Motor Adjustment Method

Abstract

To provide a motor adjustment method enabling a motor to be highly accurately adjusted.SOLUTION: A motor adjustment method adjusts a motor driven by a control device. The motor adjustment method includes: a forward rotation information acquisition step of acquiring forward rotation information indicating a change of a value of a current flowing in a drive unit when a rotor is rotated in a forward direction; an inverse rotational information acquisition step of changing the hall sensor setting position and acquiring inverse rotational information indicating the change of the value of the current flowing in the drive unit when the rotor is rotated to the inverse direction; and a determination step of determining a hall sensor adjust position on the basis of the forward rotation information and the inverse rotational information. The hall sensor adjust position indicates a position where a correction amount is added to the hall sensor setting position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for adjusting a motor. [Background technology]

[0002] The brushless motor control device described in Patent Document 1 includes an inverter circuit, a rotor magnetic pole detection unit, a rotor position estimation unit, a current detection unit, and an electrical angle correction unit. The inverter circuit rotates the motor in the forward direction. The electrical angle correction unit determines an electrical angle offset based on fluctuations in the power supply current value and corrects the estimated rotor position signal by adding the electrical angle offset to the electrical angle indicated by the estimated rotor position signal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 79052 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the brushless motor control device described in Patent Document 1 was sometimes unable to accurately calculate the electrical angle offset, which resulted in the motor being unable to be adjusted accurately.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a motor adjustment method that can adjust a motor with high precision. [Means for solving the problem]

[0006] An exemplary motor adjustment method of the present invention adjusts a motor driven by a control device. The motor includes a stator having multi-phase windings, a rotor rotatable relative to the stator, and a Hall sensor disposed at a distance from the rotor and detecting the magnetic poles of the rotor. The control device includes a drive unit that applies a drive voltage to the multi-phase windings, a rotational speed calculation unit that calculates the rotational speed of the rotor based on changes in the magnetic poles detected by the Hall sensor, and an energization control unit that controls the timing of energization of each of the multi-phase windings based on the rotational speed and a Hall sensor setting position. The motor adjustment method includes a forward rotation information acquisition step of changing the Hall sensor setting position to acquire forward rotation information indicating changes in the value of current flowing through the drive unit when the rotor rotates in the forward direction, a reverse rotation information acquisition step of changing the Hall sensor setting position to acquire reverse rotation information indicating changes in the value of current flowing through the drive unit when the rotor rotates in the reverse direction, and a determination step of determining a Hall sensor adjustment position based on the forward rotation information and the reverse rotation information. The Hall sensor adjustment position indicates a position obtained by adding a correction amount to the Hall sensor setting position. [Effects of the Invention]

[0007] The exemplary invention allows for precise adjustment of the motor. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a control device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a circuit diagram showing an inverter circuit. [Figure 3] FIG. 3 is a schematic diagram showing a motor. [Figure 4] FIG. 4 is a diagram showing the back electromotive force and the Hall sensor signal. [Figure 5] FIG. 5 is a diagram showing the absolute value of the difference in current value for the Hall sensor setting position. [Figure 6]FIG. 6 is a flowchart showing the motor adjusting method according to the first embodiment. [Figure 7] FIG. 7 is a block diagram of a control device according to the second embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing the current value versus the Hall sensor setting position. [Figure 9] FIG. 9 is a block diagram of a control device according to the third embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing a motor adjusting method according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and description thereof will not be repeated.

[0010] <Embodiment 1> A coordination system 200 according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a block diagram of the coordination system 200 according to an embodiment of the present invention.

[0011] As shown in FIG. 1 , the adjustment system 200 includes a control device 100 and a DC power supply unit B. A motor M is connected to the control device 100. For example, a motor M before shipping is connected to the control device 100. The motor M is, for example, a brushless DC motor. The motor M has a U phase, a V phase, and a W phase. The motor M is driven by the control device 100.

[0012] The DC power supply unit B applies a voltage. For example, the DC power supply unit B applies a voltage of a predetermined value. The predetermined value is determined by, for example, a user.

[0013] The control device 100 adjusts the motor M. Specifically, the control device 100 adjusts the drive of the motor M. More specifically, the control device 100 adjusts the setting position of a Hall sensor, which will be described later. The control device 100 includes an inverter circuit 110, a control unit 120, and a current detection unit 130. The inverter circuit 110 is an example of a "drive unit."

[0014] The current detection unit 130 detects the current Iin flowing through the inverter circuit 110. The current detection unit 130 outputs the detection result to the control unit 120. As a result, the control unit 120 can accurately obtain the current Iin flowing through the inverter circuit 110.

[0015] The control device 100 outputs three-phase AC power. The control device 100 has three output terminals 102. The three output terminals 102 include an output terminal 102u, an output terminal 102v, and an output terminal 102w. The three output terminals 102 output three-phase output voltages and three-phase output currents to the motor M. Specifically, the output terminal 102u outputs a U-phase output voltage Vu and a U-phase output current Iu to the motor M. The output terminal 102v outputs a V-phase output voltage Vv and a V-phase output current Iv to the motor M. The output terminal 102w outputs a W-phase output voltage Vw and a W-phase output current Iw to the motor M.

[0016] Next, the inverter circuit 110 will be described with reference to Fig. 2. Fig. 2 is a circuit diagram showing the inverter circuit 110. As shown in Fig. 2, the inverter circuit 110 applies a drive voltage to windings of multiple phases.

[0017] The inverter circuit 110 includes a first power supply terminal P, a second power supply terminal N, a capacitor C, and three series bodies 112.

[0018] A first voltage V1 is applied to a first power supply terminal P. The first power supply terminal P is connected to a DC voltage source B.

[0019] A second voltage V2 is applied to the second power supply terminal N. The second power supply terminal N is connected to a DC voltage source B. The second voltage V2 is lower than the first voltage V1.

[0020] The capacitor C is connected between the first power supply terminal P and the second power supply terminal N.

[0021] The three series bodies 112 include a series body 112u, a series body 112v, and a series body 112w. The three series bodies 112 are connected in parallel with one another. One end of each of the three series bodies 112 is connected to a first power supply terminal P. The other end of each of the three series bodies 112 is connected to a second power supply terminal N.

[0022] Each of the three series bodies 112 has two semiconductor switching elements connected in series. The semiconductor switching elements are, for example, IGBTs (insulated gate bipolar transistors). The semiconductor switching elements may also be other transistors such as field effect transistors. A rectifying element D is connected in parallel to each of these semiconductor switching elements, with the first power supply terminal P side (upper side of the drawing) serving as the cathode and the second power supply terminal N side (lower side of the drawing) serving as the anode. When field effect transistors are used as the semiconductor switching elements, a parasitic diode may be used as this rectifying element.

[0023] Each of the three series bodies 112 has a first semiconductor switching element and a second semiconductor switching element. Specifically, the series body 112u has a first semiconductor switching element Up and a second semiconductor switching element Un. The series body 112v has a first semiconductor switching element Vp and a second semiconductor switching element Vn. The series body 112w has a first semiconductor switching element Wp and a second semiconductor switching element Wn.

[0024] The first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are connected to the first power supply terminal P. In other words, the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are semiconductor switching elements on the high-voltage side.

[0025] The second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are connected to the second power supply terminal N. In other words, the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are semiconductor switching elements on the low-voltage side.

[0026] The first semiconductor switching element and the second semiconductor switching element are connected at a connection point 114. More specifically, the first semiconductor switching element Up and the second semiconductor switching element Un are connected at a connection point 114u. The first semiconductor switching element Vp and the second semiconductor switching element Vn are connected at a connection point 114v. The first semiconductor switching element Wp and the second semiconductor switching element Wn are connected at a connection point 114w.

[0027] Connection point 114 in each of the three series bodies 112 is connected to three output terminals 102. Specifically, connection point 114u in series body 112u is connected to output terminal 102u. Connection point 114v in series body 112v is connected to output terminal 102v. Connection point 114w in series body 112w is connected to output terminal 102w.

[0028] PWM signals are input to the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp. The PWM signals are output from the control unit 120. Hereinafter, in this specification, the PWM signal input to the first semiconductor switching element Up may be referred to as the "Up PWM signal." The PWM signal input to the first semiconductor switching element Vp may be referred to as the "Vp PWM signal." The PWM signal input to the first semiconductor switching element Wp may be referred to as the "Wp PWM signal." The first semiconductor switching elements Up, the first semiconductor switching elements Vp, and the first semiconductor switching elements Wp are switched on and off at a frequency higher than the frequency of the AC output. For example, the first semiconductor switching elements Up, the first semiconductor switching elements Vp, and the first semiconductor switching elements Wp are turned on when the Up PWM signal, the Vp PWM signal, and the Wp PWM signal are at a HIGH level, respectively. On the other hand, the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are turned off when the UpPWM signal, the VpPWM signal, and the WpPWM signal are at a low level, respectively.

[0029] A PWM signal is input to the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn. The PWM signal is output from the control unit 120. Hereinafter, in this specification, the PWM signal input to the second semiconductor switching element Un may be referred to as the "UnPWM signal." The PWM signal input to the second semiconductor switching element Vn may be referred to as the "VnPWM signal." The PWM signal input to the second semiconductor switching element Wn may be referred to as the "WnPWM signal." The second semiconductor switching elements Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are switched on and off at a frequency higher than the frequency of the AC output. For example, the second semiconductor switching elements Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are turned on when the UnPWM signal, the VnPWM signal, and the WnPWM signal are at a HIGH level, respectively. On the other hand, the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are turned off when the UnPWM signal, the VnPWM signal, and the WnPWM signal are at a low level, respectively.

[0030] Next, the motor M will be described with reference to Fig. 3. Fig. 3 is a schematic diagram showing the motor M. As shown in Fig. 3, the motor M includes a rotor 310, a stator 320, and three Hall sensors 330.

[0031] The rotor 310 is disposed about a central axis AX extending in the horizontal direction. That is, as an example, the motor M is an inner rotor type motor. The rotor 310 rotates about the central axis AX. The rotor 310 is disposed inside the stator 320 in the radial direction RD. The rotor 310 is rotatable relative to the stator 320.

[0032] The stator 320 is disposed about a central axis AX extending in the horizontal direction. The stator 320 faces the rotor 310 in the radial direction RD. The stator 320 has multi-phase windings 322. In this embodiment, the stator 320 has three-phase windings 322.

[0033] The three Hall sensors 330 include Hall sensor 332, Hall sensor 334, and Hall sensor 336. Hall sensor 332 is a Hall sensor for the U phase. Hall sensor 334 is a Hall sensor for the V phase. Hall sensor 336 is a Hall sensor for the W phase. The Hall sensors 330 are, for example, magnetic sensors. The Hall sensors 330 are arranged at an interval from the rotor 310 and detect the magnetic poles of the rotor 310. The Hall sensors 330 are arranged near the rotor 310. In this embodiment, the Hall sensors 330 are arranged on the stator 320. The Hall sensors 330 output the detection results (for example, changes in the magnetic poles) to the control unit 120.

[0034] 1, the control unit 120 is a hardware circuit configured with a processor such as a CPU (Central Processing Unit) and an ASIC (Application Specific Integrated Circuit). The processor of the control unit 120 executes motor control software stored in a storage device. The control unit 120 includes a rotation speed calculation unit 121 and a current control unit 122.

[0035] The control unit 120 controls the inverter circuit 110. Specifically, the control unit 120 generates a PWM signal and outputs the PWM signal to control the inverter circuit 110. More specifically, the control unit 120 generates a PWM signal to be input to each of the three series bodies 112.

[0036] The rotation speed calculation unit 121 calculates the rotation speed of the rotor 310 based on the change in the magnetic pole detected by the Hall sensor 330. The rotation speed calculation unit 121 also calculates the rotation speed of the rotor 310 relative to the stator 320 based on the rotation position of the rotor 310.

[0037] The energization control unit 122 controls the timing of energization of each of the multiple phase windings 322 based on the rotation speed and the Hall sensor setting position. The Hall sensor setting position indicates the setting position of the Hall sensor 330 in the motor control software for the winding 322 of each phase.

[0038] Generally, when manufacturing a motor M, an installation error (misalignment) occurs between the designed position of the Hall sensor 330 relative to the winding 322 of each phase and the actual position of the Hall sensor 330 relative to the winding 322 of each phase. The misalignment will be described with reference to FIG. 4, which is a diagram showing back electromotive force and a Hall sensor signal. In FIG. 4, the energization control unit 122 controls the timing of energization to each of the windings 322 of multiple phases based on the position of the Hall sensor 330 in the motor control software relative to the winding 322 of each phase.

[0039] As shown in Figure 4, the waveform of the back electromotive force is sinusoidal. The position of the winding 322 of the stator 320 corresponds to the waveform of the back electromotive force. The Hall sensor signal is a square wave.

[0040] α is a value determined by the positional relationship between the position of winding 322 of stator 320 and Hall sensor 330. An error in mounting winding 322 of stator 320 and Hall sensor 330 causes a deviation of +Δα in the Hall sensor signal.

[0041] The control unit 120 further includes a forward rotation information acquisition unit 123, a reverse rotation information acquisition unit 124, and a determination unit 125.

[0042] The forward rotation information acquisition unit 123 acquires forward rotation information. The forward rotation information indicates a change in the value of the current Iin flowing through the inverter circuit 110 when the Hall sensor setting position is changed and the rotor 310 rotates in the forward direction CW. The forward direction CW is, for example, clockwise. Specifically, the forward rotation information acquisition unit 123 creates forward rotation information when the rotor 310 rotates in the forward direction CW at a predetermined speed for a predetermined period of time. The predetermined speed may be, for example, the rotation speed at which the motor M is used after shipment, or the maximum rotation speed of the motor M. The predetermined period is, for example, an arbitrary period determined by the user, and is a period during which the rotation speed of the motor M stabilizes.

[0043] Specifically, the forward rotation information acquisition unit 123 assumes that the Hall sensor setting position is the first Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322. The first Hall sensor setting position indicates, for example, the designed position (e.g., θ degrees) of the Hall sensor 330 relative to the winding 322 of each phase.

[0044] Next, the forward rotation information acquisition unit 123 assumes that the Hall sensor setting position is the second Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization of each of the multiple phase windings 322. The second Hall sensor setting position indicates a position (e.g., θ+0.1 degrees) obtained by adding a predetermined amount (e.g., 0.1 degrees) to the first Hall sensor setting position. The predetermined amount is, for example, arbitrarily determined by the user.

[0045] Next, the forward rotation information acquisition unit 123 assumes that the Hall sensor setting position is the third Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322. The third Hall sensor setting position indicates a position (e.g., θ-0.1 degrees) obtained by adding a predetermined amount (e.g., −0.1 degrees) to the first Hall sensor setting position.

[0046] Similarly, for example, the forward rotation information acquisition unit 123 acquires the value of the current Iin flowing through the inverter circuit 110, assuming that the Hall sensor setting positions are the fourth, fifth, sixth, seventh, eighth, and ninth Hall sensor setting positions. The fourth Hall sensor setting position indicates a position (e.g., θ+0.2 degrees) obtained by adding a predetermined amount (e.g., 0.2 degrees) to the first Hall sensor setting position. The fifth Hall sensor setting position indicates a position (e.g., θ-0.2 degrees) obtained by adding a predetermined amount (e.g., −0.2 degrees) to the first Hall sensor setting position. The sixth Hall sensor setting position indicates a position (e.g., θ+0.3 degrees) obtained by adding a predetermined amount (e.g., 0.3 degrees) to the first Hall sensor setting position. The seventh Hall sensor setting position indicates a position (e.g., θ-0.3 degrees) obtained by adding a predetermined amount (e.g., −0.3 degrees) to the first Hall sensor setting position. The eighth Hall sensor setting position indicates a position (e.g., θ+0.4) obtained by adding a predetermined amount (e.g., 0.4 degrees) to the first Hall sensor setting position. The ninth Hall sensor setting position indicates a position (e.g., θ-0.4) obtained by adding a predetermined amount (e.g., -0.4 degrees) to the first Hall sensor setting position. The value of the current Iin may be an average value over a predetermined period, or a median value over a predetermined period.

[0047] The reverse rotation information acquisition unit 124 acquires reverse rotation information. The reverse rotation information indicates a change in the value of the current Iin flowing through the inverter circuit 110 when the rotor 310 rotates in the reverse CCW direction by changing the Hall sensor setting position. The reverse CCW direction is, for example, counterclockwise. Specifically, the reverse rotation information acquisition unit 124 creates reverse rotation information when the rotor 310 rotates in the reverse CCW direction at a predetermined speed for a predetermined period of time.

[0048] In detail, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting position is the first Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322.

[0049] Next, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting position is the second Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322.

[0050] Next, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting position is the third Hall sensor setting position and acquires the value of the current Iin flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322.

[0051] Similarly, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting positions are the fourth, fifth, sixth, seventh, eighth, and ninth Hall sensor setting positions, and acquires the value of the current Iin flowing through the inverter circuit 110. The value of the current Iin may be an average value over a predetermined period, or a median value over the predetermined period.

[0052] The determination unit 125 determines the Hall sensor adjustment position based on the forward rotation information and reverse rotation information. The Hall sensor adjustment position indicates a position obtained by adding a correction amount to the Hall sensor setting position. As a result, the determination unit 125 determines the correction amount using both the forward rotation information and the reverse rotation information, compared to when using only one of the forward rotation information and the reverse rotation information. Therefore, the motor M can be adjusted with high accuracy. Note that the determination unit 125 may calculate the Hall sensor adjustment position or the correction amount.

[0053] Specifically, the determination unit 125 determines the Hall sensor setting position that results in the smallest difference value as the Hall sensor adjustment position from among the multiple Hall sensor setting positions. The difference value indicates the absolute value of the difference between the value of the current Iin when the rotor 310 rotates in the forward direction CW and the value of the current Iin when the rotor 310 rotates in the reverse direction CCW at the same Hall sensor setting position. Therefore, the Hall sensor adjustment position can be easily determined without complex calculations.

[0054] For example, assuming that the Hall sensor setting position is the first Hall sensor setting position, the determination unit 125 calculates the absolute value of the difference between the value of the current Iin when the rotor 310 rotates in the forward direction CW and the value of the current Iin when the rotor 310 rotates in the reverse direction CCW. Also, assuming that the Hall sensor setting position is the second Hall sensor setting position, the determination unit 125 calculates the absolute value of the difference between the value of the current Iin when the rotor 310 rotates in the forward direction CW and the value of the current Iin when the rotor 310 rotates in the reverse direction CCW. In this way, the determination unit 125 calculates the absolute value of the difference between the value of the current Iin when the rotor 310 rotates in the forward direction CW and the value of the current Iin when the rotor 310 rotates in the reverse direction CCW.

[0055] Next, a method for determining the Hall sensor adjustment position will be described with reference to Fig. 5. Fig. 5 is a diagram showing the absolute value of the difference in current value relative to the Hall sensor setting position. In Fig. 5, the horizontal axis represents the Hall sensor setting position. The vertical axis represents the absolute value of the difference between the value of current Iin when the motor M rotates in the forward direction CW and the value of current Iin when the motor M rotates in the reverse direction CCW.

[0056] 5, when the Hall sensor installation position is at an electrical angle of θ+0.1 degrees, the absolute value of the difference in the current values ​​is smallest. The determination unit 125 determines the position (electrical angle θ+0.1 degrees) where the absolute value of the difference in the current values ​​is smallest as the Hall sensor adjustment position. Therefore, the Hall sensor adjustment position can be easily determined without complex calculations.

[0057] Next, a motor adjustment method according to an embodiment of the present invention will be described with reference to Fig. 6. Fig. 6 is a flowchart showing a motor adjustment method according to an embodiment of the present invention. Motor adjustment is performed by executing the processes of steps S101 to S109.

[0058] Step S101: The current control unit 122 rotates the rotor 310 in the forward direction CW, and the rotation speed calculation unit 121 calculates the rotation speed of the rotor 310 based on the change in magnetic pole detected by the Hall sensor 330. The process proceeds to step S102.

[0059] Step S102: The forward rotation information acquisition unit 123 acquires the value of the current Iin from the current detection unit 130. The process proceeds to step S103.

[0060] Step S103: The forward rotation information acquisition unit 123 determines whether or not to change the Hall sensor setting position. If the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should be changed (Yes in step S103), the process returns to step S102. On the other hand, if the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should not be changed (No in step S103), the process proceeds to step S104.

[0061] Step S104: The forward rotation information acquisition unit 123 creates forward rotation information. The process proceeds to step S105. Note that step S104 is an example of a "forward rotation information acquisition step."

[0062] Step S105: The energization control unit 122 rotates the rotor 310 in the reverse direction CCW, and the rotational speed calculation unit 121 calculates the rotational speed of the rotor 310 based on the change in magnetic pole detected by the Hall sensor 330. The process proceeds to step S106.

[0063] Step S106: The reverse rotation information acquisition unit 124 acquires the value of the current Iin from the current detection unit 130. The process proceeds to step S107.

[0064] Step S107: The reverse rotation information acquisition unit 124 determines whether or not to change the Hall sensor setting position. If the reverse rotation information acquisition unit 124 determines that the Hall sensor setting position should be changed (Yes in step S107), the process returns to step S106. On the other hand, if the reverse rotation information acquisition unit 124 determines that the Hall sensor setting position should not be changed (No in step S107), the process proceeds to step S108.

[0065] Step S108: The reverse rotation information acquisition unit 124 creates reverse rotation information. The process proceeds to step S109. Note that step S108 is an example of a "reverse rotation information acquisition step."

[0066] Step S109: The determination unit 125 determines the Hall sensor adjustment position based on the forward rotation information and the reverse rotation information. The process ends. Note that step S109 is an example of a "determining step."

[0067] As described above with reference to Fig. 6, the motor adjustment method includes a forward rotation information acquisition step, a reverse rotation information acquisition step, and a determination step, thereby enabling the motor M to be adjusted with high precision.

[0068] <Embodiment 2> An adjustment system 2200 according to a second embodiment of the present invention will be described with reference to Fig. 7. Fig. 7 is a block diagram of the adjustment system 2200 according to the second embodiment of the present invention. In the second embodiment, the method of determining the Hall sensor adjustment position is different from that in the first embodiment. The following mainly describes the differences from the first embodiment.

[0069] The forward rotation information acquisition unit 123 acquires forward rotation information. The forward rotation information indicates a change in the value of the current Iin flowing through the inverter circuit 110 when the Hall sensor setting positions are scanned and the rotor 310 rotates in the forward direction CW. For example, the forward rotation information acquisition unit 123 creates the forward rotation information by polynomial approximating the values ​​of multiple currents Iin. The forward rotation information is based on a forward rotation relational expression that indicates the relationship between the value of the current Iin and the Hall sensor setting positions.

[0070] The reverse rotation information acquisition unit 124 acquires reverse rotation information. The reverse rotation information indicates a change in the value of the current Iin flowing through the inverter circuit 110 when the rotor 310 rotates in the reverse CCW direction by scanning the Hall sensor setting positions. The reverse rotation information acquisition unit 124 creates reverse rotation information by polynomial approximating the values ​​of the multiple currents Iin. The reverse rotation information is based on a forward rotation relational expression that indicates the relationship between the current value and the Hall sensor setting positions.

[0071] The determination unit 225 determines the Hall sensor setting position corresponding to the intersection of the forward rotation relational expression and the reverse rotation relational expression as the Hall sensor adjustment position, thereby enabling the Hall sensor adjustment position to be determined with high accuracy.

[0072] Next, a method for determining the Hall sensor adjustment position will be described with reference to FIG. 8. FIG. 8 is a diagram showing the current value relative to the Hall sensor setting position. In FIG. 8, the horizontal axis represents the Hall sensor setting position. The vertical axis represents the value of the current Iin. Circles represent the value of the current Iin when the motor M rotates in the forward direction CW. Triangles represent the value of the current Iin when the motor M rotates in the reverse direction CCW.

[0073] 8, when the Hall sensor installation position is at an electrical angle of θ' degrees, the forward rotation relational equation and the reverse rotation relational equation intersect. The determination unit 225 determines the position (electrical angle θ' degrees) where the forward rotation relational equation and the reverse rotation relational equation intersect as the Hall sensor adjustment position. Therefore, the Hall sensor adjustment position can be determined with high accuracy.

[0074] <Embodiment 3> An adjustment system 3200 according to a third embodiment of the present invention will be described. Fig. 9 is a block diagram of the adjustment system 3200 according to the third embodiment of the present invention. The third embodiment differs from the first embodiment in that the control device 100 does not include a current detection unit 130. The following mainly describes the differences from the first embodiment.

[0075] As shown in FIG. 9, the control unit 120 includes a voltage acquisition unit 326 and a current calculation unit 327.

[0076] The voltage acquisition unit 326 acquires the values ​​Vs and Vc of the voltages applied to the inverter circuit 110. For example, the voltage acquisition unit 326 acquires the values ​​Vs and Vc of the voltages determined by the user.

[0077] The current calculation unit 327 calculates estimated values ​​of currents Is and Ic flowing through the motor M based on the voltage values ​​Vs and Vc and the rotation speed ω, and calculates an estimated value of current Iin flowing through the inverter circuit 110 based on equation (1) using the estimated values ​​of currents Is and Ic flowing through the motor M and the voltage Vin applied to the inverter circuit 110. As a result, there is no need to provide a current detection unit 130, and it is possible to prevent the circuit from becoming large.

[0078]

number

[0079] Here, for example, the current calculation unit 327 calculates the estimated values ​​Is and Ic of the current flowing through the motor M based on the equation (2).

[0080]

number

[0081] Note that Vs and Vc are motor voltages, Is and Ic are motor currents, Vin is power supply voltage, Iin is power supply current, R is winding resistance, Ls and Lc are winding inductance, ω is rotation speed, and Ke is the induced voltage constant.

[0082] The forward rotation information acquisition unit 123 acquires forward rotation information. The forward rotation information indicates a change in the estimated value Iin of the current flowing through the inverter circuit 110 when the rotor 310 rotates in the forward direction CW by changing the Hall sensor setting position. Specifically, the forward rotation information acquisition unit 123 creates forward rotation information when the rotor 310 rotates in the forward direction CW at a predetermined speed for a predetermined period of time.

[0083] Specifically, the forward rotation information acquisition unit 123 assumes that the Hall sensor setting position is the first Hall sensor setting position and calculates an estimated value Iin of the current flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322. Next, the forward rotation information acquisition unit 123 assumes that the Hall sensor setting position is the second Hall sensor setting position and calculates an estimated value Iin of the current flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322.

[0084] Next, assuming that the Hall sensor setting position is the third Hall sensor setting position, the forward rotation information acquisition unit 123 calculates an estimated value Iin of the current flowing through the inverter circuit 110 when controlling the timing of energization of each of the multiple phase windings 322. The estimated value Iin of the current may be an average value over a predetermined period or a median value over the predetermined period.

[0085] The reverse rotation information acquisition unit 124 acquires reverse rotation information. The reverse rotation information indicates a change in the estimated value Iin of the current flowing through the inverter circuit 110 when the rotor 310 rotates in the reverse CCW direction by scanning the Hall sensor setting positions. Specifically, the reverse rotation information acquisition unit 124 creates reverse rotation information when the rotor 310 rotates in the reverse CCW direction at a predetermined speed for a predetermined period of time.

[0086] Specifically, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting position is the first Hall sensor setting position and calculates an estimated value Iin of the current flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322. Next, the reverse rotation information acquisition unit 124 assumes that the Hall sensor setting position is the second Hall sensor setting position and calculates an estimated value Iin of the current flowing through the inverter circuit 110 when controlling the timing of energization to each of the multiple phase windings 322.

[0087] Next, assuming that the Hall sensor setting position is the third Hall sensor setting position, the reverse rotation information acquisition unit 124 calculates an estimated value Iin of current flowing through the inverter circuit 110 when controlling the timing of energization of each of the multiple phase windings 322. The estimated value Iin of current may be an average value over a predetermined period or a median value over the predetermined period.

[0088] Next, a motor adjustment method according to the third embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart showing the motor adjustment method according to the third embodiment. The motor adjustment is performed by executing the processes of steps S201 to S211.

[0089] Step S201: The energization control unit 122 rotates the rotor 310 in the forward direction CW, and the rotation speed calculation unit 121 calculates the rotation speed of the rotor 310 based on the change in magnetic pole detected by the Hall sensor 330. The process proceeds to step S202. Note that step S201 is an example of a "rotation speed calculation step."

[0090] Step S202: The voltage acquisition unit 326 acquires the values ​​Vs and Vc of the voltages applied to the inverter circuit 110. The process proceeds to step S203. Note that step S202 is an example of a "voltage acquisition step."

[0091] Step S203: The current calculation unit 327 calculates estimated values ​​of currents Is and Ic flowing through the motor M based on the voltage values ​​Vs and Vc and the rotation speed ω, and calculates an estimated value Iin of the current flowing through the inverter circuit 110 based on the estimated values ​​of currents Is and Ic flowing through the motor M and the voltage Vin applied to the inverter circuit 110. The process proceeds to step S204. Note that step S203 is an example of a "current calculation step."

[0092] Step S204: The forward rotation information acquisition unit 123 determines whether or not to change the Hall sensor setting position. If the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should be changed (Yes in step S204), the process returns to step S203. On the other hand, if the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should not be changed (No in step S204), the process proceeds to step S205.

[0093] Step S205: The forward rotation information acquisition unit 123 acquires forward rotation information. The process proceeds to step S206. Note that step S205 is an example of a "forward rotation information acquisition step."

[0094] Step S206: The energization control unit 122 rotates the rotor 310 in the reverse direction CCW, and the rotational speed calculation unit 121 calculates the rotational speed of the rotor 310 based on the change in magnetic pole detected by the Hall sensor 330. The process proceeds to step S207.

[0095] Step S207: The voltage acquisition unit 326 acquires the values ​​Vs and Vc of the voltages applied to the inverter circuit 110. The process proceeds to step S208. Step S208 is an example of a "voltage acquisition step."

[0096] Step S208: The current calculation unit 327 calculates estimated values ​​of currents Is and Ic flowing through the motor M based on the voltage values ​​Vs and Vc and the rotation speed ω, and calculates an estimated value Iin of the current flowing through the inverter circuit 110 based on the estimated values ​​of currents Is and Ic flowing through the motor M and the voltage Vin applied to the inverter circuit 110. The process proceeds to step S209. Step S208 is an example of a "current calculation step."

[0097] Step S209: The forward rotation information acquisition unit 123 determines whether or not to change the Hall sensor setting position. If the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should be changed (Yes in step S209), the process returns to step S208. On the other hand, if the forward rotation information acquisition unit 123 determines that the Hall sensor setting position should not be changed (No in step S209), the process proceeds to step S210.

[0098] Step S210: The reverse rotation information acquisition unit 124 acquires reverse rotation information. The process proceeds to step S211. Note that step S210 is an example of a "reverse rotation information acquisition step."

[0099] Step S211: The determination unit 125 determines the Hall sensor adjustment position based on the forward rotation information and the reverse rotation information. The process ends. Note that step S211 is an example of a "determining step."

[0100] The embodiments of the present invention have been described above with reference to the drawings (FIGS. 1 to 10). However, the present invention is not limited to the above-described embodiments and can be embodied in various forms without departing from the spirit and scope of the present invention. The drawings mainly show each component in a schematic manner for ease of understanding, and the thickness, length, number, etc. of each component shown in the drawings may differ from the actual components due to the convenience of creating the drawings. Furthermore, the materials, shapes, dimensions, etc. of each component shown in the above-described embodiments are merely examples and are not particularly limited, and various modifications are possible within a scope that does not substantially depart from the effects of the present invention.

[0101] As described with reference to FIGS. 1 to 10, in the first to third embodiments, the motor M is connected to the control device 100 before shipping. However, the present invention is not limited to this. The motor M and the control device 100 may be integrated. The control device 100 may then adjust the Hall sensor setting position at a predetermined timing. As a result, the Hall sensor setting position can be adjusted when deterioration due to aging or when an impact is detected. This allows the motor M to be used in a constantly efficient state. [Explanation of symbols]

[0102] 100 control device 110 Inverter circuit (drive unit) 121 Rotational speed calculation unit 122 Power supply control unit Medium motor

Claims

1. A motor adjustment method for adjusting a motor driven by a control device, comprising the steps of: The motor is a stator having multiple phase windings; a rotor rotatable relative to the stator; a Hall sensor disposed at a distance from the rotor and detecting a magnetic pole of the rotor; Equipped with The control device includes: A drive unit that applies a drive voltage to the windings of the multiple phases; a rotation speed calculation unit that calculates a rotation speed of the rotor based on a change in magnetic pole detected by the Hall sensor; a current control unit that controls a current supply timing for each of the plurality of phase windings based on the rotation speed and a hall sensor setting position; Equipped with The motor adjustment method includes: a forward rotation information acquiring step of acquiring forward rotation information indicating a change in a value of a current flowing to the drive unit when the rotor rotates in a forward direction by changing a setting position of the Hall sensor; a reverse rotation information acquiring step of acquiring reverse rotation information indicating a change in a value of a current flowing through the drive unit when the rotor rotates in a reverse direction by changing a setting position of the Hall sensor; determining, as a Hall sensor adjustment position, a Hall sensor setting position among the plurality of Hall sensor setting positions, at which an absolute value of a difference between the value of the current when the rotor rotates in a forward direction and the value of the current when the rotor rotates in a reverse direction is smallest at the same Hall sensor setting position; Inclusive of A motor adjustment method, wherein the Hall sensor adjustment position indicates a position obtained by adding a correction amount to the Hall sensor setting position.

2. A motor adjustment method for adjusting a motor driven by a control device, comprising: The motor is a stator having multiple phase windings; a rotor rotatable relative to the stator; a Hall sensor disposed at a distance from the rotor and detecting a magnetic pole of the rotor; Equipped with The control device includes: A drive unit that applies a drive voltage to the windings of the multiple phases; a rotation speed calculation unit that calculates a rotation speed of the rotor based on a change in magnetic pole detected by the Hall sensor; a current control unit that controls a current supply timing for each of the plurality of phase windings based on the rotation speed and a hall sensor setting position; Equipped with The motor adjustment method includes: a forward rotation information acquisition process for acquiring forward rotation information based on a forward rotation relational expression that indicates a relationship between a value of a current flowing through the drive unit and the Hall sensor setting position when the rotor rotates in a forward direction by scanning the Hall sensor setting position; a reverse rotation information acquisition process for acquiring reverse rotation information based on a reverse rotation relational expression that indicates a relationship between a value of a current flowing through the drive unit when the rotor rotates in a reverse direction and the Hall sensor setting position by scanning the Hall sensor setting position; a determining step of determining the Hall sensor setting position corresponding to an intersection of the forward rotation relational expression and the reverse rotation relational expression as a Hall sensor adjustment position; Inclusive of A motor adjustment method, wherein the Hall sensor adjustment position indicates a position obtained by adding a correction amount to the Hall sensor setting position.

3. a rotation speed calculation step of calculating a rotation speed of the rotor based on a change in the magnetic pole of the rotor detected by the Hall sensor; a voltage acquisition step of acquiring a value of a voltage applied to the driving unit; a current calculation step of calculating a value of the current flowing in the drive unit based on the voltage value and the rotation speed. The method of claim 1 or 2 further comprises:

4. 3. The motor adjusting method according to claim 1, wherein the control device further comprises a current detection unit that detects a value of a current flowing through the drive unit.

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