CN112187121A - Motor drive control device and motor drive control method - Google Patents
Motor drive control device and motor drive control method Download PDFInfo
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- CN112187121A CN112187121A CN202010171229.7A CN202010171229A CN112187121A CN 112187121 A CN112187121 A CN 112187121A CN 202010171229 A CN202010171229 A CN 202010171229A CN 112187121 A CN112187121 A CN 112187121A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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Abstract
本发明提供一种电机的驱动控制装置以及电机的驱动控制方法，其能将电机的实际转速变换为任意倍数的旋转脉冲信号后进行输出。驱动控制装置(1)具备：位置检测传感器(50)，其检测转子的位置并输出霍尔信号(Sh)；以及转速变换用微机(40)，其根据基于霍尔信号(Sh)的通电切换定时信号(St)，使用1个定时器输出相对于电机(10)的实际转速为任意倍数的转速输出信号。转速变换用微机(40)检测通电切换定时信号(St)的高电平与低电平的切换，从给定次数后的切换边沿起，使用定时器测量通电切换定时信号(St)的高电平或者低电平的期间，根据该测量结果计算切换调整期间，并将切换调整期间设定至定时器。
The present invention provides a drive control device for a motor and a drive control method for the motor, which can convert the actual rotational speed of the motor into a rotation pulse signal of any multiple before outputting. A drive control device (1) includes: a position detection sensor (50) that detects the position of the rotor and outputs a Hall signal (Sh); and a rotational speed conversion microcomputer (40) that switches according to energization based on the Hall signal (Sh) The timing signal (St) uses a timer to output a rotational speed output signal that is an arbitrary multiple of the actual rotational speed of the motor (10). The microcomputer (40) for rotation speed conversion detects the switching between the high level and the low level of the power-on switching timing signal (St), and uses a timer to measure the high level of the power-on switching timing signal (St) from the switching edge after a given number of times. During the period of flat or low level, the switching adjustment period is calculated from the measurement result, and the switching adjustment period is set to the timer.
Description
Technical Field
The present invention relates to a motor drive control device and a motor drive control method.
Background
In a typical system using a motor, a rotation pulse signal indicating an actual rotation speed of the motor is output to the system. However, depending on the system, it is sometimes necessary to output a given rotation pulse signal that is not a rotation pulse signal indicating the actual rotation speed of the motor.
To meet such a need, patent document 1 discloses a motor drive control device and a motor drive control method that can multiply a rotation pulse signal by n (n is a natural number equal to or greater than 2) and output the rotation pulse signal.
(prior art documents)
(patent document)
Patent document 1: japanese patent laid-open publication No. 2016 + 100980.
Disclosure of Invention
(problems to be solved by the invention)
In the system of patent document 1, only a rotation pulse signal of n (integer) times the actual rotation speed of the motor can be output, and a rotation pulse signal of an arbitrary multiple cannot be output.
Therefore, an object of the present invention is to provide a motor drive control device and a motor drive control method that can convert an actual rotational speed of a motor into a rotational pulse signal of an arbitrary multiple and output the rotational pulse signal.
(means for solving the problems)
A drive control device for a motor includes: a position detection unit that detects a position of the rotor and outputs a position detection signal; and a rotation speed conversion microcomputer for outputting a rotation speed output signal of an arbitrary multiple of the actual rotation speed of the motor by using 1 timer according to the energization switching timing signal based on the position detection signal.
Preferably, the rotation speed conversion microcomputer is configured to: the switching between the high level and the low level of the energization switching timing signal is detected, a period (Δ T1, Δ T2) of the high level or the low level of the energization switching timing signal is measured using the timer from a switching edge after a given number of times, a switching adjustment period (Δ T1a, Δ T2a) is calculated from the period (Δ T1, Δ T2) of the high level or the low level of the energization switching timing signal, and the switching adjustment period (Δ T1a, Δ T2a) is set to the timer.
Preferably, the switching adjustment period (Δ T1a, Δ T2a) is calculated based on an output coefficient Sc of the revolution speed output signal, the switching edge after the predetermined number of times is calculated based on a measurement timing count ISC of the energization switching timing signal, the output coefficient Sc of the revolution speed output signal is determined based on the revolution speed of the revolution speed output signal and the number of times NT of energization switching required to switch the energization switching timing signal once, and the measurement timing count ISC is determined based on the revolution speed of the revolution speed output signal, the output coefficient Sc of the revolution speed output signal, an output coefficient PS of the previous revolution speed output signal, and the number of times NT of energization switching required to switch the energization switching timing signal once.
Preferably, the rotation speed output signal is generated by adding a given high level or low level period (Δ T1, Δ T2) of the energization switching timing signal to the switching adjustment period (Δ T1a, Δ T2 a).
Preferably, the rotation speed conversion microcomputer includes: an input signal detection unit that detects switching between a high level and a low level of the energization switching timing signal, and measures a period (Δ T1, Δ T2) of the high level or the low level of the energization switching timing signal using the timer from a switching edge after a predetermined number of times; an output signal calculation unit that calculates an output timing of the rotational speed output signal based on the energization switching timing signal; and an output signal generation unit that outputs the rotational speed output signal using the timer, based on the calculated output timing.
Preferably, the energization switching timing signal is a signal based on a hall signal of the hall element in a case where the position detection unit is the hall element, and the energization switching timing signal is a hall signal of the hall IC in a case where the position detection unit is the hall IC.
In a motor drive control method, a position detection means detects a position of a rotor and outputs a position detection signal, and a rotational speed conversion microcomputer outputs a rotational speed output signal having an arbitrary multiple of an actual rotational speed of a motor by using 1 timer in accordance with an energization switching timing signal based on the position detection signal.
(effect of the invention)
In the motor drive control device and the motor drive control method according to the present invention, the rotation pulse signal can be converted into a rotation pulse signal of an arbitrary multiple number and output, with a simple configuration using only 1 timer, and without being limited to an integral multiple of the actual rotation speed of the motor.
Drawings
Fig. 1 is a schematic configuration diagram of a motor drive control device according to an embodiment of the present invention.
Fig. 2 is an example of a timing chart of input/output signals of the microcomputer for rotating speed conversion according to the embodiment of the present invention.
Fig. 3 is a main flowchart of a process performed by the rotation speed conversion microcomputer according to the embodiment of the present invention.
Fig. 4 is a flowchart of the timing calculation of the input/output signal.
Fig. 5 is another example of a timing chart of input/output signals of the rotation speed conversion microcomputer according to the embodiment of the present invention.
Detailed Description
Fig. 1 is a schematic configuration diagram of a motor drive control device 1 according to an embodiment of the present invention.
The drive control device 1 for the motor 10 includes a motor drive unit 20, a motor control unit 30, a rotation speed conversion microcomputer 40, and a position detection sensor (an example of position detection means) 50.
The motor 10 outputs a rotation pulse signal of 2 pulses per revolution (the number of pulses per revolution PL of table 1 is 2) at the time of operation, and the rotation pulse signal is, for example, 11000 revolutions per minute (the actual rotation speed of the motor 10). The drive control device 1 controls the drive of the motor 10 in response to a command from a system not shown.
The motor control unit 30 supplies a motor drive control signal Sp to the motor drive unit 20, and the motor drive unit 20 drives the motor 10 to rotate by applying a current based on the motor drive control signal Sp and detects the position of the rotor by the position detection sensor 50.
The position detection sensor 50 can be any sensor such as a hall element or a hall IC. When the position detection sensor 50 is a hall element, the hall signal Sh is input to the position calculation circuit 21 in the motor drive unit 20, and the position calculation circuit 21 outputs the position detection signal Sr. In the present embodiment, the position detection signal Sr is a signal based on the hall signal Sh.
The motor control unit 30 supplies the energization switching timing signal St to the rotation speed conversion microcomputer 40 based on the position detection signal Sr.
Although not shown, the rotation speed conversion microcomputer 40 includes a CPU, a memory, and 1 timer as hardware components.
The CPU converts the actual rotational speed of the motor into a rotational speed output signal (hereinafter also referred to as an FG output signal) 9/11 times the actual rotational speed by executing a program stored in the memory.
The timer is, for example, a 16-bit register, and measures an elapsed time. In the case of the incremental method, the timer increases its value with the passage of time and changes its value from 0 to (2)16Overflow interruption occurs at-1). Thus, the timer notifies the CPU that the given time has elapsed.
The rotation speed conversion microcomputer 40 includes an input signal detection means 41, an output signal calculation means 42, and an output signal generation means 43.
The input signal detection unit 41 detects switching of the high level and the low level of the energization switching timing signal St, and measures a period of the high level or the low level of the energization switching timing signal St from a switching edge after a given number of times using a timer.
The output signal arithmetic unit 42 calculates the output timing of the rotation speed output signal (FG output signal) from the energization switching timing signal St.
The output signal generation unit 43 outputs a rotation speed output signal (FG output signal) using a timer according to the calculated output timing.
Fig. 2 is an example of a timing chart of input/output signals of the rotation speed conversion microcomputer 40 according to the embodiment of the present invention.
The timing diagram shows: an FG output signal (reference) based on the actual rotation speed, an energization switching timing signal St (input signal) input to the rotation speed conversion microcomputer 40, and a rotation speed output signal (FG output signal) output from the rotation speed conversion microcomputer 40.
In the present embodiment, the following is considered as a specific example: the microcomputer 40 for converting the rotational speed converts the actual rotational speed of the motor of 11000 rpm into an FG output signal of 9000 rpm.
When the energization switching timing signal St is switched (toggle)2 times (the number of times is based on a measurement timing count ISC described later) from time T1, the input signal detection unit 41 interrupts at time T2, and measures a period Δ T1 of the low level of the energization switching timing signal St using a timer (Δ T1 is 3).
The output signal arithmetic unit 42 calculates the first switching adjustment period Δ T1a (Δ T1a — 2) from the low period Δ T1 of the energization switching timing signal St using a predetermined calculation formula described later.
At time T3, the output signal generation unit 43 sets the first switching adjustment period Δ T1a to 2 in the timer, and switches and outputs the FG output signal when the overflow interrupt of this time arrives (time T4).
After time T3, when the energization switching timing signal St is switched 3 times (the number of times of switching is based on a measurement timing count ISC described later), the input signal detection unit 41 interrupts at time T5, and measures a period Δ T2 of the low level of the energization switching timing signal St using a timer (Δ T2 equals 3).
The output signal arithmetic unit 42 calculates the second switching adjustment period Δ T2a (Δ T2a is equal to 1) from the period Δ T2 of the low level of the energization switching timing signal St, using a predetermined calculation formula described later.
At time T6, the output signal generation unit 43 sets the second switching adjustment period Δ T2a to 1 in the timer, and switches and outputs the FG output signal when the overflow interrupt of this time comes (time T7).
After the time t6, when the input signal detecting unit 41 detects that the energization switching timing signal St has been switched 4 times (the number of times of switching is based on a timing count ISFGC described later), the output signal generating unit 43 switches and outputs the FG output signal (time t 8).
In fig. 2, an upward arrow shows a cycle calculation start timing of the FG output signal.
The sum of the first switching adjustment period (Δ T1a ═ 2) and the second switching adjustment period (Δ T2a ═ 1) is the switching adjustment period, and the period (3 × 3 ═ 9) of the energization switching timing signal St at the predetermined high level and the low level is added to the switching adjustment period (Δ T1a + Δ T2a ═ 3), whereby the actual rotational speed of the motor at 11000 rpm can be converted into an FG output signal (rotational speed output signal) at 9000 rpm.
Thus, in the present embodiment, since the input signal detection means 41 and the output signal generation means 43 can share 1 timer, it is possible to generate an FG output signal of any multiple such as 9/11 by a simple configuration using only 1 timer and not limited to an integral multiple of the actual rotational speed of the motor.
Fig. 3 is a main flowchart of a process performed by the rotation speed conversion microcomputer 40 according to the embodiment of the present invention.
In step S1, initialization is performed. The initialization includes, for example:
initialization of a measurement timing count (ISC) of an input signal (energization switching timing signal St) (ISC 0);
initializing an output coefficient (Sc) of the FG output signal (Sc ═ 0);
initialization of a timing count (ISFGC) for outputting an FG output signal in synchronization with an input signal (energization switching timing signal St) (ISFGC is 0);
initialization of the output coefficient (PS) of the previous FG output signal (PS ═ 0);
calculating the number N of energization switching times per revolution (N: P/2 × 6: 12) based on the current pole number (P ═ 4 poles); and
the energization switching count NT (NT ═ N/(PL × 2) ═ 3) required to switch the input signal (energization switching timing signal St) once is calculated.
The variables are summarized in table 1.
(Table 1)
In step S2, the interrupt is validated.
In step S3, the timing of inputting and outputting the signal is calculated.
Fig. 4 is a flowchart for calculating the timing of the input/output signal, and a method for converting the rotational speed will be described with reference to fig. 4 and 2.
(treatment 1 st time)
In step S31, an output coefficient Sc of the FG output signal is obtained. Specifically, the output coefficient Sc is (11+ 0)% 3 is 2.
In step S32, it is determined whether or not the output coefficient of the FG output signal is Sc equal to 0. In the 1 st processing, the output coefficient Sc of the FG output signal is not zero (no), and therefore, the process proceeds to step S33.
In step S33, a measurement timing count ISC of the input signal (hereinafter referred to as the energization switching timing signal St) is obtained. Specifically, the measurement timing count ISC is (11-2 + 0)/3-1 is 2.
As shown in fig. 2, the measurement timing count ISC ═ 2 denotes: the count is started from the time T1, and the period Δ T1 of the low level of the energization switching timing signal St is measured from the 2 nd edge (time T2) of the energization switching timing signal St. That is, as described above, from the time t1, the input signal detection unit 41 interrupts at the time t2 when the energization switching timing signal St has been switched 2 times based on the measurement timing count ISC being 2.
In addition, the output coefficient Sc of the FG output signal is 2: the first switching adjustment period is set to Δ T1a equal to 2, and the FG output signal is switched at time T4.
In step S34, for the next calculation, the output coefficient Sc of the current FG output signal is stored as 2 as the output coefficient PS of the previous FG output signal, and the 1 st processing is ended.
(treatment 2 nd)
In step S31, an output coefficient Sc of the FG output signal is obtained. Specifically, the output coefficient Sc is (11+ 2)% 3 is 1.
In step S32, similarly to step 1, since the output coefficient Sc is not zero (no), the process proceeds to step S33.
In step S33, the measurement timing count ISC of the energization switching timing signal St is obtained. Specifically, the measurement timing count ISC is (11-1 + 2)/3-1 is 3.
As shown in fig. 2, the measurement timing count ISC — 3 indicates: the count is counted from time T3, and the low period Δ T2 of the energization switching timing signal St is measured from the 3 rd edge (time T5) of the energization switching timing signal St.
In addition, the output coefficient Sc of the FG output signal is 1: the second switching adjustment period Δ T2a is set to 1, and the FG output signal is switched at time T7.
In step S34, for the next calculation, the output coefficient Sc of the current FG output signal is stored as 1 as the output coefficient PS of the previous FG output signal, and the 2 nd processing is ended.
(treatment 3 rd time)
In step S31, an output coefficient Sc of the FG output signal is obtained. Specifically, the output coefficient Sc is (11+ 1)% 3 is 0.
In step S32, since the output coefficient Sc of the FG output signal is zero (yes), the process proceeds to step S35.
In step S35, the measurement timing count ISC of the energization switching timing signal St is set to 0, and the timing count ISFGC, which outputs the FG output signal in synchronization with the energization switching timing signal St, is set to 3+1 to 4.
As shown in fig. 2, the timing count ISFGC ═ 4 indicates: the count is performed from time t6, and the FG output signal is switched at the 4 th edge of the energization switching timing signal St (time t 8).
In step S34, for the next calculation, the output coefficient Sc of the current FG output signal is stored as 0 as the output coefficient PS of the previous FG output signal, and the 3 rd processing is ended.
The present invention is not limited to the above embodiments, and various modifications can be made.
For example, the position detection means may be a sensorless system having no position detection sensor. In this case, a signal capable of detecting a coil voltage (counter electromotive voltage) of the motor and based on the counter electromotive voltage is used instead of the energization switching timing signal St. Further, an encoder may be used instead of the hall sensor.
In the present embodiment, the position detection sensor 50 is a hall element, but may be a hall IC, and in this case, a hall signal may be directly input to the rotation speed conversion microcomputer as an energization switching timing signal, and a rotation speed output signal may be generated based on the input hall signal.
In the present embodiment, the motor control unit 30 and the rotation speed conversion microcomputer 40 are described as separate components, but when the motor control unit 30 has an unused timer, the same processing (processing for generating an FG output signal of an arbitrary multiple) can be performed in the motor control unit 30 without externally configuring the rotation speed conversion microcomputer 40.
In the present embodiment, after the time T3, when the energization switching timing signal St is switched 3 times, the low period Δ T2 of the energization switching timing signal St is measured by a timer, and the second switching adjustment period Δ T2a is set to the timer at the time T6. That is, in fig. 2, a period Δ T2 during which the energization switching timing signal St is low is measured immediately before "N" of the second switching adjustment period Δ T2a is reached. However, the low period Δ T2 of the energization switching timing signal St may be measured during the period of "L" or "M".
The motor 10 can have any number of poles and phases.
The present invention is not limited to the case where the actual rotation speed of the motor of 11000 rpm is converted to the FG output signal (rotation speed output signal) of 9000 rpm, and the actual rotation speed of the motor may be converted to an arbitrary multiple. Next, referring to fig. 4 and 5, a case where the actual rotation speed of the motor of 10000 rpm is converted into an FG output signal of 9000 rpm will be discussed.
In the case of the present conversion processing, in fig. 4, "11" in steps S31 and S33 is read as "10" instead.
In the 1 st processing, the output coefficient Sc is determined to be 1 in step S31, and the measurement timing count ISC is determined to be 2 in step S33.
In the 2 nd processing, the output coefficient Sc is determined to be 2 in step S31, and the measurement timing count ISC is determined to be 2 in step S33.
In the 3 rd processing, the output coefficient Sc is determined to be 0 in step S31, and the timing count ISFGC is determined to be 4 in step S35.
Fig. 5 is another example of a timing chart of input/output signals of the rotation speed conversion microcomputer 40 according to the embodiment of the present invention.
From time T1, the input signal detection unit 41, based on the measurement timing count ISC (ISC ═ 2) of the energization switching timing signal St of the 1 St processing, generates an interrupt at time T2 when the input signal (hereinafter, referred to as energization switching timing signal St) has been switched 2 times, and measures the low period Δ T1 of the energization switching timing signal St using a timer (Δ T1 ═ 3).
The output signal arithmetic unit 42 calculates a first switching adjustment period Δ T1a (Δ T1a equal to 1) from the low period Δ T1 of the energization switching timing signal St based on the output coefficient Sc (Sc equal to 1) of the FG output signal of the 1 St processing.
At time T3, the output signal generation unit 43 sets the first switching adjustment period Δ T1a to 1 in the timer, and when an overflow interrupt of this time arrives, switches and outputs the FG output signal (time T4).
After time T3, the input signal detection unit 41 measures a period Δ T2 of the low level of the energization switching timing signal St using a timer (Δ T2 — 3) after the energization switching timing signal St is interrupted at time T5 when the energization switching timing signal St is switched 2 times based on the measurement timing count ISC (ISC — 2) of the energization switching timing signal St in the 2 nd processing.
The output signal arithmetic unit 42 calculates a second switching adjustment period Δ T2a (Δ T2a is 2) from the low period Δ T2 of the energization switching timing signal St based on the output coefficient Sc (Sc is 2) of the FG output signal of the 2 nd processing.
At time T6, the output signal generation unit 43 sets the second switching adjustment period Δ T2a to 2 in the timer, and when an overflow interruption of this time comes, switches and outputs the FG output signal (time T7).
After the time t6, when the input signal detecting unit 41 detects that the energization switching timing signal St has been switched 4 times based on the timing count ISFGC (ISFGC is 4), the output signal generating unit 43 switches and outputs the FG output signal (time t 8).
(description of reference numerals)
The motor driving device comprises a 1a … driving control device, a 10 … motor, a 20 … motor driving part, a 21 … position calculating circuit, a 30 … motor control part, a 40 … rotating speed conversion microcomputer, a 41 … input signal detection unit, a 42 … output signal operation unit, a 43 … output signal generation unit, an Sp … motor driving control signal, an Sr … position detection signal, an Sh … Hall signal and an St … electrifying switching timing signal.
Claims (7)
1. A drive control device for a motor is characterized by comprising:
a position detection unit that detects a position of the rotor and outputs a position detection signal;
and a rotation speed conversion microcomputer for outputting a rotation speed output signal having an arbitrary multiple of the actual rotation speed of the motor by using 1 timer, based on the energization switching timing signal based on the position detection signal.
2. The drive control device of an electric motor according to claim 1,
the speed change microcomputer is configured to:
detecting a switching between a high level and a low level of the energization switching timing signal, measuring a period (Δ T1, Δ T2) of the high level or the low level of the energization switching timing signal using the timer from a switching edge after a given number of times,
calculating switching adjustment periods (DeltaT 1a, DeltaT 2a) from periods (DeltaT 1, DeltaT 2) of high level or low level of the energization switching timing signal,
and setting the switching adjustment period (Δ T1a, Δ T2a) to the timer.
3. The drive control device of an electric motor according to claim 2,
the switching adjustment period (Δ T1a, Δ T2a) is calculated from an output coefficient (Sc) of the rotational speed output signal,
the switching edge after the given number of times is calculated based on a measurement timing count (ISC) of the power-on switching timing signal,
an output coefficient (Sc) of the rotational speed output signal is determined based on the rotational speed of the rotational speed output signal and the number of times of energization switching (NT) required to switch the energization switching timing signal once,
the measurement timing count (ISC) is determined based on the rotation speed of the rotation speed output signal, an output coefficient (Sc) of the rotation speed output signal, an output coefficient (PS) of the previous rotation speed output signal, and the number of times of energization switching (NT) required to switch the energization switching timing signal once.
4. The drive control device of the motor according to claim 2 or 3,
the rotation speed output signal is generated by adding the switching adjustment period (Δ T1a, Δ T2a) to a period (Δ T1, Δ T2) of a given high level or low level of the energization switching timing signal.
5. The drive control device of an electric motor according to claim 1,
the rotation speed conversion microcomputer includes:
an input signal detection unit that detects switching between a high level and a low level of the energization switching timing signal, and measures a period (Δ T1, Δ T2) of the high level or the low level of the energization switching timing signal using the timer from a switching edge after a given number of times;
an output signal calculation unit that calculates an output timing of the rotational speed output signal based on the energization switching timing signal;
and an output signal generation unit that outputs the rotational speed output signal using the timer, based on the calculated output timing.
6. The drive control device of an electric motor according to claim 1,
in the case where the position detection unit is a hall element, the energization switching timing signal is a signal based on a hall signal of the hall element,
in a case where the position detection unit is a hall IC, the energization switching timing signal is a hall signal of the hall IC.
7. A drive control method of a motor, characterized by comprising the steps of:
the position of the rotor is detected by the position detecting unit and a position detection signal is output,
a rotation speed output signal having an arbitrary multiple of the actual rotation speed of the motor is outputted by 1 timer based on the energization switching timing signal based on the position detection signal by a rotation speed conversion microcomputer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019122816A JP7324625B2 (en) | 2019-07-01 | 2019-07-01 | Motor drive control device and motor drive control method |
| JP2019-122816 | 2019-07-01 |
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| Publication Number | Publication Date |
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| CN112187121A true CN112187121A (en) | 2021-01-05 |
| CN112187121B CN112187121B (en) | 2025-03-04 |
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| JP2021010235A (en) | 2021-01-28 |
| JP7324625B2 (en) | 2023-08-10 |
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