CN104756395B - The phase of the drive signal applied for the zero current adjust automatically detected in the winding according to motor to motor and electronic circuit and method for detecting zero current - Google Patents
The phase of the drive signal applied for the zero current adjust automatically detected in the winding according to motor to motor and electronic circuit and method for detecting zero current Download PDFInfo
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- CN104756395B CN104756395B CN201380056237.5A CN201380056237A CN104756395B CN 104756395 B CN104756395 B CN 104756395B CN 201380056237 A CN201380056237 A CN 201380056237A CN 104756395 B CN104756395 B CN 104756395B
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- ORKBYCQJWQBPFG-WOMZHKBXSA-N (8r,9s,10r,13s,14s,17r)-13-ethyl-17-ethynyl-17-hydroxy-1,2,6,7,8,9,10,11,12,14,15,16-dodecahydrocyclopenta[a]phenanthren-3-one;(8r,9s,13s,14s,17r)-17-ethynyl-13-methyl-7,8,9,11,12,14,15,16-octahydro-6h-cyclopenta[a]phenanthrene-3,17-diol Chemical compound OC1=CC=C2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1.O=C1CC[C@@H]2[C@H]3CC[C@](CC)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 ORKBYCQJWQBPFG-WOMZHKBXSA-N 0.000 description 1
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of electromotor control circuit and associated technology can adjust the phase of motor driving, to keep the rotary reference position of motor to accelerate and slow down on identical relative phase from the zero current in different electromotor velocity upper motor windings and motor.A kind of electromotor control circuit and associated technology detect the zero passage of the electric current in motor winding by detecting the reverse current in the half-bridge circuit for drive motor winding.
Description
Technical field
Adjust automatically can be provided present invention relates in general to electromotor control circuit, and more particularly, to one kind
The phase of the drive signal applied to motor, and the Motor Control electricity of the zero current in the winding of motor can be detected
Road.
Background technology
It is known for controlling and driving the circuit of brushless direct-current (BLDC) motor.In some arrangements, circuit carries
For the Phase advance (phase advance) of the drive signal of drive motor, the rotation speed of the Phase advance and motor
Degree is related, or the motor total current to measuring is related.However, this circuit can only provide Phase advance and rotation speed
A kind of relation between degree, or a few relation.In addition, the external component and branch mailbox of Motor Control integrated circuit (IC) can
It can be required for each motor or each motor applications and setup parameter.
The United States Patent (USP) 7 that the United States Patent (USP) that September in 2009 is issued on the 15th is issued on June 29th, 7,590,334,2010,
The U.S. Patent application 13/271,723 that on October 12nd, 747,146 and 2011 submits describes some known motor drivings
Circuit, all these documents are incorporated to and transfer assignee of the present invention by reference of text herein.
When in different applications in use, different efficiency behaviors and speed can be presented in BLDC motor.For example, phase
Same BLDC motor can be used together from different fan blade arrangements in different applications.Different types of BLDC electricity
Different efficiency behaviors and speed can be also presented in motivation.
Motor noise, vibration and efficiency are influenceed by various features.It is characterized in the phase of electric current as one, its
Appear in the motor winding relative to motor rotation position.Particularly when electromotor velocity is raised and lowered, electric current
Phase can lag behind or lead over respectively the reference rotation position of motor.In addition, on high electromotor velocity, motor
Electric current in winding can tend to the reference position for lagging behind motor.
In view of the foregoing, it is expected to provide a kind of electromotor control circuit and associated method, it can generate electronic
Machine drive signal, the motor drive signal have according to the detection between motor winding current and motor rotation position
To phase difference come determine automatic phase adjustment.
In view of the foregoing, also it is desirable to provide a kind of electromotor control circuit and associated method, it can for example lead to
The zero passage for crossing detection electric current detects the phase of the electric current in motor winding.
The content of the invention
The present invention provides a kind of electromotor control circuit and associated method, and it can generate motor drive signal,
The motor drive signal has according to the phase difference detected between motor winding current and motor rotation position
Come the automatic phase adjustment determined.
The present invention also provides a kind of electromotor control circuit and associated method, and it can be for example by detecting electric current
Zero passage detects the phase of the electric current in motor winding.
According to an aspect of the present invention, a kind of method bag for driving the multiphase motor with multiple motor windings
Include：Zero current signal is generated, it indicates the zero passage by least one electric current in the multiple motor winding；Generate position
Reference signal is put, it indicates the reference position of the angle rotation of motor；Compare the phase of the zero current signal and the position
The phase of reference signal, to generate comparison of signal phase；Multiple modulated signals are generated, each modulated signal has and the phase
The related phase of the value of comparison signal；And the multiple motor winding is generated to according to the multiple modulated signal
Multiple motor drive signals.
In certain embodiments, the above method can include following one or more aspects.
In some embodiments of the method, generating the position reference includes：
Hall sensor signal is generated using the Hall sensor for being disposed proximate to motor.
In some embodiments of the method, generating the position reference includes：
Given birth to using at least one counter electromotive force (back EMF) module being coupled in the multiple motor winding
Into back-EMF signal.
In some embodiments of the method, generating the position reference includes：
Stop during the time window close to the electrical motors to reference position into the multiple motor winding
At least one motor drive signal；And
The reference position during the time window is detected by the zero passage of back-emf signal.
In some embodiments of the method, generating the multiple modulated signal includes：
Look-up table is provided, institute is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
State in look-up table；
The first continuous saw tooth ramp signal is generated, it has between minimum value and maximum and minimum value and maximum
Multiple values；
The value related to the comparison of signal phase is added to the first continuous saw tooth ramp signal, is continuously sawed with generation second
Tooth ramp signal, the second continuous saw tooth ramp signal have between minimum value and maximum and minimum value and maximum
Multiple values, wherein, the minimum value and maximum of the second continuous saw tooth ramp signal and the minimum of the first continuous saw tooth ramp signal
Value and maximum offset an adjustment time in time, wherein, the adjustment time is related to the comparison of signal phase；
The value in the look-up table is sequentially searched using adjusted continuous saw tooth ramp signal, it is described more to generate
It is at least one in individual modulated signal；And
Generation and at least one at least one other modulation with predetermined phase relation in the multiple modulated signal
Signal.
In some embodiments of the method, generating the zero current signal includes：
The multiple motor drive signal is generated using the corresponding multiple half-bridge circuits for being coupled to motor, often
Individual half-bridge circuit includes：
The first transistor and second transistor of corresponding series coupled；
For receiving the corresponding power supply high voltage node of high power supply voltage；
For receiving the corresponding power supply lower voltage node of low supply voltage；And
Corresponding output node, the phase in the multiple motor drive signal of generation at corresponding output node
One answered；
In detecting through at least one the first transistor or second transistor in the multiple half-bridge circuit at least
The reverse current of one, wherein, the detection includes following at least one：
Detect the voltage higher than the high power supply voltage at output node；Or
Detect the voltage less than the low supply voltage at output node；And
According to the reverse current generation zero current signal is detected, the zero current signal instruction passes through the multiple electronic
The zero passage of at least one electric current in machine winding.
In some embodiments of the method, detecting the reverse current includes：
By being carried out on the time only when the first transistor and second transistor all end to the voltage at output node
Sample to detect the reverse current.
In some embodiments of the method, each in the multiple motor drive signal includes：
Corresponding multiple pulse width modulating signals, each in multiple pulse width signals have high state, the height
State includes the stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and multiple arteries and veins
Each rushed in width signal also has a low state, and the low state is included close to the stable state low value of the low supply voltage and low
In the transient low values of the low supply voltage.
According to another aspect of the present invention, a kind of electronics for being used to drive the multiphase motor with multiple motor windings
Circuit includes current measurement module, and the current measurement module is configurable to generate zero current signal, and the zero circuit signal refers to
Show the zero passage by least one electric current in the multiple motor winding.The electronic circuit also includes position measurement mould
Block, the position measuring module are configurable to generate position reference, the angle rotation of the position reference instruction motor
The reference position turned.The electronic circuit also includes modulated signal generation module, and the modulated signal generation module is configured as
Compare the phase of the zero current signal and the phase of the position reference, to generate comparison of signal phase, and be configured
To generate multiple modulated signals, each modulated signal has the phase related to the value of the comparison of signal phase.The electronics
Circuit also includes drive circuit, and the drive circuit is configured as being generated to the multiple electricity according to the multiple modulated signal
Multiple motor drive signals of motivation winding.
In certain embodiments, above-mentioned electronic circuit can include one or more of following aspect.
In some embodiments of the electronic circuit, the position measuring module be additionally configured to according to hall signal come
Position signalling is generated, the hall signal is generated by the Hall sensor for being arranged close to motor.
In some embodiments of the electronic circuit, the position measuring module be additionally configured to according to motor around
The back-EMF signal that is generated in group generates position signalling.
In some embodiments of the electronic circuit, generating the position reference includes：
Stop during the time window close to electrical motors to the reference position into the multiple motor winding
At least one motor drive signal；And the ginseng during the time window is detected by the zero passage of back-EMF signal
Examine position.
In some embodiments of the electronic circuit, the modulated signal generation module includes：
Look-up table, described look into is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
Look in table；
Saw-toothed wave generator, it is configurable to generate the first continuous saw tooth ramp signal, the first continuous saw tooth ramp
Signal has multiple values between minimum value and maximum and minimum value and maximum；
Regularly/phase error detector, it is coupled as receiving the signal for representing the zero current signal, is coupled as connecing
The signal for representing the position reference is received, and is configurable to generate the signal for representing the comparison of signal phase；And
Summation module, it is configured as adding and the comparison of signal phase phase to the described first continuous saw tooth ramp signal
The value of pass, to generate the second continuous saw tooth ramp signal, the second continuous saw tooth ramp signal has minimum value and maximum
And multiple values between minimum value and maximum, wherein, the minimum value and maximum of the second continuous saw tooth ramp signal and institute
The minimum value and maximum for stating the first continuous saw tooth ramp signal offset an adjustment time in time, wherein, during the adjustment
Between it is related to the comparison of signal phase, wherein, adjusted continuous saw tooth ramp signal be used for sequentially search the lookup
Value in table, it is at least one in the multiple modulated signal to generate, and be additionally operable in generation and multiple modulated signals
At least one at least one other modulated signal with predetermined phase relation.
In certain embodiments, the electronic circuit also includes：
Multiple half-bridge circuits, it is coupled to motor and is configurable to generate the multiple motor drive signal,
Each half-bridge circuit includes：
The first transistor and second transistor of corresponding series coupled；
For receiving the corresponding power supply high voltage node of high power supply voltage；
For receiving the corresponding power supply lower voltage node of low supply voltage；And
Corresponding output node, the phase in the multiple motor drive signal of generation at corresponding output node
One answered；
At least one comparator, it is configured as generating by detecting at least one of the following corresponding at least one
Comparator output signal, at least one comparator output signal instruction pass through at least one in the multiple half-bridge circuit
The first transistor or second transistor at least one reverse current：
The voltage higher than the high power supply voltage at output node；Or
The voltage less than the low supply voltage at output node；And
Processor, it is configured as generating zero current signal, zero electricity according at least one comparator output signal
Flow zero passage of the signal designation by least one electric current in the multiple motor winding.
In some embodiments of the electronic circuit, the detection includes：
By to the voltage at the output node on time only when the first transistor and second transistor all end
Sampled to detect reverse current.
In some embodiments of the electronic circuit, each in the multiple motor drive signal includes：
Corresponding multiple pulse width modulating signals, each of multiple pulse width signals have high state, the high state
Including the stable state high level close to high power supply voltage and the transient state high level higher than the high power supply voltage, and the multiple pulse
Each of width signal also has low state, and the low state includes close to the stable state low value of low supply voltage and low less than described
The transient low values of supply voltage.
According to another aspect of the present invention, a kind of method for driving the multiphase motor with multiple motor windings includes
Motor drive signal is generated using the half-bridge circuit for being coupled to motor.The half-bridge circuit includes the of series coupled
One transistor or second transistor；Power supply high voltage node, it is used to receive high power supply voltage；The low power supply node of power supply, it is used
In reception low supply voltage；And output node, motor drive signal is generated at the output node.Methods described is also wrapped
Detection is included through at least one reverse current in the first transistor or second transistor.The detection includes following at least one
It is individual：Detect the voltage higher than the high power supply voltage at output node；Or detect at output node less than described
The voltage of low supply voltage.Methods described also includes generating zero current signal, zero electricity according to the reverse current is detected
Flow zero passage of the signal designation by least one electric current in the multiple motor winding.
In certain embodiments, the above method can include one or more of following aspect.
In some embodiments of the method, detecting the reverse current includes：
By being carried out on the time only when the first transistor and second transistor all end to the voltage at output node
Sample to detect the reverse current.
In some embodiments of the method, the motor drive signal includes：
Multiple pulse width modulating signals, each in multiple pulse width signals have high state, and the high state includes
Stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and multiple pulse widths
Each in signal also has low state, and the low state is included close to the stable state low value of the low supply voltage and less than described
The transient low values of low supply voltage.
In certain embodiments, methods described also includes：
Generate position reference, the reference position of the angle rotation of the position reference instruction motor；
Compare the phase of the zero current signal and the phase of the position reference, to generate comparison of signal phase；
Multiple modulated signals are generated, each modulated signal has the phase related to the value of the comparison of signal phase；With
And
Multiple motor drive signals of the multiple motor winding are generated to according to the multiple modulated signal.
In some embodiments of the method, generating the position reference includes：
Hall sensor signal is generated using the Hall sensor for being arranged close to motor.
In some embodiments of the method, generating the position reference includes：
Back-EMF signal is generated using at least one back-EMF module being coupled in the multiple motor winding.
In some embodiments of the method, generating the position reference includes：
Stop during the time window close to the electrical motors to reference position into the multiple motor winding
At least one motor drive signal；And detected by the zero passage of back-EMF signal described in during the time window
Reference position.
In some embodiments of the method, generating the multiple modulated signal includes：
Look-up table is provided, institute is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
State in look-up table；
The first continuous saw tooth ramp signal is generated, it has between minimum value and maximum and minimum value and maximum
Multiple values；
The value related to the comparison of signal phase is added to the described first continuous saw tooth ramp signal, is connected with generation second
Continuous saw tooth ramp signal, the second continuous saw tooth ramp signal have minimum value and maximum and minimum value and maximum it
Between multiple values, wherein, the minimum value and maximum of the second continuous saw tooth ramp signal are believed with the first continuous saw tooth ramp
Number minimum value and maximum offset an adjustment time in time, wherein, the adjustment time and the comparison of signal phase
It is related；
Value in a lookup table is sequentially searched using adjusted continuous saw tooth ramp signal, it is the multiple to generate
It is at least one in modulated signal；And
Generation and at least one at least one other modulation with predetermined phase relation in the multiple modulated signal
Signal, each modulated signal are related to corresponding one in multiple pulse width modulations (PWM) signal.
According to another aspect of the present invention, a kind of electronics for being used to drive the multiphase motor with multiple motor windings
Circuit includes the half-bridge circuit for being used to generate motor drive signal for being coupled to motor.The half-bridge circuit includes series connection
The first transistor and second transistor of coupling；Power supply high voltage node, it is used to receive high power supply voltage；Power supply low-voltage section
Point, it is used to receive low supply voltage；And output node, motor drive signal is generated at the output node.It is described
Electronic circuit also includes at least one comparator, at least one comparator be configured as by detect it is following at least one
Individual to generate corresponding at least one comparator output signal, the comparator output signal instruction is through the first transistor or the
At least one reverse current in two-transistor：The voltage higher than the high power supply voltage at output node；Or
The voltage less than the low supply voltage at output node.The electronic circuit also includes processor, the processor by with
It is set to according at least one comparator output signal to generate zero current signal, the zero current signal instruction passes through multiple electronic
The zero passage of at least one electric current in machine winding.
In certain embodiments, above-mentioned electronic circuit can include one or more of following aspect.
In some embodiments of the electronic circuit, the detection includes：
By being carried out on the time only when the first transistor and second transistor all end to the voltage at output node
Sample to detect reverse current.
In some embodiments of the electronic circuit, the motor drive signal includes：
Multiple pulse width modulating signals, each in multiple pulse width signals have high state, and the high state includes
Stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and multiple pulse widths
Each in signal also has low state, and the low state is included close to the stable state low value of low supply voltage and less than the low electricity
The transient low values of source voltage.
In certain embodiments, the electronic circuit also includes：
Position measuring module, it is configurable to generate position reference, the position reference instruction motor
The reference position of angle rotation；And
Modulated signal generation module, it is configured as the phase of zero current signal described in comparison and the position reference
Phase, to generate comparison of signal phase, and be configurable to generate multiple modulated signals, each modulated signal have with it is described
The related phase of the value of comparison of signal phase.
In some embodiments of the electronic circuit, the position measuring module be additionally configured to according to hall signal come
The position signalling is generated, the hall signal is generated by the Hall sensor for being arranged close to motor.
In some embodiments of the electronic circuit, the position measuring module is additionally configured to according to motor winding
Position signalling described in the back-EMF signal generation of middle generation.
In some embodiments of the electronic circuit, the electronic circuit is configured as arriving close to the electrical motors
Stop during the time window of reference position at least one motor drive signal in the multiple motor winding；And
Wherein, the position measuring module is configurable to generate position reference, and the position reference indicates the time window
The reference position of period.
In some embodiments of the electronic circuit, the modulated signal generation module includes：
Look-up table, described look into is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
Look in table；
Saw-toothed wave generator, it is configurable to generate the first continuous saw tooth ramp signal, the first continuous saw tooth ramp
Signal has multiple values between minimum value and maximum and minimum value and maximum；
Regularly/phase error detector, it is coupled as receiving the signal for representing the zero current signal, is coupled as connecing
The signal for representing the position reference is received, and is configurable to generate the signal for representing the comparison of signal phase；And
Summation module, it is configured as adding and the comparison of signal phase phase to the described first continuous saw tooth ramp signal
The value of pass, to generate the second continuous saw tooth ramp signal, the second continuous saw tooth ramp signal has minimum value and maximum
And multiple values between minimum value and maximum, wherein, the minimum value and maximum of the second continuous saw tooth ramp signal
An adjustment time is offset in time with the minimum value and maximum of the first continuous saw tooth ramp signal, wherein, during the adjustment
Between it is related to the comparison of signal phase, wherein, adjusted continuous saw tooth ramp signal be used for sequentially search the lookup
Value in table, it is at least one in the multiple modulated signal to generate, and it is additionally operable to generation and the multiple modulated signal
In at least one at least one other modulated signal with predetermined phase relation, each modulated signal and multiple pulse widths
Modulate the corresponding correlation in (PWM) signal.
Brief description of the drawings
The preceding feature described further below that the present invention can be more fully understood with reference to the accompanying drawings and the present invention itself,
Wherein：
Fig. 1 is the side of the exemplary electromotor control circuit with modulated signal generation module and with current measurement module
Block diagram；
Fig. 2 is the curve map for showing the various waveforms associated with Fig. 1 exemplary electromotor control circuit, particularly
When electromotor control circuit is used to provide sinusoidal drive to motor；
Fig. 3 is another curve map for showing the various waveforms associated with Fig. 1 exemplary electromotor control circuit, special
It is not when electromotor control circuit is used to provide sinusoidal drive to motor, and shows that current signal and reference by location are believed
Phase difference between number；
Fig. 4 is the exemplary modulation of the modulated signal generation module for the exemplary electromotor control circuit that can act as Fig. 1
The block diagram of signal generation module；
Fig. 5 and Fig. 5 A are the block diagrams of the exemplary half bridge output stage for the exemplary electromotor control circuit for showing Fig. 1,
And show the direction of the motor winding current in the out of phase of operation；
Fig. 6 be show the waveform associated with motor winding (specifically with sinusoidal current), with motor winding
The associated modulation waveform of sinusoidal drive and according to pulse width modulation (PWM) signal of modulation waveform drive motor
Curve map；
Fig. 7 be the pwm signal for showing Fig. 6 positive pole and negative pole state details visualization figure；
Fig. 7 A are to show the PWM drive signal applied to motor and show associated with PWM drive signal
The curve map of sinusoidal current；
Fig. 8 is the another of the current measurement module with modulated signal generation module and with zero current detection modular form
The block diagram of exemplary electromotor control circuit；And
Fig. 9 is the curve map for showing various waveforms, according to the various waveforms, can detect zero in motor winding
Electric current, particularly, when using the trapezoidal driving of motor.
Embodiment
Before describing the present invention, the concept and term of some introducings are explained.As used herein, term
" modulation waveform " is used for the envelope or characteristic function for describing other signals (such as pulse width modulation (PWM) signal).
With reference to figure 1, exemplary electromotor control circuit 102 is coupled as drive motor 104.
Motor 104 is shown as including three windings 104a, 104b, 104c, and each winding is generally depicted as having
With resistor in series and with the corresponding equivalent circuit of inductor that back EMF voltage is source-series.For example, winding A 104a are illustrated
It is the inductor 130 for including connecting with resistor 131 and being connected with back EMF voltage source VA 136.When electric current flows into correlation
During the motor winding of connection, back EMF voltage source VA 136 voltage be not it is direct it is observed that, but when by it is associated around
When the electric current of group is zero, the voltage of the back EMF voltage source VA 136 can be viewed directly.
Generally, determined through the voltage of motor winding (such as through winding A 140a) by below equation：
VExport A-VIt is general=VA+IR+LdI/dt,
Wherein：
VExport A=in winding A one end it is observed that voltage；
VIt is generalVoltage at=winding 104a, 104b, 104c tie point；
The resistance value of R=resistors 131；
The inductance value of L=inductors 130；
The electric current that I=passes through winding；And
VA=back EMF voltages
Thus it can be seen that if it is zero, V by winding 104a electric currentExport A=VA, its be it is observed that electricity
Pressure.
Electromotor control circuit 102 includes speed command generator 107, and the speed command generator is coupled as receiving
External speed command signal 106 from the outside of electromotor control circuit 102.External speed command signal 106 can be more
One kind in kind form.Generally, external speed command signal 106 indicates to be required from the outside of electromotor control circuit 102
Motor 104 speed.
Speed command generator 107 is configurable to generate speed command signal 107a.Pulse width modulation (PWM) generator
108 are coupled as receiving speed command signal 107a and are configurable to generate pwm signal 108a, and its maximum duty cycle is ordered by speed
Signal 107a is made to control.PWM generator 108 is also coupled as receiving the modulation waveform from modulated signal generation module 146
146a、146b、146c.Modulation signature (that is, relative time change duty is had according to modulation waveform 146a, 146b, 146c generation
Than) pwm signal 108a.Modulation waveform and associated pwm signal is described more fully below with reference to Fig. 6.
Electromotor control circuit 102 also includes gate driver circuit 110, and the gate driver circuit is coupled as connecing
Pwm signal 108a is received, and is configurable to generate PWM gate drive signal 110a, 110b, 110c, 110d, 110e, 110f, to drive
Dynamic six transistors 112 for being arranged to three half-bridge circuits 112/114,116/118,120/122,114,116,118,120,
122.Six saturation operations of transistor 112,114,116,118,120,122, to be punished respectively in node 102d, 102c, 102b
Indescribably A 124, V output B 126, V outputs C 128 are exported for three motor drive signal V.
Electromotor control circuit 102 can also include position measuring module 142, and the position measuring module can be coupled
To receive back-EMF signal (for example, it can be coupled as receiving one or more in motor drive signal 124,126,128
Individual, one or more of described motor drive signal is included when motor winding 104a, 104b, 104c are not driven and phase
Time when to answer winding current be zero it is upper directly it is observed that back-EMF signal) or from Hall element (not shown) suddenly
That element signal.Position measuring module 142 is configurable to generate position reference 142a, the position reference instruction electricity
The rotary reference position of motivation 104.
Electromotor control circuit 102 can also include current measurement module 144, and the current measurement module can be coupled
To receive one in motor drive signal 124,126,128.Current measurement module 144 is configurable to generate zero current signal
144a, the zero passage that the zero current signal instruction passes through the electric current of one or more of motor winding.With reference to Fig. 8 below
Exemplary current measurement module is more fully described.
Modulated signal generation module 146 is coupled as receiving position reference signal 142a and zero current signal 144a.Modulation
Signal generation module 146 is configured as being changed according to the phase difference between position reference 142a and zero current signal 144a
Modulation waveform 146a, 146b, 146c phase.Exemplary modulated signal generation module 146 is described below with reference to Fig. 4.
Electromotor control circuit 102 can be coupled as receiving the motor voltage VMOT at node 102a, or only
It is VM, electricity is applied to by transistor 112,116,120 during its time that up transistor 112,116,120 is switched on
Motivation.Pass through crystalline substance it should be appreciated that can exist when transistor 112,116,120 is switched on and provides electric current to motor 104
The small pressure drop (for example, 0.1 volt) of body pipe 112,116,120.
As described above, electromotor control circuit 102 can come from relative to the rotation position being sensed of motor 104
The timing of dynamic regulation drive signal 124,126,128, i.e. phase.
Referring now to Figure 2, curve 200,220,240 and 260 has trunnion axis, its time with arbitrary unit is unit
Scale.Curve 200,220,240 has vertical axis, and its voltage with arbitrary unit is the scale of unit.Curve 260 has
Vertical axis, its electric current with arbitrary unit are the scale of unit.
The expression of signal 202 works as motor 104 just when rotated, one in the motor winding of Fig. 1 motor 104
Back-EMF signal (that is, voltage signal) on (for example, winding 104a).Back EMF voltage 202 is generally sinusoidal.
In some embodiments of Fig. 1 electromotor control circuit 102, the zero passage of back-EMF signal 202 can be surveyed by position
Amount module 142 is used for the reference rotation position for identifying motor 104.It is desirable that the back-EMF signal 202 on the time 208
Motor winding of the zero passage with being generated thereon through back-EMF signal 202 zero current it is consistent or almost consistent.This pass
System will produce maximally effective motor running.
In some embodiments of electromotor control circuit 102, back-EMF signal is not used in the rotation of detection motor 104
Position.But Hall element is positioned in around motor 104, and when motor 104 rotates, generation Hall element letter
Numbers 222,224,226.It is readily apparent that signal 222,224,226 represents the rotation position of motor 104.Typically, can
Find out, the transient state for the Hall element signal 222,224,226 not alignd with the zero passage of back-EMF signal 202.However, the time 208
The part path that can be identified as by signal 222,224,226 between the specific transient state of signal 222,224,226, for example, half way.
Signal 242,244,246 represents Fig. 1 above-mentioned modulation waveform 146a, 146b, 146c.Modulation waveform 242,244,
246 are used to generate pwm signal, with drive motor 104.With reference to Fig. 6 be described more fully below modulation waveform 242,244,
Corresponding relation between 246 and pwm signal.
It should be appreciated that modulation waveform 242 is associated with Fig. 1 winding A 104a, and generally with identical winding phase
The back-EMF signal 202 of association aligns.Other modulation waveforms 244,246 other windings B with Fig. 1 motor 104 respectively
104b, C 104c are associated.
Signal 262,264,266 represents to respectively appear in winding A 104a, B 104b, the C 104c of Fig. 1 motor 104
On electric current.It should be appreciated that the actual current signal on motor winding can be than showing in signal 262,264,266
Those signals are more complicated.However, current signal 262,264,266 represent by the average currents of three motor windings and when
Between.It should be appreciated that electric current 262 on motor winding A 104a generally with reverse 202 same phase of EMF signal.However, as combined
What Fig. 3 was described more fully below, there can be the phase difference between current signal 262 and associated back-EMF signal 202.
The electricity circulation of motor 104 can be divided into six kinds of states or period, 201a, 201b, 201c, 201d,
201e、201f。
Referring now to Figure 3, curve 300 has trunnion axis, it is with the scale in units of the time of arbitrary unit.Curve
300 have vertical axis, and it is with the scale in units of the voltage and current of arbitrary unit.Curve 320 has trunnion axis, its band
There is the scale in units of the time of arbitrary unit.Curve 320 also includes vertical axis, and it is carried using the voltage of arbitrary unit to be single
The scale of position.
Signal 304 represents the current signal on Fig. 1 winding A 104a.Thus, signal 304 corresponds to Fig. 2 signal
262.Signal 302 represents the back-EMF signal 136 on Fig. 1 winding A 104a.Thus, signal 302 corresponds to Fig. 2 signal
202.The zero passage of signal 302,304 will be apparent.The instruction back-EMF signal of time difference 308 302 crosses zero-sum current signal
Time difference between 304 zero passage.Therefore, the time difference 308 represent rotation position with reference to (that is, the zero passage of back-EMF signal 302) and
Pass through the time difference between the zero current of associated motor winding.
Signal 306 represents the current signal on the winding A 104a of Fig. 1 during a period, in the period
Interior, motor 104 is just accelerated with rotary speed or motor 104 rotates at a high speed., it can be seen that relative phase has been offset.Electricity
The zero passage of stream signal 306 is delayed by relative to the zero passage of back-EMF signal 302.The zero passage instruction motor 104 of back-EMF signal 302
Reference rotation position.The zero current that the zero crossing indication of current signal 306 passes through motor winding A 104a.It is expected that
Zero passage is consistent with phase in the time.Increased electric moter noise and vibration will be caused by lacking time consistency, and be reduced
Motor efficiency.
Modulation waveform 322 and Fig. 2 modulation waveform 242 is same or similar.Thus, when motor is accelerating or quickly revolves
When turning, it can be seen that current signal 306 is delayed by relative to modulation waveform 322.It is desirable that shift to an earlier date modulation waveform 322
(that is, modulation waveform 322 being moved to left) so that current signal 306 shifts to an earlier date so that the zero passage of current signal 306 can occur with
Indicate that the zero passage of the back-EMF signal 302 of the rotary reference position of motor 104 is consistent or almost consistent.
Generally, Fig. 1 modulated signal generation module 146 can according to represent back-EMF signal 302 and current signal 304,
306 rotation position reference signal 142a and zero current signal 144a that receive be advanced or delayed various modulation waveform 146a,
146b、146c。
For such as with reference to the traditional sine motor drive signal of Fig. 2 and 3 those described above, for combining the upper of Fig. 1
State reason, it is impossible to observe easily and detect the zero passage of back-EMF signal 302, because in motor winding 104a, 104b, 104c
Each constantly driven.In order to observe back-EMF signal, at least temporarily cease be to the drive signal of motor winding must
Must.Thus, arranged using sine motor drive signal, in certain embodiments, in small time window, to motor
At least one sinusoidal drive signals in 104 winding 104a, 104b, 104c can be stopped, to observe back-EMF signal
Zero passage.For this purpose, in Fig. 1 electromotor control circuit 102, control signal 142b can be by position measuring module 142
It is supplied to gate drivers 110.
Referring now to Figure 4, modulated signal generation module 402 can act as Fig. 1 modulated signal generation module 146.
Modulated signal generation module 402 is coupled as receiving the position reference 414 detected and detection zero current letter
Numbers 418.The position reference 414 detected can be same or similar with Fig. 1 position reference 142a.Zero detected
Current signal 418 can be same or similar with Fig. 1 zero current signal 144a.
As described above, in the short time period being stopped by using the interior sinusoidal drive to winding during this period, can make
The position reference 414 detected is generated with the zero passage of sinusoidal drive waveforms combination back-EMF signal.In other embodiment
In, it can generate detection with reference to the Hall element being arranged on around figure A motor 104 and associated Hall element signal
The position reference 414 arrived.
Modulated signal generation module 402 is also coupled as receiving the clock signal of system 416 with fixed high frequency.
So-called " θ ramp generators " 404 is coupled as receiving the position reference 414 detected and system clock letter
Numbers 416.θ ramp generators 404 are configurable to generate unadjusted θ signals 404a, and it can include representing ramp signal
The data signal of the sequence of value, the ramp signal periodically reach final value and are reset to zero.The resetting time phase of ramp signal
Fixed for reference by location (that is, the rotation position of the fixation of motor 104), the position reference 414 detected indicates
The reference by location.
In operation, θ ramp generators 404 can be identified by some system clock transition count it is measured
Period between the reference by location identified by the position reference 414 detected.In other words, θ ramp generators 404 can
Identification makes motor 104 turn over the time (that is, the transition of some clock signal of system 416) that an electricity rotates.θ ramp generators
404 can be divided the quantity of the transition of identified system clock 416 by fixed scalar (such as by 256).Thus, motor
Electricity circulation can be divided into 256 parts.Therefore, clock signal 402 can have the electricity circulation realized in motor
The frequency of 256 transition of period.Clock signal 402 can be generated and used by ramp generator 404, to generate ratio, at this
In ratio, unadjusted θ signals 404a oblique wave value is increased and is output in unadjusted θ signals 404a.Thus, should
Understand, for each electrical cycle of motor, the reset-to-zero of zero ramp signal in unadjusted θ signals 404a is by reality
Now once, and can be with such as 256 steps in oblique wave.
Timing/phase error detector 410 is coupled as receiving the zero current signal 418 detected, is coupled as receiving
The position reference 414 detected, and be coupled as receiving clock signal 402.
Timing/phase error detector 410 is configured as the position that identification is identified by the position reference 414 detected
Put with reference to the time difference (that is, phase difference) between the zero-current crossover that is identified of the zero current signal 418 by detecting.
Again referring briefly to Fig. 3, in other words, timing/phase error detector 41 0 can be used to identify current signal
Time difference between 304 or 306 zero passage for crossing zero-sum back EMF voltage signal 302.
Referring again to Fig. 4, timing/phase error detector 410 is configurable to generate error signal 410a, in some implementations
In example, the error signal can represent the digital value of identified time (that is, phase) difference.
PID device (PID), or in other embodiments, proportional integrator (PI) can be coupled as receiving
Error signal 410a, and substantial filtering error signal 410a is configured as, with generation adjustment signal 412a.In some implementations
In example, adjustment signal 412a can be the digital value proportional to the time difference identified by timing/phase error detector 410.
Summation module 406, which is coupled as receiving unadjusted θ signals 404a, (that is, represents that the reset in stationary phase is oblique
One group of continuous digital value of ripple signal), be coupled as receiving adjustment signal 412a, and be configurable to generate θ signals 406a.
In operation, it should be appreciated that θ signals 406a is the reset ramp signal as not adjusting θ signals 404a, but right
In the reset ramp signal, resetting time of ramp signal is according to adjustment signal 412a value in time (i.e. adjusted
Phase on) moved.
Modulation intelligence look-up table and processor 408 are coupled as receiving θ signals 406a.Modulation intelligence look-up table and processor
408 are configured as storing the one or more modulation intelligences of expression wherein, such as the value of Fig. 2 modulation intelligence 242.
In operation, θ signals 406a is used in modulation intelligence look-up table and processor 408 modulated signal stored
It is ranked up between value.It should be appreciated that the phase for the θ signals 406a that θ signals 406a reset portion represents is according to detecting
Position reference 414a in the reference by location that is identified and such as the motor identified in the zero cross signal 418 detected
Time difference between the zero passage of electric current in winding is adjustable.Therefore, generated by modulation intelligence look-up table and processor 408
Modulated signal 408a phase (that is, timing) be adjustable.
The processor part of modulation intelligence look-up table and processor 408 can automatically generate other in other stationary phases
Modulation intelligence 408b, 408c, such as Fig. 2 modulation intelligence 244,246, the stationary phase can be relative to modulation intelligence
In the phase of 408a (such as Fig. 2 modulation intelligence 242) fixation.
The exemplary circuit and method of the zero current that detection passes through motor winding are described below with reference to accompanying drawing 5-8.So
And, it will be appreciated that the zero current by motor winding can be detected using other method.
Referring now to Figure 5, three half-bridge circuits 502,504,506 corresponding to Fig. 1 three half-bridge circuits 112/114,
116/118th, 120/122 and be shown as drive three motor windings.By half-bridge circuit 502 and pass through motor winding
In the electric current of one indicated by the dotted line that is identified by the numeral 1,2 and 3 with circle.Electric current 1,2 and 3 is indicated in motor
(such as during anode portion of Fig. 2 current signal 262) passes through half-bridge circuit 502 during the positive pole of the current signal of winding
Different time on electric current.Electric current 1 indicates that top FET is connected, and electric current 3 indicates that bottom FET is connected, and the instruction of electric current 2 two
Individual FET ends.It should be appreciated that intrinsic diode of the electric current 2 by bottom FET, and thus, as two FET of half-bridge 502
When all ending, voltage VExport A(see, for example, Fig. 1 signal 124) realizes about 0.7 volt of the voltage started less than ground voltage, and
And return to ground voltage when bottom FET is connected.Accordingly, it should be understood that by detecting voltage VExport ALess than ground voltage and return
Tieback ground voltage, half-bridge 502 can be identified by and by the actual zero current of associated motor winding.
With reference now to Fig. 5 A, wherein, Fig. 5 identical element is shown as with identical reference number, passes through half-bridge electricity
Road 502 and by the electric current of one in motor winding still through the dotted line identified by the numeral 1,2 and 3 with circle
Instruction.Electric current 1,2 and 3 indicates (such as the current signal 262 in Fig. 2 during the negative pole of the current signal of motor winding
During cathode portion) pass through the electric current on the different time of half-bridge circuit 502.Electric current 1 indicates that top FET is connected, and electric current 3 indicates
Bottom FET is connected, and electric current 2 indicates that two FET end.It should be appreciated that intrinsic diode of the electric current 2 by top FET,
And thus, when two FET of half-bridge 502 end, voltage VExport ARealize about 0.7 volt of the electricity started higher than voltage VM
Pressure, and the return voltage VM when top FET is connected.Accordingly, it should be understood that by detecting voltage VExport AHigher than voltage VM and return
Pressure of wiring back VM, can be identified by half-bridge 502 and by the actual zero current of associated motor winding.
Referring now to Figure 6, curve 600 has trunnion axis and a vertical axis, the trunnion axis carry using the arbitrary unit time as
The scale of unit, the vertical axis is with the scale in units of arbitrary unit electric current.Curve 620 is with trunnion axis and vertically
Axle, with the scale in units of the arbitrary unit time, the vertical axis carries using arbitrary unit voltage to be single the trunnion axis
The scale of position.Curve 640 has trunnion axis and vertical axis, and the trunnion axis carries the scale in units of the arbitrary unit time,
The vertical axis is with the scale in units of arbitrary unit voltage.
Current signal when signal 602 represents to use sinusoidal drive signals in motor winding A.Current signal 602 can
It is same or similar with Fig. 2 current signal 262.As described above, when using P WM drive signals, current signal 602 can be in
It is now more complicated, but signal 602 is indicated generally by the average current by winding A.Current signal had on the time 606,608
Zero passage.
Modulated signal 622 can be same or similar with Fig. 2 modulated signal 242.When modulated signal 622 can have 6
Between section or phase, four therein are shown as 604a, 604b, 604c, 604d.
Pwm signal 642 can generate according to modulation waveform 622, and can be had according to the value of modulation waveform 622
Peak 622a, 622b of modulation waveform 622 temporal high duty ratio 642a, 642b time and its in modulation waveform 622
The time of the temporal relatively low dutycycle of his part.Pwm signal 642 can be actual to Fig. 1 for sinusoidal drive
The signal that the motor winding A 104a of motor 104 apply.
Referring now to Figure 7, the Fig. 6 of the instruction of pwm pulse 702,702 ' during the cathode portion of current signal 602 PWM
Pulse 642.Pwm pulse 704 indicates the pwm pulse 642 of Fig. 6 during the anode portion of current signal 602.
Pwm pulse 702,702' are in transient portion thereof 702b, 702c, 702b ', 702c ' and steady-state portion 702a,
702a ' is raised.According to the discussed above of combination Fig. 5 and Fig. 5 A, it will be appreciated that when two transistor (such as FET) quilts of half-bridge
During cut-off, the voltage V on associated motor winding is appeared inExport AIt is instantaneous to be higher than motor voltage VM, or less than ground connection electricity
Pressure, the polarity of this electric current depended in motor winding, i.e. the polarity of current signal 602.It is also understood that pwm signal
702nd, it is a short period before 704,702 ' each main edge transition, during the period, two FET are cut
Only, otherwise, two FET may be simultaneously switched on, and cause the short circuit between motor voltage VM and ground voltage.Thus, when two
When individual FET ends, stationary signal portion 702b, 702c, 704b, 704c, 702b ', 702c ' generations.Stationary signal portion
702b, 702c, 704b, 704c, 702b ', 702c ' can occur within the short period, e.g., from about 500 nanoseconds.
It is readily apparent that transient voltage signals part 702b, 702c, 704b, 704c, 702b ', 702c ' direction exists
Change direction when the zero passage of current signal 602 occurs every time (i.e. at the time 606,608).Thus, to stationary signal portion
702b, 702c, 704b, 704c, 702b ', the detection of the change in 702c ' direction can be used for identifying associated motor around
Zero current in group.
With reference now to Fig. 7 A, curve 720 has trunnion axis and a vertical axis, the trunnion axis carry using the arbitrary unit time as
The scale of unit, the vertical axis is with the scale in units of arbitrary unit voltage.Curve 740 is with trunnion axis and vertically
Axle, with the scale in units of the arbitrary unit time, the vertical axis carries using arbitrary unit electric current to be single the trunnion axis
The scale of position.
Signal 722 represents Fig. 6 pwm signal 642, but show similar Fig. 7 transient portion thereof 702b, 702c, 704b,
704c, 702b ', 702c ' stationary signal portion.Signal 742 and Fig. 1 current signal 602 is same or similar.
Time t1-t9 occurs during stationary signal portion.With reference to the discussed above of Fig. 5 and Fig. 5 A, it is obvious that
When two FET of the associated half-bridge circuit of drive motor winding are ended, stationary signal portion occurs.
For combining Fig. 5, Fig. 5 A and Fig. 7 above-mentioned reason, on time t6, stationary signal portion and current signal 742
Zero passage it is consistent or almost as one man change orientation.Thus, the change of the orientation of stationary signal portion can be electronic for detecting
Zero-current crossover in machine winding.Particularly on time t1-t5, stationary signal portion extends above motor voltage VM.
On the contrary, on time t6-t9, stationary signal portion extends below in ground voltage.Another change of stationary signal portion or
It is orientated (not shown) to occur at next zero passage of current signal 742, and also can be used in detection zero passage next time.
In certain embodiments, circuit can be to letter (see, for example, the comparator 808,810 shown in Fig. 8 below)
Number VExport A722 are sampled, with only or time to approach t1-t9 at and also believe in subsequent other similar to being detected at the time
Number transient portion thereof.Time t1-t9 with the subsequent similar time be it is known because two FET moments at those times cut
Only.In other embodiments, signal 722 can be sampled continuously, to detect stationary signal portion.
In certain embodiments, the change of the orientation of stationary signal portion can be detected using two comparators.Electric current
Two zero passages of signal 742 can be detected.However, in other embodiments, it is upward that a comparator can be used in detection
The existence or non-existence of stationary signal portion for extending or extending downwardly.Two zero passages of current signal 742 remain able to use
One comparator detects.
Referring now to Figure 8, wherein, identical reference number, zero current detection mould are shown having with Fig. 1 identical elements
Block 802 can be same or similar with Fig. 1 current measurement module 144.
Zero current detection module 802 can include first comparator 808, and it is coupled to three via optional switch 804
Individual motor winding.Zero current detection module 802 can also include the second comparator 810, and it is via optional switch 806 by coupling
It is bonded to three motor windings.First comparator 808 can be coupled as receiving the ginseng equal or close to motor voltage VM
Examine voltage.Second comparator 810 can be coupled as receiving the reference voltage equal or close to ground voltage.
First comparator 808 is configurable to generate output signal 808a, and output signal 808a instructions exceed motor voltage
Selected motor winding on voltage.Second comparator 810 is configurable to generate output signal 810a, output signal 810a
Indicate the voltage on the selected motor winding less than ground voltage.Thus, in operation, first comparator 808 is operable
For positive polarity transient signal section 702b, 702c of the pwm signal that detects Fig. 7 associated with sine motor driving, 704b,
704c、702b’、702c’.Equally, in operation, the second comparator 810 can be used to detection and drive phase with sine motor
Negative polarity transient signal section 704b, 704c of Fig. 7 of association pwm signal.As described above, the edge of these signal sections can
For identifying the zero-current crossover in associated motor winding.
Zero current detection module 802 can also include multiplexer 812, and multiplexer 812 is coupled as receiving defeated
Go out signal 808a, 810a, and be configurable to generate and export the signal of one for representing to be selected in output signal 808a, 801a
812a。
Multiplexer 812, which can be coupled as receiving, comes from the control signal 146d of modulated signal generation module 146.Switch
804th, 806 can be coupled as receiving from other control signal (not shown) of modulated signal generation module 146.
Modulated signal generation module 146 can use polytype logic, to identify one or more motor windings
In zero-current crossover.For example, according to the discussed above of combination Fig. 7 and Fig. 7 A, it is defeated for PWM sine motor drive signals
Go out stationary signal portion 702b, 702c, 704b, 704c, 702b that signal 808a, 810a can be used in identifying pwm signal 642 ',
Changes of the 702c ' on direction.Substantially, multiplexer 812 is allowed hand over to check other comparators, no matter is detected when
It is made up of the specific direction of stationary signal portion.
In certain embodiments, without using switch, and only one motor winding is used to provide to comparator 808,810
Signal.In certain embodiments, using only a comparator, and multiplexer 812 is not required.When motor winding
On voltage beyond motor voltage VM and/or when less than ground voltage, can be used by modulated signal generation module 146 each
The different types of logic of kind, to be identified by the zero passage of the electric current of motor winding by using above-mentioned detection technique.
Referring now to Figure 9, curve 900 has trunnion axis, it is with the scale in units of the arbitrary unit time.Curve
900 also have vertical axis, and it is with the scale in units of arbitrary unit electric current.Curve 920 has trunnion axis, and it is carried to appoint
The meaning unit interval is the scale of unit.Curve 920 also has vertical axis, and it is with the scale in units of arbitrary unit voltage.
Signal 904 represents trapezoidal motor driving, is completely contradicted with above-mentioned sine motor drive signal.The table of signal 904
Show the trapezoidal current signal on motor winding.
It should be appreciated that voltage waveform 922 represents the reality applied to the motor winding driven for a hundred per cent motor
Border voltage.Driven for a hundred per cent motor, signal 922 realizes voltage VM (the electronic electromechanics with a hundred per cent dutycycle
Pressure), and be zero at other times.For driving (not shown) less than absolutely different trapezoidal motor, hundred
During/hundred drive signals 922 realize voltage VM period, the driving of different trapezoidal motor provides pulse width modulation
Signal, it has with the with good grounds pulse width modulation for being less than the absolutely dutycycle of motor driving.
The time of electronic electromechanical circulation can be broken down into six kinds of states, only four kinds of states 902a, 902b, 902c, 902d
It is illustrated.Signal during other two states will be apparent.Each reception in motor winding is as motor
Motor drive signal as drive signal 922, but moved in phase, and start in a different phases.
Using trapezoidal driving, the drive signal applied to motor winding is zero during first phase 902a, and
Also it is zero during 4th phase 902d.Thus, during first phase 902a and the 4th phase 902d, current signal 904 is being believed
Zero current is realized during number part 904a and during signal section 904d.Due to the inductance performance of motor winding, zero current
It will not be realized immediately at first phase 902a and the 4th phase 902d beginning.For combine Fig. 1 above-mentioned reason, when to around
The driving voltage that group applies is zero and when current attenuation is to zero, back EMF voltage through winding directly it is observed that.
For the above-mentioned reason being described more fully with reference to Fig. 5 and Fig. 5 A, during signal section 922a, on motor winding
Signal 922 realize voltage VM+Vd, and during signal section 922d, signal 922 realizes voltage-Vd.Signal section 904a,
The example method that zero current is detected during 904d is described above in association with Fig. 5 and 5A.For this purpose, signal 922
Part 922a, 922d can be used in examining using all those circuits as explained above with described by Fig. 5, Fig. 5 A and Fig. 8 and technology
Survey zero winding current.
During first phase 902a and the 4th phase 904d parts, the dotted portion particularly in voltage signal 922
During 922b, 922e, back EMF voltage be it is direct it is observed that.During part 922b, 922e of voltage signal 922, and
During part 922a, 922d, no drive signal is applied to associated motor.As described above, motor winding
Inductance performance causes electric current by motor winding, only to realize zero electricity during part 922b, 922e of drive signal 922
Stream.
In summary, it should be apparent that using trapezoidal driving and using six kinds of electric drive states, exist every
The plenty of time section that individual motor winding is not driven, for example, with occupying 1/6th (i.e. 60 of electronic electromechanical rotation jointly
Degree) signal section 922a, 922b associated period during, and with occupy jointly electronic electromechanical rotation another
During signal section 922d, 922e of 1/6th (i.e. 60 degree) the associated period, motor winding does not drive.It is logical
End (that is, signal section 922b, 922e during) of the electric current of motor winding in stationary signal portion 922a, 922d is crossed to become
It is zero.During signal section 922b, 922e, back EMF voltage be it is direct it is observed that.Thus, unlike having been described above
Sinusoidal drive, for the motor winding being continuously driven, using the trapezoidal drive arrangement of six kinds of states, without being tied to detect
Beam indicates stationary signal portion 922a, 922d of zero winding current, or in order to detect the signal section of instruction motor rotation position
Divide the zero passage during 922b, 922e and be individually created the time window during no motor driving is applied to winding.
All references cited herein is incorporated herein by reference in their entirety herein.
Preferred embodiment is described, it is used to illustrate each conception of species, structure and the skill as patented subject matter
Art, the other embodiment for combining these concepts, structure and technology can be used for the present change of those of ordinary skill in the art
Obtain obviously.Accordingly, it is to be understood that the scope of this patent should not be limited by described embodiment, but should be only
Limited by the spirit and scope of claims below.
Claims (28)
1. a kind of method for driving the multiphase motor with multiple motor windings, methods described include：
Zero current signal is generated, the zero current signal instruction passes through at least one electric current in the multiple motor winding
Zero passage；
Position reference is generated, the position reference indicates the reference position of the angle rotation of the motor；
Compare the phase of the zero current signal and the phase of the position reference, to generate comparison of signal phase；
Multiple modulated signals are generated, each modulated signal has the phase related to the value of the comparison of signal phase；And
Multiple motor drive signals of the multiple motor winding are generated to according to the multiple modulated signal, wherein,
Generating the multiple modulated signal includes：
Look-up table is provided, described look into is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
Look in table；
The first continuous saw tooth ramp signal is generated, the first continuous saw tooth ramp signal has minimum value and maximum and institute
State multiple values between minimum value and the maximum；
The value related to the comparison of signal phase is added to the described first continuous saw tooth ramp signal, is continuously sawed with generation second
Tooth ramp signal, the second continuous saw tooth ramp signal have the minimum value and the maximum and the minimum value and
The multiple value between the maximum, wherein, the minimum value of the second continuous saw tooth ramp signal and it is described most
Big value offsets an adjustment time in time with the minimum value of the described first continuous saw tooth ramp signal and the maximum,
Wherein, the adjustment time is related to the comparison of signal phase；
The value in the look-up table is sequentially searched using adjusted continuous saw tooth ramp signal, it is the multiple to generate
It is described at least one in modulated signal；And
Generation and at least one at least one other modulation with predetermined phase relation in the multiple modulated signal
Signal.
2. according to the method for claim 1, wherein, generating the position reference includes：
Hall sensor signal is generated using the Hall sensor for being set close to the motor.
3. according to the method for claim 1, wherein, generating the position reference includes：
Back-EMF signal is generated using at least one back-EMF module being coupled in the multiple motor winding.
4. according to the method for claim 1, wherein, generating the position reference includes：
Stop during the time window close to the electrical motors to the reference position into the multiple motor winding
At least one motor drive signal；And
The reference position during the time window is detected by the zero passage of back-EMF signal.
5. according to the method for claim 1, wherein, generating the zero current signal includes：
The multiple motor drive signal is generated using the corresponding multiple half-bridge circuits for being coupled to the motor, often
Individual half-bridge circuit includes：
The first transistor and second transistor of corresponding series coupled；
For receiving the corresponding power supply high voltage node of high power supply voltage；
For receiving the corresponding power supply lower voltage node of low supply voltage；And
Corresponding output node, it is corresponding in the multiple motor drive signal of generation at corresponding output node
One；
Detect through at least one the first transistor in the multiple half-bridge circuit or the second transistor
At least one reverse current, wherein, the detection includes at least one of the following：
Detect the voltage higher than the high power supply voltage at the output node；Or
Detect the voltage less than the low supply voltage at the output node；And
Zero current signal is generated according to the reverse current is detected, the zero current signal instruction passes through the multiple motor
The zero passage of at least one electric current in winding.
6. according to the method for claim 5, wherein, detecting the reverse current includes：
At on the time only when the first transistor and the second transistor all end to the output node
Voltage is sampled to detect the reverse current.
7. according to the method for claim 5, wherein, each in the multiple motor drive signal includes：
Corresponding multiple pulse width modulating signals, each in the multiple pulse width signal have high state, the height
State includes the stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and described more
Each of individual pulse width signal also has a low state, the low state include close to the low supply voltage stable state low value and
Less than the transient low values of the low supply voltage.
8. a kind of electronic circuit for being used to drive the multiphase motor with multiple motor windings, the electronic circuit include：
Current measurement module, it is configurable to generate zero current signal, and the zero current signal instruction passes through the multiple electronic
The zero passage of at least one electric current in machine winding；
Position measuring module, it is configurable to generate position reference, and the position reference indicates the motor
The reference position of angle rotation；
Modulated signal generation module, it is configured as the phase of zero current signal described in comparison and the phase of the position reference
Position, to generate comparison of signal phase, and is configurable to generate multiple modulated signals, and each modulated signal has and the phase ratio
The phase related compared with the value of signal；And
Drive circuit, it is configured as multiple electricity that the multiple motor winding is generated to according to the multiple modulated signal
Motivation drive signal, wherein, the modulated signal generation module includes：
Look-up table, the look-up table is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
In；
Saw-toothed wave generator, it is configurable to generate the first continuous saw tooth ramp signal, the first continuous saw tooth ramp signal
With multiple values between minimum value and maximum and the minimum value and the maximum；
Regularly/phase error detector, it is coupled as receiving the signal for representing the zero current signal, is coupled as reception table
Show the signal of the position reference, and be configurable to generate the signal for representing the comparison of signal phase；And
Summation module, it is configured as related to the comparison of signal phase to the described first continuous saw tooth ramp signal addition
Value, to generate the second continuous saw tooth ramp signal, the second continuous saw tooth ramp signal have the minimum value and it is described most
Big value and multiple values between the minimum value and the maximum, wherein, the institute of the second continuous saw tooth ramp signal
State minimum value and the maximum and the described first continuous saw tooth ramp signal the minimum value and the maximum in the time
One adjustment time of upper skew, wherein, the adjustment time is related to the comparison of signal phase, wherein, adjusted continuous saw
Tooth ramp signal is used to sequentially search value in the look-up table, with described in generating in the multiple modulated signal at least one
It is individual, and be additionally operable to generation with the multiple modulated signal it is described it is at least one have predetermined phase relation it is at least one
Other modulated signals.
9. electronic circuit according to claim 8, wherein, the position measuring module is additionally configured to according to hall signal
To generate the position signalling, the hall signal is generated by the Hall sensor for being set close to the motor.
10. electronic circuit according to claim 8, wherein, the position measuring module is additionally configured to according to motor
Position signalling described in the back-EMF signal generation generated in winding.
11. electronic circuit according to claim 8, wherein, generating the position reference includes：
Stop during the time window close to the electrical motors to the reference position into the multiple motor winding
At least one motor drive signal；And
The reference position during the time window is detected by the zero passage of back-EMF signal.
12. electronic circuit according to claim 8, in addition to：
Multiple half-bridge circuits, it is coupled to the motor and is configurable to generate the multiple motor drive signal,
Each half-bridge circuit includes：
The first transistor and second transistor of corresponding series coupled；
For receiving the corresponding power supply high voltage node of high power supply voltage；
For receiving the corresponding power supply lower voltage node of low supply voltage；And
Corresponding output node, corresponding one in the multiple motor drive signal of generation at corresponding output node
It is individual；
At least one comparator, its be configured as by detect it is following at least one of it is corresponding at least one to generate
Comparator output signal, comparator output signal instruction pass through at least one described the in the multiple half-bridge circuit
At least one reverse current in one transistor or second transistor：
The voltage higher than the high power supply voltage at the output node；Or
The voltage less than the low supply voltage at the output node；And
Processor, it is configured as generating the zero current signal according at least one comparator output signal, and described zero
Current signal indicates the zero passage by least one electric current in the multiple motor winding.
13. electronic circuit according to claim 12, wherein, the detection includes：
By to the voltage at the output node on time only when the first transistor and second transistor all end
Sampled to detect the reverse current.
14. electronic circuit according to claim 12, each in the multiple motor drive signal includes：
Corresponding multiple pulse width modulating signals, each in multiple pulse width signals have high state, the high state bag
Include the stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and the multiple arteries and veins
Each rushed in width signal also has a low state, and the low state is included close to the stable state low value of the low supply voltage and low
In the transient low values of the low supply voltage.
15. a kind of method for driving the multiphase motor with multiple motor windings, methods described include：
Motor drive signal is generated using the half-bridge circuit for being coupled to the motor, the half-bridge circuit includes：
The first transistor and second transistor of series coupled；
Power supply high voltage node, it is used to receive high power supply voltage；
The low power supply node of power supply, it is used to receive low supply voltage；And
Output node, the motor drive signal is generated at the output node；
Detect through at least one reverse current in the first transistor or the second transistor, wherein, the inspection
Survey includes at least one in the following：
Detect the voltage higher than the high power supply voltage at output node；Or
The voltage less than the low supply voltage at output node is detected,
Wherein methods described also includes：
Zero current signal is generated according to the reverse current is detected, the zero current signal instruction passes through the multiple motor
The zero passage of at least one electric current in winding；
Position reference is generated, the position reference indicates the reference position of the angle rotation of the motor；
Compare the phase of the zero current signal and the phase of the position reference, to generate comparison of signal phase；
Multiple modulated signals are generated, each modulated signal has the phase related to the value of the comparison of signal phase；And
Multiple motor drive signals of the multiple motor winding are generated to according to the multiple modulated signal, wherein,
Generating the multiple modulated signal includes：
Look-up table is provided, described look into is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
Look in table；
The first continuous saw tooth ramp signal is generated, the first continuous saw tooth ramp signal has minimum value and maximum and institute
State multiple values between minimum value and the maximum；
The value related to the comparison of signal phase is added to the described first continuous saw tooth ramp signal, is continuously sawed with generation second
Tooth ramp signal, the second continuous saw tooth ramp signal have the minimum value and the maximum and the minimum value and
The multiple value between the maximum, wherein, the minimum value of the second continuous saw tooth ramp signal and it is described most
Big value offsets an adjustment time in time with the minimum value of the described first continuous saw tooth ramp signal and the maximum,
Wherein, the adjustment time is related to the comparison of signal phase.
16. according to the method for claim 15, wherein, detecting the reverse current includes：
At on the time only when the first transistor and the second transistor all end to the output node
Voltage is sampled to detect the reverse current.
17. according to the method for claim 15, wherein, the motor drive signal includes：
Multiple pulse width modulating signals, each in the multiple pulse width signal have high state, and the high state includes
Stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and the multiple pulse
Each in width signal also has low state, and the low state is including the stable state low value close to the low supply voltage and is less than
The transient low values of the low supply voltage.
18. according to the method for claim 15, wherein, generating the position reference includes：
Hall sensor signal is generated using the Hall sensor for being set close to the motor.
19. according to the method for claim 15, wherein, generating the position reference includes：
Back-EMF signal is generated using at least one back-EMF module being coupled in the multiple motor winding.
20. according to the method for claim 15, wherein, generating the position reference includes：
Stop during the time window close to the electrical motors to the reference position into the multiple motor winding
At least one motor drive signal；And
The reference position during the time window is detected by the zero passage of back-EMF signal.
21. according to the method for claim 15, wherein, generating the multiple modulated signal also includes：
The value in the look-up table is sequentially searched using adjusted continuous saw tooth ramp signal, to generate the multiple tune
It is described at least one in signal processed；And
Generation and at least one at least one other modulation with predetermined phase relation in the multiple modulated signal
Signal, each modulated signal correlation corresponding with the multiple pulse width modulation (PWM) signal.
22. a kind of electronic circuit for being used to drive the multiphase motor with multiple motor windings, the electronic circuit include：
For generating the half-bridge circuit of motor drive signal, it is coupled to the motor, and the half-bridge circuit includes：
The first transistor and second transistor of series coupled；
Power supply high voltage node, it is used to receive high power supply voltage；
Power supply lower voltage node, it is used to receive low supply voltage；And
Output node, the motor drive signal is generated at the output node；
At least one comparator, its be configured as by detect it is following at least one of it is corresponding at least one to generate
Comparator output signal, the comparator output signal are indicated through at least one in the first transistor or second transistor
Individual reverse current：
The voltage higher than the high power supply voltage at the output node；Or
The voltage less than the low supply voltage at the output node,
Wherein, the electronic circuit also includes：
Processor, it is configured as generating zero current signal, zero electricity according at least one comparator output signal
Flow zero passage of the signal designation by least one electric current in the multiple motor winding；
Position measuring module, it is configurable to generate position reference, and the position reference indicates the motor
The reference position of angle rotation；And
Modulated signal generation module, it is configured as the phase of zero current signal described in comparison and the phase of the position reference
Position, to generate comparison of signal phase, and is configurable to generate multiple modulated signals, and each modulated signal has and the phase
The related phase of the value of comparison signal, wherein, the modulated signal generation module includes：
Look-up table, the look-up table is stored in corresponding to the modulation value of at least one shape in the multiple modulated signal
In；
Saw-toothed wave generator, it is configurable to generate the first continuous saw tooth ramp signal, the first continuous saw tooth ramp signal
With multiple values between minimum value and maximum and the minimum value and the maximum；
Regularly/phase error detector, it is coupled as receiving the signal for representing the zero current signal, is coupled as reception table
Show the signal of the position reference, and be configurable to generate the signal for representing the comparison of signal phase；And
Summation module, it is configured as related to the comparison of signal phase to the described first continuous saw tooth ramp signal addition
Value, to generate the second continuous saw tooth ramp signal, the second continuous saw tooth ramp signal have the minimum value and it is described most
Big value and the multiple value between the minimum value and the maximum, wherein, the second continuous saw tooth ramp signal
The minimum value and the minimum value of the maximum and the described first continuous saw tooth ramp signal and the maximum exist
An adjustment time is offset on time, wherein, the adjustment time is related to the comparison of signal phase.
23. electronic circuit according to claim 22, wherein, the detection includes：
By on the time only when the first transistor and the second transistor all end on the output node
Voltage is sampled to detect the reverse current.
24. electronic circuit according to claim 22, wherein, the motor drive signal includes：
Multiple pulse width modulating signals, each in the multiple pulse width signal have high state, and the high state includes
Stable state high level close to the high power supply voltage and the transient state high level higher than the high power supply voltage, and the multiple pulse
Each in width signal also has low state, and the low state is including the stable state low value close to the low supply voltage and is less than
The transient low values of the low supply voltage.
25. electronic circuit according to claim 22, wherein, the position measuring module is additionally configured to be believed according to Hall
Number generate the position signalling, the hall signal generates by the Hall sensor for being set close to the motor.
26. electronic circuit according to claim 22, wherein, the position measuring module is additionally configured to according to motor
The back-EMF signal that is generated in winding generates the position signalling.
27. electronic circuit according to claim 22, wherein, the electronic circuit is configured as close to the motor
Stop during reaching the time window of the reference position at least one motor in the multiple motor winding
Drive signal, and wherein, the position measuring module is configurable to generate the position reference, the reference by location letter
The reference position during number instruction time window.
28. electronic circuit according to claim 22, wherein, adjusted continuous saw tooth ramp signal is used to sequentially look into
The value looked in the look-up table, it is described at least one in the multiple modulated signal to generate, and it is additionally operable to generation and institute
At least one at least one other modulated signal with predetermined phase relation in multiple modulated signals is stated, each modulation
A signal correlation corresponding with the multiple pulse width modulation (PWM) signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710841680.3A CN107565857B (en) | 2012-08-30 | 2013-08-13 | Electronic circuit and method for driving a polyphase electric motor having a plurality of motor windings |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/599,225 US8917043B2 (en) | 2012-08-30 | 2012-08-30 | Electronic circuit and method for automatically adjusting a phase of a drive signal applied to an electric motor in accordance with a zero current detected in a winding of the electric motor |
| US13/599,225 | 2012-08-30 | ||
| US13/599,234 | 2012-08-30 | ||
| US13/599,234 US8917044B2 (en) | 2012-08-30 | 2012-08-30 | Electronic circuit and method for detecting a zero current in a winding of an electric motor |
| PCT/US2013/054639 WO2014035658A2 (en) | 2012-08-30 | 2013-08-13 | Electronic circuit and method for automatically adjusting a phase of a drive signal applied to an electric motor in accordance with a zero current detected in a winding of the electric motor and for detecting the zero current |
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| CN201710841680.3A Active CN107565857B (en) | 2012-08-30 | 2013-08-13 | Electronic circuit and method for driving a polyphase electric motor having a plurality of motor windings |
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| JP (1) | JP6429777B2 (en) |
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| TWI563791B (en) * | 2015-11-17 | 2016-12-21 | En Technologies Corp | System and way for no sensor three-phase motor |
| KR102520720B1 (en) * | 2015-11-30 | 2023-05-02 | 삼성전자주식회사 | Device and control method for driving sensorless bldc motor |
| US10312847B2 (en) | 2016-05-09 | 2019-06-04 | Allegro Microsystems, Llc | Motor control using phase current and phase voltage |
| CN111149151B (en) * | 2017-09-27 | 2023-08-01 | 本田技研工业株式会社 | Active vibration noise control device |
| US11362605B2 (en) | 2020-01-29 | 2022-06-14 | Semiconductor Components Industries, Llc | Drive methods for a three-phase motor |
| TWI775538B (en) | 2021-07-21 | 2022-08-21 | 茂達電子股份有限公司 | Motor controlling circuit having voltage detection mechanism |
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Also Published As
| Publication number | Publication date |
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| CN104756395A (en) | 2015-07-01 |
| WO2014035658A3 (en) | 2015-03-26 |
| KR20200010600A (en) | 2020-01-30 |
| CN107565857B (en) | 2020-12-01 |
| TW201429149A (en) | 2014-07-16 |
| JP6429777B2 (en) | 2018-11-28 |
| WO2014035658A2 (en) | 2014-03-06 |
| KR102159616B1 (en) | 2020-09-24 |
| CN107565857A (en) | 2018-01-09 |
| JP2015527050A (en) | 2015-09-10 |
| KR20150048845A (en) | 2015-05-07 |
| KR102139948B1 (en) | 2020-07-31 |
| TWI500253B (en) | 2015-09-11 |
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