1, wherein after said control means detects that said synchronous motor has been completely started and thus rotates in stable manner, said control means drives said synchronous motor to allow said phase difference information to attain a predetermined value.

16. The motor control device of claim 1, wherein after said control means detects that said synchronous motor has been completely started and thus rotates in stable manner, said control means increases a rotation rate of said synchronous motor to a rotation rate allowing a counter-electromotive force to be detected in said coil and refers to said counter-electromotive force to switch a conduction to drive said synchronous motor.

17. The motor control device of claim 1, wherein at least in starting said synchronous motor said control means drives said synchronous motor with a 180°

conduction.

18. A motor control device for driving and controlling a synchronous motor having a motor coil including a plurality of phase windings, comprising:

drive wave data creation means, responsive to the issuance of an instruction to set a rotation rate, for creating drive wave data for each of said plurality of phase windings to drive said synchronous motor;

motor current detection means for detecting a motor current in any specific one of said plurality of phase windings to output a motor current signal;

phase difference detection means for detecting a motor drive voltage phase of said any specific phase winding from the drive wave data created by said drive wave data creation means, and for detecting a phase difference between the motor drive voltage phase of said any specific phase winding and the motor current signal output from said motor current detection means, to output phase difference information;

phase difference control means for calculating a reference duty value for controlling the phase difference information output from said phase difference detection means to attain a target value of phase difference;

duty value calculation means for multiplying the drive wave data of each phase winding output from said drive wave data creation means by the reference duty value output from said phase difference control means, to calculate an output duty value for each phase winding; and

inverter means including a plurality of switching elements, for referring to the output duty value calculated by said duty calculation means for each phase winding, to produce a pulse-width modulated signal so as to control a conduction of each switching element to provide a conduction to each motor coil,

wherein said phase difference detection means obtains a motor current signal area in each of two phase periods with reference to the motor drive voltage phase of said any particular phase winding, and calculates a ratio between motor current signal areas in said two phase periods and uses said area ratio as phase difference information, and

wherein said phase difference detection means samples a motor current signal n times for each of the two phase periods with reference to said motor drive voltage and accumulates each current sample data for outputting as said motor current signal area, wherein n represents an integer no less than one.

19. The motor control device of claim 18, wherein said sampling rate n is set based on a rotation rate.

20. The motor control device of claim 18, wherein the two phase periods with reference to said motor drive voltage phase include a first period selected to be a motor drive voltage phase period of 0°

to 90° and

a second period selected to be that of 90°

to 180°

.

21. The motor control device of claim 18, wherein the two phase periods with reference to said motor drive voltage phase include a first period selected to be a motor drive voltage phase period of 180°

to 270° and

a second period selected to be that of 270°

to 360°

.

22. The motor control device of claim 18, wherein said phase difference control means performs a proportional and integral control operation on data corresponding to an error between said phase difference information and a target phase difference information.

23. The motor control device of claim 18, wherein said phase difference control means sets a control gain depending on a condition for rotation of said motor or target phase difference information.

24. The motor control device of claim 18, wherein said target value of said phase difference information is set to an optimal value depending on a condition for rotation of said motor.

25. The motor control device of claim 18, wherein after the two phase periods have elapsed with reference to one said motor drive voltage phase, a period of time is provided to calculate a ratio between said motor current signal areas and average phase difference information while a process for phase difference detection is not performed.

26. The motor control device of claim 18, wherein at least said phase difference detection means utilizes a process performed in a main loop of a process routine of a controlling microcomputer.

27. The motor control device of claim 18, wherein said drive wave data corresponds to a sine wave.

28. The motor control device of claim 18, wherein said drive wave data is set so as to provide a current and a magnetic flux of a rotor magnet substantially identical in waveform.

29. The motor control device of claim 18, wherein said phase difference control means sets a control gain depending on an offset value set by said motor current detection means.

30. The motor control device of claim 18, wherein said phase difference control means sets a control gain depending on a value of an amplitude of said motor current signal.

31. The motor control device of claim 18, wherein said motor current detection means sets a degree of amplifying the motor current to allow said motor current signal to have a constant amplitude.

32. The motor control device of claim 18, wherein target phase difference information corresponding to a targeted value of a phase difference obtained in said phase difference control means is set depending on a point at which said phase difference information detected.

33. The motor control device of claim 18, wherein said phase difference detection means calculates phase difference information in a manner similar to that applied in setting said target phase difference information, i.e., depending on a point at which phase difference information is detected.

34. The motor control device of claim 18, wherein in said phase difference control means, the calculation of a reference duty value is canceled at a point at which an amount in variation in phase difference information detected is small relative to a variation of a motor current phase.

35. The motor control device of claim 18, further wherein each of the plurality of phase windings have their motor current signals detected and a point at which phase difference information is detected is referred to in selecting a motor current signal to be referred to.

40. The motor control device of claim 18, wherein said target difference phase information is set so as to have a value maximizing motor efficiency.

41. The motor control device of claim 18, wherein said synchronous motor is a motor having a rotor with a magnet embedded therein, i.e., an IPM motor.

36. A motor control device for driving and controlling a synchronous motor having a motor coil including a plurality of phase windings, comprising:

drive wave data creation means responsive to the issuance of an instruction to set a rotation rate, for creating drive wave data for each of said plurality of phase windings to drive said synchronous motor;

motor current detection means for detecting a motor current in any specific one of said plurality of phase windings to output a motor current signal;

phase difference detection means for detecting a motor drive voltage phase of said any specific phase winding from the drive wave data created by said drive wave data creation means, and detecting a phase difference between the motor drive voltage phase of said any specific phase winding and the motor current signal output from said motor current detection means, to output phase difference information;

phase difference control means for calculating a reference duty value for controlling the phase difference information output from said phase difference detection means to attain a target value;

duty value calculation means for multiplying the drive wave data of each phase winding output from said drive wave data creation means by the reference duty value output from said phase difference control means, to calculate an output duty value for each phase winding; and

inverter means including a plurality of switching elements, referring to the output duty value calculated by said duty calculation means for each phase winding, to produce a pulse-width modulated signal to control a conduction of each switching element so as to provide a conduction to each motor coil,

wherein said phase difference detection means obtains a motor current signal area in each of two phase periods with reference to the motor drive voltage phase of said any particular phase winding and calculates a ratio between the motor current signal areas in said two phase periods and uses said area ratio as phase difference information; and

wherein,

said phase difference detection means samples at equal intervals the motor current signal in a phase period with reference to said motor drive voltage phase, and wherein said phase difference detection means refers to a rotation rate to set a sampling interval.

37. A motor control device for driving and controlling a synchronous motor having a motor coil including a plurality of phase windings, comprising:

drive wave data creation means responsive to the issuance of an instruction to set a rotation rate, for creating drive wave data for each of said plurality of phase windings to drive said synchronous motor;

motor current detection means for detecting a motor current in any specific one of said plurality of phase windings to output a motor current signal;

phase difference detection means for detecting a motor drive voltage phase of said any specific phase winding from the drive wave data created by said drive wave data creation means, and detecting a phase difference between the motor drive voltage phase of said any specific phase winding and the motor current signal output from said motor current detection means, to output phase difference information;

phase difference control means for calculating a reference duty value for controlling the phase difference information output from said phase difference detection means to attain a target value;

duty value calculation means for multiplying the drive wave data of each phase winding output from said drive wave data creation means by the reference duty value output from said phase difference control means, to calculate an output duty value for each phase winding; and

inverter means including a plurality of switching elements, referring to the output duty value calculated by said duty calculation means for each phase winding, to produce a pulse-width modulated signal to control a conduction of each switching element so as to provide a conduction to each motor coil,

wherein said phase difference detection means obtains a motor current signal area in each of two phase periods with reference to the motor drive voltage phase of said any particular phase winding and calculates a ratio between the motor current signal areas in said two phase periods and uses said area ratio as phase difference information; and

wherein,

after the two phase periods start with reference to said motor drive voltage phase, a first motor current sampling operation starts at a timing set by correcting an amount of drive wave data exceeding a reference phase of drive wave data of said any particular phase winding.

38. A motor control device for driving and controlling a synchronous motor having a motor coil including a plurality of phase windings, comprising:

drive wave data creation means responsive to the issuance of an instruction to set a rotation rate, for creating drive wave data for each of said plurality of phase windings to drive said synchronous motor;

motor current detection means for detecting a motor current in any specific one of said plurality of phase windings to output a motor current signal;

phase difference detection means for detecting a motor drive voltage phase of said any specific phase winding from the drive wave data created by said drive wave data creation means, and detecting a phase difference between the motor drive voltage phase of said any specific phase winding and the motor current signal output from said motor current detection means, to output phase difference information;

phase difference control means for calculating a reference duty value for controlling the phase difference information output from said phase difference detection means to attain a target value;

duty value calculation means for multiplying the drive wave data of each phase winding output from said drive wave data creation means by the reference duty value output from said phase difference control means, to calculate an output duty value for each phase winding; and

inverter means including a plurality of switching elements, referring to the output duty value calculated by said duty calculation means for each phase winding, to produce a pulse-width modulated signal to control a conduction of each switching element so as to provide a conduction to each motor coil,

wherein said phase difference detection means obtains a motor current signal area in each of two phase periods with reference to the motor drive voltage phase of said any particular phase winding and calculates a ratio between the motor current signal areas in said two phase periods and uses said area ratio as phase difference information, and wherein,

said phase difference information is obtained by averaging m ratios between said motor current signal areas, wherein m represents an integer no less than one.

39. A motor control device for driving and controlling a synchronous motor having a motor coil including a plurality of phase windings, comprising:

drive wave data creation means responsive to the issuance of an instruction to set a rotation rate, for creating drive wave data for each of said plurality of phase windings to drive said synchronous motor;

motor current detection means for detecting a motor current in any specific one of said plurality of phase windings to output a motor current signal;

phase difference detection means for detecting a motor drive voltage phase of said any specific phase winding from the drive wave data created by said drive wave data creation means, and detecting a phase difference between the motor drive voltage phase of said any specific phase winding and the motor current signal output from said motor current detection means, to output phase difference information;

phase difference control means for calculating a reference duty value for controlling the phase difference information output from said phase difference detection means to attain a target value;

duty value calculation means for multiplying the drive wave data of each phase winding output from said drive wave data creation means by the reference duty value output from said phase difference control means, to calculate an output duty value for each phase winding; and

inverter means including a plurality of switching elements, referring to the output duty value calculated by said duty calculation means for each phase winding, to produce a pulse-width modulated signal to control a conduction of each switching element so as to provide a conduction to each motor coil,

wherein said phase difference detection means obtains a motor current signal area in each of two phase periods with reference to the motor drive voltage phase of said any particular phase winding and calculates a ratio between the motor current signal areas in said two phase periods and uses said area ratio as phase difference information, and wherein,

wherein in obtaining said phase difference information, an averaging count m is set depending on a rotation rate.

42. A method of controlling a synchronous motor by means of a control device including means for detecting a motor current flowing through a coil of said motor and means for detecting phase difference information from a ratio between a first area of a waveform of said motor current in a first predetermined phase period of a waveform of a drive voltage supplied to said coil, and a second area of said waveform of said motor current in a second predetermined phase period of said waveform of said drive voltage supplied to said coil, such that when said motor starts, said control device supplies said coil with a preselected drive voltage that is constant in conduction frequency, and with time said control device may increase said drive voltage in amplitude at a predetermined rate, and further wherein said control device refers to variations in said phase difference information among sequential drive voltage waveforms to detect over time the manner in which said motor rotates, said method comprising the steps of:

determining that said motor is providing unsteady rotation when the detected phase difference information from a present drive voltage waveform has a significant variation from the detected phase difference information of the previous drive voltage waveform; and

after said first step, determining that said motor is providing steady rotation when the detected phase difference information from a present drive voltage waveform no longer has a significant variation from the detected phase difference information of the previous drive voltage waveform.