JP4831033B2 - Motor, electric device, and driving body - Google Patents

Description

The present invention relates to various motors that rotate a rotor made of a permanent magnet or a ferromagnetic material or move a slider by arranging coils that generate magnetic poles in a line and sequentially switching the current flowing through the coils. The present invention relates to a magnetic structure used for a motor, and further relates to a drive body using this motor as a drive source. The present invention can be used for an electric vehicle, an electric cart, an electric wheelchair, and the like as such a driving body, and other electric toys, electric airplanes, small electric devices, and MEMS.

The AC motor driven by a frequency signal such as an alternating current is roughly classified into two types: a synchronous (synchronous) motor and an induction (induction) motor. A synchronous motor is a motor that uses a laminated core of a ferromagnetic material such as a permanent magnet or iron for a rotor and rotates at the same rotational speed as the rotational magnetic field determined by the power supply frequency.

Depending on the rotor, there are a magnet type using a permanent magnet, a winding type with a coil wound, and a reactance type using a ferromagnetic such as iron. Of these, the magnet type rotates because the permanent magnet of the rotor is attracted by the rotating magnetic field of the stator. On the other hand, an induction motor is a motor that rotates by generating another magnetic field by electromagnetic induction in a rotor having a lead-like shape.

Among such motors, there are motors that move linearly without rotating, or that move freely on a plane. This type of motor is widely referred to as a linear motor, in which coils that generate magnetic poles are arranged in a straight line, and the current that is passed is sequentially switched to move a permanent magnet or a ferromagnetic material mounted thereon. The coil array arranged in a straight line is a stator, and the rotor is flat and slides on the stator, so that it corresponds to a slider.

As the magnet-type synchronous motor, for example, there is a small synchronous motor described in JP-A-8-51745 (Patent Document 1). As shown in FIG. 1 of Patent Document 1, this small synchronous motor includes a stator core 6 around which an exciting coil 7 is wound, and a rotor core 2 in which magnets 1 are housed and NS poles are arranged at equal intervals on the circumferential surface. It has the structure provided with the rotor 3 which has.
JP-A-8-51745

However, the inventor of the present application has newly found that when a rectangular wave is supplied to the motor coil described in the prior art, the operation efficiency of the motor is greatly reduced. Accordingly, an object of the present invention is to provide a motor having excellent driving efficiency by controlling the excitation signal supplied to the motor coil. Furthermore, an object of the present invention is to provide an electric device and a driving body including a motor .

In order to achieve the above object, a motor of the present invention includes a coil body having a plurality of coils, a permanent magnet having a structure in which a plurality of magnetic pole elements are alternately different from each other, a drive circuit, And the coil body and the permanent magnet relatively move by magnetic attraction and repulsion between the coil body and the permanent magnet.
The drive circuit supplies a drive signal that alternately excites a plurality of coils to different polarities to the coil body.
Driving circuit detects the magnetic variation of the wake cormorants permanent magnet relative movement between the coil body and the permanent magnet, a signal corresponding to the magnetic variation, which corresponds to the waveform of the counter electromotive voltage pattern generated in the coil A hall sensor that outputs analog signals is provided.
The drive circuit further includes a resistor that sets a comparison level that is a predetermined reference voltage value with respect to an output value from the Hall sensor, a comparator that compares the comparison level with an output value from the Hall sensor, and a comparison result. The multiplexer which produces | generates the drive signal supplied to a coil body, and the rotation direction control part which controls the direction of the relative movement between a coil body and a permanent magnet are provided.
The plurality of coils are divided into a first-phase coil and a second-phase coil, and the first-phase coil and the second-phase coil each include a first terminal and a second terminal.
The hall sensor includes a first hall sensor that outputs an analog signal generated in the first phase coil, and a second hall sensor that outputs an analog signal generated in the second phase coil.
The resistor is configured to be able to change the comparison level, and an upper limit value and a lower limit value are set as the comparison level.
The comparator includes a first comparison value between the output value of the first phase hall sensor and the upper limit value, a second comparison value between the output value of the first phase hall sensor and the lower limit value, and a second phase hall. A third comparison value between the sensor output value and the upper limit value and a fourth comparison value between the second phase Hall sensor output value and the lower limit value can be output.
The multiplexer outputs one of the first comparison value and the second comparison value as a drive signal for the first terminal of the first coil based on the relative movement direction supplied from the rotation direction control unit. The other of the first comparison value and the second comparison value is output as a drive signal for the second terminal of the first coil, and one of the third comparison value and the fourth comparison value is output from the second coil. It outputs as a drive signal for the first terminal, and outputs the other of the third comparison value and the fourth comparison value as a drive signal for the second terminal of the second coil.

In an embodiment of the present invention, the drive circuit includes a Hall element sensor that detects magnetic fluctuations of the permanent magnet, and the Hall sensor has a waveform corresponding to the magnetic change, for example, a sinusoidal output or a triangular wave. The drive circuit is configured to directly supply the output of the Hall sensor to the coil set. While having a plurality of phases as the coil set,
Hall element sensors are arranged for each phase. The arrangement of the coils between the plurality of coil sets is shifted from each other, and the arrangement of the Hall element sensors between the plurality of phases is also shifted. When the power is supplied to the drive circuit, the shift amount of the coil position of the multi-phase coil set is determined so that the permanent magnet can rotate when the output from the Hall element is supplied to the multi-phase coil set. Become. A rotor made of the permanent magnet is disposed between the plurality of coil phases that are annular. The rectangular wave is supplied to each phase coil by the drive circuit when the motor is started, and the counter electromotive voltage waveform is supplied to each phase coil during the stable operation of the motor.

1 and 2 show the principle of operation of the motor according to the present invention. This motor has a third coil between a first coil set (A phase coil) 10 and a second coil set (B phase coil) 12.
The permanent magnet 14 is interposed. These coils and permanent magnets are annular (arc-shaped,
(Circular) or linear. When these are formed in an annular shape, either the permanent magnet or the coil phase functions as a rotor, and when these are formed linearly, either becomes a slider.

The first coil set 10 has coils 16 that can be alternately excited with different polarities, preferably at a predetermined interval,
It has a configuration that is arranged in order at equal intervals. An equivalent circuit diagram of the first coil set is shown in FIG. According to FIGS. 1 and 2, as described later, the two-phase excitation coils are alternately excited with the polarity described above all the time during the starting rotation (2π). Therefore, driven means such as a rotor and a slider can be rotated and driven with high torque.

As shown in FIG. 3 (1), a plurality of electromagnetic coils 16 (magnetic units) that are alternately excited to different polarities are connected in series at equal intervals. Reference numeral 18A is a block showing a drive circuit for applying a frequency pulse signal to the magnetic coil. When an excitation signal for exciting the coil to the electromagnetic coil 16 is sent from the drive circuit, each coil is set to be excited so that the direction of the magnetic pole is alternately changed between adjacent coils. As shown in FIG. 3 (2), the electromagnetic coils 16 may be connected in parallel. The structure of this coil is the same for the A and B phase coils.

When a signal having a frequency for alternately switching the polarity direction of the excitation current supplied from the excitation circuit 18A to the electromagnetic coil 16 at a predetermined cycle is applied, as shown in FIG. 1 and FIG. A magnetic pattern is formed in the A-phase coil set 10 in which the polarity on the facing side changes alternately from N pole → S pole → N pole. When the frequency signal has a reverse polarity, a magnetic pattern is generated in which the polarity of the first magnetic body on the third magnetic body side alternately changes from S pole → N pole → S pole. As a result, the excitation pattern appearing in the A-phase coil set 10 changes periodically.

The structure of the B phase coil set is the same as that of the A phase coil set, but the electromagnetic coil 18 of the B phase coil set.
Are different from each other in that they are arranged with a positional shift with respect to 16 of the A-phase coil set. That is, A
The arrangement pitch of the coils in the phase coil group and the arrangement pitch of the phase B coil group are offset so as to have a predetermined pitch difference (angle difference). This pitch difference is an angle (one rotation) at which the permanent magnet 14 moves corresponding to one period (2π) of the frequency of the excitation current with respect to the coils 16 and 18, for example, π / (2 / M): M is The number of sets of permanent magnets (N + S) is M = 3, π
/ 6 is preferred.

Next, the permanent magnet will be described. As shown in FIGS. 1 and 2, the rotor 14 made of permanent magnets is arranged between two-phase coil sets and alternately has a plurality of permanent magnets 20 having opposite polarities (filled in black). .) Are arranged linearly (in an arc shape) at predetermined intervals, preferably at equal intervals. The arc shape includes a closed loop such as a complete circle or ellipse, an unspecified annular structure, a semicircle, or a fan shape.

The A-phase coil group 10 and the B-phase coil group 12 are arranged at equal distances, and the third magnetic body 14 is arranged between the A-phase coil group and the B-phase coil group. The arrangement pitch of the permanent magnets of the permanent magnet 20 is almost the same as the arrangement pitch of the magnetic coils in the A-phase coil 10 and the B-phase coil 12.

Next, the operation of the magnetic body structure in which the above-described third magnetic body 14 is disposed between the first magnetic body 10 and the second magnetic body 12 will be described with reference to FIGS. The electromagnetic coil 1 of the A phase coil and the B phase coil at a certain moment by the excitation circuit described above (18 in FIG. 3 to be described later).
Suppose that an excitation pattern as shown in FIG.

At this time, each coil 16 on the surface facing the permanent magnet 14 side of the A-phase coil 10 includes: → S → N →
A magnetic pole is generated in a pattern of S → N → S →, and a magnetic pole is generated in a pattern of → N → S → N → S → N → in the coil 18 on the surface facing the permanent magnet 14 side of the B-phase coil 12. The magnetic relationship between the permanent magnet and each phase coil is shown. A repulsive force is generated between the same poles, and an attractive force is applied between the different poles.

At the next moment, as shown in (2), when the polarity of the pulse wave applied to the A-phase coil through the drive circuit 18 is reversed, the magnetic poles generated in the coil 16 of the A-phase coil 10 in (1) and permanent A repulsive force is generated between the magnetic poles of the magnet 20 and an attractive force is generated between the magnetic poles generated in the coil 18 of the B-phase coil 12 and the magnetic poles on the surface of the permanent magnet 20. As shown in FIG. 1 (1) to FIG. 2 (5), the permanent magnet 14 sequentially moves in the right direction in the figure.

A pulse wave having a phase shifted from the excitation current of the A-phase coil is applied to the coil 18 of the B-phase coil 12, and as shown in (6) to (8) of FIG. The 18 magnetic poles and the magnetic poles on the surface of the permanent magnet 20 are repelled to move the permanent magnet 14 further to the right.
(1) to (8) show the case where the rotor 14 has rotated corresponding to π, and (9) and thereafter rotate similarly corresponding to the remaining π → 2π. As described above, the rotor rotates by supplying a drive current (voltage) signal having a predetermined frequency out of phase to the A-phase coil array and the B-phase coil array.

When the A-phase coil array, the B-phase coil array, and the permanent magnet are formed in an arc shape, the magnetic structure shown in FIG. 1 forms a rotary motor. When these are formed in a linear shape, the magnetic structure is a linear motor. It becomes what constitutes. Parts other than permanent magnets and electromagnetic coils such as cases and rotors are made lighter by non-magnetic resin (including carbon) and ceramics, and iron loss is reduced by opening the magnetic circuit without using a yoke. It is possible to realize a rotary drive body that is not generated and has an excellent power / weight ratio.

According to this structure, since the permanent magnet can move by receiving magnetic force from the A-phase coil and the B-phase coil, the torque generated by the permanent magnet is increased, and the torque / weight balance is excellent. It becomes possible to provide a small and light motor that can be driven.

FIG. 4 is a block diagram showing an example of an excitation circuit 18A for applying an excitation current to the magnetic electromagnetic coil 16 of the A-phase coil array and the electromagnetic coil 18 of the B-phase coil array. This excitation circuit is configured to supply controlled pulse frequency signals to the A-phase electromagnetic coil 16 and the B-phase electromagnetic coil 18, respectively. Reference numeral 30 denotes a crystal oscillator, and reference numeral 31 denotes an M-PLL circuit 3 1 for generating a reference pulse signal by dividing the oscillation frequency signal by M.

Reference numeral 34 denotes a sensor that generates a position detection signal corresponding to the rotational speed of the rotor 14 made of a permanent magnet (for example, a Hall element sensor that detects a change in the magnetic field of the permanent magnet as will be described later). Reference numeral 34A is a phase A side sensor for supplying a detection signal to the driver circuit of the A phase electromagnetic coil, and reference numeral 34B is B for supplying the detection signal to the driver circuit of the B phase electromagnetic coil.
It is a phase side sensor.

The detection signals from the sensors 34A and 34B are output to a driver 32 for supplying an excitation current to each phase coil array. Reference numeral 33 denotes a CPU which outputs a predetermined control signal to the M-PLL circuit 31 and the driver 32. The driver 32 is configured to supply a detection signal from the sensor directly or by PWM control to the electromagnetic coil. Reference numeral 31A denotes a control unit for supplying a reference wave for PWM control to the driver. The magnetic sensor 34A for the A-phase coil array and the magnetic sensor 34B for the B-phase coil array respectively detect the magnetic field of the permanent magnet by providing a phase difference as described above. However, if necessary, the phase control of the detection signal is performed. And supplied to the driver 32. Reference numeral 35 denotes a sensor phase control unit.

5 is a perspective view of the motor, (1) is a perspective view of the motor, (2) is a schematic plan view of the rotor, (3) is a side view thereof, and (4) is an A-phase electromagnetic coil array (5). Shows a B-phase electromagnetic coil array. The reference numerals attached are the same as the corresponding components in the above-described drawings.

This motor includes a pair of A-phase coil array 10 and a B-phase coil array 12 corresponding to a stator, and includes the above-described permanent magnet 14 that constitutes a rotor, and includes an A-phase coil array and a B-phase coil array. The rotor 14 is disposed so as to be rotatable about a shaft 37 therebetween. The rotary shaft 37 is press-fitted into the rotary shaft opening hole at the center of the rotor so that the rotor and the rotary shaft rotate integrally. As shown in FIGS. 5 (2), (4), and (5), the rotor is provided with six permanent magnetic pole elements 20 equally in the circumferential direction, and the polarities of the permanent magnetic pole elements are alternately reversed. And
The stator is provided with six electromagnetic coils equally in the circumferential direction.

The A-phase sensor 34A and the B-phase sensor 34B are provided on the case inner side wall of the A-phase coil array with the phase shifted (distance corresponding to π / 6). A phase sensor 34A and B phase sensor 3
4B is shifted in phase with each other in order to provide a predetermined phase difference between the frequency signal supplied to the A-phase coil 16 and the frequency signal supplied to the B-phase coil 18.

As a sensor, the position of the permanent magnet can be detected from the change of the magnetic pole accompanying the movement of the permanent magnet, and a Hall element utilizing the Hall effect is preferable. By using this sensor, the position of the permanent magnet can be detected by the Hall element wherever the permanent magnet is located when 2π is from the S pole of the permanent magnet to the next S pole.

Next, the principle of the present invention will be described.
FIG. 6A shows the potential change at both ends of the coil when a rectangular wave is supplied to the coil. (
2) shows the back electromotive force waveform at both ends of the coil. (3) shows the current consumption waveform at both ends of the coil. FIG. 7 is a principle diagram for explaining the counter electromotive force generated in the coil when the permanent magnet placed between the two-phase coil arrays moves in the right direction in the figure.

The back electromotive force (V) is defined by Bh * Cl * P, Bh [T] is the horizontal magnetic flux density (coil center), Cl (m) is the coil length, and P [m / s] Indicates the moving speed of the coil. A sinusoidal counter electromotive voltage waveform indicated by 8-1 is generated in the A-phase coil 16, and the arrangement of the A-phase coil array and the B-phase coil array is indicated by 8-2 in the B-phase coil 18. A counter electromotive voltage waveform for a sine wave having a phase difference based on the phase difference is generated.

The voltage at both ends in the region of the TT portion in FIG. 6 (3) is the difference between the applied voltage and the counter electromotive force, and has a large potential difference, so that the current increases. Therefore, the generated torque of the motor increases, but the efficiency of the motor decreases. Efficiency (η) is
η = (mechanical output / input voltage) * 100 (%).

On the other hand, FIG. 8 (1) shows the same sinusoidal signal (supply voltage waveform) as the back electromotive force waveform at both ends of the coil.
It is the voltage waveform of the both ends of a coil at the time of applying. (2) shows the consumption voltage waveform of the coil. The voltage at both ends of the coil indicated by the region TT in (2) has only a waveform distortion due to the difference between the supply voltage waveform and the back electromotive voltage waveform, and the current consumption waveform at both ends of the coil has a scale on the vertical axis in FIG. As is apparent from comparing the vertical scales in FIG. 8 (2), the current value is very small. For this reason, the above-described efficiency is greatly improved. Efficiency is further improved by improving waveform distortion. The analog output type hall element can output a waveform corresponding to the back electromotive voltage waveform. Thus, by exciting the coil with the same waveform as that of the back electromotive force, the efficiency is improved 2-3 times compared to exciting the coil with a rectangular wave. Therefore, when this motor is applied to a load, a rectangular waveform is supplied to the coil when starting the operation of the load or the starting torque during sudden acceleration is important, and a sine wave is supplied to the coil during stable operation of the motor. By doing so, it is possible to achieve both driving characteristics and efficiency.

FIG. 9 is a block diagram of a drive circuit that directly drives a driver by an analog sensor (Hall element sensor). That is, this sensor generates a sine wave-like output wave that is closest to the back electromotive force waveform, as shown in FIG. 10 (1) described later. By supplying the output from this sensor directly to the coil, The motor can be operated with efficiency. Reference numeral 10
0 is a sensor output amplifier. Reference numeral 101 denotes a forward or reverse control circuit for the rotor. The direction of rotation of the rotor can be controlled by forcibly inverting the polarity of the detection waveform from the sensor supplied to the A-phase or B-phase coil. Reference numeral 93 denotes a formation portion of a command signal supplied to the control circuit. The detection signal from the A phase sensor 34A is amplified and supplied to the A phase coil. The detection signal from the B phase sensor 34B is amplified and supplied to the B phase coil.

FIG. 10 shows a state of waveform control in the drive circuit. (1) shows an analog output waveform (sine waveform) from the A-phase sensor. (2) is an output waveform from the B-phase sensor. As described above, since the two sensors are arranged with a phase difference, the phases are shifted.
(3) is an A1 phase drive waveform (voltage waveform in the direction of terminals A1 → A2 in FIG. 3) supplied to the A phase coil, and (4) is an A2 phase drive waveform (FIG. 3) supplied to the A phase coil. Terminal A2 → A1). (5) is a B1 phase drive waveform supplied to the B phase coil, and (6) is a B2 phase drive waveform. (7) is a waveform at both ends (between A1 and A2) between the A phase coil sets, and (8) is a waveform at both ends (between B1 and B2) between the B phase coil sets. The sensor's sinusoidal output waveform is supplied to each phase coil set.

FIG. 11 is a block diagram of a drive circuit for converting the analog output from the sensor into a rectangular wave and supplying it to the coil set. In the case where it is necessary to operate the motor with high torque as described above, it is meaningful to supply a rectangular wave to the coil. When the rotational speed of the motor is detected by a rotational speed sensor (not shown) and the rotational speed of the motor exceeds a predetermined value (during stable driving), the drive circuit directly replaces the sensor's analog output value with the coil array instead of the rectangular wave. To supply.

In FIG. 11 , 121 is a variable volume for hysteresis control, 120 is a window comparator, and 122 is a multiplexer. The output value of each phase sensor described above is supplied to the window comparator, the sensor output is compared with the upper and lower limit values of the hysteresis level, and an H level signal and an L level signal are formed. Output signal or A2 phase drive signal. The same applies to driving of the B1 phase coil and the B2 phase coil. Reference numeral 123 denotes a rotation direction control unit for forward rotation or reverse rotation of the rotor. Specifically, the multiplexer 122 compares the output value of the phase A sensor 34A with the upper limit value of the hysteresis level TP and the output value of the phase A sensor 34A and the lower limit value of the hysteresis level based on the output from the rotation direction control unit 123. One of the comparison values BP with the A1 phase drive signal is output, the comparison value TP between the output of the A phase sensor 34A and the upper limit value of the hysteresis level, and the output of the A phase sensor 34A and the lower limit value of the hysteresis level The other of the values BP is output as an A2 phase drive signal.
Further, based on the output from the rotation direction control unit 123, the multiplexer 122 compares the output value of the B-phase sensor 34B with the upper limit value of the hysteresis level TP and the output of the B-phase sensor 34B and the lower limit value of the hysteresis level. One of the comparison values BP is output as a drive signal for the B1 phase, the comparison value TP between the output of the B phase sensor 34B and the upper limit value of the hysteresis level, and the comparison value BP between the output of the B phase sensor 34B and the lower limit value of the hysteresis level Is output as a B2-phase drive signal.

Figure 12 is a waveform diagram according to the driving circuit of FIG. 1 1, (1) is a sinusoidal output waveform of the A-phase sensor, (2) is the output waveform of the B-phase sensor. (3) is a frequency rectangular waveform supplied to the A phase coil set as the A1 phase drive signal, and (4) is a rectangular waveform supplied to the A phase coil set as the A1 phase drive signal. (5) and (6) are rectangular waveforms supplied to the B-phase coil set. (7) is a voltage waveform at both ends of the A-phase coil set, and (8) is a voltage waveform at both ends of the B-phase coil set. In FIG. 12, the hysteresis adjusting volume may be controlled from an external CPU or the like by a digital-analog converter. By changing the hysteresis level, the duty of the rectangular wave is changed, and torque control of the motor characteristics becomes possible. For example, the hysteresis level is minimized at the start of the motor, the motor is driven with priority on torque at the expense of efficiency, and the motor is driven with the highest hysteresis level and priority on high efficiency during stable operation of the motor.

In FIG. 13, the sensor output is supplied to the PMW converter 140, and the analog output value of the sensor is compared with a fundamental wave (not shown) to control the duty ratio of the rectangular wave supplied to each phase coil.
It is a block diagram of a drive circuit showing that it is (PWM controlled). That is, as shown in FIG. 14, the outputs of the phase sensors (1) and (2) are duty controlled, and (3) and (4)
As shown in FIG. 4, the voltage is supplied to both phase coil sets.

FIG. 15 is a plan view of a permanent magnet (rotor) 14 in which a plurality of permanent magnetic pole elements 150 are integrally coupled. In FIGS. 1 and 2, the permanent magnetic pole elements of the rotor are formed of a non-magnetic material, whereas in the rotor of this embodiment, the permanent magnetic pole elements 150 are made permanent without passing through the intervening regions between the permanent magnetic pole elements 150. The magnetic pole elements are in close contact. Reference numeral 152 denotes a rotating shaft of the rotor.
54 is a rotor. A plurality of permanent magnetic pole elements are continuously arranged on the circumferential edge of the rotor. In the case of FIG. 15, as shown in FIG. 16, a back electromotive force of a triangular wave is generated. Therefore, if the detection signal of each phase coil array sensor is formed into a triangular wave and supplied to each phase coil, the motor can be operated with maximum efficiency.

As described above, similarly to other types of electric motors, the efficiency (work / power ratio) is not an intrinsic characteristic of the electric motor, and the motor coil is excited using the same waveform as that of the counter electromotive force generated from the electric motor. Thus, the motor itself can be driven with high efficiency. That is, according to the present invention, a highly efficient motor drive system and drive method can be realized.

The schematic diagram of the magnetic body structure concerning this invention and the principle of operation are shown. FIG. 2 shows an operation principle following FIG. (1) is an equivalent circuit diagram of a coil set in which a plurality of coils are connected in series, and (2) is an equivalent circuit diagram in the case of parallel connection. It is a block diagram of the drive circuit which supplies an excitation signal to a coil group. It is a disassembled perspective view of a motor. In order to explain the principle of the present invention, it is a characteristic diagram when a rectangular wave is supplied to a coil. It is a principle figure showing signs that a counter electromotive force is generated in a coil. In order to explain the principle of the present invention, it is a characteristic diagram when a waveform substantially equal to a sine waveform of a back electromotive force is supplied to a coil as a drive waveform. It is a block diagram of the drive circuit for supplying the sine waveform from a Hall element sensor to a coil. FIG. 10 is a waveform diagram showing a state of waveform control in the drive circuit of FIG. 9. It is a drive circuit block diagram which enabled hysteresis control in a drive circuit. It is each waveform figure which shows the mode of the waveform control. It is a functional block diagram of a drive circuit which shows a mode that the detection waveform of each phase coil is directly supplied to a PWM conversion control part. It is a wave form diagram which shows the PWM control operation. It is a rotor top view which shows the other example of a permanent magnet (rotor). It is a triangular wave output waveform figure which generate | occur | produces in each phase sensor, when the said roller is used for a motor.

Claims (4)

A coil body having a plurality of coils, a permanent magnet having a structure in which a plurality of magnetic pole elements are alternately arranged in different polarities, and a drive circuit, and a magnetic circuit between the coil body and the permanent magnet A motor in which the coil body and the permanent magnet move relatively by suction and repulsion,
The drive circuit supplies a drive signal for exciting the plurality of coils alternately to different poles to the coil body,
Detecting the magnetic variation of the wake cormorants before Symbol permanent magnet relative movement of the permanent magnet and the coil body, a signal corresponding to the magnetic variation, corresponds to the waveform of the counter electromotive voltage pattern generated in the coil Equipped with a hall sensor that outputs analog signals
A resistor for setting a comparison level which is a predetermined reference voltage value with respect of et al., The output value from the Hall sensor,
A comparator for comparing an output value from the Hall sensor and the comparison level,
A multiplexer for generating the drive signal supplied to the coil body on the basis of the comparison result,
A rotation direction control unit for controlling a direction of relative movement between the coil body and the permanent magnet;
With
The plurality of coils are divided into a first phase coil and a second phase coil, and the first phase coil and the second phase coil each include a first terminal and a second terminal,
The Hall sensor includes: a first Hall sensor that outputs an analog signal generated in the first phase coil; and a second Hall sensor that outputs an analog signal generated in the second phase coil;
The resistor is configured to be able to change the comparison level, and as the comparison level, an upper limit value and a lower limit value are set,
The comparator is
A first comparison value between the output value of the first phase Hall sensor and the upper limit;
A second comparison value between the output value of the first phase Hall sensor and the lower limit;
A third comparison value between the output value of the second phase Hall sensor and the upper limit;
A fourth comparison value between the output value of the second phase Hall sensor and the lower limit;
Are configured so that each can be output,
The multiplexer is based on the relative movement direction supplied from the rotation direction control unit.
One of the first comparison value and the second comparison value is output as a drive signal for the first terminal of the first coil, and the other of the first comparison value and the second comparison value is output. Output as a drive signal for the second terminal of the first coil, and output one of the third comparison value and the fourth comparison value as a drive signal for the first terminal of the second coil And outputting the other of the third comparison value and the fourth comparison value as a drive signal for the second terminal of the second coil,
motor. The drive circuit amplifies the drive signal the multiplexer is generated, further comprising an amplification unit to supply to the coil body,
The motor according to claim 1 . An electric device having the motor according to claim 1 . A drive body having the motor according to claim 1 .

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