Device having motor and method for controlling exercise equipment by using wire

Abstract

The present invention relates to a device having a motor and a method for controlling exercise equipment by using a wire. The device according to an embodiment of the present invention may comprise: a motor having a rotor; and a controller that controls the rotation of the motor. Here, the controller may operate in a rotor alignment mode after rotating the rotor by a preset initial rotation angle in a preset initial rotation direction in a pre-rotation alignment mode.

Description

Control method of exercise device using a motor and wire

[0001] The present invention relates to a device having a motor and a method for controlling an exercise device using wires, and more particularly, to a device having a motor in which a rotor is aligned before operation of the motor and a method for controlling an exercise device using wires.

[0002] Motors are used in a variety of fields, including home appliances such as washing machines, as well as strength training equipment designed to supply exercise load for strength training.

[0003] Due to the operating principle, motors require precise detection of the rotor's position to control current. Encoders, resolvers, and Hall sensors can be used to obtain this rotor position information. However, these position detection devices are generally expensive and have complex wiring and structures, limiting their usability.

[0004] Accordingly, sensorless control that does not use position detection means has been actively studied recently.

[0005] Sensorless motor control presents a challenge in detecting the initial rotor position. If the initial rotor position is not accurate, starting torque decreases and the motor rotation direction can reverse.

[0006] To solve this problem, initial position alignment is performed to stabilize the initial operation characteristics and detection performance.

[0007] For example, in the 'Motor Rotor Control Method and Device' disclosed in Korean Patent No. 10-2553783, a technology is presented in which an alignment vector that applies an alignment current in a specific direction to align the rotor during initial operation of a BLDC motor is applied, and a zero (0) vector that does not apply current in any direction and prevents rotation is applied, so that a rotating force and a stopping force are applied alternately so that the rotor can be quickly aligned without passing the alignment position.

[0008] However, in some devices, for example, exercise machines that provide exercise loads through wires, the wires may be constrained from rotating at specific positions in the direction of winding, which may result in incorrect alignment of the rotor.

[0009] Specifically, referring to Fig. 1, in the case of an exercise device using a wire, the wire (W) is wound around a bobbin (B) and has a structure in which it extends outside the case (C) of the exercise device. Here, the bobbin (B) rotates in synchronization with the rotation of the motor (M), and usually provides an exercise load in the direction in which the wire (W) is wound around the bobbin (B), and the user exercises while feeling the exercise load when pulling the wire (W).

[0010] Here, as illustrated in Fig. 1, a catch (T) is installed at the end of the wire (W) to prevent the wire (W) from entering the case (C) of the exercise machine. That is, when the catch (T) is caught on the case (C), the bobbin (B) is restrained from rotating in the direction in which the wire (W) is wound.

[0011] In an exercise machine having a structure as described above, the rotor alignment process is performed when the motor (M) is initially started. As shown in (a) of Fig. 1, when the rotor (W) rotates to align from the initial position to the initial alignment position, the rotor rotates by θ1 in the direction in which the wire (W) is released, so that the rotor can rotate to the initial alignment position.

[0012] However, as shown in (b) of Fig. 1, if the direction in which the rotor rotates from the initial position to the initial alignment position is the same as the direction in which the wire (W) is wound around the bobbin (B), when the engaging member (T) is caught on the case (C) during the rotation of the rotor for alignment and the rotation of the bobbin (W) is restricted, the rotation of the rotor is also restricted, and the alignment is completed by rotating only θ'2 without being able to rotate by θ2 to the initial alignment position.

[0013] In this case, the controller controlling the motor (M) recognizes that the rotor is located at the initial alignment position, and the controller reflects this in subsequent control. However, the control is performed with an error (θ2-θ'2) in the initial alignment position of the rotor, which may cause problems such as a decrease in starting torque or a reversal of the rotation direction of the motor, as explained above.

[0014] The purpose of the present invention is to provide a device having a motor capable of detecting the exact initial position of a rotor without using a position sensor for detecting the initial position of the rotor, and a method for controlling a motion device using wires.

[0015] Another object of the present invention is to provide a device having a motor capable of precise initial alignment of a rotor even in a device having a structure in which the rotation of the motor is restricted, and a method for controlling a motion device using a wire.

[0016] Another object of the present invention is to provide a device having a motor capable of reducing the influence of inertia due to rotation of a rotor in alignment of the rotor, and a method for controlling a motion device using a wire.

[0017] A device according to an embodiment of the present invention may be configured to include a motor having a rotor and a controller that controls rotation of the motor.

[0018] In one embodiment, the controller may sequentially control the motor in both the pre-alignment rotation mode and the rotor alignment mode before initiating operation of the motor.

[0019] Here, the controller can rotate the rotor in the pre-rotation alignment mode by a preset initial rotation angle in the preset initial rotation direction. And, the controller can align the position of the rotor to the initial alignment position in the rotor alignment mode.

[0020] In one embodiment, the device may comprise a bobbin that rotates in synchronization with the rotation of the motor, and a wire that is wound or unwound around the bobbin, wherein the initial rotation direction may be the unwinding direction in which the wire is unwound.

[0021] In one embodiment, the motor may include a BLDC motor. And, the initial rotation angle may be set within a range of 180° to 360° based on the electrical angle of the BLDC motor.

[0022] A controller according to an embodiment of the present invention may be configured to include an inverter unit and an inverter driver. The inverter unit may convert an input current into a driving current for driving a motor through a switching operation and output the converted current. In addition, the inverter driver may control the driving current by controlling the switching operation of the inverter unit.

[0023] In one embodiment, the controller can align the rotor by applying a d-axis current to the motor about the flux axis of the motor in rotor alignment mode.

[0024] In one embodiment, the controller may control the motor in an initial alignment mode before controlling the motor in the pre-alignment rotation mode. Here, the controller may align the position of the rotor to the initial alignment position in the initial alignment mode.

[0025] And, the controller can register the position of the aligned rotor in the initial alignment mode as the initial position of the rotor, and update the initial position as the position of the aligned rotor in the rotor alignment mode.

[0026] In one embodiment, the initial rotation angle may be set to be close to 360° within a range of 180° to 360° based on the electrical angle of the BLDC motor.

[0027] In one embodiment, the motor may provide a motion load in the direction in which the wire is wound around the bobbin for muscle exercise via the wire. Here, the wire may be arranged to be wound around the bobbin to a restraining position where the wire is restrained from being wound around the bobbin.

[0028] In one embodiment, when the controller is operating in the initial alignment mode and the rotor is rotating to the initial alignment position, rotation of the wire from the restraining position to the alignment position can be prevented.

[0029] Meanwhile, a method for controlling an exercise device using a wire according to an embodiment of the present invention may sequentially perform a start signal input step in which an exercise start signal is input, a pre-alignment rotation step, and a rotor alignment step.

[0030] In one embodiment, in the pre-alignment rotation step, before the motor starts operating, the rotor of the motor can be controlled to rotate by a preset initial rotation angle in the direction in which the wire is wound.

[0031] And, in the rotor alignment step, the motor can be controlled so that the position of the rotor is aligned to the initial alignment position after the alignment pre-rotation step is completed.

[0032] In one embodiment, the motor may include a BLDC motor. Here, in the pre-alignment rotation step, the motor may be controlled to rotate within a range of 180° to 360° based on the electrical angle of the BLDC motor as the initial rotation angle.

[0033] In one embodiment, in the rotor alignment step, a d-axis current about the magnetic flux axis of the motor may be applied to the motor so that the rotor can be aligned.

[0034] In one embodiment, a method of controlling an exercise machine may include an initial alignment step. The initial alignment step is performed prior to performing the pre-alignment rotation step, and aligns the position of the rotor to the initial alignment position.

[0035] Here, the position of the aligned rotor in the initial alignment step is registered as the initial position of the rotor, and the initial position can be updated with the position of the aligned rotor in the rotor alignment step.

[0036] In one embodiment, in the rotation step before alignment, the initial rotation angle may be set to be close to 360° within a range of 180° or more and 360° or less based on the electrical angle of the BLDC motor.

[0037] The device having a motor according to the present invention and the method for controlling an exercise device using wires have one or more of the following effects.

[0038] First, the effect of enabling detection of the exact initial position of the rotor through alignment of the rotor is provided without using a position sensor to detect the initial position of the rotor.

[0039] Second, in a structure in which the rotation of the motor is restricted, such as a wire-based exercise device, the effect of eliminating the alignment error of the rotor according to the restraining position of the wire is provided by rotating the wire by the initial rotation angle in the direction in which the wire is released from the bobbin.

[0040] Third, even in general appliances such as washing machines, the effect of minimizing the influence of inertia due to the rotation of the rotor is provided by aligning the rotor after rotating it by the initial rotation angle.

[0041] Fourth, the effect of reducing the dispersion of the alignment position error of the rotor is provided through two alignment processes in the initial alignment mode and the rotor alignment mode, and a rotation process in which the wire constraints are released.

[0042] Figure 1 is a drawing for explaining the initial position alignment process of a rotor of a conventional exercise machine using wire.

[0043] FIG. 2 is a drawing showing the configuration of a device having a motor according to an embodiment of the present invention.

[0044] Fig. 3 is a drawing showing an example of the configuration of the controller of Fig. 2.

[0045] FIG. 4 and FIG. 5 are drawings for explaining a method for aligning the initial position of rotation of an exercise device according to an embodiment of the present invention.

[0046] Figure 6 is a control flowchart for explaining a method for controlling an exercise device using a wire according to an embodiment of the present invention.

[0047] FIG. 7 is a drawing showing another example of a motor and bobbin of an exercise device using wire according to an embodiment of the present invention.

[0048] FIG. 8 is a control flowchart for explaining a method for controlling an exercise device using a wire according to another embodiment of the present invention.

[0049] FIGS. 9 and 10 are graphs for explaining a method of controlling an exercise device using a wire according to another embodiment of the present invention.

[0050] A device according to an embodiment of the present invention may include a motor having a rotor and a controller for controlling the rotation of the motor. The controller may sequentially control the motor in both a pre-alignment rotation mode and a rotor alignment mode before starting operation of the motor. In the pre-rotation alignment mode, the controller may rotate the rotor in a preset initial rotation direction by a preset initial rotation angle. In addition, the controller may align the position of the rotor to the initial alignment position in the rotor alignment mode.

[0051] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals designate like elements throughout the specification.

[0052] FIG. 2 is a diagram illustrating the configuration of a device equipped with a motor (100) according to an embodiment of the present invention. As an example, the device according to an embodiment of the present invention may be an exercise device (10) using a wire (400). Hereinafter, the device equipped with a motor (100) will be described as an exercise device (10) as an example.

[0053] An exercise device (10) according to an embodiment of the present invention may be configured to include a motor (100). As an example, the motor (100) is a three-phase motor (100) having a stator and a rotor, and in which an AC power of a predetermined frequency is applied to the coils of the stator of each of the three phases to cause the rotor to rotate. In an example of an embodiment of the present invention, the motor (100) is a BLDC motor (100).

[0054] A controller (200) according to an embodiment of the present invention can control the operation of a motor (100) by supplying driving power to the motor (100). In one embodiment, the controller (200) can be configured to include an inverter unit (210) and an inverter driver (220) to control the motor (100) in an inverter manner.

[0055] The inverter driver (220) controls the switching operation of the inverter, thereby controlling the driving power applied to the motor (100), thereby controlling the operation of the motor (100), for example, the rotation direction and torque.

[0056] The inverter can convert input current input from an external power source (300) into driving current for driving the motor (100) through a switching operation and output the same to the motor (100).

[0057] In an embodiment of the present invention, the controller (200) controls the operation of the motor (100) in a sensorless manner as an example. For example, the inverter driver (220) can detect the motor (100) current flowing to the motor (100) and control the switching operation of the inverter unit (210) based on the detection result.

[0058] Fig. 3 is a drawing showing an example of the configuration of the controller (200) of Fig. 2.

[0059] Referring to FIG. 3, the inverter unit (210) may be configured to include an input unit (211) into which direct current power or alternating current power is input from an external power source (300), and a switching unit (212) that receives the power input to the input unit (211) and converts it into a driving current.

[0060] If the power input to the input unit (211) is direct current power, the external power source (300) may be a battery storing direct current power, or a power supply means supplying direct current power. On the other hand, if the power input to the input unit (211) is alternating current power, the external power source (300) may be a power conversion means converting direct current power into alternating current power, or a power supply means supplying alternating current power.

[0061] In one embodiment, the input unit (211) may include a smoothing capacitor that smooths the power input from the external power source (300). The smoothing capacitor may be a DC link capacitor that reduces ripple of the power input from the external power source (300) and smooths it in the form of DC power.

[0062] Here, if the power input to the input unit (211) is AC power, the input unit (211) may further include a rectifier (not shown) that rectifies the AC power input from the external power source (300) into DC power.

[0063] The switching unit (212) according to an embodiment of the present invention is connected to the motor (100), converts the direct current power received from the input unit (211) into driving power, and outputs it to the motor (100). In one embodiment, the driving power output from the switching unit (212) may have the form of a three-phase alternating current power.

[0064] Here, the switching unit (212) may be configured to include a plurality of switching modules that convert direct current power into three-phase alternating current power. In one embodiment, the plurality of switching modules may be insulated gate bipolar transistor (IGBT) modules.

[0065] A plurality of switching modules receive a control signal corresponding to a switching operation from an inverter driver (220), and are switched according to the control signal to convert direct current power into alternating current power.

[0066] In this way, the inverter driver (220) controls the switching operation of each switching module of the inverter unit (210), thereby controlling the driving power applied to the motor (100), i.e., AC power, thereby controlling the rotation speed, rotation direction, etc. of the motor (100).

[0067] Meanwhile, in an embodiment of the present invention, an example is given of sequentially controlling the motor (100) in a pre-alignment rotation mode and a rotor alignment mode before the controller (200) starts driving the motor (100).

[0068] In one embodiment, the controller (200) can rotate the rotor of the motor (100) in a preset initial rotation direction by a preset initial rotation angle when the motor (100) is operated in a pre-alignment rotation mode before starting operation.

[0069] Then, the controller (200) operates in the pre-alignment rotation mode to rotate the rotor in the initial rotation direction by the initial rotation angle, and then operates in the rotor alignment mode to rotate the position of the rotor to the initial alignment position to align the rotor.

[0070] An exercise device (10) according to an embodiment of the present invention may be configured to include a bobbin (110) and a wire (400).

[0071] The bobbin (110) according to an embodiment of the present invention can rotate in synchronization with the rotation of the motor (100). In addition, the wire (400) can transmit the motion load from the motor (100) to an external user through the bobbin (110) that rotates in synchronization with the rotation of the motor (100) by being wound or unwound around the bobbin (110).

[0072] In one embodiment, the wire (400) may be wound around a bobbin (110) and extended outside the case (420) of the exercise device (10), and the motor (100) may provide an exercise load in the direction in which the wire (400) is wound around the bobbin (110) for muscle exercise through the wire (400).

[0073] And, the wire (400) may be arranged to be wound around the bobbin (110) to a restraining position where the wire (400) is restrained from being wound around the bobbin (110). In one embodiment, as illustrated in FIGS. 4 and 5, a catch member (410) may be installed at the end of the wire (400) to prevent the wire (400) from entering the case (420) of the exercise device (10). That is, when the catch member (410) is caught on the catch protrusion (421) of the case (420), the bobbin (110) is restrained from rotating in the direction in which the wire (400) is wound, and the position where the catch member (410) is caught on the catch protrusion (421) becomes the restraining position of the wire (400).

[0074] As described above, if the motor (100) is operated in the rotor alignment mode without operating in the pre-alignment rotation mode before starting operation due to the restraining position where the wire (400) can be wound as much as possible around the bobbin (110), a situation occurs in which the rotor is not aligned due to the restraining position of the wire (400), as described with reference to FIG. 1.

[0075] On the other hand, if the controller (200) operates in the pre-alignment rotation mode before controlling the motor (100) in the rotor alignment mode and rotates the rotor in the initial rotation direction by the initial rotation angle, the wire (400) may be moved out of the restraining position.

[0076] In one embodiment, when the controller (200) operates in the alignment rotation mode, the initial rotation direction for rotating the rotor may be the unwinding direction in which the wire (400) is unwound from the bobbin (110).

[0077] Therefore, in the pre-alignment rotation mode, the motor (100) and the bobbin (110) are rotated by the initial rotation angle in the direction in which the wire (400) is released, thereby preventing the situation in which the bobbin (110) cannot rotate due to the restraining position of the wire (400) in the rotor alignment mode.

[0078] As an example, the controller (200) sets an initial rotation angle within a range of 180° to 360° based on the electrical angle of the motor (100), i.e., the BLDC motor (100), in the pre-alignment rotation mode, thereby rotating the rotor.

[0079] FIG. 4 and FIG. 5 are drawings for explaining a method for aligning the initial position of rotation of an exercise device (10) according to an embodiment of the present invention.

[0080] The rotation angles of the rotor and bobbin (110) shown in FIGS. 4 and 5 represent electrical angles, not mechanical angles, of the actual rotor and bobbin (110).

[0081] For example, if the motor (100) according to the embodiment of the present invention is a two-pole motor (100), i.e., if it has 1 pole pair, the electrical angle and the mechanical angle are the same. On the other hand, if the motor (100) is a 48-pole motor (100), i.e., if it has 24 pole pairs, the mechanical angle of 360° becomes the electrical angle of 8640°.

[0082] Therefore, when the controller (200) rotates the rotor within a range of 180° to 360° of electrical angle in the alignment rotation mode, the rotor of the actual motor (100) moves within a range of 12° to 24° of mechanical angle.

[0083] In addition, in the rotor alignment mode, the controller (200) aligns the rotor by applying a d-axis current to the magnetic flux axis of the motor (100) to the motor (100). In this case, the rotor moves to the initial alignment position within an electrical angle of 180°. Therefore, when the rotor is rotated within a range of 360° to an electrical angle of 180° or more in the pre-alignment rotation mode, the restraining position of the wire (400) is removed.

[0084] Referring to (a) of FIG. 4, when the alignment of the wire (400) is achieved at the initial position of the current rotor, the rotor can move to the initial alignment position while rotating in the direction in which the wire (400) is wound, i.e., the winding direction (WD). In this case, the engaging member (410) at the end of the wire (400) is caught on the engaging protrusion (421), and the rotation of the bobbin (110) is restricted, so that after the alignment of the rotor, an error occurs in the initial alignment position of the rotor as described above.

[0085] Accordingly, in the present invention, the controller (200) operates in a pre-alignment rotation mode before operating in a rotor alignment mode for aligning the rotor, thereby rotating the rotor in the initial rotation direction, i.e., the release direction (UWD) in which the wire (400) is released, at an initial rotation angle (α1) to move the rotor to the release position, thereby freeing the wire (400) from the restraining position.

[0086] Then, the controller (200) operates in the rotor alignment mode, and as shown in (b) of FIG. 4, the rotor rotates by α1 from the current position, which is the released position, to the initial alignment position by applying the d-axis current.

[0087] In the example shown in (a) of Fig. 5, when alignment is achieved at the initial position of the rotor, the rotor rotates in the release direction (UWD) of the wire (400) and is therefore not affected by the restraint position of the rotor.

[0088] However, in the present invention, in order to perform the initial position alignment process of the rotor, the rotor is operated in a pre-alignment rotation mode before the operation in the rotor alignment mode without using a separate sensor or the like to detect whether the rotation is restricted by the wire (400).

[0089] Accordingly, the controller (200) operates in a pre-alignment rotation mode before operating in a rotor alignment mode for aligning the rotor, as shown in (a) of FIG. 5, so as to rotate the wire (400) in the release direction (UWD) at an initial rotation angle (α1) to move the rotor to the release position.

[0090] Then, the controller (200) operates in the rotor alignment mode, and as shown in (b) of FIG. 5, the rotor rotates by α3 from the current position, which is the released position, to the initial alignment position by applying the d-axis current.

[0091] FIG. 6 is a drawing for explaining a method of controlling an exercise device (10) using a wire (400) according to an embodiment of the present invention.

[0092] Referring to FIG. 6, a motion start signal is input to an exercise device (10) according to an embodiment of the present invention (S60). In one embodiment, the motion start signal may be generated when a user turns on the power of the exercise device (10), inputs conditions such as the motion load to be applied from the motor (100) to the wire (400), i.e., the target load, and then clicks the start button. In another example, when the power of the exercise device (10) is applied, this may be recognized as a motion start signal and a process of aligning the rotor may be performed.

[0093] As described above, when a motion start signal is input, the controller (200) performs a pre-alignment rotation mode before starting operation of the motor (100), thereby rotating the rotor in the initial rotation direction, i.e., the release direction, by the initial rotation angle (α1) as described above (S61).

[0094] As described above, when the rotor rotates by the initial rotation angle, the controller (200) performs the rotor alignment mode, controls the motor (100) so that the position of the rotor is aligned to the initial alignment position, thereby aligning the rotor (S62).

[0095] And, when the rotor alignment mode is completed, the controller (200) updates the initial alignment position to the initial position of the rotor (S63), and controls the operation of the motor (100) in the subsequent movement process based on this (S64).

[0096] Meanwhile, in the embodiments illustrated in FIGS. 4 and 5, the motor (100) and the bobbin (110) are illustrated as being coaxially connected. On the other hand, the motor (100) and the bobbin (110) may be configured to be connected via a timing belt or the like, with their rotation axes spaced apart from each other, as illustrated in FIG. 7.

[0097] Here, the connection structure of the motor (100) and the bobbin (110) is not limited to the above-described embodiment, and the technical idea of ​​the present invention is not limited to the above-described connection structure of the motor (100) and the bobbin (110).

[0098] In the above-described embodiment, the device having the motor (100) is described as an exercise device (10) that provides the exercise load of the motor (100) through a wire (400). However, in addition to the exercise device (10) that transmits the rotational force of the motor (100) through a wire (400), the present invention can also be applied to devices that do not use a wire (400), for example, the rotor alignment of a motor (100) applied to a washing machine.

[0099] In this case, the rotor can be rotated by the initial rotation angle in the initial rotation direction through the pre-alignment rotation mode, and then the alignment process of the rotor can be performed at that position.

[0100] Through this, the rotor rotates according to the control of the controller (200) by the initial rotation angle before alignment, and then alignment is performed. As the rotation of the rotor by the controller (200) is primarily controlled and then alignment is performed, the inertia generated by the rotation of the rotor during the alignment process is reflected in advance in the rotation to the initial rotation angle, enabling more accurate alignment of the initial position.

[0101] Meanwhile, FIG. 8 is a control flowchart for explaining a method for controlling an exercise device using wires according to another embodiment of the present invention, and FIGS. 9 and 10 are graphs for explaining a method for controlling an exercise device using wires according to another embodiment of the present invention.

[0102] Referring to FIG. 8, a motion start signal is input to the exercise device (10) according to an embodiment of the present invention (S80). As in the previously described embodiment, the motion start signal may be generated when the user turns on the power of the exercise device (10), inputs conditions such as the motion load to be applied from the motor (100) to the wire (400), i.e., the target load, and then clicks the start button. As another example, when the power of the exercise device (10) is applied, this may be recognized as a motion start signal and a process of aligning the rotor may be performed.

[0103] Here, in the embodiment illustrated in FIG. 8, when a motion start signal is input (S80), the controller (200) can perform the initial alignment mode of the rotor before the motor (100) starts operating and before the operation in the pre-alignment rotation mode (S91). That is, in the embodiment illustrated in FIG. 8, a process of primarily aligning the rotor is first performed before the operation in the pre-alignment rotation mode.

[0104] Here, in the initial alignment mode of the rotor, the controller (200) aligns the rotor by controlling the motor (100) so that the position of the rotor is aligned to the initial alignment position.

[0105] In the embodiment illustrated in Fig. 8, the rotor alignment is performed primarily before operating in the pre-alignment rotation mode, and as illustrated in (a) of Fig. 1, alignment can be achieved by rotating the rotor to the initial alignment position during the operation in the initial alignment mode. On the other hand, depending on the restraint position of the wire, as illustrated in (b) of Fig. 1, there may be cases where the rotor does not rotate to the initial alignment position, but only rotates to the restraint position of the wire and stops.

[0106] However, when the controller (200) primarily controls the motor (100) in the initial alignment mode of the rotor, in both situations (a) and (b) of FIG. 1, the position of the rotor after the initial alignment mode is performed is closer to the initial alignment position than the initial position of the rotor.

[0107] As described above, when the initial alignment mode is completed, the controller (200) can register the initial alignment position of the rotor as the initial position of the rotor (S82). Here, the initial position of the rotor registered in step S82 can reflect any one of the states in cases (a) and (b) of FIG. 1.

[0108] Then, the controller (200) performs the pre-alignment rotation mode, and as described above, rotates the rotor in the initial rotation direction, that is, the release direction, by the initial rotation angle (α1) (S93).

[0109] Here, in the embodiment illustrated in Fig. 8, the initial rotation angle (α1) is set to be close to 360° within a range of 180° to 360° based on the previously described electrical angle. In one embodiment, in step S83, the controller (200) rotates the rotor in the initial rotation direction, i.e., in the release direction, at an initial rotation angle of 360° in the pre-alignment rotation mode.

[0110] Through this, as shown in (a) and (b) of Fig. 1, the rotor is rotated in the initial alignment mode while positioned at the initial position, so that the rotor is positioned relatively close to the initial alignment position, and by rotating the rotor at an initial rotation angle of 360° in the pre-alignment rotation mode, the position in the initial alignment mode can be maintained.

[0111] As described above, after rotating to the initial rotation angle through the alignment pre-rotation mode, the controller (200) controls the motor so that the position of the rotor is aligned to the initial alignment position, thereby realigning the rotor (S84).

[0112] Then, when the rotor alignment mode is completed, the controller (200) updates the initial alignment position to the initial position of the rotor (S85), and controls the operation of the motor (100) in the subsequent movement process based on this (S86).

[0113] Here, the position where the realignment is performed in step S84 is the position aligned in the initial alignment mode based on the initial rotation angle of 360°, the position moved to the initial alignment position in the situation shown in (a) of Fig. 1, and the position caught in the wire's restraint position in the situation shown in (b) of Fig. 1.

[0114] Therefore, realignment is performed at a position closer to the initial alignment position than the initial position, which is the initial position of the rotor in (a) or (b) of Fig. 1, thereby enabling alignment to a more accurate initial alignment position.

[0115] More specifically, referring to FIGS. 9 and 10, (a) of FIGS. 9 and 10 shows the d-axis current (i) applied from the inverter (210) to the motor (100) to rotate the rotor to the initial alignment position. d ) is shown, and (b) of Fig. 9 and Fig. 10 shows the rotation angle (α) of the rotor according to the d-axis current. e) and (c) of FIG. 9 and FIG. 10 show the current (i) flowing in the actual motor (100) according to the magnetic flux and the position of the rotor. m )am.

[0116] Here, Fig. 9 illustrates a situation in which realignment is performed in a state in which the current position of the rotor is close to the initial alignment position through the performance of the initial alignment mode, and Fig. 10 illustrates a situation in which rotor alignment is performed after the pre-alignment rotation mode is performed without the initial alignment mode as in the embodiment illustrated in Fig. 6. Fig. 11 illustrates an example in which the initial position of the rotor differs from the initial alignment position by nearly 180°.

[0117] Referring to FIG. 9, the controller (200) controls the d-axis current (i) for alignment of the rotor in the rotor alignment mode. d ) is applied to the motor (100). In the present invention, the controller (200) applies the d-axis current (i d ) is gradually increased from time t1 to t2.

[0118] In a situation where the d-axis current (id) is applied to the motor (100), the rotor does not rotate until the position of the rotor is affected by the magnetic flux, and the current flowing in the motor (100) is also the d-axis current (i d ) flows in response to it.

[0119] And, the rotor has a d-axis current (i d ) in the initial alignment mode, it is relatively close to the initial alignment position, so it rotates at time t3 and returns to the initial alignment position (α) at ​​time t4. i ) is reached. Then, the controller (200) applies the d-axis current (i) applied to the motor (100) so that the rotor alignment mode ends at time t5. d ) is blocked.

[0120] On the other hand, in the embodiment illustrated in Fig. 10, since the initial position of the rotor is close to 180° different from the initial alignment position, the rotor starts to rotate after time t1 and returns to the initial alignment position (α) at ​​time t4. i ) is reached. Then, the controller (200) applies the d-axis current (i) applied to the motor (100) so that the rotor alignment mode ends at time t5. d ) is blocked.

[0121] In the embodiment shown in Fig. 10, the d-axis current (i d ) the rotor starts to rotate from time t1, reaches the initial alignment position at time t4 and stops rotating. As the inertia generated in the rotation direction increases according to the rotation from time t1 to t4, the rotor can deviate from the initial alignment position according to the size of the inertia.

[0122] On the other hand, in the embodiment illustrated in FIG. 9, the rotor is first aligned, i.e., aligned in the initial alignment mode, and then the rotor is rotated to a position relatively close to the initial alignment mode, and then realignment is performed, thereby minimizing the influence of inertia and enabling alignment to a more accurate initial alignment position.

[0123] Although this does not completely eliminate the influence of inertia, it provides the effect of reducing the dispersion of the error in the initial alignment position of the rotor in the rotor alignment performed during the continuous operation of the motor (100).

[0124] Although embodiments of the present invention have been described with reference to the attached drawings, the present invention is not limited to the above embodiments, but can be manufactured in various different forms. Those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential characteristics of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

[0125] [Explanation of symbols]

[0126] 10: Exercise equipment 100: Motor

[0127] 110: Bobbin 200: Controller

[0128] 210: Inverter section 211: Input section

[0129] 212: Switching unit 220: Inverter driver

[0130] 300: External power 400: Wire

[0131] 410: Hook member 420: Case

[0132] 421: Snag

[0133] The present invention can be applied to devices using a motor, for example, exercise devices for muscle strength training or home appliances such as washing machines.

Claims

1. A motor having a rotor, A controller for controlling the rotation of the above motor is included; The above controller A device having a motor, characterized in that the motor is sequentially controlled in a pre-alignment rotation mode for rotating the rotor in a preset initial rotation direction by a preset initial rotation angle before starting operation of the motor, and a rotor alignment mode for aligning the position of the rotor to an initial alignment position.

2. In paragraph 1, A bobbin that rotates in synchronization with the rotation of the above motor, Further comprising a wire that is wound or unwound on the bobbin; A device having a motor, characterized in that the initial rotation direction is the release direction in which the wire is released.

3. In paragraph 2, The above motor includes a BLDC motor; A device having a motor, characterized in that the initial rotation angle is set within a range of 180° to 360° based on the electrical angle of the BLDC motor.

4. In paragraph 3, The above controller An inverter section that converts the input current into a driving current for driving the motor through a switching operation and outputs the same; A device having a motor, characterized by including an inverter driver that controls the driving current by controlling the switching operation of the inverter unit.

5. In paragraph 2, A device having a motor, wherein the controller aligns the rotor by applying a d-axis current to the motor about the magnetic flux axis of the motor in the rotor alignment mode.

6. In paragraph 1, The above controller Before controlling the motor in the above alignment pre-rotation mode, the motor is controlled in an initial alignment mode for aligning the position of the rotor to the initial alignment position; A device having a motor, characterized in that the position of the rotor aligned in the initial alignment mode is registered as the initial position of the rotor, and the initial position is updated with the position of the rotor aligned in the rotor alignment mode.

7. In paragraph 6, The above motor includes a BLDC motor; A device having a motor, characterized in that the initial rotation angle is set to be close to 360° within a range of 180° to 360° based on the electrical angle of the BLDC motor.

8. In paragraph 6, The above motor provides a motion load in the direction in which the wire is wound around the bobbin for muscle exercise through the wire; A device having a motor, characterized in that the wire is arranged to be wound around the bobbin to a restraining position at which the wire is restrained from being wound around the bobbin.

9. In paragraph 8, A device having a motor, characterized in that when the controller operates in the initial alignment mode and the rotor rotates to the initial alignment position, rotation of the wire from the restraining position to the alignment position can be prevented.

10. A method for controlling an exercise device using wires, A start signal input step in which a movement start signal is input; A pre-alignment rotation step in which the rotor of the motor is controlled to rotate by a preset initial rotation angle in the direction in which the wire is wound before the operation of the motor is started; A method for controlling an exercise machine using a wire, characterized in that it includes a rotor alignment step in which the motor is controlled so that the position of the rotor is aligned to an initial alignment position after the alignment pre-rotation step is completed.

11. In paragraph 10, The above motor includes a BLDC motor; A method for controlling a motion device using a wire, characterized in that in the rotation step before the alignment, the rotation is controlled to occur within a range of 180° to 360° based on the electrical angle of the BLDC motor at the initial rotation angle.

12. In paragraph 10, A method for controlling an exercise machine using wires, characterized in that in the rotor alignment step, a d-axis current for the magnetic flux axis of the motor is applied to the motor so that the rotor is aligned.

13. In paragraph 10, The above motor provides a motion load in the direction in which the wire is wound around the bobbin for muscle exercise through the wire; A method for controlling an exercise device using a wire, characterized in that the wire is arranged so that it can be wound around the bobbin to a restraining position at which the wire is restrained from being wound around the bobbin.

14. In paragraph 10, Before performing the above alignment pre-rotation step, further comprising an initial alignment step of aligning the position of the rotor to the initial alignment position; A method for controlling an exercise machine using wires, characterized in that the position of the rotor aligned in the initial alignment step is registered as the initial position of the rotor, and the initial position is updated with the position of the rotor aligned in the rotor alignment step.

15. In paragraph 14, The above motor includes a BLDC motor; A method for controlling an exercise device using a wire, characterized in that in the rotation step before alignment, the initial rotation angle is set to be close to 360° within a range of 180° to 360° based on the electrical angle of the BLDC motor.

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