KR101293082B1 - Compensation method for position of hall sensor of bldc motor and bldc motor thereof - Google Patents

Abstract

PURPOSE: A hall sensor position compensation method of a BLDC electric motor and a BLDC electric motor supporting thereof are provided to implement the accuracy of the control, thereby reducing the malfunction. CONSTITUTION: A motor comprises a stator and a rotor. A plurality of hall sensor detects the rotator position of the motor. A motor control unit (130) applies the position correction value to the motor driving control. An inverter (150) provides the power source which is necessary for the motor driving. A pulse width modulation (PWM) driving unit (140) generates a PWM driving signal. [Reference numerals] (130) Motor control unit; (140) PWM driving unit

Description

Compensation Method For Position Of Hall Sensor Of BLDC Motor And BLDC Motor

The present invention relates to a BLDC motor, and more particularly, to a Hall sensor position correction method of a BLDC motor that supports the position correction of the Hall sensor and a BLDC motor supporting the same.

Generally, the structure of a motor is composed of a stator and a rotor. In the case of a small size, a stator mainly uses a permanent magnet, and a coil is wound around the rotor to flow an electric current to the electromagnet so as to rotate by the interaction between the stator and the rotor. At this time, it is a brush part that has a structure that allows the power to be continuously supplied even when the rotor is rotating.

However, with the recent development of semiconductors, permanent magnets are used for the rotor and coils are applied to the stator to supply power to the magnetizers, so that if the stator rotates, the rotor corresponding to it magnetically also rotates. do. Such an electric motor is referred to as a brushless DC motor (BLDC motor).

The BLDC motor can be expected to minimize the power consumption and improve the efficiency of the entire system because the rotor is a permanent magnet and the magnetic flux is generated regardless of the external power source. In addition, the conventional BLDC motor has a high torque and miniaturization due to the development of high pressure insulator, improved performance of ferrite magnet, and high performance rare earth magnet, resulting in high torque and miniaturization. Heat dissipation has superior cooling characteristics compared to other motors.

The rotor of the conventional BLDC motor is composed of an iron core and a plurality of permanent magnets. The iron core is formed by stacking a plurality of electrical steel sheets, the shaft hole is formed in the center, the rotor shaft is inserted and fixed to the shaft hole.

Meanwhile, the rotor is sensed to determine the rotor position of the BLDC motor. As one method, a method of sensing the leakage magnetic flux of the rotor may be used. Here, the Hall sensor is provided for sensing the leakage flux of the rotor. The Hall sensor applies a current magnetic effect called a Hall effect. Briefly explaining the Hall effect, when a current flows through a compound semiconductor such as InSb (indium antimony) or GaAs (gallium arsenide) and a magnetic field is applied at a right angle, electromotive force (hole voltage) is generated at both ends thereof. By measuring the hall voltage using the above phenomenon, it is possible to determine whether the applied magnetic field is the N pole or the S pole. Hall sensor is a sensor that detects the change of the pole of the permanent magnet provided in the rotor by using the above principle to know the position or speed of the rotor.

In general, as shown in FIG. 1, three Hall sensors are positioned at 120-degree physical intervals, but are hardly spaced exactly 120 degrees due to mechanical and assembly errors. That is, due to mechanical errors or assembly errors, the Hall sensor may be disposed at a point outside the design position as shown in FIG. 2. When the Hall sensors are incorrectly arranged differently from the intended design as shown in FIG. 2, the Hall sensors deliver location information having a significant error as compared to a state in which the actual Hall sensors are normally arranged. Due to such incorrect position information, the current and torque ripple of the inverter may increase, and thus vibration and noise of the motor may also increase. In more severe cases it may also be impossible to drive the motor. In case of BLDC motor, there are various control methods, but if you use the misplaced Hall sensor as above, the error of Hall sensor cannot be ignored, and as a result, unnecessary energy consumption, system instability, and fatal error in motor performance can be ignored. Can be generated.

Korean Laid-Open Patent Publication No. 2007-0095606 (2007.10.01)

Accordingly, an object of the present invention is to provide a method for correcting a hall sensor position of a BLDC motor that can accurately recognize a position where the hall sensor is actually mounted through the Hall sensor position estimation and perform a Hall sensor position correction accordingly. It is to provide a BLDC motor supporting this.

In addition, the present invention is to provide a Hall sensor position correction method of the BLDC motor that supports to reduce the current ripple and torque ripple and prevent the malfunction of the inverter by improving the accuracy of the BLDC motor control and BLDC motor supporting the same.

To this end, the present invention provides a motor including a stator and a rotor, a plurality of Hall sensors for detecting the rotor position of the motor, the number of the Hall sensors and the position of the Hall sensor using at least one of a PWM driving period and a timer. A motor controller which estimates and compares the sensor signal transmitted by the hall sensors with the estimated value, calculates a position correction value corresponding to the position of the actual hall sensors, and applies the motor correction to the motor driving control; Disclosed is a configuration of a BLDC motor supporting a hall sensor position correction including an inverter for supplying power required for driving a motor and a PWM driver for generating a PWM driving signal supplied to the inverter.

The BLDC motor may further include a memory for storing the position correction value.

The motor control unit may include a reference hall sensor selecting unit configured to select a specific hall sensor as a reference hall sensor among the plurality of hall sensors, a hall sensor change estimating unit estimating positions of other hall sensors based on the reference hall sensor, and the hall sensor Sensor information collecting unit for collecting the measurement sensor signal detected according to the actual rotor position, the position correction value is calculated by comparing the measurement sensor signal collection time and the estimated value to control the control signal required for driving the inverter It may include a comparison correction unit to provide.

The reference hall sensor selector may perform PWM driving control of the PWM driver so that the motor operates at a predetermined constant speed at a predetermined low speed. In this case, the reference hall sensor selecting unit may control the maximum speed operation of the motor based on the position correction value.

The present invention also provides a hall sensor using at least one of a number of Hall sensors for detecting a rotor position of the motor, a PWM driving cycle, and a timer when the first driving of the motor is performed. Estimating a position of the sensor; comparing a sensor signal transmitted by the hall sensors with the estimated value, calculating a position correction value corresponding to the position of the actual hall sensors, and driving the motor based on the position correction value. Disclosed is a configuration of a hall sensor position correction method of a BLDC motor including a controlling step of controlling the same.

The method may further include storing the position correction value in memory.

In this case, the checking may be a step of checking whether the position correction value is stored in a predefined area of the memory.

On the other hand, the estimating step includes receiving a feedback of a current value from an inverter supplying power to the motor, selecting a reference hall sensor as a hall sensor disposed at a position having a smallest current value of the feedback current value, The method may further include estimating positions of other Hall sensors based on the reference Hall sensor, and may further include driving the motor at a predetermined low speed constant speed.

In this case, the controlling step may be a step of driving the motor at the maximum speed based on the position correction value.

According to the Hall sensor position correction method and BLDC motor supporting the BLDC motor of the present invention, the present invention can reduce the current ripple and torque ripple with the corrected position information, and can reduce the vibration noise due to the reduction of the torque ripple Can be.

In addition, the present invention can reduce the malfunction of the control and optimize the efficiency of the motor with increased accuracy of the motor control.

1 is a view schematically showing a normal Hall sensor arrangement of a conventional BLDC motor.
2 is a view schematically showing an abnormal Hall sensor arrangement of a conventional BLDC motor.
3 is a view for explaining an error according to the Hall sensor arrangement of FIGS. 1 and 2.
4 is a view schematically showing the configuration of a BLDC motor according to an embodiment of the present invention.
5 is a view showing in more detail the control unit of Figure 4;
6 is a flowchart illustrating a hall sensor position correction method of a BLDC motor according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, only parts necessary for understanding the operation according to the embodiment of the present invention will be described, and the description of other parts will be omitted so as not to disturb the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, and various equivalents may be substituted for them at the time of the present application. It should be understood that there may be water and variations.

Hereinafter, a method of correcting a hall sensor position of a BLDC motor that performs Hall sensor position correction and a BLDC motor supporting the same will be described. In the following description, the BLDC motor is described as an example in which three Hall sensors are disposed, but the present invention is not limited thereto. That is, the Hall sensor position correction method of the BLDC motor of the present invention and the BLDC motor supporting the same is a structure that can be applied in a structure in which a plurality of Hall sensors are provided, if any structure in which two or more Hall sensors are divided by a predetermined angle arranged any structure It will be applicable to. On the other hand, the following description will be described based on the structure of the Hall sensor position correction method of the BLDC motor and the three Hall sensors for the BLDC motor supporting the same.

Hall sensor position correction method of the BLDC motor of the present invention and the BLDC motor supporting it is a Hall sensor position correction method to calculate the current speed based on one of the three Hall sensors and the next sequence Hall sensor timing estimated based on this Compared with the real signal and suggests how to determine the physical error and correct it.

4 is a diagram schematically illustrating a configuration of a BLDC motor 100 supporting hall sensor position correction according to an exemplary embodiment of the present invention.

Referring to FIG. 4, the BLDC motor 100 supporting the Hall sensor position correction according to the present invention may include an inverter 150, a motor 110, a hall sensor 120, a motor controller 130, and a PWM driver 140. It may be configured to include, it may be further included in the general circuit or configuration for driving other BLDC motor 100.

The BLDC motor 110 supporting the Hall sensor position correction of the BLDC motor of the present invention having such a configuration includes a measurement sensor signal transmitted from the Hall sensor 120 disposed in the motor 110 and a motor (in the inverter 150). It supports to compare the estimated value generated based on the current signal supplied to 110. Here, the BLDC motor 110 supporting the Hall sensor position correction compensates for the time difference between the time point at which the measurement sensor signal is transmitted and the estimated value, or the position difference of the Hall sensor calculated by the estimation and the position of the Hall sensor transmitting the measurement sensor signal. It supports to perform the position correction of the Hall sensor 120.

The motor 110 may include a stator and a rotor. In the illustrated drawings, such a detailed configuration is omitted, and the motor 110 using the three-phase current is shown as an example.

The stator may be provided in a cylindrical shape with a center formed by forming an outer circumferential portion of the motor 110. The stator has a shape in which a plurality of coils are wound around a circumference, and a coil composed of three phases of u, v, and w is usually used. Three-phase motors do not require a separate starting coil than single-phase motors, and can provide more stable driving. The rotating magnetic field is generated by the coil composed of the three phases. In addition, both ends of the coil are covered with an insulator. However, the present invention is not limited to the number of phases of the stator, and the Hall sensor 120 position correction technique may be applied to the motor 110 including the stator to which various numbers of phases are applied.

The rotor of the motor 110 includes an inner rotor type provided inside the stator and an outer rotor type provided outside the stator. The rotor is provided with a permanent magnet on the surface of the stator facing the coil and rotated by a magnetic field generated by the stator. At this time, the rotor generates the leakage magnetic flux by the magnetic field by the stator.

The permanent magnet is inserted and fixed in a predetermined region of the rotor and rotates the rotor in response to a magnetic field generated by the stator. These permanent magnets are disposed in a plurality of regions of the rotor, respectively, and the characteristics of the poles may be arranged differently for each region to be disposed.

The hall sensor 120 detects the size and direction of the magnetic field generated in the permanent magnet provided in the rotor to detect the position or speed of the rotor according to the pole change of the magnet. Therefore, the Hall sensor 120 is preferably provided at a suitable position to detect the leakage magnetic flux generated in the permanent magnet of the rotor. In addition, the Hall sensor 120 is preferably provided with a plurality in order to increase the stability. Since the Hall sensor 120 is a very sensitive device, there is a high risk of malfunction and failure when exposed to the external environment. The above-described Hall sensor 120 may be spaced apart from each other at a predetermined angle, for example 120 degrees with respect to the cylindrical rotor. The sensor signal collected by the hall sensor 120 may be transmitted to the motor controller 130.

The motor controller 130 supplies power for driving the hall sensor 120 and supplies a signal for controlling the driving time of the hall sensor 120 at all times. In addition, when the hall sensor 120 is driven to transmit the sensor signal, the motor controller 130 may detect the position of the rotor based on the received sensor signal. The motor controller 130 may transmit a predetermined control signal to the PWM driver 140 based on the position information of the rotor. In particular, the motor control unit 130 of the present invention may include a configuration as shown in FIG. 5 to correct the position of the hall sensor 120. The motor controller 130 may transmit the control signal of the hall sensor 120 to the PWM driver 140.

The PWM driver 140 generates a pulse signal for driving the inverter 150 under the control of the motor controller 130 and transmits the generated signal to the inverter 150. In this case, the PWM driving signal transmitted from the PWM driver 140 may be transmitted to the inverter 150 with a predetermined time difference according to the control signal transmitted from the motor controller 130. In particular, the PWM driving signal transmitted by the PWM driver 140 may be a signal whose information according to the actual position of the hall sensor 120 is corrected.

The inverter 150 drives the switches according to the PWM driving signals transmitted from the PWM driver 140, and supplies power generated by the inverters to the motor 110. Since the PWM driver 140 transmits the PWM driving signal correcting the actual position of the hall sensor 120, the inverter 150 may perform power supply for accurate motor 110 control. As a result, the motor 110 performs the drive with the optimized torque ripple based on the power supply according to the correct rotor position.

5 is a view showing in more detail the configuration of the motor control unit 130 according to an embodiment of the present invention.

Referring to FIG. 5, the motor controller 130 of the present invention includes a reference hall sensor selecting unit 131, a hall sensor change estimating unit 133, a hall sensor information collecting unit 135, and a comparison correcting unit 137. It may include.

The reference hall sensor selecting unit 131 is configured to select a specific hall sensor 120 as a reference hall sensor among a plurality of hall sensors. For this purpose, the reference hall sensor selecting unit 131 receives a current signal from the inverter 150. Here, the probability that the Hall sensor having the smallest current value is in the home position may be higher than that of the Hall sensor having a large current value. Accordingly, the reference hall sensor selecting unit 131 may check the current value of each hall sensor and select the hall sensor having the smallest current value as the reference hall sensor.

The reference hall sensor selecting unit 131 creates a hall sensor correction speed section for correcting the hall sensor 120 before reaching the final target speed value in order to more accurately correct the physical position value of the hall sensor 120. Calibrate and control to reach final speed. In more detail, when the control for driving the BLDC motor 100 starts, the reference hall sensor selecting unit 131 may check whether the Hall sensor 120 position correction value is stored in the memory. Here, when the Hall sensor 120 position correction value is pre-stored in the memory, the reference Hall sensor selecting unit 131 does not perform a separate Hall sensor 120 correction process, and stores the previously stored Hall sensor 120 position correction value. It can be controlled to apply to the rotor position detection. When the position correction value of the hall sensor 120 is stored in the memory, the reference hall sensor selecting unit 131 may support operation control for reaching the speed of the motor 110 as the final target based on the position correction value.

On the other hand, the reference Hall sensor selection unit 131 is a low speed constant speed at which the motor 110 is predefined when the Hall sensor 120 position correction value is not stored in the memory, that is, the first drive of the BLDC motor 100. The PWM driver 140 may be controlled to operate as. At this time, the predetermined constant speed is a speed value relatively smaller than the target maximum speed, and is for estimating the position of the hall sensor 120. Accordingly, the constant speed may be such that the position of the Hall sensors 120 disposed around the motor 110 may be properly estimated. In this case, the position estimation of the hall sensors 120 may substantially vary according to a hardware characteristic of the motor controller 130, that is, a calculation speed. For example, when the hardware characteristics of the motor controller 130 are relatively good, that is, when the operation speed is relatively fast, the constant speed may have a relatively high speed value, and conversely, the operation speed of the motor controller 130 may be relatively high. When the speed is slow, the constant speed may have a relatively slow speed value. Therefore, the predefined low speed constant speed may vary according to hardware characteristics of the motor controller 130 of the BLDC motor 100. However, in order to estimate the position of the hall sensor 120 more closely and accurately, it is preferable that the BLDC motor 100 operates at a constant constant speed lower than the target speed. The reference hall sensor selector 131 may transmit a predetermined control signal to the PWM driver 140 to drive the inverter 150 at a predetermined constant speed.

Thereafter, the reference hall sensor selecting unit 131 may receive a current value from the inverter 150. When the current value is fed back from the inverter 150, the reference hall sensor selecting unit 131 may select the hall sensor 120, which transmits the measurement sensor signal, as the reference hall sensor in a section in which the current value generation point is the lowest. When the rotor rotates inside the stator, the current value may have a certain wave height and may be in the form of a curved wave. In this case, the section detected by the hall sensor 120 may be a point where torque ripple by the rotor is the least. . That is, the sensor signal of the Hall sensor 120 collected in the smallest torque ripple of the rotor's permanent magnet and the stator's teeth has a high probability that the current value is relatively small compared to the time period that is not matched. Accordingly, it may be determined that the hall sensor disposed in the section having the smallest current value is disposed at an appropriate position according to the design intention, and the corresponding hall sensor may be selected as the reference hall sensor. When the specific reference hall sensor is selected, the reference hall sensor selecting unit 131 transmits the specific reference hall sensor to the hall sensor change estimating unit 133.

The hall sensor change estimator 133 is a configuration for estimating the change between each hall sensor 120 according to the number of the hall sensors 120 of the BLDC motor 100. That is, when the specific hall sensor is selected as the reference hall sensor, the hall sensor change estimator 133 calculates a time point at which the measurement sensor signal is transmitted from the hall sensor disposed next to the reference hall sensor. In this case, the Hall sensor change estimator 133 may estimate the next Hall sensor change time of the BLDC motor 100 by using a timer that detects a PWM cycle or a rotation time of the BLDC motor 100. If the PWM cycle is known, the operating speed of the motor 110 can be known, and as a result, it is possible to estimate the time taken for the rotor to rotate inside the hall sensors. In addition, when the number of the Hall sensors 120 included in the BLDC motor 100 is known, the Hall sensors located after the reference Hall sensor may calculate the time points at which the measurement sensor signals should normally be transmitted or the time points at which the specific sensor signals should be transmitted. . For example, assume that one rotation time of the motor 110 is 9 and three Hall sensors 120 are disposed, and a measurement sensor signal or a specific type of sensor signal is obtained from the first Hall sensor located after the reference Hall sensor. The receiving point may be after 3 elapses after receiving the signal from the reference hall sensor, and the receiving point of the measurement sensor signal or a specific type of sensor signal from the next hall sensor, that is, the second hall sensor, may be the reference hall sensor. It may be after 6 has elapsed since receiving the measurement sensor signal from the. Herein, the unit of 9 may be several tens of milliseconds and the like, and may vary depending on the size of the BLDC motor 110 or system characteristics to be applied.

The hall sensor information collecting unit 135 receives a measurement sensor signal of the hall sensor 120. The hall sensor information collecting unit 135 supports power supply of the hall sensor 120, and transmits schedule information corresponding to the collected measurement sensor signal according to the operation of the hall sensor 120 to the comparison correction unit 137. have. In this case, the information transmitted by the hall sensor information collecting unit 135 is time information when the three Hall sensors transmit measurement sensor signals when three Hall sensors are arranged, or a time when a specific type of sensor signal is received from the three Hall sensors. It can be information.

The comparison correction unit 137 compares the position estimation values of the Hall sensors estimated by the Hall sensor change estimator 133 with the actual Hall sensor position values transmitted by the Hall sensor information collecting unit 135. In particular, the comparison correction unit 137 may estimate the time when the reference Hall sensor estimated by the Hall sensor change estimator 133 transmits the sensor signal, and the estimated time when the sensor signal is transmitted from the next Hall sensor, that is, the first Hall sensor, and the actual Hall sensor 120. ) Compares the difference with the propagation time when the first Hall sensor delivers the measurement sensor signal when the Hall sensor defined as the reference Hall sensor delivers the measurement sensor signal. In this case, when the estimated time and the propagation time are the same, the comparison corrector 137 may determine that the hall sensors are appropriately disposed according to the design intention, and stop generating a different hall sensor position correction value. In addition, when the hall sensors are properly disposed, the comparison correction unit 137 may support to store information corresponding to the absence of the position correction value in the memory.

On the other hand, when a certain time difference occurs between the estimated time and the transfer time, the comparison correction unit 137 determines that the Hall sensors 120 are not arranged according to the design intention, and determines the Hall sensor position correction value corresponding to the time difference. Can be generated. For example, when the result of subtracting the propagation time from the estimated time is greater than zero, the comparison correcting unit 137 may determine that the comparison correction unit 137 moves toward the reference hall sensor relative to the position where the hall sensor is to be disposed. In this case, the comparison correction unit 137 may subdivide the estimated time to compare where the propagation time is located, and as a result, determine where the first Hall sensor next to the reference Hall sensor is located. In addition, the comparison correction unit 137 may provide a position correction value corresponding to the reference time difference with respect to the measurement sensor signal detected at the position where the first hall sensor is disposed. In addition, when the result of subtracting the propagation time from the estimated time is less than zero, the comparison corrector 137 may determine that the comparison correction unit 137 is disposed at a distance farther from the reference hall sensor than the position where the hall sensor should be arranged. In this case, the comparison correction unit 137 may generate a position correction value according to an off position of the hall sensor, and correct the sensor signal transmitted from the hall sensor based on the generated position correction value. Meanwhile, the comparison correction unit 137 may generate a PWM control signal based on the sensor signal to which the position correction value is applied, and provide the PWM control signal to the PWM driver 140. Meanwhile, the comparison correction unit 137 calculates an estimation time based on the reference Hall sensor for the second Hall sensor next to the first Hall sensor, and compares it with the propagation time of the actually transmitted measurement sensor signal according to the result. It may help to apply the position correction value. The comparison correction unit 137 may store the calculated position correction value in a memory and support the application of the calculated position correction value when the control signal for controlling the PWM driver 140 is generated.

As described above, the BLDC motor 100 according to an exemplary embodiment of the present invention selects a reference hall sensor and estimates whether or not the positions of other Hall sensors are disposed at an appropriate position based on the reference Hall sensor. It can support to correct the error value of the location information delivered. As a result, the BLDC motor 100 of the present invention can support the optimal motor operation by confirming the exact position arrangement of the Hall sensor and performing accurate position correction.

6 is a view for explaining a Hall sensor position correction method according to an embodiment of the present invention.

Referring to FIG. 6, the hall sensor position correction method of the present invention first checks whether the motor controller 130 of the BLDC motor 100 is initially driven in operation S101. That is, the motor controller 130 checks whether the hall sensor 120 position correction value is stored in a predetermined position in a memory of the microcontroller provided for motor control. In addition, when the Hall sensor 120 position correction value is stored in the corresponding memory, the motor controller 130 may branch to step S103 to support driving of the Hall sensor 120 position correction value of the memory.

On the other hand, the motor control unit 130 is the motor control unit 130 of the BLDC motor 100 in step S105 when the motor drive is the first drive in step S101, that is, when there is no position correction value of the Hall sensor 120 in the predefined memory area. ) Controls the motor to operate at a constant speed at a predetermined low speed to correct the hall sensor 120.

Thereafter, the motor controller 130 selects the reference hall sensor based on the current value fed back from the inverter 150 in step S107. In this case, the motor controller 130 may select the hall sensor at the position corresponding to the point of time when the smallest current value is transmitted among the feedback current values as the reference hall sensor.

When the reference hall sensor is selected, the motor controller 130 estimates the position of another hall sensor using the reference hall sensor in step S109. In this case, the motor controller 130 may estimate the position of the time when the other Hall sensors should be arranged using the number of all the Hall sensors disposed and the time required for the motor 110 to rotate one time at the time of selecting the reference Hall sensor. . In this case, the total number of hall sensors may be input at the time of manufacturing the BLDC motor 100, and the time required for one rotation of the motor 110 may be obtained using a supplied PWM driving signal or a timer.

When the position value estimation of each Hall sensor is completed, the motor controller 130 checks the position values of the actual Hall sensors based on the time when the corresponding Hall sensors delivered the measurement sensor signal and the time when the reference Hall sensor delivered the measurement sensor signal. Based on this, the position correction value may be calculated.

When the calculation of the position correction value is completed, the motor controller 130 inputs the position correction value of the hall sensor 120 to the memory in step S111. The motor controller 130 controls to drive at the final target speed in step S113. In this case, the motor controller 130 may generate the PWM control signal whose position is corrected based on the position correction value of the hall sensor 120, and perform the control of the inverter 150 based on this.

As described above, the Hall sensor position correction method according to the embodiment of the present invention estimates the actual position of the Hall sensor 120 and calculates the position correction value accordingly, thereby driving the motor 110 according to the exact arrangement of the hall sensor 120. Can support control

Meanwhile, the above-described position correction value detection process of the hall sensor 120 may be performed only during an operation process of the first BLDC motor 100, stored in a memory, and then called in a stored position correction value call process. In addition, the process of detecting the position correction value of the hall sensor 120 may be repeatedly performed at regular intervals in consideration of the occurrence of the deviation of the exact position of the hall sensor according to the operation of the motor to update the information stored in the memory.

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those of ordinary skill in the art that various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.

100: BLDC motor 110: motor
120: Hall sensor 130: motor control unit
131: reference Hall sensor selection unit 133: Hall sensor change estimation unit
135: Hall sensor information collecting unit 137: comparison correction unit
140: PWM driver 150: inverter

Claims (8)

A motor including a stator and a rotor;
A plurality of hall sensors detecting a rotor position of the motor;
The estimated value is calculated by estimating the position of the hall sensor using at least one of the number of the hall sensors, a pulse width modulation (PWM) driving period, and a timer, and comparing the estimated value with a sensor signal transmitted by the hall sensors. A motor controller for calculating a position correction value corresponding to the positions of actual hall sensors and applying the same to the motor driving control;
An inverter for supplying power for driving the motor according to the control of the motor controller;
And a PWM driver generating a PWM driving signal supplied to the inverter.
The motor control unit
A reference hall sensor selecting unit configured to receive a current value from the inverter and select a reference hall sensor as a hall sensor disposed at a position having a smallest current value of the feedback current value among the plurality of hall sensors;
A Hall sensor change estimator configured to estimate positions of other Hall sensors using a timer for detecting a PWM driving period or a rotation time of the motor based on the selected reference Hall sensor to calculate an estimated value;
A hall sensor information collector configured to collect measurement sensor signals detected by the hall sensor according to a position of an actual rotor;
A comparison correction unit which calculates the position correction value by comparing the measurement sensor signal collection time and the estimated value and provides a control signal for driving the inverter;
BLDC motor supporting a Hall sensor position correction, characterized in that it comprises a. The method of claim 1,
A memory for storing the position correction value;
BLDC motor supporting a Hall sensor position correction, characterized in that it further comprises. The method of claim 1, wherein the Hall sensor change estimation unit
The time at which the measurement sensor signal is transmitted from the Hall sensor disposed next to the reference Hall sensor based on the reference Hall sensor is calculated using a PWM driving cycle or a timer for detecting a rotation time of the motor, and used as the estimated value. BLDC motor supporting Hall sensor position correction, characterized in that. The method of claim 1,
The reference hall sensor selection unit
And a PWM drive control of the PWM driver so that the motor operates at a predetermined low speed constant speed. 5. The method of claim 4,
The reference hall sensor selection unit
BLDC motor supporting the Hall sensor position correction, characterized in that for controlling the maximum speed operation of the motor based on the position correction value. A confirmation step of confirming whether the motor is initially driven;
An estimating step of estimating the position of the hall sensor using at least one of the number of Hall sensors for detecting the rotor position of the motor, a PWM driving period, and a timer when the motor is initially driven;
Calculating a position correction value corresponding to positions of actual hall sensors by comparing the estimated value with a sensor signal transmitted by the hall sensors;
And controlling the motor driving based on the position correction value.
The estimating step
Receiving a feedback value of a current from an inverter supplying power to the motor;
Selecting a reference hall sensor as a hall sensor disposed at a position having a smallest current value of the feedback current value among the hall sensors;
Calculating an estimated value by estimating positions of other Hall sensors using a PWM driving cycle or a timer detecting a rotation time of the motor based on the reference Hall sensor;
Hall sensor position correction method of a BLDC motor comprising a. The method according to claim 6,
And storing the position correction value in memory.
The checking step is
And determining whether the position correction value is stored in a predefined area of the memory. The method according to claim 6,
In calculating the estimated value,
The time at which the measurement sensor signal is transmitted from the Hall sensor disposed next to the reference Hall sensor based on the reference Hall sensor is calculated using a PWM driving cycle or a timer for detecting a rotation time of the motor, and used as the estimated value. Hall sensor position correction method of the BLDC motor, characterized in that.

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