KR102703485B1 - Method and apparatus for generating micro angle ticks for controlling motor - Google Patents

Abstract

The present disclosure relates to a method for generating micro-angle ticks for fine control of a brushless direct current (BLDC) motor and a device therefor. The method for generating micro-angle ticks according to some embodiments of the present disclosure may include a step of generating a composite signal for changing an output pattern according to the rotation of a motor rotor by using output signals of each of three-phase hall sensors for detecting the rotation of the motor rotor, and a step of generating a reference number of micro-angle ticks in a first pattern section included in the output pattern in response to the change in the output pattern.

Description

Method and Apparatus for Generating Micro Angle Ticks for Controlling Motor

The present disclosure relates to a method for generating micro-angle ticks for fine control of a BLDC (Brushless Direct Current) motor and a device therefor. More specifically, the present disclosure relates to a method for generating micro-angle ticks for fine control of a BLDC motor by synthesizing signals of a three-phase Hall sensor for detecting rotation of a BLDC motor rotor and a device therefor.

A BLDC motor may be equipped with a Hall sensor to provide feedback to an external circuit so that the magnetic coil of the stator can be controlled. The method of controlling a BLDC motor using such a Hall sensor was not suitable for fine control of a BLDC motor due to its low angular resolution.

As an alternative to fine control of BLDC motors, there are methods using other devices such as optical encoders, but these devices have low tolerance for dust and have difficulties in maintenance due to increased wiring that requires management.

In particular, in order to control BLDC motors equipped in vehicles, a method using components that are easy to maintain is required, so a technology that allows for fine control of BLDC motors while also being easy to maintain is required.

Korean Patent Publication No. 10-2008-0035403 (Published on June 4, 2010)

A technical problem that some embodiments of the present disclosure seek to solve is to provide a method and device capable of controlling a BLDC motor with high resolution.

Another technical problem that some embodiments of the present disclosure seek to solve is to provide a method and device for finely controlling a BLDC motor using an output signal of a Hall sensor.

Another technical problem that some embodiments of the present disclosure seek to solve is to provide a method and device capable of finely controlling a BLDC motor equipped in a vehicle.

Another technical problem that some embodiments of the present disclosure seek to solve is to provide a method and device capable of finely controlling a BLDC motor even when a Hall sensor fails.

The technical problems of the present disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to some embodiments of the present disclosure for solving the above technical problem, a method for generating a micro-angle tick may include a step of generating a composite signal for changing an output pattern according to the rotation by using output signals of each of three-phase Hall sensors for detecting rotation of a motor rotor, and a step of generating a reference number of micro-angle ticks in a first pattern section included in the output pattern in response to a change in the output pattern.

In some embodiments, the step of generating the composite signal may include the step of detecting an edge of an output signal of each of the three-phase Hall sensors and, in response to the detection of the edge, generating the composite signal such that the output pattern is changed. Here, the step of generating the composite signal such that the output pattern is changed in response to the detection of the edge may include the step of generating the composite signal such that, in response to the detection of the edge, the output pattern is changed from a first value to a second value or from the second value to the first value. Here, the step of generating the composite signal such that, in response to the detection of the edge, the output pattern is changed from the first value to the second value or from the second value to the first value may include the step of generating the composite signal such that, if the edge is a positive edge, the output pattern is changed from the first value to the second value or, if the edge is a negative edge, the step of generating the composite signal such that, if the edge is a negative edge, the output pattern is changed from the second value to the first value.

In some embodiments, the first pattern interval may be determined based on a change period of the output pattern.

In some embodiments, the step of generating the micro-angle tick may include a step of counting the number of micro-angle ticks generated in the first pattern section. Here, the step of generating the micro-angle tick may further include a step of stopping the generation of the micro-angle ticks if the number of micro-angle ticks generated in the first pattern section is greater than or equal to the reference number.

In some embodiments, the step of generating the micro-angle tick comprises the step of additionally generating the micro-angle tick if the number of micro-angle ticks generated in the second pattern interval is less than the reference number, wherein the second pattern interval may be a previous pattern interval of the first pattern interval.

A device for generating micro-angle ticks according to some other embodiments of the present disclosure may include a composite signal generating unit that uses output signals of each of three-phase Hall sensors for detecting rotation of a motor rotor to generate a composite signal that changes an output pattern according to the rotation, and a micro-angle tick generating unit that generates a reference number of micro-angle ticks in a first pattern section included in the output pattern in response to a change in the output pattern of the composite signal generated by the composite signal generating unit.

In some other embodiments, the composite signal generation unit may include an edge detection unit for detecting an edge of an output signal of each of the three-phase Hall sensors, an edge direction detection unit for detecting a direction of the edge detected by the edge detection unit, and a first timer for generating the composite signal corresponding to the direction of the edge detected by the edge direction detection unit in response to detection of the edge by the edge detection unit.

In some other embodiments, the micro-angle tick generation unit may include an output pattern change detection unit for detecting a change in the output pattern, a second timer for generating micro-angle ticks in the first pattern section in response to a change in the output pattern detected by the output pattern change detection unit, and a counting unit for counting the number of micro-angle ticks generated by the second timer in the first pattern section.

FIG. 1 illustrates an exemplary environment in which a micro-angle tick generating device according to some embodiments of the present disclosure may be applied.
FIG. 2 is an exemplary drawing for more specifically explaining the synthetic signal generation unit of the micro-angle tick generation device described with reference to FIG. 1.
FIG. 3 is an exemplary drawing for more specifically explaining the micro-angle tick generating unit of the micro-angle tick generating device described with reference to FIG. 1.
FIG. 4 is an exemplary drawing illustrating a micro-angle tick generating device according to some other embodiments of the present disclosure.
FIG. 5 is an exemplary drawing for more specifically explaining the Hall sensor signal validity judgment unit of the micro-angle tick generation device described with reference to FIG. 4.
FIG. 6 is an exemplary flowchart illustrating a method for generating micro-angle ticks according to some embodiments of the present disclosure.
FIG. 7 is an exemplary drawing to explain in more detail the operation of generating a synthetic signal described with reference to FIG. 6.
FIGS. 8 and 9 are exemplary drawings to more specifically explain the generation operation of the micro-angle tick described with reference to FIG. 6.
FIG. 10 is an exemplary flowchart illustrating a method for generating micro-angle ticks according to some other embodiments of the present disclosure.
FIG. 11 is an exemplary drawing for more specifically explaining the validity judgment operation of the output signal of the Hall sensor described with reference to FIG. 10.
FIG. 12 is an exemplary drawing for explaining in more detail the operation of generating a synthetic signal described with reference to FIG. 10.
FIG. 13 is an exemplary diagram to more specifically explain a synthetic signal that may be referenced in some embodiments of the present disclosure.
FIG. 14 is an exemplary drawing to more specifically explain the direction of an edge that may be referenced in some embodiments of the present disclosure.
FIG. 15 is an exemplary drawing to more specifically explain micro-angle ticks that may be referenced in some embodiments of the present disclosure.
FIG. 16 is an exemplary diagram to more specifically explain a composite signal that may be generated when a failure of a Hall sensor that may be referenced in some embodiments of the present disclosure occurs.
FIG. 17 is an exemplary drawing to more specifically explain micro-angle ticks that may be generated when a fault occurs in a Hall sensor that may be referenced in some embodiments of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of the present disclosure and methods for achieving them will become apparent with reference to the embodiments described in detail below together with the accompanying drawings. However, the technical idea of the present disclosure is not limited to the following embodiments but may be implemented in various different forms, and the following embodiments are provided only to complete the technical idea of the present disclosure and to fully inform a person having ordinary skill in the art to which the present disclosure belongs of the scope of the present disclosure, and the technical idea of the present disclosure is defined only by the scope of the claims.

When adding reference signs to components of each drawing, it should be noted that the same components are given the same signs as much as possible even if they are shown on different drawings. In addition, when describing the present disclosure, if it is determined that a specific description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description is omitted.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification can be used in the meaning that can be commonly understood by a person of ordinary skill in the art to which this disclosure belongs. In addition, terms defined in commonly used dictionaries are not to be ideally or excessively interpreted unless explicitly specifically defined. The terminology used in this specification is for the purpose of describing embodiments and is not intended to limit this disclosure. In this specification, the singular also includes the plural unless specifically stated in the phrase.

Also, in describing components of the present disclosure, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms. When it is described that a component is "connected," "coupled," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but another component may also be "connected," "coupled," or "connected" between each component.

Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the attached drawings.

FIG. 1 illustrates an exemplary environment to which a micro angle tick generating device (100) according to some embodiments of the present disclosure may be applied. FIG. 1 illustrates an example in which a three-phase Hall sensor (200) is applied to a BLDC (Brushless Direct Current) motor, but this is only for convenience of understanding, and the type of the motor and/or the number of Hall sensors that may be mounted on the motor may vary.

Meanwhile, Fig. 1 only illustrates a preferred embodiment for achieving the purpose of the present disclosure, and some components may be added or deleted as needed. In addition, it should be noted that the components of the exemplary environment illustrated in Fig. 1 represent functionally distinct functional elements, and that multiple components may be implemented in a form in which they are integrated with each other in an actual physical environment.

Below, each component illustrated in Fig. 1 will be described in detail.

First, the micro-angle tick generation device (100) can generate a micro-angle tick for controlling a BLDC motor equipped with a three-phase Hall sensor (200) by using an output signal of a three-phase Hall sensor (200). At this time, the micro-angle tick generated by the micro-angle tick generation device (100) can be provided to an external circuit (not shown) for fine control of the BLDC motor.

The micro-angle tick generation device (100) may include a composite signal generation unit (110) and a micro-angle tick generation unit (120). Here, the composite signal generation unit (110) may generate a composite signal that changes an output pattern according to the rotation by using each output signal of a three-phase hall sensor (220) for detecting the rotation of a motor rotor. In addition, the micro-angle tick generation unit (120) may generate a reference number of micro-angle ticks in a first pattern section included in the output pattern in response to a change in the output pattern of the composite signal generated by the composite signal generation unit (110). In order to avoid redundant description, the specific operation of the micro-angle tick generation device (100) will be described later with reference to the drawings of FIG. 2 and below.

With respect to the micro-angle tick generation device (100), in some embodiments, the micro-angle tick generation device (100) may further include a component for determining the validity of an output signal of the three-phase Hall sensor (200). That is, by determining the validity of the output signal of each of the three-phase Hall sensors (200) (200a, 200b, 200c), the micro-angle tick generation device (100) may generate a micro-angle tick for fine control of the BLDC motor using only the valid output signals, and a more specific description related thereto will be described in more detail later with reference to FIGS. 4 and 5 and related exemplary drawings.

Next, the three-phase Hall sensor (200) may be composed of three Hall sensors (200a, 200b, 200c) for detecting the rotation of the rotor of the BLDC motor. The output signal of each of the three-phase Hall sensors (200) may be input to the micro-angle tick generation device (100). For example, as shown in FIG. 13, the output signals (10a, 10b, 10c) of the three-phase Hall sensors (200) may be input to the micro-angle tick generation device (100), and it may be understood that the output signals (10a, 10b, 10c) of each of the three-phase Hall sensors (200) have a phase difference. For another example, only some of the output signals (10a, 10b) of the three-phase Hall sensor (200), as illustrated in FIG. 16, may be input to the micro-angle tick generation device (100) as valid output signals. All known technologies related to the three-phase Hall sensor (200) may be applied to the present disclosure, and a more detailed description related to the three-phase Hall sensor (200) will be omitted so as not to obscure the argument of the present disclosure.

So far, with reference to FIG. 1, an exemplary environment to which a micro-angle tick generating device (100) according to some embodiments of the present disclosure can be applied has been described. Hereinafter, the configuration and operation of the micro-angle tick generating device (100) will be described in more detail with reference to FIGS. 2 and 3.

The composite signal generation unit (110) illustrated in FIG. 2 may include a first edge detection unit (111), an edge direction detection unit (112), and a first timer (113). Here, the composite signal generation unit (110) may generate a composite signal that changes an output pattern according to rotation by using the output signals of each of the three-phase Hall sensors, as described with reference to FIG. 1. Hereinafter, each component constituting the composite signal generation unit (110) will be described in more detail.

First, the first edge detection unit (111) can detect the edge of each output signal of the three-phase Hall sensor. Here, the edge may mean a point in time when a state change of the output signal of the Hall sensor occurs. For example, as illustrated in FIG. 14, it may mean a point in time when a state change (30a, 30b) of the output signal of the Hall sensor occurs. This first edge detection unit (111) may be implemented as an edge detector circuit, and all known technologies for implementing this edge detector circuit may be applied to the present disclosure.

Next, the edge direction detection unit (112) can detect the direction of the edge detected by the first edge detection unit (111). Specifically, the edge direction detection unit (112) can detect the direction of the edge by detecting a positive edge or a negative edge. For example, the edge direction detection unit (112) can detect a negative edge (30a) or a positive edge (30b) as shown in FIG. 14. This edge direction detection unit (112) can be implemented as a pair of a positive edge detector circuit and a negative edge detector circuit, and all known technologies for implementing these circuits can be applied to the present disclosure.

Next, the first timer (113) can generate a composite signal in response to edge detection of the first edge detection unit (111) so that the output pattern of the composite signal is changed. This first timer (113) can be implemented to turn on/off a reference signal (e.g., a unit step signal) in response to edge detection, and any known technology for implementing the first timer (113) can be applied to the present disclosure.

This first timer (113) is implemented to turn on/off a reference signal in response to edge detection, thereby generating a composite signal to change from a first value to a second value or from a second value to a first value. For a more specific description of the operation of this first timer (113), reference will be made to FIG. 13.

As illustrated in FIG. 13, the output pattern of the composite signal (20) can be repeatedly changed to the first value (20b) or the second value (20a) in response to edge detection of the output signals (10a, 10b, 10c) of each of the three-phase Hall sensors. If, as illustrated in FIG. 13, the output signals of the three-phase Hall sensors provided in the BLDC motor are used, it can be understood that the composite signal has output pattern sections formed at intervals of 60 degrees. That is, the output pattern section of the composite signal can have a constant output pattern change cycle, and the generation section of the micro-angle tick (i.e., output pattern section) can be determined by utilizing this output pattern change cycle.

In some embodiments, the first timer (113) may generate a composite signal corresponding to the direction of the edge detected by the edge direction detection unit (112) in response to the detection of an edge by the edge detection unit (111). For example, as illustrated in FIG. 13, the composite signal (20) may be generated such that the output pattern changes from the first value (20b) to the second value (20a) in response to a positive edge, and the composite signal may be generated such that the output pattern changes from the second value (20a) to the first value (20b) in response to a negative edge. However, unlike the above-described example, the composite signal may be generated so that the output pattern changes from the second value (20a) to the first value (20b) in response to a positive edge, and the composite signal may be generated so that the output pattern changes from the first value (20b) to the second value (20a) in response to a negative edge. It is to be understood that all composite signals that can be generated according to an actual implementation are included in the scope of the present disclosure as long as the composite signal is regularly generated to correspond to the direction of the edge.

So far, the synthetic signal generation unit (110) that can be referenced in some embodiments of the present disclosure has been described with reference to FIG. 2. Hereinafter, the micro-angle tick generation unit (120) will be described in more detail with reference to FIG. 3.

The micro-angle tick generation unit (120) illustrated in FIG. 3 may include an output pattern change detection unit (121), a second timer (122), and a counting unit (123). Here, the micro-angle tick generation unit (120) may generate a reference number of micro-angle ticks in a first pattern section included in the output pattern in response to a change in the output pattern of a composite signal generated by the composite signal generation unit (110). Hereinafter, each component constituting the micro-angle tick generation unit (120) will be described in more detail.

First, the output pattern change detection unit (121) can detect a change in the output pattern of the composite signal. Here, the output pattern change detection unit (121) can detect a change in the output pattern of the composite signal by detecting an edge of the composite signal. That is, the output pattern change detection unit (121) can detect a change in the output pattern of the composite signal by detecting the point in time of a state change of the composite signal, and all known technologies, such as an edge detector circuit, can be applied to the present disclosure to detect the point in time of a state change of the composite signal.

Next, the second timer (122) can generate micro-angle ticks in the first pattern section in response to a change in the output pattern detected by the output pattern change detection unit (121). Here, the first pattern section may mean a specific section included in the output pattern of the composite signal, and may be determined with reference to the change time point of the output pattern and the change cycle of the output pattern. The second timer (122) can be implemented to generate a reference number of micro-angle ticks in the first pattern section by repeatedly turning on/off a reference signal (e.g., a unit step signal) a preset number of times in response to edge detection of the composite signal. Hereinafter, a more specific description of the micro-angle ticks generated by the second timer (122) will be described with reference to FIG. 15.

As illustrated in FIG. 15, the micro-angle tick (40) may be generated in response to a change in the pattern of the composite signal (20). FIG. 15 illustrates an example in which seven micro-angle ticks (40) are generated for each output pattern section of the composite signal (20), and by using the micro-angle ticks (40) generated in this manner, motor fine control in units of about 8.6 (=60/7) degrees may be possible. In addition, by adjusting the number of micro-angle ticks (40) to be generated for each output pattern section of the composite signal (20), micro-angle ticks (40) for controlling the motor with a higher resolution may be generated, or micro-angle ticks (40) for controlling the motor with a lower resolution may be generated.

Let us explain again with reference to Figure 3.

Next, the counting unit (123) can count the number of micro-angle ticks generated by the second timer (122) in the first pattern section. This counting unit (123) can be implemented as a counter to count the number of micro-angle ticks generated in a specific pattern section of the synthesized signal, and in addition, all known techniques for counting the number of micro-angle ticks can be applied to the present disclosure.

With respect to the second timer (122) and the counting unit (123), in some embodiments, if the number of micro-angle ticks counted by the counting unit (123) in the first pattern section of the composite signal is greater than or equal to a reference number, the second timer (122) may stop generating micro-angle ticks in the first pattern section. In addition, in some other embodiments, if the number of micro-angle ticks counted by the counting unit (123) in the pattern section prior to the first pattern section of the composite signal is less than the reference number, the second timer (122) may additionally generate micro-angle ticks. According to the embodiments described above, a constant number of micro-angle ticks may be generated for each pattern section of the composite signal, and thus, fine control of the motor may be stably performed.

So far, a micro-angle tick generation unit (120) that can be referenced in some embodiments of the present disclosure has been described with reference to FIG. 3. According to the micro-angle tick generation device (100) described with reference to FIGS. 2 and 3, a motor can be controlled with a resolution of 60 degrees or less while using an output signal of a Hall sensor. Hereinafter, a micro-angle tick generation device (100) that generates a micro-angle tick by using only a valid output signal among output signals of a three-phase Hall sensor according to some other embodiments of the present disclosure will be described with reference to FIGS. 4 and 5.

The micro-angle tick generation device (100) illustrated in FIG. 4 may further include a Hall sensor signal validity judgment unit (130) in addition to the micro-angle tick generation device (100) described with reference to FIG. 1. That is, since the micro-angle tick generation device (100) further includes a Hall sensor signal validity judgment unit (130), a micro-angle tick can be generated using only a valid output signal of the Hall sensor, and even when the vehicle enters a limp-home mode due to a failure of any one of the three-phase Hall sensors, fine control of the motor can be performed using the output signal of the Hall sensor. For a specific explanation related thereto, the Hall sensor signal validity judgment unit (130) will be described in more detail with reference to FIG. 5.

The Hall sensor signal validity judgment unit (130) illustrated in FIG. 5 may include a reference pattern counting unit (131), a second edge detection unit (132), and a validity judgment unit (133). Here, the Hall sensor signal validity judgment unit (130) may judge the validity of each output signal of a three-phase Hall sensor for detecting rotation of a motor rotor. Hereinafter, each component constituting the Hall sensor signal validity judgment unit (130) will be described in more detail.

First, the reference pattern counting unit (131) can count the number of pattern changes of the reference pattern that changes the pattern for each preset angle. Here, the reference pattern is a signal having an output pattern that changes every 60 degrees to correspond to 6 steps of the output signal of the BLDC motor, and may mean a signal that serves as a reference for determining the validity of the output signal of the Hall sensor. Specifically, any signal that can distinguish 6 steps of the output signal by changing the pattern every 60 degrees can serve as the reference pattern, and a signal having 3 pulses every 360 degrees can serve as an example of the reference pattern.

The pattern change of the reference pattern can be counted by the reference pattern counting unit (131). In order for the reference pattern counting unit (131) to count the pattern change of the reference pattern, the reference pattern counting unit (131) can be implemented as a counter, and in addition, all known techniques for counting pattern changes of the reference pattern (i.e., state changes of the reference pattern) can be applied to the present disclosure.

Next, the second edge detection unit (132) can detect the edge of the output signal of the first Hall sensor included in the three-phase Hall sensor. This second edge detection unit (132) can be implemented as an edge detector circuit, and all known technologies for implementing this edge detector circuit can be applied to the present disclosure.

Next, the validity judgment unit (133) can determine the output signal of the first Hall sensor as a valid output signal based on the number of edges detected by the edge detection unit whenever the number of changes in the pattern counted by the reference pattern counting unit is the reference number. For example, if the reference pattern is a signal in which the pattern changes every 60 degrees, if one edge of the output signal of the first Hall sensor is detected every three times the reference pattern is changed, the output signal of the first Hall sensor can be determined as a valid output signal, and if a number other than one edge of the output signal of the first Hall sensor is detected every three times the reference pattern is changed, the output signal of the first Hall sensor can be determined as an invalid output signal. This is because, since the cycle of the output signal of the Hall sensor is 360 degrees, the output signal of the Hall sensor is valid only when one edge is detected every 180 degrees (i.e., the number of changes of the reference pattern is three times). Unlike the examples described above, the implementation can be implemented by changing the period of the reference pattern or the number of edges required to determine a valid output signal, and the number of times the reference pattern is changed and the method of detecting the edge of the output signal of the Hall sensor to determine the validity of the output signal of the Hall sensor can all be included in the scope of the present disclosure.

So far, the operation of the Hall sensor signal validity judgment unit (130) that can be referenced in some embodiments of the present disclosure has been specifically described with reference to FIG. 5. The validity of the output signal of each phase of the Hall sensor constituting the three-phase Hall sensor can be determined by the Hall sensor signal validity judgment unit (130) described with reference to FIG. 5. For a more specific description of the micro-angle tick generation device (100) including the Hall sensor signal validity judgment unit (130), reference will again be made to FIG. 4.

The composite signal generation unit (110) illustrated in FIG. 4 can generate a composite signal that changes the output pattern according to the rotation of the motor rotor by using only valid output signals. For example, as illustrated in FIG. 16, if only the output signal (10a) of the first Hall sensor and the output signal (10b) of the second Hall sensor are valid output signals, a composite signal (50) having four patterns per 360 degrees can be generated, and the specific operation of the composite signal generation unit (110) for generating such a composite signal (50) can be understood by referring to the description related to FIG. 2 above.

However, unlike FIG. 13, when only some of the output signals of the hall sensors are valid output signals as in FIG. 16, the composite signal generation unit (110) can generate a composite signal so that the pattern is changed based on the direction of the edge and the detection angle of the edge. For example, as illustrated in FIG. 16, the composite signal (50) can be generated so that the output pattern is changed from the first value (50b) to the second value (50a) in response to a 0 degree positive edge, and the composite signal (50) can be generated so that the output pattern is changed from the second value (50a) to the first value (50b) in response to a 120 degree positive edge. In addition, the composite signal (50) may be generated so that the output pattern changes from the first value (50b) to the second value (50a) in response to a 180-degree negative edge, and the composite signal (50) may be generated so that the output pattern changes from the second value (50a) to the first value (50b) in response to a 300-degree negative edge. That is, unlike FIG. 13, the composite signal may be generated by considering not only the direction of the edge but also the detection angle of the edge. However, unlike the above-described example, even if the composite signal (50) is generated, as long as the composite signal (50) is regularly generated to correspond to the direction and detection angle of the edge, it can be understood that all composite signals that may be generated according to an actual implementation are included in the scope of the present disclosure.

The micro-angle tick generation unit (120) illustrated in FIG. 4 can generate a number of micro-angle ticks corresponding to a first pattern section included in the output pattern in response to a change in the output pattern of the composite signal generated by the composite signal generation unit (110). For example, as illustrated in FIG. 17, a number of micro-angle ticks (40) corresponding to a specific pattern section can be generated in response to a change in the output pattern of the composite signal (50), and the specific operation of the micro-angle tick generation unit (120) for generating such micro-angle ticks (40) can be understood with reference to the description related to FIG. 3 above.

However, when using a synthetic signal generated using only the output signals of some Hall sensors as in FIG. 17, unlike FIG. 15, a first pattern section included in the output pattern of the synthetic signal (50) and a second pattern section which is a previous pattern section of the first pattern section may generate different numbers of micro-angle ticks (40). For example, as illustrated in FIG. 17, seven micro-angle ticks (40) may be generated in the first pattern section corresponding to 120 degrees to 180 degrees, and 14 micro-angle ticks (40) may be generated in the second pattern section corresponding to 0 degrees to 120 degrees. According to the present embodiment, by differently determining the number of micro-angle ticks to be generated to correspond to the length of the output pattern, micro-angle ticks per unit angle can be generated consistently, and thus, micro-control of the motor can be stably performed.

Meanwhile, each component of the micro-angle tick generation device (100) illustrated in FIGS. 2 to 5 may mean software or hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application-Specific Integrated Circuit). However, the components are not limited to software or hardware, and may be configured to be in an addressable storage medium, and may be configured to execute one or more processors. The functions provided in the components may be implemented by more detailed components, and may be implemented as a single component that performs a specific function by combining a plurality of components.

The configuration and operation of the micro-angle tick generating device (100) according to some embodiments of the present disclosure have been described with reference to FIGS. 2 to 5 so far. Hereinafter, methods according to various embodiments of the present disclosure will be described in detail. The description will continue by assuming that each step of the methods to be described below is performed by the micro-angle tick generating device (100) illustrated in FIG. 1 or FIG. 4. However, for the convenience of description, the operating entity of each step included in the above methods may be omitted.

FIG. 6 is an exemplary flowchart of a method for generating micro-angle ticks using an output signal of a Hall sensor according to some embodiments of the present disclosure.

Referring to FIG. 6, in step S100, a composite signal that changes an output pattern according to the rotation can be generated by using the output signals of each of the three-phase Hall sensors for detecting the rotation of the motor rotor. In relation to step S100, referring to FIG. 7, an edge of the output signal of each of the three-phase Hall sensors can be detected (S110), and a composite signal can be generated so that the output pattern changes in response to the detection of the edge (S120). For a more specific description of the operation related to the above-described step S100, refer to the description of the composite signal generation unit (110) illustrated in FIG. 2.

Next, in step S200 of FIG. 6, a reference number of micro-angle ticks may be generated in the first pattern section in response to a change in the output pattern. With respect to step S200, referring to FIG. 8, if the number of micro-angle ticks generated in a previous pattern section of the first pattern section is less than the reference number (S210), additional micro-angle ticks may be generated (S220). In addition, with respect to step S200, referring to FIG. 9, if the number of micro-angle ticks generated in the first pattern section is greater than or equal to the reference number (S230), the generation of micro-angle ticks may be stopped (S240). For a more specific description of the operation related to the above-described step S200, refer to the description of the micro-angle tick generation unit (120) illustrated in FIG. 3.

FIG. 10 is an exemplary flowchart of a method for generating micro-angle ticks using valid output signals of Hall sensors according to some other embodiments of the present disclosure. According to the flowchart illustrated in FIG. 10, micro-angle ticks for fine control of a BLDC motor can be generated even when some of the Hall sensors among the three-phase Hall sensors fail.

Referring to FIG. 10, in step S1000, the validity of the output signal of each of the three-phase Hall sensors for detecting the rotation of the motor rotor can be determined. With respect to step S1000, referring to FIG. 11, the edge of the output signal of the Hall sensor can be counted for every three changes of the reference pattern (S1100), and if the number of counted edges is 1 (S1200), the output signal of the Hall sensor can be determined as a valid output signal (S1300), and if the number of counted edges is other than 1 (S1200), the output signal of the Hall sensor can be determined as an invalid output signal (S1400). For a more specific description of the operation related to the above-described step S1000, refer to the description of the Hall sensor signal validity determination unit (130) illustrated in FIG. 5.

Next, in step S2000 of FIG. 10, only the valid output signal among the output signals of each of the three-phase Hall sensors may be used to generate a composite signal that changes the output pattern according to the rotation of the motor rotor. With respect to step S2000, referring to FIG. 12, an edge of a valid output signal may be detected (S2100), and a composite signal may be generated so that the output pattern is changed in response to the detection of the edge (S2200). For a more specific description of the operation related to the above-described step S2000, refer to the description of the composite signal generation unit (110) illustrated in FIG. 4.

Next, in step S3000 of FIG. 10, a number of micro-angle ticks corresponding to the first pattern section may be generated in response to a change in the output pattern. For a more specific description of the operation related to step S3000, refer to the description of the micro-angle tick generation unit (120) illustrated in FIG. 4.

Various embodiments of the present disclosure and effects according to the embodiments have been described with reference to FIGS. 1 to 17 so far. The effects according to the technical idea of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the specification.

In the above, even though all the components constituting the embodiments of the present disclosure have been described as being combined or combined and operated as one, the technical idea of the present disclosure is not necessarily limited to these embodiments. That is, within the scope of the purpose of the present disclosure, all of the components may be selectively combined and operated one or more times.

Although operations are depicted in the drawings in a particular order, it should not be understood that the operations must be performed in the particular order depicted or in any sequential order, or that all depicted operations must be performed to achieve the desired results.

Although the embodiments of the present disclosure have been described with reference to the attached drawings, those skilled in the art to which the present disclosure pertains will understand that the present disclosure can be implemented in other specific forms without changing the technical ideas or essential characteristics thereof. Therefore, it should be understood that the embodiments described above are exemplary and not restrictive in all respects. The protection scope of the present disclosure should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of rights of the technical ideas defined by the present disclosure.

Claims (12)

A step of generating a synthetic signal that changes the output pattern according to the rotation by using the output signal of each of the three-phase Hall sensors for detecting the rotation of the motor rotor; and
In response to a change in the above output pattern, comprising a step of initiating generation of a micro angle tick for a first pattern section of the above changed output pattern,
The step of initiating the generation of the above micro angle tick is:
A step of counting the number of micro-angle ticks generated in the first pattern section; and
A step of stopping the generation of micro angle ticks when the number of micro angle ticks generated in the first pattern section is greater than or equal to a reference number,
How to create micro angle ticks.
In the first paragraph,
The step of generating the above synthetic signal is:
A step of detecting the edge of the output signal of each of the three-phase Hall sensors; and
In response to detection of said edge, comprising the step of generating said synthetic signal so that said output pattern is changed;
How to create micro angle ticks. In the second paragraph,
In response to detection of the edge, the step of generating the synthetic signal so that the output pattern is changed is:
In response to detection of the edge, generating the composite signal such that the output pattern changes from the first value to the second value or such that the output pattern changes from the second value to the first value.
How to create micro angle ticks. In the third paragraph,
In response to detection of the edge, the step of generating the composite signal so that the output pattern changes from the first value to the second value or so that the output pattern changes from the second value to the first value is:
If the edge is a positive edge, the step of generating the composite signal so that the output pattern changes from the first value to the second value,
How to create micro angle ticks. In the third paragraph,
In response to detection of the edge, the step of generating the composite signal so that the output pattern changes from the first value to the second value or so that the output pattern changes from the second value to the first value is:
a step of generating the synthetic signal such that the output pattern changes from the second value to the first value if the edge is a negative edge;
How to create micro angle ticks. In the first paragraph,
The above first pattern section is,
Determined based on the change cycle of the above output pattern,
How to create micro angle ticks. delete delete In the first paragraph,
The step of generating the above micro angle tick is:
If the number of micro-angle ticks generated in the second pattern section is less than the above-mentioned standard number, a step of additionally generating the micro-angle ticks is included.
The above second pattern section is a previous pattern section of the above first pattern section.
How to create micro angle ticks. A synthetic signal generation unit that uses the output signals of each of the three-phase Hall sensors to detect the rotation of the motor rotor and generates a synthetic signal that changes the output pattern according to the rotation; and
In response to a change in the output pattern of the synthetic signal generated by the synthetic signal generating unit, a micro angle tick generating unit is included that generates a reference number of micro angle ticks in a first pattern section included in the output pattern.
The above micro angle tick generating unit is,
A counting unit that counts the number of micro-angle ticks generated in the first pattern section; and
If the number of micro-angle ticks generated in the first pattern section is greater than or equal to a reference number, a second timer is included to stop generating micro-angle ticks.
A device for generating micro-angle ticks. In Article 10,
The above synthetic signal generation unit,
An edge detection unit for detecting the edge of the output signal of each of the three-phase Hall sensors;
An edge direction detection unit for detecting the direction of the edge detected by the above edge detection unit; and
In response to detection of an edge by the edge detection unit, a first timer is included for generating the composite signal corresponding to the direction of the edge detected by the edge direction detection unit.
A device for generating micro-angle ticks. delete

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