U.S. patent application number 11/725522 was filed with the patent office on 2007-08-16 for motor and drive control system thereof.
Invention is credited to Kesatoshi Takeuchi.
Application Number | 20070188121 11/725522 |
Document ID | / |
Family ID | 34918581 |
Filed Date | 2007-08-16 |
United States Patent
Application |
20070188121 |
Kind Code |
A1 |
Takeuchi; Kesatoshi |
August 16, 2007 |
Motor and drive control system thereof
Abstract
Provided is a motor having a magnetic polar unit in which a
permanent magnetic polar array having arranged therein alternately
a plurality of permanent magnetic polar elements in alternate
opposite poles is made to face a plurality of electromagnetic coil
arrays alternately excited at opposite poles, and the permanent
magnetic polar array is made to move thereby; wherein the motor
further comprises a sensor for detecting the periodical magnetic
change accompanying the movement of the permanent magnetic polar
array, the output of the sensor is directly returned as a direct
drive waveform to the electromagnetic coils, and this drive circuit
forms the excitation signal based on the return signal.
Inventors: |
Takeuchi; Kesatoshi;
(Shiojiri, JP) |
Correspondence
Address: |
HARNESS, DICKEY & PIERCE, P.L.C.
P.O. BOX 828
BLOOMFIELD HILLS
MI
48303
US
|
Family ID: |
34918581 |
Appl. No.: |
11/725522 |
Filed: |
March 19, 2007 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
11445396 |
Jun 1, 2006 |
7211974 |
|
|
11725522 |
Mar 19, 2007 |
|
|
|
11078960 |
Mar 11, 2005 |
7095155 |
|
|
11445396 |
Jun 1, 2006 |
|
|
|
Current U.S.
Class: |
318/280 |
Current CPC
Class: |
H02P 6/16 20130101; H02P
6/28 20160201 |
Class at
Publication: |
318/280 |
International
Class: |
H02P 1/00 20060101
H02P001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 12, 2004 |
JP |
2004-071417 |
Claims
1. An electric motor comprising: a movable body with a plurality of
permanent magnets, alternately magnetized at opposite polarities,
disposed thereon; a stator having an array of electromagnetic coils
disposed so that they do not come into contact with the movable
body; a drive circuit that moves the movable body based on the
attraction/repulsion between the movable body and the
electromagnetic coils generated by supplying an excitation current
to the electromagnetic coil array to alternatively magnetize the
electromagnetic coils in the electromagnetic coil array at opposite
polarities; and a magnetic sensor, disposed at a position fixed
with respect to the electromagnetic coil array, that linearly
detects the periodic magnetic field change caused by the movement
of the permanent magnets and outputs an analog value, wherein the
drive circuit creates a pattern for exciting the electromagnetic
coils by performing PWM control on the output analog value of the
sensor, and directly supplies the electromagnetic coils with that
pattern.
2. The electric motor according to claim 1, wherein when the
electric angle between the electromagnetic coils at opposite
polarities is 2.pi., the sensor is able to linearly detect the
position of the moveable body in the 2.pi. area.
3. The electric motor according to claim 2, further comprising an
amplifier that amplifies the output analog value of the sensor.
4. The electric motor according to claim 1, comprising a pair of
said stators, wherein the movable body is disposed between the pair
of stators.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a divisional patent application of U.S.
Ser. No. 11/445,396 filed Jun. 1, 2006 which is a divisional of
U.S. Ser. No. 11/078,960 filed Mar. 11, 2005 which is now U.S. Pat.
No. 7,095,155 issued Aug. 22, 2006, claiming priority to Japanese
Patent Application No. 2004-071417 filed Mar. 12, 2004, all of
which are hereby expressly incorporated by reference.
FIELD OF THE INVENTION
[0002] The present invention relates to various motors constituted
to rotate a rotor or move a slider formed from a permanent magnet
or ferromagnetic material by linearly arranging coils that generate
magnetic poles and sequentially switching the current to be applied
to the coil, a magnetic structure to be employed in such a motor,
and a power driver employing this motor as its drive source. The
present invention may be employed in the likes of an electric
vehicle, electric cart and electric wheelchair, as well as an
electric toy, electric airplane, small electronic appliances and
MEMS as the foregoing power driver.
DESCRIPTION OF THE RELATED ART
[0003] An AC motor driven with a frequency signal such as an
alternating current can be broadly classified into two types;
namely, a synchronous motor and an induction motor. A synchronous
motor is a motor that uses a layered core of a permanent magnet or
a ferromagnetic material such as iron in the rotor, and rotates at
a rotation speed that is the same as the speed of the rotating
magnetic field determined based on the power supply frequency.
[0004] Depending on the type of rotor, there are various types of
motors such as a magnetic type which uses a permanent magnet, a
coil type with a coil wound thereto, and a reactance type which
uses a ferromagnetic material such as iron. Among the above, with
the magnetic type motor rotates by the permanent magnet of the
rotor being pulled with the rotating magnetic field of the stator.
Meanwhile, the induction motor is a motor that rotates by
generating a separate magnetic field with the electromagnetic
induction effect to a rotor having a box-shaped conduction
wire.
[0005] Among the foregoing motors, there is a motor that does not
rotate, but rather moves linearly or moves freely on a flat
surface. This kind of motor is generally referred to as a linear
motor, and moves the permanent magnet or ferromagnetic material
mounted thereon by linearly arranging coils that generate magnetic
poles and sequentially switching the current to be applied to the
coil. The linearly disposed coil array is the stator, and the rotor
corresponds to a flat slider that slides thereabove.
[0006] As a magnetic synchronous motor, for instance, there is a
small synchronous motor described in the gazette of Japanese Patent
Laid-Open Publication No. H8-51745 (Patent Document 1). This small
synchronous motor, as shown in FIG. 1 of Patent Document 1, is
constituted by comprising a stator core 6 wound with an excitation
coil 7, and a rotor 3 having a rotor core 2 having a magnet 1 build
therein and in which the NS poles are aligned in even intervals
around the peripheral face thereof.
SUMMARY OF THE INVENTION
[0007] Nevertheless, with the motor explained in the description of
the related art, the weight became massive in comparison to the
generated torque, and there is a problem in that the motor would
become enlarged when attempting to increase the generated torque.
Thus, an object of the present invention is to provide a motor
suitable for miniaturization and superior in torque and weight
balance.
[0008] In order to achieve the foregoing object, the present
invention provides a motor drive system comprising a movable body
and a plurality of electromagnetic coils in which the plurality of
electromagnetic coils is disposed as a stator in a non-contact
manner on the movable body to which a plurality of permanent
magnets alternately magnetized at opposite poles is continuously
disposed thereon, and the movable body is capable of moving based
on the attraction--repulsion between the movable body and
electromagnetic coils generated by supplying an excitation current
as a direct drive waveform to the electromagnetic coils; wherein a
sensor for detecting the periodical magnetic field change caused by
the movement of the permanent magnet is provided, and the output of
the sensor is directly supplied as the excitation current to the
electromagnetic coils.
[0009] In a preferred embodiment of the present invention, the
movable body is constituted to have a plurality of constitutions in
which the hetropolar arrangement of two different permanent magnets
constitutes a pair, and, when the position between the hetropolar
arrangement constituting a pair is 2.pi., the sensor is able to
linearly detect the arbitrary position between the 2.pi., and the
sensor is provided to the electromagnetic coil phase.
[0010] Also provided is a motor drive system provided with a
movable body constituted to have a plurality of constitutions in
which the hetropolar arrangement of permanent magnets constitutes a
pair, in which the position between the hetropolar arrangement
constituting a pair is set to 2.pi., and the movable body is moved
based on the attraction--repulsion with non-contact electromagnetic
coils; wherein the sensor is able to linearly detect the arbitrary
position between the 2.pi., and the sensor is provided to the
electromagnetic coil phase. The arbitrary position signal level
obtained from the sensor corresponding to the electromagnetic coil
phase is returned to the electromagnetic coils.
[0011] The present invention also provides a motor comprising
magnetic polar means in which a permanent magnetic polar array
having arranged therein alternately a plurality of permanent
magnetic polar elements in alternate opposite poles is made to face
a plurality of electromagnetic coil arrays alternately excited at
opposite poles, and the permanent magnetic polar array is made to
move thereby; wherein the motor further comprises a sensor for
detecting the periodical magnetic change accompanying the movement
of the permanent magnetic polar array, and the output of the sensor
is directly returned to the electromagnetic coils. In a more
detailed embodiment of the present invention, the coil array is
formed from a two-phase pair of A and B phases, the permanent
magnetic polar array is interposed between the A and B phases, A
and B phases shift the phase for establishing the coil, a sensor
for the A phase coil and a sensor for the B phase coil are
provided, and the phase for establishing the A phase coil sensor
and the B phase coil sensor is shifted. A plurality of patterns of
excitation signals is supplied respectively to the A phase coil and
the B phase coil. Regardless of at which position the permanent
magnetic polar array is stopped, at least one signal among the
plurality of patterns of excitation signals is set to be the
excitation state based on the output from the A phase sensor and
the B phase sensor. The sensor is a hall element sensor for
outputting an analog detection value. PWM control is added to the
sensor output value based on the drive request torque of the motor,
and the control signal is supplied to the excitation coils.
[0012] The present invention further provides a motor regenerative
drive system to be used in the regeneration of the motor, wherein
provided is regeneration control means for controlling the
regeneration based on the sensor signal, and the control means has
means for forming a regenerative enabling signal from the sensor
signal, means for controlling the duty of the regenerative enabling
signal based on the load status, and means for arbitrarily
controlling the regeneration of the motor based on the duty.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] FIG. 1 is a diagram showing the frame format and principle
of operation of the magnetic structure pertaining to the present
invention;
[0014] FIG. 2 is a diagram showing the principal of operation
subsequent to FIG. 1;
[0015] FIG. 3 is an equivalent circuit diagram showing the
connection state of the electromagnetic coils;
[0016] FIG. 4 is a perspective view of the motor;
[0017] FIG. 5 is a block diagram of the drive circuit for supplying
an excitation signal to a coil array;
[0018] FIG. 6 is a control circuit block diagram for returning the
digital output of the sensor directly to the coil drive
circuit;
[0019] FIG. 7 is the control waveform diagram thereof;
[0020] FIG. 8 is a waveform diagram showing the PWM control
processing operation from the digital output of the sensor;
[0021] FIG. 9 is a control circuit block diagram for returning the
analog output of the sensor directly to the coil drive circuit;
[0022] FIG. 10 is the control waveform diagram thereof;
[0023] FIG. 11 is a control circuit block diagram for achieving the
control of the hysteresis level in relation to the analog output
value of the sensor;
[0024] FIG. 12 is a control waveform diagram in the case when the
hysteresis level is small;
[0025] FIG. 13 is a control waveform diagram in the case when the
hysteresis level is large;
[0026] FIG. 14 is a block diagram of the PWM control circuit based
on the analog output sensor;
[0027] FIG. 15 is a waveform diagram showing the PWM control
operation thereof;
[0028] FIG. 16 is a block diagram showing another example of the
coil drive circuit;
[0029] FIG. 17 is the drive waveform diagram thereof;
[0030] FIG. 18 is a block diagram in the case of employing the
present invention in a stepping motor;
[0031] FIG. 19 is a waveform diagram of sensor direct drive system
in a stepping motor;
[0032] FIG. 20 is a block diagram of the digital regeneration/power
generation control based on an analog sensor comprising a window
comparator having a hysteresis adjustment electronic VR;
[0033] FIG. 21 is a waveform diagram showing a case where the
hysteresis adjustment electronic VR is small and the regenerative
energy is maximum;
[0034] FIG. 22 is a waveform diagram showing a case where the
hysteresis adjustment electronic VR is maximum and the regenerative
energy is minimum;
[0035] FIG. 23 is a functional block diagram of the incoming
control from the respective phase coils;
[0036] FIG. 24 is a block diagram showing the energy converter of
the regenerative current; and
[0037] FIG. 25 is a diagram showing the structure where the
respective phase coils and the rotor, which is formed from a
permanent magnet, are facing each other in the radial
direction.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0038] FIG. 1 and FIG. 2 are diagrams showing the principal of
operation of the motor pertaining to the present invention. This
motor has a constitution where a third permanent magnet 14 is
interposed between a first coil pair (A phase coil) 10 and a second
coil pair (B phase coil) 12. The coils and permanent magnet may be
constituted circularly (arc, circle) or linearly. When formed
circularly, either the permanent magnet or the coil phase functions
as the rotor, and, when formed linearly, one of the above becomes a
slider.
[0039] A first coil pair 10 comprises a constitution in which the
coils 16 alternately excitable to the opposite poles are
sequentially aligned in a prescribed spacing, preferably an even
spacing. FIG. 5 is an equivalent circuit diagram of this first coil
pair. According to FIG. 1 and FIG. 2, as described later, with a
two-phase excitation coil, all coils are excited to be constantly
driven against the two-phase exciting coil during the start-up
rotation (2.pi.) with the foregoing polarity. Therefore, a drivee
means such as a rotor or slider can be rotated and driven at high
torque.
[0040] As shown in FIG. 3(1), a plurality of electromagnetic coils
16 (magnetic unit) to be alternately excited at opposite poles is
connected serially in even spacing. Reference numeral 18A is a
block showing the drive circuit for applying a frequency pulse
signal to these magnetic coils. When an excitation signal for
exciting the coils is sent from the excitation circuit to the
electromagnetic coils 16, the respective coils are pre-set to be
excited such that the direction of the magnetic poles will
alternate between the adjacent coils. As shown in FIG. 3(2), the
electromagnetic coils 16 may also be connected in parallel. The
structure of these coils are the same for both A and B phase
coils.
[0041] When a signal having a frequency for alternately switching,
in prescribed cycles, the direction of the polarity of the supplied
excitation current is applied from the excitation circuit 18A to
the electromagnetic coils 16, as shown in FIG. 1 and FIG. 2, a
magnetic pattern which alternately changes the polarity on the side
facing the rotor 14 from N pole.fwdarw.S pole.fwdarw.N pole is
formed in the A phase coil pair 10. When the frequency signal
becomes a reverse polarity, a magnetic pattern is generated for
alternately changing the polarity, which is on the third magnetic
body side, of the first magnetic body from S pole.fwdarw.N
pole.fwdarw.S pole. As a result, the excitation pattern appearing
in the A phase coil pair 10 will periodically change.
[0042] Although the structure of the B phase coil pair is the same
as the A phase coil pair, the electromagnetic coils 18 of the B
phase coil pair differs with respect to the point that it is
aligned by being positionally shifted in relation to the
[electromagnetic coils] 16 of the A phase coil pair. In other
words, the array pitch of the coil in the A phase coil pair and the
array pitch of the B phase coil pair are disposed in an offset so
as to have a prescribed pitch difference (angular difference). This
pitch difference is preferably the (single rotation) of the angle
in which the permanent magnet 14 moves corresponding to 1 cycle
(2.pi.) of the excitation current frequency in relation to the
coils 16, 18; for instance .pi./6 (.pi./2/M): M is the number of
sets of permanent magnet (N+S) where M=3).
[0043] The permanent magnet is now explained. As depicted in FIG. 1
and FIG. 2, the rotor 14 formed from a permanent magnet is disposed
between a two-phase coil pair, and a plurality of permanent magnets
20 (marked out in black) having alternately reverse polarities is
aligned in a line (linearly or in an arc) in prescribed spacing,
preferably in even spacing. An arc shape includes loops such as a
perfect circle or an oval shape, as well as indefinite circular
structures, half circles, fan shapes, and so on.
[0044] The A phase coil pair 10 and B phase coil pair 12 are
disposed via equal spacing, and a third magnetic body 14 is
disposed between the A phase coil pair and B phase coil pair. The
array pitch of the permanent magnet 20 is roughly the same as the
array pitch of the magnetic coil in the A phase coil 10 and B phase
coil 12.
[0045] Next, the operation of the magnetic structure in which the
foregoing third magnetic body is disposed between the first
magnetic body 10 and second magnetic body 12 is explained with
reference to FIG. 1 and FIG. 2. Let it be assumed that, based on
the foregoing excitation circuit (reference numeral 18 illustrated
in FIG. 3; to be described in detail later), the excitation pattern
shown in FIG. 1(1) is being generated at a certain moment in the
electromagnetic coils 16, 18 of the A phase coil and B phase
coil.
[0046] Here, a magnetic pole in the pattern of
.fwdarw.S.fwdarw.N.fwdarw.S.fwdarw.N.fwdarw.S.fwdarw. is generated
in the respective coils 16 on the surface facing the side of the
permanent magnet 14 of the A phase coil 10, and a magnetic pole in
the pattern of
.fwdarw.N.fwdarw.S.fwdarw.N.fwdarw.S.fwdarw.N.fwdarw. is generated
in the coil 18 on the surface facing the side of the permanent
magnet 14 of the B phase coil 12. In the diagrams, the magnetic
relation between the permanent magnet and the respective phase
coils is illustrated, and a repulsive force will arise between the
same poles and an attractive force will arise between opposite
poles.
[0047] The next instant, as shown in FIG. 1(2), when the polarity
of the pulse wave applied to the A phase coil via the drive circuit
18 is reversed, a repulsive force will arise between the magnetic
pole generated to the coils 16 of the A phase coil 10 and the
magnetic pole of the permanent magnet 20. Meanwhile, since an
attracting force is generated between the magnetic pole generated
to the coils 18 of the B phase coil 12 and the magnetic pole on the
surface of the permanent magnet, as shown in FIG. 1(1) to FIG.
2(5), the permanent magnet 14 will sequentially move rightward in
the diagram.
[0048] A pulse wave having a phase lag in comparison to the
exciting current of the A phase coil applied to the coils 18 of the
B phase coil 12, and, as shown in FIG. 2(6) to (8), the magnetic
pole of the coils 18 of the B phase coil 12 and the magnetic pole
on the surface of the permanent magnets 20 repel against each
other, and move the permanent magnet 14 further rightward. FIG.
1(1) to FIG. 2(8) illustrate a case where the rotor 14 engages in a
rotation corresponding to .pi., and FIG. 3(9) onward illustrate a
case where such rotor 14 engages in a rotation corresponding to
.pi..fwdarw.2.pi.. As described above, the rotor will rotate by
supplying a drive current (voltage) signal of a prescribed
frequency with a shifted phase to the A phase coil array and B
phase coil array.
[0049] When the A phase coil array, B phase coil array and the
permanent magnet are formed in an arc, the magnetic structure
depicted in FIG. 1 will become a structure of a rotating motor,
and, when these are formed linearly, the magnetic structure thereof
will become a linear motor. Excluding the portions of the permanent
magnet such as a case or rotor and the electromagnetic coil can be
reduced in weight by employing a non-magnetic body such as resin
(including carbon) or ceramics, and a rotating power drive superior
in a power-weight ratio can be realized without generating iron
loss as a result of opening the magnetic circuit without using a
yoke.
[0050] According to this magnetic structure, since the permanent
magnet is able to move upon being subject to the magnetic force
from the A phase coil and the B phase coil, the torque upon moving
the permanent magnet will increase, and, since the torque/weight
balance will become superior, a small motor capable of driving at a
high torque can be provided thereby.
[0051] FIG. 3(1) shows the respective circuits of the A phase coil
and B phase coil in a case where the plurality of coil arrays is
formed serially, and FIG. 3(2) shows the respective circuits of the
A phase coil and B phase coil in a case where the plurality of coil
arrays is formed in parallel.
[0052] FIG. 4 is a perspective view of the motor, wherein FIG. 4(1)
is a perspective view of the motor; FIG. 4(2) is a schematic plan
view of the rotor (third magnetic body); FIG. 4(3) is a side view
thereof; FIG. 4(4) is a diagram showing an A phase electromagnetic
coil (first magnetic body); and FIG. 4(5) is a diagram showing a B
phase electromagnetic coil (second magnetic body). The reference
numerals used in FIG. 4 are the same as the structural components
corresponding to the foregoing diagrams.
[0053] The motor comprises a pair of A-phase magnetic body 10 and
B-phase magnetic body 12 corresponding to a stator, as well as the
third magnetic body 14 constituting the rotor, and a rotor 14 is
rotatably disposed around the axis 37 and between the A-phase
magnetic body and B-phase magnetic body. The rotating axis 37 is
fitted into an opening in the center of the rotor such that the
rotor and rotating axis can rotate integrally. As shown in FIG.
4(2), (4) and (5), six permanent magnets are provided to the rotor
in even spacing around the circumferential direction thereof,
polarities of the permanent magnets are made to be mutually
opposite, and six electromagnetic coils are provided to the stator
in even spacing around the circumferential direction thereof.
[0054] The A phase sensor 34A and B phase sensor 34B are provided
to the inner side wall of the case of the A phase magnetic body
(first magnetic body) via a phase shift (distance corresponding to
.pi./6). The A phase sensor 34A and B phase sensor 34B are subject
to mutual phase shifts for providing a prescribed phase different
to the frequency signal to be supplied to the A phase coil 16 and
the frequency signal to be supplied to the B phase coil 18.
[0055] As the sensor, it is preferable to use a hall element
employing the hall effect and which is capable of detecting the
position of the permanent magnet from the change in the magnetic
pole pursuant to the movement of the permanent magnet. As a result
of employing this sensor, when the S pole of the permanent magnet
to the subsequent S pole is set to 2.pi., the hall element will be
able to detect the position of the permanent magnet regardless of
where the permanent magnet is located. As the hall element, a
method of generating a pulse may be employed, or a method of
outputting an analog value according to the magnetic pole intensity
may also be employed.
[0056] FIG. 5(1) and FIG. 5(2) respectively show the drive circuits
of the A phase magnetic body formed from an A phase coil array and
the B phase magnetic body formed from a B phase coil array.
[0057] This circuit includes switching transistors TR1 to TR4 for
applying the output waveform of the sensor as an excitation current
to the A phase electromagnetic coil or B phase electromagnetic
coil. Here, when the A phase sensor output as the signal is "H",
"L" is applied to the TR1 gate, "L" is applied to the TR2 gate, "H"
is applied to the TR3 gate, and "H" is applied to the TR4 gate.
Then, TR1 and TR4 will be turned on, and the excitation current as
the output from the sensor having an IA1 is applied to the A phase
coil. Meanwhile, when then A phase sensor output as the signal is
"L", "H" is applied to the TR1 gate, "H" is applied to the TR2
gate, "L" is applied to the TR3 gate, and "L" is applied to the TR4
gate. Then, TR2 and TR3 will be turned on, and the excitation
current having an IA2 orientation will be applied to the A phase
coil. Further, when "H" is applied to TR1 and TR3 and "L" is
applied to TR2 and TR4, this will enter an HiZ state, and current
will not be supplied to the electromagnetic coil. The same applies
regarding the excitation to the B phase coil illustrated in FIG.
5(2).
[0058] FIG. 6 is a processing circuit of the control signal
supplied to the A phase drive circuit and B phase drive circuit.
The digital output from the A phase sensor 35A is supplied to the
EX-NOR gate 80, and the digital output from the B phase sensor 35B
is supplied to the EX-NOR circuit 82. Reference numeral 92 is a
formation means of the control signal for selecting whether to
supply the output from the sensor to the foregoing drive circuit as
is, or to change (PWM) the duty of the sensor output value, and
reference numeral 93 is a formation of the control signal for
determining whether to make the direction of rotation of the rotor
formed from a permanent magnet a normal rotation or a reverse
rotation. Either pattern (polarity) of the A phase coil and B phase
coil may be reversed for normal rotation and reverse rotation. Each
of these means is realized with a microcomputer. Reference numeral
88 is the PWM converter, and is capable of controlling the motor
torque by converting and controlling the analog quantity from the
sensor output into a logic quantity via PWM control (current
control). Reference numeral 90 is a switching circuit unit for
switching the selection of the signal formed with the PWM converter
88 or the signal directly obtained from the sensor, and supply
thereof to the A phase drive 84 or B phase drive 86.
[0059] FIG. 7 is a diagram showing the output waveforms of the
respective phase sensors and the excitation signal pattern to be
supplied to the drive circuits of the respective phase coils. As a
result of the established position phase of the A phase sensor and
B phase sensor being mutually shifted, a phase difference in the
output value thereof will also become apparent. The control circuit
of 8 described above directly supplies the output (1) of the A
phase sensor as a direct drive waveform to the driver 84 of the A
phase coil. The A1 phase drive waveform (3) is the control signal
having the current orientation of terminal A1.fwdarw.terminal A2 of
the A phase coil array depicted in FIG. 5, and A2 phase drive
waveform (4) is the control signal having the current orientation
of A2 terminal.fwdarw.A1 terminal. As shown in FIG. 5, a plurality
of coil excitation patterns of the A1 phase waveform and A2 phase
waveform is formed from the A phase sensor output, and this is
output to the excitation circuit (coil drive circuit). The same
applies for the B phase coil. FIG. 7 illustrates a case of directly
supplying the sensor output to the drive circuit.
[0060] Regardless of the position of the permanent magnet of the
rotor, even assuming that the A phase sensor output and B phase
sensor output are both "L", since the respective levels of the A2
phase drive waveform and B2 phase waveform are "H", as a result of
this being supplied to the drive circuit, the A phase coil array
and B phase coil will both be excited, and try to rotate the rotor
comprising the permanent magnet. In other words, regardless of at
which position the permanent magnet is stopped, the rotation of the
rotor can be started by directly returning the sensor output to the
driver. As described above, since the sensor output can be directly
returned to the drive circuit, it is possible to simplify the
constitution of the control circuit.
[0061] FIG. 8 is a control waveform diagram showing the coil array
being subject to PWM drive. FIG. 8(1) to (6) are the same as FIG.
7. FIG. 8(7) shows the sinusoidal wave output to be applied to both
ends of the potential of the A phase coil array, and the frequency
of this sinusoidal wave will change pursuant to the duty command
value. As a result of acquiring this sinusoidal wave output and the
AND of the digital output value (synthesis of (1) and (3)) of both
ends of the A phase coil, the output value of the A phase coil can
be subject to duty conversion. The same applied to the B phase coil
array.
[0062] FIG. 9 is a control circuit for directly driving the driver
with an analog sensor; that is, a block diagram showing the analog
output value of the sensor being directly supplied to the
excitation coil. Reference numeral 100 is an amplifier of the
sensor output. The polarity of the sensor output is controlled
based on the normal rotation/reverse rotation circuit 101 of the
rotor. Reference numerals 102 and 104 are auto gain controls. FIG.
10 is a diagram showing the analog output value of the respective
phase sensors, and the drive voltage waveform of the respective
phase coil arrays to which this analog output value has been
supplied.
[0063] FIG. 11 is a diagram showing the digital drive circuit based
on an analog sensor, and reference numeral 130 is a voltage
comparator employing a circuit constitution pertaining to the
reverse signal obtained from the window comparator as an example of
the hysteresis level setting means (hereinafter referred to as the
"window comparator"), and the hysteresis level is determined by the
output of the A phase sensor 35A and the output of the B phase
sensor 35B being input and compared with the input value of the
variable resistance control circuit 136. Reference numeral 132 is a
switch circuit for switching whether to control A coil with the A1
phase drive waveform 84A or the A2 phase drive waveform, and the
same applies to the B phase coil. Reference numeral 134 is the FV
converter for converting the frequency of the output value of the A
phase sensor into a voltage value, and, by supplying this to the
electronic VR control circuit 136, the value of resistance is
determined, and the hysteresis level is set. In other words, as a
result of making the hysteresis level variable, the duty of the
rectangular wave is changed, and the torque control of the motor
characteristics is enabled. For example, upon starting the motor,
the hysteresis level is set to minimum, and the motor is driven
giving preference to the torque and sacrificing the efficiency.
Further, when the motor is in a state of operational stability, the
hysteresis level is set to maximum to drive the motor giving
preference to high efficiency. The hysteresis adjustment volume (v)
may also be controlled with the CPU. The control circuit 93 offers
the selection of the mode of exciting the A phase coil and B phase
coil and rotating the rotor, and the mode of exciting either phase
and rotating the rotor.
[0064] FIG. 12 is control waveform diagram in a case of attempting
to rotate the rotor in a stopped state, and, when the hysteresis
level is set to minimum, the window comparator 130 compares the
sensor output value and hysteresis level, the output value of the
sensor is converted into a logic quantity, an excitation signal of
a high duty ratio is switched and supplied to from the multiplexer
132 to the A phase coil array and B phase coil array, and the motor
attempts to rotate at a high torque. As shown in FIG. 13, when the
hysteresis level is set to maximum in a state where the rotor is
rotating stably, an excitation signal of a low duty ratio is
applied to the respective phase coil arrays, and the drive torque
of the motor will decrease. Nevertheless, the motor can be operated
at a high efficiency.
[0065] FIG. 14 is a diagram showing the circuit constitution in a
case of performing PWM control, without depending on the control of
the hysteresis level, based on the analog sensor output. The PWM
converter 160 is supplied with a comparative wave in which the
reference frequency signal from the PLL circuit 162 was divided,
and, as a result of this comparative wave and the analog detection
value from the A phase sensor and B phase sensor being compared, a
duty-adjusted signal wave is supplied to the respective phase coil
arrays. When the peak of the analog output value is adjusted with
the auto gain controls 102, 104, as a result of the frequency of
the comparative signal of the PLL circuit 162 being controlled, and
suitably setting these with the likes of a CPU according to the
requested torque of the motor, as shown in FIG. 15, the PWM output
can be obtained from the sensor output. Incidentally, in the
foregoing embodiments, although the permanent magnet array was
explained as a rotor, this may also be a linear motor that moves
linearly.
[0066] FIG. 16 is a diagram showing the second example of the drive
circuit, and the drive circuits of the A phase coil and B phase
coil formed separated in the circuit of FIG. 5 are formed as a
single drive circuit. To explain with reference to FIG. 17, during
the period of T1, TR1 and TR7 are turned on with the sensor output,
and the excitation current in the direction of IA1 supplied from
the power source flows from the transistor TR1 to the A phase coil
16, and to the earth via the transistor TR7. During the period of
T2, TR3 and TR7 are turned on, and the excitation current from the
power source passes through the B phase coil in the direction of
IB1, passes through TR7 and arrives at the earth. During the period
of T3, TR2 is turned on, TR8 is turned on, and the excitation
current from the power source flows to the direction of the IA2 and
arrives at the earth. During the period of T4, TR4 is turned on,
TR8 is turned on, and the excitation current from the power source
to the direction of the IB2 and arrives at the earth.
[0067] FIG. 18 is shows the sensor direct drive system according to
the present invention; in other words, it is a circuit diagram in a
case of adopting the drive system of directly inputting the
detection signal from the sensor to the drive circuit for driving
the coil in a stepping motor. Reference numeral 190 is a rotor
comprising a plurality of permanent magnets, wherein reference
numeral 192 is an A-A' phase coil, reference numeral 194 is a B-B'
phase coil, reference numeral 34A is an A phase sensor, and
reference numeral 34B is a B phase sensor. FIG. 19 is a coil drive
timing chart, and the A phase sensor output is supplied as the coil
excitation current to the A-A' phase coil drive circuit, and the B
phase sensor output is supplied to the B-B' phase coil drive
circuit. The shaded portions in FIG. 19 allow the control of the
normal rotation/reverse rotation of the rotor via switching the
polarity. According to this embodiment, the drive yielding point
caused by the load change of the stepping motor can be
eliminated.
[0068] FIG. 20 is a block diagram of the digital regeneration/power
generation control based on an analog sensor comprising the wind
comparator with a hysteresis adjustment electronic VR. When the
output of the A phase sensor 34A exceeds the fluctuation margin of
the hysteresis level, "H" of the A phase TP or A phase BT is output
to the OR circuit 200, and this is output as the A phase
regenerative enabling signal to the incoming control circuit
described later. The same applies to the output of the B phase
sensor 34B. Reference numeral 202 is the OR circuit.
[0069] FIG. 21 is a waveform diagram showing a case when the
hysteresis adjustment electronic VR is small and the regenerative
energy is maximum, and FIG. 22 is a waveform diagram showing a case
when the hysteresis adjustment electronic VR is maximum and the
regenerative energy is minimum. In the case of a high load (strong
regenerative braking state), the duty ratio of the regenerative
enabling signal of the respective phases will become high, and,
when the regenerative enabling signal is in the period of "H", the
regenerative current from the respective coils of the A phase and B
phase is supplied to the load (battery). This is the state
illustrated in FIG. 21. Meanwhile, in the case of a low load (weak
regenerative braking state), as shown in FIG. 22, the duty ratio of
the enabling signal of the respective phases will become small, and
when the regenerative enabling signal is in the period of "H", the
regenerative current from the respective phase coils is supplied to
the load.
[0070] FIG. 23 is a diagram showing the functional block diagram of
the incoming control from the respective phase coils, and, in
accordance with the switching of the H or L of the A phase
regenerative enabling signal, the transistors 230 and 232 will be
alternately turned on via the inverters 232A and 232B when the
foregoing signal is supplied, and the regenerative current which
has been rectified with the rectifying means 231 and smoothed with
the smoothing circuit 240 will generate between the + power
transmission terminal and - power transmission terminal. The same
applies to the B phase coil side. FIG. 24 shows the energy
converter of the regenerative current, wherein reference numeral
240 is the DC/DC converter, reference numeral 242 is the DC/AC
converter, and reference numeral 244 is a chemical converter
(battery).
[0071] Incidentally, the foregoing constitution, as shown in FIG.
25(1) and FIG. 25(2), may also be adopted in the structure where
the A phase coil 16 and B phase coil 18, and the rotor 20 formed
from a permanent magnet face each other in the radial direction.
FIG. 25(1) is a plan view of the motor, and FIG. 25(2) is the A-A'
cross section of FIG. 25(1). Although the stator was explained as
the two phases of A phase and B phase, the rotation/torque will
decrease, but an independent drive and regeneration based on a
single phase is also possible. As a result of fluctuating the
magnetic field intensity by making the distance between the rotor
and the A phase and B phase of the stator variable, the
rotation/torque characteristics can also be made variable. The
rotation/torque characteristics can also be made variable by
changing the establishment position angle of the A phase/B phase of
the stator.
[0072] According to the embodiments described above, since the
output of the sensor of the respective phases for detecting the
magnetic field change accompanying the rotation of the rotor is
directly supplied to the two-phase electromagnetic coils set upon
shifting the angles, the rotor can be rotated with a weak current
(micro order level) during the torque request operation upon
starting the drive of the motor.
* * * * *