JPS585599B2 - Musei Ryuushidendokitouniokeru Kaitenhou Kokenshiyutsuhouhou - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the rotational direction of a rotating body such as a DC or AC non-commutated motor, and in particular, the present invention relates to a method for detecting the rotational direction of a rotating body such as a DC or AC non-commutated motor, and in particular, the rotation can be detected simply by a logic circuit configuration without using a rotating machine such as a pilot generator. The present invention aims to provide a novel method for detecting the rotational direction of a rotating body, which can reliably detect the rotational direction of a body.

Recently, research and development regarding DC or AC non-commutator motors has progressed to a great extent, and at present we are entering the stage where it is possible to manufacture large-capacity non-commutator motors of, for example, several thousand kilowatts.

The scope of this application is also expanding to the field of DC machines, which are currently the mainstream in industry.

As is well known, such a non-commutator motor is capable of so-called four-quadrant operation, such as electric power running and regenerative braking during forward or reverse rotation.

For example, when this commutatorless motor is in steady operation by giving a forward rotation command or a reverse rotation command, it is necessary to detect whether the rotor of the motor body is rotating in the forward direction or reverse direction according to the command. becomes.

Conventionally, as means for detecting this direction of rotation, for example, a pilot generator is used on the rotating shaft of the motor body, and a DC generator is generally used as the pilot generator. In conjunction, the direction of rotation of the rotor is determined based on the direction of the detected voltage obtained via the generator.

In this method, since the non-commutator motor itself was designed to make the DC machine brushless,
By having a commutator in the DC pilot generator itself, it goes against the idea of ``one brushless'', and since the voltage of the pilot generator increases with speed, it has the disadvantage that the control circuit becomes complicated, and the rotation It is hard to say that this is an optimal method as a direction detection means.

A possible solution to this problem is to use a combination of an AC pilot generator and a rectifier circuit, but this method does not cause any problems during one-way operation, but when switching from forward rotation to reverse rotation, the pilot generator →Since the detection signal obtained through the rectifier circuit is fed back to the speed control system and the specified speed control is performed based on this detection signal, the polarity of the detection signal is the same during forward rotation and reverse rotation. For some reason, speed control during reverse rotation becomes impossible.

As described above, since the conventional method uses a rotating machine such as a pilot generator, problems such as cost disadvantage cannot be avoided.

The present invention was invented in view of this point, and is not a system in which a rotating machine such as a pilot generator is used as means for detecting the rotational direction of a rotating body, but rather a method in which the armature winding of a non-commutated motor is used as a means for detecting the rotation direction of a rotating body. The signal from the distributor that detects the relative positional relationship with the magnetic pole is guided to a logic circuit, and this logic circuit selects and extracts only a specific signal from the group of detected signals, and uses the selected signal group to perform a predetermined signal. It is an object of the present invention to provide a novel method for detecting the rotation direction of a commutatorless motor, etc., which makes it possible to detect the rotation direction of the rotor of the motor body by performing logical operations.

Next, one embodiment of the present invention will be described in detail based on the drawings.

Figure 1 shows the signal from the distributor when the non-commutated motor is rotating in the forward direction.As is well known, this distributor is a semicircular rotating disk having a protrusion on the rotor shaft of the motor body. is attached at a predetermined angle to the center line of the field pole, and three proximity switches are attached at a predetermined electrical angle on the armature winding side of the fixed part, and the rotating circle Each time the protruding portion of the plate approaches each proximity switch, as shown in Figure 1A, the signal groups P1 to P3 each have an electrical angle width of 180° and a phase difference of 120c, and this signal group P1 to P3 is inverted. Six signal groups P1 to P3 are sequentially extracted.

The signal groups P1 to P3 and P1 to P3 are arbitrarily combined as shown in FIG.
The signals Q1 to Q6 shown in FIG. 2 are obtained through the.

These signal groups Q1 to Q6 are three signals (for example, P1-P1-P3, P2P3) selected appropriately from the signal group from the distributor.
- It is composed of P1y, etc.

), so if this is shown in a diagram, as shown by Q in Figure 1A, if the rotation is positive, Q4-Q5-Qe.
-QI-Q2-Qs is taken out sequentially as one cycle.

Further, only a specific signal is selected and extracted from the signals Q1 to Q6 sequentially taken out in this way, and the result is led to the block diagram of the logic circuit shown in FIG.

In Figure 3, 7, 9, 17, 19 are FF circuits, 8, 11 respectively.
, 13, 14, 1B are AND circuits, 10.12 is N
OT circuit, 15 is a differentiating circuit, 16 is a waveform shaping circuit, and the part covered by the broken line is used to generate a first signal indicating that it is now possible to determine, for example, the rotational direction of the rotor when the commutatorless motor is started. This is the circuit to take out.

The operation of the block configuration diagram constructed in this way during forward rotation will be described in detail with reference to the operation waveform diagram of FIG. For each group of signals Q1 to Q6, for example, during forward rotation, they are taken out sequentially in the order of Q4 → Q5 → Q6 → Q1 → Q2 → Q3, so here, to simplify the explanation, the signal order of Q is For example, Q1 → Q2 → Q3 → Q4 → Q
The following description assumes that the transition occurs in the order of 5→Q6.

In the present invention, among these signal groups Q1 to Q6, for example, Q1
, Q3 and Q4 signals are selectively extracted so as to be introduced into the logic circuit, so when the first Q1 signal is guided to the differentiating circuit 15 and the first FF circuit 7 indicated by the broken line in Fig. 3, this rectangular The waveform Q1 signal is differentiated by the differentiating circuit 15, and this signal is waveform-shaped by the next-stage waveform shaping circuit 16. This waveform-shaped signal sets the next-stage third FF circuit 17, and this output signal (1) is given as one input of the fifth AND circuit 18.

On the other hand, when the Q1 signal is applied to the first FF circuit 7, the FF circuit 7 is set and this set output signal (shown at the beginning of FIG. 1) of "1" is applied to the AND circuit 8 at the next stage.

Furthermore, when the Q3 signal is guided to the first FF circuit 7 under this condition, this FF circuit 7 is reset and becomes the output u0v.

Here, when the next Q4 signal is given to the fifth AND circuit 18 and the first AND circuit 8 in the broken line section in FIG. 3, the third FF circuit 17 is set by the first Q1 signal in the broken line section in FIG. and gives the output "1" to the fifth AND circuit 18,
An AND condition is established with this output "1" and the above Q4 signal, and the output of this AND circuit 18 is used as the fourth FF circuit 19 in the next stage.
is set, and the FF circuit 19 gives the output "1" to the third and fourth AND circuits 13 and 14 to determine, for example, whether the rotation direction of the rotor of the motor body is "forward" or "reverse". The fact that detection and discrimination are now possible is input to the AND circuits 13 and 14 of the final discrimination element.

On the other hand, when the Q4 signal is given to the first AND circuit 8, the first FF circuit 7 in this circuit 8 is reset by the Q3 signal, and since the FF circuit 7 has already given a "0" output,
The AND condition is not satisfied between this reset output u0v and the Q4 signal, and the AND circuit 8 is in the OFF state.
The “0” output of the circuit 8 is given to the NOT circuit 10 and NO
The output signal "1" from the T circuit 10 is guided to the second AND circuit 11 at the next stage.

Here, since the Q4 signal is given as one input of the second AND circuit 11, an AND condition is established between this Q signal and the output signal "1" of the NOT circuit 10, and the output signal of the second AND circuit 11 is "1". 1'', the second FF circuit 9 maintains the reset state.

Therefore, the second NOT circuit 12 has one of the second FF circuits 9.
0v output is given and the NOT circuit 12 output signal "l",
AND of the fourth AND circuit 14 with the set output signal "1" of the FF circuit 19 given from the broken line part in FIG.
When the condition is met, the fourth AND circuit 14 outputs an output signal to detect that the rotational direction of the rotor of the motor body is the "positive" direction.

In this way, in the present invention, for example, the Q1, Q3, and Q4 signals are selectively introduced into the logic circuit, and the rotor's rotational state reaches a point where the rotational direction at the time of starting can be determined from the Q1 and Q4 signals. This judgment detection signal is extracted as one of the judgment conditions, and the Q1 signal and Q
Detect which of the 3 signals was sent out first, take out the AND condition of this detection result and the Q4 signal, and use this AN
If the D condition is not met, and this signal and the discrimination detection signal serving as the first discrimination condition are present, it is detected that the rotation direction of the rotor is the "positive J direction."

Note that the waveform shown in FIG. 12 indicates that the output of the first AND circuit 8 is zero during forward rotation.

Next, an example of detection when the rotation direction is reversed is as follows.
The signal P from the distributor is reversed to the order of the signals shown in FIG.

Based on the signal group from this distributor, the order in which signal groups Q1 to Q6 having a width of 60° and a phase difference of 60° are taken out is also reversed from the signal order in Figure 1A, Q6→Q5→Q4.
→Q3→Q2→Q, are extracted in this order.

Therefore, in the logic circuit block diagram of FIG. 3, for example, the phase order of the Q signals generated in the logic circuit of FIG. 2 is Q6→Q5→
If Q4...Q1, the operating conditions are not established until the Q1 signal is introduced to the rotational state detection section indicated by the broken line in FIG. The detection signal is not sent out, so the FF circuit 7 is reset by the Q3 signal, and the logical product condition of the AND circuit 11 is established with the output of the NOT circuit 10 and the Q4 signal, and this logical product output causes the FF circuit to be reset. Circuit 9 is reset and NOT
Even if the signal is guided to the final stage AND circuit 14 via the circuit 12, the logical product condition of the AND circuit 14 is not satisfied and the rotation direction is still unknown.

When the Q1 signal is then derived in such a state, the rising edge of the Q1 signal is first differentiated by the differentiating circuit 16 in the rotational state detecting section, and then
The FF circuit 17 is set using the output of the circuit 16 which shaped the differential signal, and the AND condition of the AND circuit 14 is established between this set output signal and the Q4 signal. The FF circuit 19 is set and a signal indicating that the conditions for determining the rotation direction are satisfied is sent to the AND circuit 13.1 at the final stage.
4 respectively.

In parallel with this operation, the FF circuit 7 is set by the Q1 signal in the rotational direction detection section, and the logical product condition of the AND circuit 8 is established between this set output signal [shown in Figure 1 C] and the Q4 signal. When established, the FF circuit 9 is set by the AND output (shown in FIG. 1E), and the set output signal is guided to the AND circuit 13 at the final stage.

In this way, when the set output signal and the state condition detection signal are respectively input to the AND circuit 13 at the final stage, the logical product condition of the AND circuit 13 is established with these two signals, and the A
A signal indicating that the direction of rotation is reverse is extracted from the output signal of the ND circuit 13.

In this way, in the present application, if the rotation is in the forward direction, a signal indicating that the rotation is in the normal direction is detected from the time when the Q1 signal is input to the time when the Q4 signal is input;
A signal indicating that the rotation direction is reversed is detected from the time when the signal is input to the time when the Q1 signal is input, but according to this rotation direction detection method, the Q1 signal and the Q3 signal are used as signals to derive the AND condition. Although we have illustrated the case where only three signals, including the signal sQ4, are used, the rotation direction can also be detected reliably by using three signals, for example, the Q2 signal, the Q4 signal, and the Qa signal. It is sufficient to use other Q signals having a phase difference of 120° and 180° in electrical angle from the time when the Q signal serving as the reference for firing is derived.

In this way, in the present invention, for example, a group of signals from a distributor that detects the relative positional relationship between an armature winding and a field pole in a non-commutated motor is used. It consists of three signals with a width of 180 degrees in electrical angle and a phase difference of 120 degrees in electrical angle, and three signals that are the inversions of these signals. Select 6 desired signals each having an electrical angle width of 60 degrees and a phase difference width of 60 degrees by arbitrarily combining them as appropriate, and extract, for example, 3 signals from this desired signal group.
We have shown an example in which only specific signals are selectively extracted, the extracted signals are introduced into a logic circuit, a predetermined logical operation is performed, and the result of this discrimination is used to detect whether the rotation is forward rotation or reverse rotation. Without being limited to such a method, for example, an arbitrary number of rotating disks attached to a rotating shaft may be prepared, and a group of signals from a distributor consisting of the rotating disks and a proximity switch may be distributed in electrical angle widths of 60 degrees. One period may be composed of six signal groups each having a phase difference of 60 degrees in electrical angle, and the signal group from this divider may be directly applied to the logic section of FIG. 3.

As mentioned above, the method of detecting the rotation direction of a non-commutated motor or the like according to the present invention is not a method of detecting the rotation direction via a pilot generator such as a DC generator or an AC generator as in the conventional method, but instead of detecting the rotation direction via a pilot generator such as a DC generator or an AC generator as in the conventional method. A group of signals from a distributor that detects the relative mechanical position of the line and the field pole is introduced into the logic section, and when introduced into the logic section, a group of signals from a certain three
By introducing only the signals [Q1, Q3 and Q4), these 3
Two sets of signals Ql and Q4 within the signal group are used to determine, for example, whether the rotational state of the rotor has reached a rotational position where the direction of rotation can be determined, while the Q1 signal is input. Then (1), when the Qs signal is input, the FF becomes "O"
The AND condition of the output signal of the circuit and the above-mentioned Q4 signal is taken out, and the judgment result of this AND condition and the judgment detection signal indicating that the rotation direction can be detected are led to the final-stage AND circuit to detect the rotor. It is determined whether the direction of rotation is forward rotation or reverse rotation.

Therefore, in the present invention, since everything is detected purely electrically, it fully corresponds to the trend of commutatorless motors, and moreover, compared to the conventional method, the signal group from the distributor is directly used. This has various advantages such as the device itself can be manufactured at low cost.

[Brief explanation of the drawing]

FIG. 1 is a waveform diagram showing the signal from the distributor and the output signal of the logic section according to the present invention in response to this signal, and FIG. 2 is a waveform diagram showing an example of taking out a predetermined signal introduced into the logic section according to the present invention. Embodiment FIG. 3 is a block diagram showing an embodiment according to the present invention. 1 to 6 and 8, 11, 13, 14, 18 are AND circuits,
7, 9, 17, 19 are FF circuits, 10, 12 are NOT circuits, 15 is a differentiation circuit, 16 is a waveform shaping circuit APl, P2
, P3 and P1, P2, P3 are signals AQ sent out from the distributor, and -Q6 are signals taken out by appropriately combining the signals from the distributor.

Claims (1)

[Claims] 1 Signal group p1, P2sPa from the distributor (each signal is 1
) with a width of 80° and a phase difference of 120°). Combining the three signals with the negative signal group P1*P2mP3 of these signals, and taking the logical product condition of these three signals, we obtain a group of six signals having a width of 60 degrees in electrical angle and a phase difference of 600 degrees in electrical angle. A flip-flop circuit that extracts Q1 to Q6 and is set when a reference A signal is input from these signal groups, and reset when a B signal having a 120° phase difference with respect to the A signal is input. a first logic circuit which takes an AND condition between the set output of this circuit and a C signal having a phase difference of 180 with respect to the A signal, and a logic between the reset output of the flip-flop circuit and the C signal; a second logic circuit that takes a product condition, and a determination circuit that takes a logical product condition of the A signal and the C signal and determines that the rotational state of the rotor has reached a position where the rotation direction can be detected. and the output of this discrimination circuit and the first
The logical product condition with the output of the logic circuit and the logical product condition with the output of the discriminator circuit and the output of the second logic circuit are respectively taken, and the rotation direction is detected based on these logical product conditions. A method for detecting the direction of rotation in a commutatorless motor, etc., characterized by the following.