JP4314686B2 - Motor drive control device - Google Patents

Description

＋：電源に接続されていることを示す
−：グランドに接続されていることを示す
【００１６】
このように、各相を選択的に電源及びグランドに接続するために、信号線Ｓ１、Ｓ２、Ｓ３に、表２に示すように、信号を出力する。
【００１７】
【表２】

Ｌ 信号を出力していない
Ｈ 信号を出力している
【００１８】
ここで、例えば、Ｕ相について着目する。モード５、０では、Ｕ相を電源に接続する。よって、Ｕ相とＣＯＭとの間の電圧は図４符号合Ａに示すように、＋になる。なお、この電圧は、コンパレータ２２からの出力により判定できる。即ち、コンパレータ２２は、Ｕ相の電圧がＣＯＭの電圧より大きい場合に信号を出力する。モード１では、Ｕ相を電源及びグランドに接続していない。即ち、解放状態にする。これにより、図４符号Ｂに示すように、Ｕ相とＣＯＭとの間の電圧は徐々に小さくなる（＋〜−）。モード２、３では、Ｕ相をグランドに接続させる。よって、図４符号Ｃに示すようにＵ相とＣＯＭとの間の電圧は−（モード５、０とは逆向きの電圧が印加される）になる。
【００１９】
以上を、表１に示したモードに従ってＶ相及びＷ相についても同様に電流を供給する。これにより、３相モータ１６のステータ２４の各相には、磁極が発生し、この磁極が円周状に回転する。よって、例えば、ステータ２４のＵ相位置における駆動位相は、図５（Ａ）の符号１００に示すように変化し、ロータ２６のＵ相位置に対応する回転位相も、符号１００と一致する。よって、コンパレータの出力も、図５（Ｂ）に示すように、開放状態の時Ｊ１、Ｊ２、Ｊ３に状態変化が発生する。
【００２０】
しかし、負荷などにより、回転位相（図５符号２００参照）が、駆動位相１００に対して遅れる場合がある。この場合、Ｕ相のモード１の時（解放状態の時）、本来は、図４符合Ｂのように、Ｕ相とＣＯＭとの間の電圧は＋〜−に徐々に下がるはずであるが、回転位相が図５Ｄの状態となるので、スタータ２４のＵ相には、ロータ２６の磁界が作用して、Ｕ相に起電力が発生し、図４、符号Ｅに示すように、Ｕ相とＣＯＭとの間の電圧が＋側の値となる。また、Ｕ相のモード４の時（解放状態の時）、本来は、図４符号ＦのようにＵ相とＣＯＭとの間の電圧は徐々に−〜＋に上がるはずであるが、回転位相が図５符号Ｇの状態であるので、ステータのＵ相にはロータ２６の磁界が作用して、Ｕ相に起電力が発生して、図４符号Ｈに示すように、Ｕ相とＣＯＭとの間の電圧が−側の値となる。よって、コンパレータの出力は、図５（Ｃ）に示すように、開放状態の時Ｊ１、Ｊ２、Ｊ３には状態変化が発生しない。
【００２１】
よって、解放状態の時のＵ相とＣＯＭとの間の電圧の状態（コンパレータ出力）から、モータ２６の回転位相が駆動位相に対し遅れているか否かを判定することが出来る。なお、同様にＶ相及びＷ相についても同じことが言える。
【００２２】
本実施の形態では以上の原理を用いて、ずれが検出された場合、モータの回転を停止させずにずれを修正している。
【００２３】
即ち、モータの回転の指示が合った場合、モータ駆動制御装置は、図６に示した制御ルーチンを実行する。即ち、ステップ３２で、本ルーチンで使用する、６つのモードを実行した回数を識別する変数Ｃ、及び各モードを識別する変数Ｍを０に初期化する。
【００２４】
ステップ３４で、表１に示すように、モードＭに対応して定まるコイルに電流を供給する。
【００２５】
ステップ３６で、所定時間Ｔが経過したか否かを判断する。所定時間Ｔ経過した場合に、ステップ３８で、モードＭに対応して定まる開放コイルコンパレータ出力を選択し、この出力がモードＭに対応して定まる状態か否かを判断することにより、ロータ２６の回転位相が駆動位相に対して遅れているか否かを判断する。ロータ２６の回転位相が駆動位相に対して遅れていないと判定された場合（ステップ３８Ｙ）、ステップ４０で、変数Ｍを１インクリメントし、ステップ４２で、変数ＭがＭ０（本実施の形態では６）か否かを判断する。変数ＭがＭ０の場合には、表１に示した６つのモードを連続して実行したことになる。
【００２６】
ステップ４４で、変数Ｃを１インクリメントするとともに変数Ｍを０に初期化する。ステップ４６で変数ＣがＣ１（ロータ２６の回転速度が中速になるための回数）か否かを判断することにより、３相モータ１６のロータ２６の回転速度が低速〜中速になったか否かを判断する。ロータ２６の回転速度が中速になったと判定された場合には、ステップ５０で所定時間Ｔを一定時間Ｔ１引いた値を所定時間Ｔとして設定して、ステップ３４に戻る。
【００２７】
一方、ステップ４６で、ロータ２６の回転速度が中速でないと判定された場合には、ステップ４８で変数ＣがＣ２（ロータ２６の回転速度が高速になるための回数）か否かを判断することにより、ロータ２６が高速になったか否かを判断する。ロータ２６の回転速度が高速になった場合には、ステップ５２で、所定時間Ｔを一定時間Ｔ２減算した値を所定時間Ｔとして設定して、ステップ３４に戻る。なお、ステップ４８で、変数ＣがＣ２でないと判定された場合には、そのままステップ３４に戻る。
【００２８】
以上の様に、モード０〜５をＣ１回実行すると、ロータ２６の回転速度が低速から中速に移行し、モード０〜５の実行回数がＣ２になった場合、ロータ２６の回転速度が中速〜高速となる。
【００２９】
このように、ロータ２６の回転速度が徐々に速くなると、ロータ２６の回転位相が駆動位相より遅くなる場合がある。このように、ロータ２６の回転位相が駆動位相に対して遅くなった場合には、ステップ３８が否定判定され、ステップ３６に戻って所定時間Ｔ経過するのを待つ。従って、モードＭに対応して定まるコイルに電流が供給され、所定時間Ｔ経過したか否かを判断する。即ち、ステップ３８が肯定判定されれば、本来は、ステップ４０で変数Ｍが１インクリメントされるので、次のモードに移行するはずであるが、上記の様にロータ２６の回転位相が駆動位相より遅れた場合（ステップ３８否定判定）、次のモードに移行せず、現在のモードを維持するようにしている。これにより、回転体の回転位相も駆動位相に近づけることが出来る。即ち、回転位相が駆動位相に対して遅れた場合、ロータ２６が停止する前にずれを調整することができる。
【００３０】
ここで、Ｕ相について着目して更に説明する。Ｕ相において、モード０〜モード１に切り替わった場合には、Ｕ相は解放状態となるので、Ｕ相とＣＯＭとの間の電圧は、図７（Ａ）、符号Ｈに示すように徐々に小さくなる。このように、Ｕ相とＣＯＭとの間の電圧が徐々に小さくなると、コンパレータ２２からの出力はハイ状態からロウ状態となる。従って、モード２に移行する直前Ｐ１において、コンパレータ２０からの出力がロウ状態となっている場合には、正常な状態と判定し、次のモードに移行する。
【００３１】
一方、Ｕ相においてモード４の場合には解放状態となり、図４で符号Ｆに示すようにＵ相とＣＯＭとの間の電圧は−〜＋へ徐々に増加するはずである。よって、モード５への切り替え直前におけるコンパレータ２６の出力はハイ状態となるはずである。しかし、前述したように負荷などにより、図７（Ｃ）に示すように、モード５への切替直前Ｐ２において、コンパレータ２２の出力がロウ状態であれば、回転体の回転位相が駆動位相に対して遅れていると判定することができる。そこで、次のモード５に移行せず現在のモード４で維持する。これにより、回転位相が駆動位相に近づいて、上記ズレを小さくすることが出来る。
【００３２】
以上説明した例はロータ２６が加速中の場合である。ロータ２６が減速中の場合も、上記と同様に処理するが、相異する点は、ロータ２６の回転位相が駆動位相に対して進んでいると判定された場合に、次の所定時間における組合せを、通常の順番の所定時間より先の所定時間、例えば、次の次の所定時間に対応する組合せに進める点である。
【００３３】
以上説明した実施の形態では、電流を供給する６個のコイル側をステータとするモータを例にとり説明したが、本発明はこれに限定されるものでなく、逆に６個のコイル側をロータとするモータにも適応することが出来る。
【００３４】
【発明の効果】
以上説明したように本発明は、回転体の回転位相と磁界の位相とがずれて行く場合、このずれが小さくなるように、ずれていることが検出された所定時間の次の所定時間に対応する組合せを修正するので、回転体が停止する前にずれを調整することができる、という効果を有する。
【図面の簡単な説明】
【図１】本実施の形態のモータ駆動制御装置のブロック図である。
【図２】モータ駆動回路の詳細図である。
【図３】搬送モータの構成を示し、（Ａ）はステータを示し、（Ｂ）はロータを示す図である。
【図４】Ｕ相とＣＯＭとの間の電圧波形を示した図である。
【図５】本実施の形態のタイミングチャートであり、（Ａ）は、回転位相と駆動位相との関係を示し、（Ｂ）は、正常時のコンパレータ出力を示し、（Ｃ）は、回転位相が駆動位相に対して遅れた時のコンパレータ出力を示したグラフである。
【図６】本実施の形態に係る制御ルーチンを示したフローチャートである。
【図７】本実施の形態の制御結果の一例を示すグラフであり、（Ａ）はＵ相の電圧を示し、（Ｂ）は回転位相が駆動位相に対して遅れた時のコンパレータ出力を示し、（Ｃ）はコンパレータ出力を示し、（Ｄ）はモードを示したグラフである。
【符号の説明】
１４ モータ駆動回路（供給手段）
２２ コンパレータ（検出手段）
１２ パスルコントローラ（修正手段）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor drive control device, and more specifically, rotates a magnetic field generated in a plurality of circumferentially arranged coils along the circumference and rotates the rotating body along with the rotation of the magnetic field. The present invention relates to a motor drive control device that controls driving of a motor to be driven.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a motor drive control device rotates magnetic fields generated in a plurality of circumferentially arranged coils along the circumference, thereby rotating a rotating body. At this time, during low-speed rotation, the phase of the magnetic field and the rotational phase of the rotating body do not deviate much, but as the rotational speed of the rotating body increases, the rotational phase of the magnetic field and the rotational phase of the rotating body deviate. Become. If this deviation is too large, the rotation of the rotating body cannot follow the rotation of the magnetic field (step out), and the rotating body tends to stop. In this manner, when the rotation of the rotating body stops, the rotating body is gradually increased from a low speed state to a high speed state again.
[0003]
[Problems to be solved by the invention]
Thus, if the rotation phase of the rotating body deviates greatly from the phase of the magnetic field, the rotation of the rotating body stops, so the speed of the rotating body must be increased again from a low speed state to a high speed state. , Control becomes complicated.
[0004]
The present invention has been made in view of the above-described facts, and proposes a motor drive control device capable of adjusting the deviation before the rotating body stops even if the rotating phase of the rotating body is deviated from the phase of the magnetic field. For the purpose.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the invention described in claim 1 is characterized in that a plurality of magnetic fields generated in a plurality of circumferentially arranged coils rotate along the circumference at a plurality of consecutive predetermined times. A supply means for selectively supplying current to the plurality of coils at a predetermined time based on a predetermined combination for selectively supplying current to the coils, and a plurality of currents supplied by the supply means. Detecting means for detecting whether or not the rotation phase of the rotating body rotating with the rotation of the magnetic field generated in the coil is shifted from the phase of the magnetic field; and the rotation phase of the rotating body and the phase of the magnetic field by the detecting means If it is detected that deviates, and a correction means the deviation so that smaller, modifies the combination that corresponds to the next predetermined time period for a predetermined number are detected time deviates the said modified Means of the rotating body When the rotation is accelerating, the combination corresponding to the predetermined time detected by the detecting means is maintained at least until the next predetermined time, and when the rotation of the rotating body is decelerating The combination corresponding to the predetermined time next to the predetermined time detected as being shifted by the detecting means is changed to the combination corresponding to the predetermined time before the next predetermined time .
[0006]
The supply means selectively supplies current to the plurality of coils every predetermined time based on a predetermined combination. In this combination, the magnetic fields generated in the plurality of coils arranged in the circumference are rotated along the circumference, and the current is selectively applied to the coils at a plurality of consecutive predetermined times. Is a predetermined combination for supplying. The detecting means detects whether or not the rotation phase of the rotating body rotating with the rotation of the magnetic field generated in the plurality of coils when the current is supplied by the supplying means is shifted from the phase of the magnetic field.
[0007]
When the detecting means detects that the rotational phase of the rotating body and the phase of the magnetic field are deviated, the correcting means is set to a predetermined time next to a predetermined time when the deviation is detected so that the deviation is reduced. Correct the combination corresponding to the time. For example, when the rotation of the rotating body is accelerating, the correcting means maintains the combination corresponding to the predetermined time detected by the detecting means until at least the next predetermined time to rotate the rotating body. When the vehicle is decelerating, the combination corresponding to the predetermined time next to the predetermined time detected by the detecting means is changed to the combination corresponding to the predetermined time before the next predetermined time. .
[0008]
As described above, when it is detected that the rotational phase of the rotating body and the phase of the magnetic field are deviated, the deviation corresponds to a predetermined time next to the predetermined time when the deviation is detected so that the deviation becomes small. Since the combination is corrected, the deviation can be adjusted before the rotating body stops.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0010]
As shown in FIG. 1, the motor drive control device according to the present embodiment includes a pulse controller 12 configured to include a computer or the like. The pulse controller 12 is connected to a motor drive circuit 14 having a circuit for detecting a coil voltage to be described later. A three-phase motor 16 having three phases of U phase, V phase, and W phase is connected to the motor drive circuit 14. The number of phases is not limited to 3.
[0011]
As shown in FIG. 2, the motor drive circuit 14 is connected to the pulse controller 12 via signal lines S1, S2, and S3, and is connected to the U phase, V phase, W phase, and COM of the three-phase motor 16. A drive circuit 18 is provided. The motor drive circuit 14 is connected to the U phase and COM on the input side, and the comparator 22 is connected to the pulse controller 12 on the output side. The input side is connected to the V phase and COM, and the output side is connected to the pulse controller 12. The comparator 22 is connected to the W phase and COM on the input side, and the comparator 22 is connected to the pulse controller 12 on the output side.
[0012]
As shown in FIG. 3A, the three-phase motor 16 includes a stator 24 having six coils arranged in a circumferential shape. Of the six coils, facing coils (U-U ', V-V', WW ') are connected to form a total of three phases. The three-phase motor 16 includes a rotor 26 that includes a magnet. The three-phase motor 16 is brushless and sensorless.
[0013]
Next, the operation of the present embodiment will be described.
[0014]
First, the general operation of the three-phase motor 16 will be described. Two phases of the three phases are connected to the power source and the ground, and the combination (mode) of the two phases connected to the power source and the ground is changed every predetermined time. As a result, magnetic fields are generated in the S and N poles in order in each phase of the data 24, and the magnetic fields rotate in the circumferential shape, and the rotor 26 rotates in accordance with the rotating magnetic field. Specifically, for example, as shown in Table 1, the magnetic field generated in the coils of the respective phases of the stator 24 is rotated every three predetermined time intervals for rotating along the circumference. Combinations (modes) for selectively supplying current to the phase coils are predetermined.
[0015]
[Table 1]

+: Indicates that the power supply is connected-: Indicates that the power supply is connected to the ground [0016]
Thus, in order to selectively connect each phase to the power supply and the ground, signals are output to the signal lines S1, S2, and S3 as shown in Table 2.
[0017]
[Table 2]

The H signal that is not outputting the L signal is output. [0018]
Here, for example, attention is focused on the U phase. In modes 5 and 0, the U phase is connected to the power source. Therefore, the voltage between the U phase and COM becomes + as shown in FIG. This voltage can be determined by the output from the comparator 22. That is, the comparator 22 outputs a signal when the U-phase voltage is larger than the COM voltage. In mode 1, the U phase is not connected to the power source and the ground. That is, the release state is established. As a result, as shown in FIG. 4B, the voltage between the U phase and COM gradually decreases (+ to −). In modes 2 and 3, the U phase is connected to the ground. Therefore, as shown in FIG. 4C, the voltage between the U phase and COM is-(a voltage in the opposite direction to mode 5 and 0 is applied).
[0019]
In the same manner, the current is supplied also to the V phase and the W phase according to the modes shown in Table 1. Thereby, a magnetic pole is generated in each phase of the stator 24 of the three-phase motor 16, and the magnetic pole rotates in a circumferential shape. Therefore, for example, the drive phase at the U-phase position of the stator 24 changes as indicated by reference numeral 100 in FIG. 5A, and the rotational phase corresponding to the U-phase position of the rotor 26 also matches the reference numeral 100. Therefore, as shown in FIG. 5B, the output of the comparator also changes its state in J1, J2, and J3 when it is open.
[0020]
However, the rotational phase (see reference numeral 200 in FIG. 5) may be delayed with respect to the drive phase 100 due to a load or the like. In this case, at the time of U-phase mode 1 (in the released state), the voltage between the U-phase and COM should be gradually reduced to + to-as shown in FIG. Since the rotational phase is in the state shown in FIG. 5D, the magnetic field of the rotor 26 acts on the U phase of the starter 24 to generate an electromotive force in the U phase. The voltage between COM becomes a positive value. In the U-phase mode 4 (in the released state), the voltage between the U-phase and COM should be gradually increased from − to + as shown in FIG. 5 is in the state of G in FIG. 5, the magnetic field of the rotor 26 acts on the U phase of the stator, and an electromotive force is generated in the U phase. As shown in H of FIG. The voltage between is a negative value. Therefore, as shown in FIG. 5C, the output of the comparator does not change state in J1, J2, and J3 when in the open state.
[0021]
Therefore, it is possible to determine whether or not the rotational phase of the motor 26 is delayed with respect to the drive phase from the voltage state (comparator output) between the U phase and COM in the released state. The same applies to the V phase and the W phase.
[0022]
In this embodiment, using the above principle, when a deviation is detected, the deviation is corrected without stopping the rotation of the motor.
[0023]
That is, when the motor rotation instruction is correct, the motor drive control device executes the control routine shown in FIG. That is, in step 32, a variable C for identifying the number of executions of the six modes and a variable M for identifying each mode used in this routine are initialized to zero.
[0024]
In step 34, as shown in Table 1, a current is supplied to the coil determined corresponding to mode M.
[0025]
In step 36, it is determined whether or not a predetermined time T has elapsed. When a predetermined time T has elapsed, an open coil comparator output determined in accordance with mode M is selected in step 38, and it is determined whether or not this output is in a state determined in accordance with mode M. It is determined whether or not the rotation phase is delayed with respect to the drive phase. If it is determined that the rotational phase of the rotor 26 is not delayed with respect to the drive phase (step 38Y), the variable M is incremented by 1 in step 40, and the variable M is M0 (6 in this embodiment) in step 42. ) Or not. When the variable M is M0, the six modes shown in Table 1 are executed in succession.
[0026]
In step 44, the variable C is incremented by 1 and the variable M is initialized to 0. Whether or not the rotational speed of the rotor 26 of the three-phase motor 16 has become a low to medium speed by determining whether or not the variable C is C1 (the number of times that the rotational speed of the rotor 26 becomes a medium speed) in step 46 Determine whether. If it is determined that the rotational speed of the rotor 26 has become medium, the value obtained by subtracting the predetermined time T from the predetermined time T1 is set as the predetermined time T in step 50, and the process returns to step 34.
[0027]
On the other hand, if it is determined in step 46 that the rotational speed of the rotor 26 is not medium speed, it is determined in step 48 whether or not the variable C is C2 (the number of times that the rotational speed of the rotor 26 is increased). Thus, it is determined whether or not the rotor 26 has become high speed. If the rotational speed of the rotor 26 has increased, a value obtained by subtracting the predetermined time T from the predetermined time T2 is set as the predetermined time T in step 52, and the process returns to step 34. When it is determined in step 48 that the variable C is not C2, the process returns to step 34 as it is.
[0028]
As described above, when modes 0 to 5 are executed C1 times, the rotational speed of the rotor 26 shifts from low speed to medium speed, and when the number of executions of modes 0 to 5 is C2, the rotational speed of the rotor 26 is medium. Fast to high speed.
[0029]
As described above, when the rotational speed of the rotor 26 is gradually increased, the rotational phase of the rotor 26 may be slower than the drive phase. As described above, when the rotational phase of the rotor 26 is delayed with respect to the drive phase, a negative determination is made in step 38 and the process returns to step 36 and waits for a predetermined time T. Accordingly, it is determined whether or not a predetermined time T has elapsed since a current is supplied to the coil determined in accordance with the mode M. That is, if the determination in step 38 is affirmative, the variable M is originally incremented by 1 in step 40, so that the next mode should be shifted. However, as described above, the rotational phase of the rotor 26 is greater than the driving phase. If it is delayed (No at Step 38), the current mode is maintained without shifting to the next mode. As a result, the rotational phase of the rotating body can be brought close to the driving phase. That is, when the rotational phase is delayed with respect to the drive phase, the deviation can be adjusted before the rotor 26 stops.
[0030]
Here, the U phase will be further described by paying attention. When the mode is switched from mode 0 to mode 1 in the U phase, the U phase is released, so the voltage between the U phase and COM gradually increases as shown in FIG. Get smaller. Thus, when the voltage between the U phase and COM gradually decreases, the output from the comparator 22 changes from the high state to the low state. Therefore, when the output from the comparator 20 is in the low state at P1 immediately before shifting to the mode 2, it is determined that the state is normal and the mode is shifted to the next mode.
[0031]
On the other hand, in the case of mode 4 in the U phase, a release state is established, and the voltage between the U phase and COM should gradually increase from − to + as indicated by a symbol F in FIG. Therefore, the output of the comparator 26 immediately before switching to mode 5 should be in a high state. However, as described above, due to a load or the like, as shown in FIG. 7C, if the output of the comparator 22 is in the low state at P2 immediately before switching to the mode 5, the rotational phase of the rotating body is set to the drive phase. Can be determined to be late. Therefore, the current mode 4 is maintained without shifting to the next mode 5. As a result, the rotational phase approaches the drive phase, and the deviation can be reduced.
[0032]
The example described above is a case where the rotor 26 is accelerating. When the rotor 26 is decelerating, the same processing as described above is performed. However, the difference is that when it is determined that the rotational phase of the rotor 26 is advanced with respect to the drive phase, the combination at the next predetermined time is performed. Is advanced to a combination corresponding to a predetermined time before the predetermined time in the normal order, for example, the next predetermined time.
[0033]
In the above-described embodiment, the description has been given by taking the motor having the six coil sides for supplying current as a stator as an example. However, the present invention is not limited to this, and conversely, the six coil sides are arranged on the rotor. It can be applied to the motor.
[0034]
【The invention's effect】
As described above, according to the present invention, when the rotational phase of the rotating body and the phase of the magnetic field shift, the shift corresponds to a predetermined time next to the predetermined time when the shift is detected so that the shift is reduced. Since the combination to be corrected is corrected, there is an effect that the deviation can be adjusted before the rotating body stops.
[Brief description of the drawings]
FIG. 1 is a block diagram of a motor drive control device of an embodiment.
FIG. 2 is a detailed diagram of a motor drive circuit.
3A and 3B show a configuration of a transport motor, where FIG. 3A shows a stator and FIG. 3B shows a rotor.
FIG. 4 is a diagram illustrating a voltage waveform between a U phase and COM.
FIG. 5 is a timing chart of the present embodiment, where (A) shows the relationship between the rotational phase and the drive phase, (B) shows the comparator output in the normal state, and (C) shows the rotational phase. 6 is a graph showing a comparator output when is delayed with respect to the drive phase.
FIG. 6 is a flowchart showing a control routine according to the present embodiment.
7A and 7B are graphs showing an example of a control result of the present embodiment, where FIG. 7A shows a U-phase voltage, and FIG. 7B shows a comparator output when the rotation phase is delayed with respect to the drive phase. (C) shows the comparator output, and (D) is a graph showing the mode.
[Explanation of symbols]
14 Motor drive circuit (supply means)
22 Comparator (detection means)
12 Pulse controller (correction means)

Claims (1)

A magnetic field generated in a plurality of circumferentially arranged coils is rotated in advance along the circumference so that a current is selectively supplied to the plurality of coils at each of a plurality of consecutive predetermined times. Supply means for selectively supplying current to the plurality of coils every predetermined time based on the combination
Detecting means for detecting whether or not the rotation phase of the rotating body rotating with the rotation of the magnetic field generated in the plurality of coils when current is supplied by the supply means is shifted from the phase of the magnetic field;
When it is detected by the detecting means that the rotational phase of the rotating body and the phase of the magnetic field are deviated, the deviation is detected at a predetermined time next to the predetermined time so as to reduce the deviation. and a correction means for correcting the corresponding combination,
The correcting means is
When the rotation of the rotating body is accelerating, the combination corresponding to the predetermined time detected as being shifted by the detecting means is maintained at least until the next predetermined time,
When the rotation of the rotating body is decelerating, a combination corresponding to a predetermined time next to the predetermined time that is detected to be shifted by the detecting means is set to a predetermined time before the next predetermined time. Motor drive control device that changes to the corresponding combination .

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