TWI685189B - Motor controlling method and device - Google Patents

Abstract

A motor controlling method is suitable to a startup process of a sensorless brushless DC (BLDC) motor. The motor controlling method includes the following steps. A phase voltage signal and a driving voltage signal are generated according to a starting current signal with a first predetermined value and phase current signal. A driving current signal is generated according to the driving voltage signal, so as to drive the BLDC for rotating, wherein the first predetermined value at least makes the BLDC motor to maintain normal rotation. The driving current signal is sensed to generate the corresponding phase current signal. A load state of a shaft end of the BLDC is determined according to the phase voltage signal with the change of the corresponding phase current signal and the starting current signal. A magnitude of the starting current signal is adaptively adjusted according to the load state of the shaft end and/or according to an electric rotation angle velocity and a torque demand of the BLDC motor.

Description

Motor control method and device

The present invention relates to a control method and device, and in particular to a motor control method and device suitable for a startup procedure of a sensorless DC brushless motor.

Brushless DC (BLDC) motors have a built-in magnetic field, which makes their performance and efficiency better than other motors, so they are widely used in various fields. And good DC brushless motor control must obtain the rotor position to put in the correct control magnetic field. The current methods of obtaining the rotor position of a brushless DC motor are mainly divided into two methods with a sensor (encoder) and a sensorless (electrical estimation), and the performance requirements for speed and position control are low or the environmental conditions are poor In most applications, sensorless drive technology is mostly used as a method to control the rotor position of a brushless DC motor.

The current non-sensing drive technology usually needs to control the motor to a certain speed with an open-loop current or voltage, and enters the closed-loop control after the non-sensing algorithm detects the motor rotor position information. However, in open loop current or voltage control, the rotor load conditions cannot be estimated, so most of the current will be put into the drive to prevent the motor from starting failure. And such a large current will cause excess power loss under light load conditions. Therefore, there is still room for improvement in the design of motor start control.

The present invention is to provide a motor control method and device, so as to effectively reduce the power loss of the motor during startup control.

The invention provides a motor control method suitable for the start-up procedure of a sensorless DC brushless motor. This motor control method includes the following steps. According to the starting current signal and the phase current signal having the first preset value, the phase voltage signal and the driving voltage signal are generated. A driving current signal is generated according to the driving voltage signal to drive the DC brushless motor for operation, wherein the first preset value is used to at least maintain the DC brushless motor to maintain normal operation. Sensing the driving current signal to generate the corresponding phase current signal. The load state of the shaft end of the DC brushless motor is determined according to the phase voltage signal and the starting current signal that change with the corresponding phase current signal. According to the load state of the shaft end and/or according to the electrical rotation angular speed and torque requirements of the DC brushless motor, the size of the starting current signal is adaptively adjusted.

The invention also provides a motor control device, including a driving unit, a frequency converter, a sensing unit and a control unit. The driving unit generates the phase voltage signal and the driving voltage signal according to the starting current signal and the phase current signal having the first preset value. The frequency converter generates a drive current signal according to the drive voltage signal to drive the DC brushless motor for operation, wherein the first preset value is used to at least maintain the normal operation of the DC brushless motor. The sensing unit senses the drive current signal of the inverter to generate the corresponding phase current signal. The control unit provides a starting current signal, and determines the load state of the shaft end of the brushless DC motor according to the phase voltage signal and the start current signal that change with the corresponding phase current signal, and according to the load state of the shaft end and/or according to the brushless DC motor The electrical rotation angular velocity and torque requirements can be adapted to adjust the size of the starting current signal.

The motor control method and device disclosed in the present invention adaptively adjust the size of the starting current signal according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor. In this way, it is possible to avoid the situation where the continuous large starting current is used to drive the DC brushless motor to run and increase the power loss, so as to effectively reduce the power loss of the DC brushless motor during the start-up procedure.

In the embodiments listed below, the same reference numerals will be used to represent the same or similar elements or components.

FIG. 1A is a schematic diagram of a motor control device according to an embodiment of the invention. Please refer to FIG. 1A, the motor control device 100 of this embodiment is suitable for the startup procedure of the sensorless DC brushless motor 160. In other words, the motor control device 100 does not include a position sensor related circuit. In the control circuit of a motor with a sensor, the position sensor is mounted on the motor. In some embodiments, the brushless DC motor 160 may be suitable for household appliances, such as a drum washing machine, an upright washing machine, a dryer/dryer, etc., but it is not limited thereto. In this embodiment, the motor control device 100 includes a driving unit 110, an inverter 130, a sensing unit 140, and a control unit 150.

The driving unit 110 generates a d-axis voltage signal v _ds and a q-axis voltage signal v _qs according to the starting current signal i _qs and a phase current signal, and generates a driving voltage signal according to the d-axis voltage signal v _ds and the q-axis voltage signal v _qs .

以產生d軸電壓信號v _ds 與q軸電壓信號v _qs ，並進而產生初始的驅動電壓信號。 Specifically, in the initial stage of driving the DC brushless motor 160 (when t=0), the driving unit 110 receives the starting current signal i _qs and the current value of which is given a first preset value (adjustable according to actual conditions) and the current value is zero d-axis current signal

To generate the d-axis voltage signal v _ds and the q-axis voltage signal v _qs , and then generate the initial driving voltage signal.

In some embodiments, the first preset value is used to at least maintain the normal operation of the brushless DC motor 160, and the effective value (root mean square) of the first preset value is, for example, 4A (ampere). In this embodiment, the starting current signal i _qs is, for example, a q-axis current for driving the brushless DC motor 160.

The frequency converter 130 generates a drive current signal (ie, three-phase current signals i _as , i _bs , i _cs ) according to the drive voltage signal to drive the brushless DC motor 160 to operate. Since in the initial stage, the starting current signal i _qs has a first preset value to enable the inverter 130 to generate a sufficient driving current signal, the motor 160 can start running in the initial stage.

、

、

)，並將產生的相電流信 號回授給驅動單元110，使驅動單元110產生對應相電流信號改變之d軸電壓信號v _ds 與q軸電壓信號v _qs 。 The sensing unit 140 is coupled to the output terminal of the inverter 130 and is used to sense the drive current signal of the inverter 130 (for example, at least two of the three-phase current signals i _as , i _bs , and i _cs ) to generate a phase current signal (which is

,

,

), and feedback the generated phase current signal to the driving unit 110, so that the driving unit 110 generates the d-axis voltage signal v _ds and the q-axis voltage signal v _qs corresponding to the change of the phase current signal.

The control unit 150 is coupled to the driving unit 110, and is used to provide the starting current signal i _qs to the driving unit 110, and judges whether the DC is non-zero according to the d-axis voltage signal v _ds and the starting current signal i _qs which vary with the phase current signal generated by the sensing unit The load state of the shaft end of the brush motor 160. Then, the control unit 150 adaptively adjusts the magnitude of the starting current signal i _qs provided to the driving unit 110 according to the shaft end load status and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor 160. The shaft end load state includes, for example, but not limited to light load, middle load, and heavy load. In addition, the electrical rotation angular velocity of the DC brushless motor 160 can be known from the internal digital information of the controller 150.

)和控制單元150提供具有第一預 設值之啟動電流信號i _qs ，並據以產生d軸電壓信號v _ds 與q軸電壓信號v _qs ，以產生對應的驅動電流信號來驅動直流無刷馬達160。接著，透過感測單元140感測直流無刷馬達160初始運轉時所需的驅動電流信號產生對應的相電流信號並將之回授給驅動單元110。驅動單元110根據感測單元140產生的相電流信號對應調整d軸電壓信號v _ds 與q軸電壓信號v _qs ，此時控制單元150可依據調整後的d軸電壓信號v _ds 判斷直流無刷馬達160的軸端負載狀態(即判斷馬達160為輕載、中載或重載)。接著，控制單元150便可依據軸端負載狀態及/或依據直流無刷馬達160之電氣旋轉角速度與扭力需求，適應性調 整提供給驅動單元110之啟動電流信號i _qs 的大小。進一步來說，若判斷直流無刷馬達160為輕載，控制單元150便可減少提供的啟動電流信號i _qs ，而不用繼續提供具有第一初始值的啟動電流信號i _qs ，如此可減少初始驅動馬達時所需的功耗。 Specifically, in the initial stage, the driving unit 110 receives the d-axis current command signal with a current value of zero (ie

) And the control unit 150 provide a starting current signal i _qs with a first preset value, and accordingly generate a d-axis voltage signal v _ds and a q-axis voltage signal v _qs to generate a corresponding drive current signal to drive a brushless DC motor 160. Then, the sensing unit 140 senses the driving current signal required for the initial operation of the brushless DC motor 160 to generate a corresponding phase current signal and feed it back to the driving unit 110. The driving unit 110 correspondingly adjusts the d-axis voltage signal v _ds and the q-axis voltage signal v _qs according to the phase current signal generated by the sensing unit 140, and the control unit 150 can determine the DC brushless motor according to the adjusted d-axis voltage signal v _ds The load state of the shaft end of 160 (that is, the motor 160 is judged to be light, medium, or heavy). Then, the control unit 150 can adaptively adjust the magnitude of the starting current signal i _qs provided to the driving unit 110 according to the shaft end load status and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor 160. Further, if it is determined that the brushless DC motor 160 is lightly loaded, the control unit 150 can reduce the starting current signal i _qs provided without continuing to provide the starting current signal i _qs with the first initial value, which can reduce the initial driving The power consumption required by the motor.

In some embodiments, as shown in FIG. 1A, the driving unit 110 includes a speed command generator 111, a subtractor 112, a speed controller 113, a limiter 114, a speed and position estimator 115, and a back-EMF estimator 116 , Switch 117, switch 118, three-phase to two-phase converter 119, current controller 120, current controller 121, limiter 122, limiter 123, two-phase to three-phase converter 124 and modulation unit 125, However, the invention is not limited to this.

，以得到角速度誤差ε_ω。速度控制器113連接減法器112，接收並依據角速度誤差ε_ω，以產生電流信號。限制器114連接速度控制器113，接收並限制速度控制器113所產生之電流信號。速度及位置估測器115連接減法器112，接收反電動勢電壓v_{emf_α}、v_{emf_β}，以產生角速度

與電氣角度

。反電動勢估測器116連接速度及位置估測器115，接收靜止軸電壓v_α、v_β及靜止軸電流i _α、i _β，以產生反電動勢電壓v_{emf_α}、v_{emf_β}。 The speed command generator 111 is used to generate an angular speed command. The subtractor 112 is used to subtract the angular velocity from the angular velocity command of the velocity command generator 111

To obtain the angular velocity error ε _ω . The speed controller 113 is connected to the subtractor 112 and receives and generates the current signal according to the angular velocity error ε _ω . The limiter 114 is connected to the speed controller 113 and receives and limits the current signal generated by the speed controller 113. The speed and position estimator 115 is connected to the subtractor 112 and receives the back-EMF voltages v _{emf_α} and v _{emf_β} to generate angular velocity

With electrical angle

. The back-EMF estimator 116 is connected to the speed and position estimator 115 and receives the static shaft voltages v _α and v _β and the static shaft currents i _α and i _β to generate back-EMF voltages v _{emf_α} and v _{emf_β} .

。在本實施例中，在開迴路控制模式，切換器117選擇控制單元150所產生之啟動電流信號 i _qs ，以輸出電流信號

。在閉迴路控制模式，切換器117選擇速度控制器113所產生之電流信號，以輸出電流信號

。 Switch 117 is connected to a limiter 114 the control unit 120, and a control unit receives the current signal generated by the speed controller 113 generates the start current signal 150 i _qs, and select the control unit 150 or the current signal generated by the speed controller 113 The generated starting current signal i _qs to output the current signal

. In this embodiment, in the open-loop control mode, the switch 117 selects the starting current signal i _qs generated by the control unit 150 to output the current signal

. In the closed-loop control mode, the switch 117 selects the current signal generated by the speed controller 113 to output the current signal

.

與控制單元150所產生之電氣角度

，以輸出電氣角度

。在本實施例中，在開迴路控制模式，切換器118選擇控制單元150所產生之電氣角度

，以輸出電氣角度

。在閉迴路控制模式，切換器118選擇速度及位置估測器115電氣角度

，以輸出電氣角度

。 The switch 118 connects the speed and position estimator 115 and the control unit 150, and receives the electrical angle generated by the speed and position estimator 115

Electrical angle with the control unit 150

To output electrical angle

. In this embodiment, in the open loop control mode, the switch 118 selects the electrical angle generated by the control unit 150

To output electrical angle

. In the closed-loop control mode, the switch 118 selects the electrical angle of the speed and position estimator 115

To output electrical angle

.

、

、

與電氣角度

，先將相電流信號

、

、

轉換成二相的靜止軸電流

、

，再將二相的靜止軸電流

、

轉換成二相的同步軸電流

、

。電流控制器120連接三相轉二相轉換器119，接收同步軸電流

與電流

，以產生同步軸電壓。電流控制器121連接三相轉二相轉換器119，接收同步軸電流

與電流

，以產生同步軸電壓。其中，電流控制器120與121分別為比例-積分(PI)控制器。 The three-phase to two-phase converter 119 is connected to the sensing unit 140, the counter electromotive force estimator 116 and the switch 118, and receives the phase current signal

,

,

With electrical angle

, First put the phase current signal

,

,

Static shaft current converted into two phases

,

, And then the two-phase stationary shaft current

,

Synchronous shaft current converted into two phases

,

. The current controller 120 is connected to the three-phase to two-phase converter 119 and receives the synchronous shaft current

With current

To generate the synchronous shaft voltage. The current controller 121 is connected to the three-phase to two-phase converter 119 and receives the synchronous shaft current

With current

To generate the synchronous shaft voltage. Among them, the current controllers 120 and 121 are proportional-integral (PI) controllers, respectively.

。限制器123連接電流控制器121，限制電流控制器121所產生之同步軸電壓，以產生同步軸q軸電壓信號

。 The limiter 122 is connected to the current controller 120 to limit the synchronous axis voltage generated by the current controller 120 to generate a synchronous axis d-axis voltage signal

. The limiter 123 is connected to the current controller 121 to limit the synchronous axis voltage generated by the current controller 121 to generate a synchronous axis q-axis voltage signal

.

、同步軸q軸電壓信號

與電氣角度

，先將同步軸d軸電壓信號

與同步軸q軸電壓信號

轉換成靜止軸電壓

與靜止軸電壓

，再將靜止軸電壓

與靜止軸電壓

轉換成三相電壓

、

、

。調變單元125連接二相轉三相轉換器，接收三相電壓

、

、

，並對三相電壓

、

、

進行脈寬調變，以產生脈寬調變電壓之驅動電壓信號給變頻器130。 The two-phase to three-phase converter 124 connects the limiters 122 and 123, the counter electromotive force estimator 116 and the switch 118, and receives the synchronous axis d-axis voltage signal

, Synchronous axis q axis voltage signal

With electrical angle

, First, the d-axis voltage signal of the synchronous axis

Q-axis voltage signal with synchronous axis

Convert to static shaft voltage

Vs. static shaft voltage

, And then the static shaft voltage

Vs. static shaft voltage

Convert to three-phase voltage

,

,

. Modulation unit 125 is connected to a two-phase to three-phase converter and receives three-phase voltage

,

,

, And the three-phase voltage

,

,

Pulse width modulation is performed to generate a drive voltage signal of the pulse width modulation voltage to the inverter 130.

為相電壓，

為相電流，

為直流無刷馬達160之內部電阻r _s的電壓，

為直流無刷馬達160之內部電感L的電壓，

為反電動勢電壓，

為直流無刷馬達160之阻抗電壓即

與

之向量和。 FIG. 1B is a single-phase equivalent circuit of a brushless DC motor according to an embodiment of the invention. FIG. 1C is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to an embodiment of the invention. FIG. 1D is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to another embodiment of the present invention. Please refer to Figure 1B, Figure 1C and Figure 1D together,

Is the phase voltage,

Is the phase current,

Is the voltage of the internal resistance r _s of the DC brushless motor 160,

Is the voltage of the internal inductance L of the DC brushless motor 160,

Is the back EMF voltage,

The impedance voltage of the brushless DC motor 160 is

versus

The vector sum.

,                            (1) In addition, the output mechanical power of the brushless DC motor 160 is shown in the following formula (1):

, (1)

為直流無刷馬達160的輸出機械功率，

為角速度，

為直流無刷馬達160的輸出轉矩，其在直流無刷馬達160的速度維持時隨直流無刷馬達160之轉子軸端所承受負載條件而定。當直流無刷馬達160之軸端負載增加時，直流無刷馬達160的轉矩

也會增加，以維持直流無刷馬達160之定速度的需求，使得直流無刷馬達160之機械功率上升。 among them,

Is the output mechanical power of the brushless DC motor 160,

Is the angular velocity,

The output torque of the DC brushless motor 160 depends on the load conditions the rotor shaft end of the DC brushless motor 160 maintains when the speed of the DC brushless motor 160 is maintained. When the load on the shaft end of the brushless DC motor 160 increases, the torque of the brushless DC motor 160

It will also increase to maintain the constant speed of the brushless DC motor 160, so that the mechanical power of the brushless DC motor 160 increases.

(2) In addition, the electrical input power of the brushless DC motor 160 can be expressed by the following formula (2):

(2)

正比於直流無刷馬達160之轉子軸端的機械輸出功率，”3”為三相，

為反電動勢電壓，

為相電流，

為反電動勢電壓

與相電流

之間的夾角，

為相電壓，

為相電壓

與相電流

之間的夾角。並且，直流無刷馬達160之機械輸出功率與電氣輸入功率之間的關係如下公式(3)所示：

,                           (3) among them,

It is proportional to the mechanical output power of the rotor shaft end of the brushless DC motor 160, "3" is three-phase,

Is the back EMF voltage,

Is the phase current,

Back-EMF voltage

Phase current

The angle between,

Is the phase voltage,

Phase voltage

Phase current

The angle between. In addition, the relationship between the mechanical output power of the brushless DC motor 160 and the electrical input power is shown in the following formula (3):

, (3)

為直流無刷馬達160的效率。另外，公式(2)在直流無刷馬達160之輕載與重載的情況下，電壓與電流分量的相對關係可分別如第1C圖及第1D圖所示。其中，第1C圖對應直流無刷馬達160之重載的情況下，電壓與電流分量的對應關係，而第1D圖對應直流無刷馬達160之輕載的情況下，電壓與電流分量的對應關係。也就是說，由第1C圖與第1D圖可知，當相電流

維持一固定值時，相電壓

之大小與相位會隨直流無刷馬達160之輸出機械功率(即馬達之軸端負載值)增加而有所變化，其中特別是相電流

與相電壓

之夾角明確反應出直流無刷馬達160之軸端負載特性，亦即直流無刷馬達160之機械輸出功率因軸端負載上升而增加，也可從直流無刷馬達160之電氣輸入功率觀察出直流無刷馬達160之軸端負載特性。 among them,

This is the efficiency of the DC brushless motor 160. In addition, formula (2) under the light load and heavy load of the DC brushless motor 160, the relative relationship between the voltage and the current component may be as shown in FIG. 1C and FIG. 1D, respectively. Among them, FIG. 1C corresponds to the correspondence relationship between the voltage and the current component under the heavy load of the DC brushless motor 160, and FIG. 1D corresponds to the correspondence relationship between the voltage and the current component under the light load of the DC brushless motor 160. . In other words, from Figures 1C and 1D, the current in phase

When maintaining a fixed value, the phase voltage

The size and phase will change with the increase of the output mechanical power of the brushless DC motor 160 (that is, the load value of the shaft end of the motor), especially the phase current

Phase voltage

The included angle clearly reflects the load characteristics of the shaft end of the DC brushless motor 160, that is, the mechanical output power of the DC brushless motor 160 increases due to the increase in the shaft end load, and the DC can also be observed from the electrical input power of the DC brushless motor 160 Load characteristics of the shaft end of the brushless motor 160.

)以啟動馬達160，則當下可透過感測馬達160的機械功率反推馬達160之軸端負載的特性(例如為重載或輕載)。在了解負載的特性後，便可根據負載的特性對應調整提供的驅動電流。 In short, when the motor 160 is started, if a fixed driving current is provided (for example, a fixed

) To start the motor 160, the current load characteristics of the shaft end of the motor 160 (for example, heavy load or light load) can be reversed by sensing the mechanical power of the motor 160. After understanding the characteristics of the load, the provided driving current can be adjusted according to the characteristics of the load.

FIG. 1E is a vector analysis of the output voltage of the inverter on the d-q axis according to an embodiment of the present invention. FIG. 1F is a vector analysis of the output voltage of the inverter on the d-q axis according to another embodiment of the present invention. Figure 1G is a vector analysis of the output voltage of the inverter on the d-q axis according to another embodiment of the present invention. Figure 1H is a vector analysis of the output voltage of the frequency converter on the d-q axis according to another embodiment of the present invention. Among them, FIG. 1E corresponds to FIG. 1F, and FIG. 1G corresponds to FIG. 1H. In some embodiments, the output voltage of the inverter 130 may be obtained through a hardware detection circuit or a digital control command by software).

為三相電壓向量

、

、

之和，

為d軸的電壓信號，

為q軸的電壓信號。並且，在第1E圖、第1F圖對應直流無刷馬達160之重載的情況下，電壓與電流分量的對應關係，而第1G圖、第1H圖對應直流無刷馬達160之輕載的情況下，電壓與電流分量的對應關係。由第1E圖、第1F圖、第1G圖與第1H圖可以看出，當直流無刷馬達160之軸端的負載增加時，d軸電壓信號

)會下降(如第1E圖、第1F圖所示)，而當直流無刷馬達160之軸端的負載降低時，d軸電壓信號

會上升(如第1G圖、第1H圖所示)。也就是說，透過觀察d軸電壓信號

的變化，可以得知直流無刷馬達160之軸端負載條件。 In Figures 1E, 1F, 1G, and 1H,

Is a three-phase voltage vector

,

,

Sum,

Is the d-axis voltage signal,

It is the voltage signal of q axis. In addition, in FIGS. 1E and 1F, corresponding to the heavy load of the DC brushless motor 160, the corresponding relationship between the voltage and the current component, and FIGS. 1G and 1H correspond to the light load of the DC brushless motor 160. Below, the corresponding relationship between the voltage and current components. As can be seen from Figures 1E, 1F, 1G, and 1H, when the load on the shaft end of the brushless DC motor 160 increases, the d-axis voltage signal

) Will decrease (as shown in Figures 1E and 1F), and when the load on the shaft end of the brushless DC motor 160 decreases, the d-axis voltage signal

Will rise (as shown in Figure 1G, Figure 1H). In other words, by observing the d-axis voltage signal

, The load condition of the shaft end of the brushless DC motor 160 can be known.

進行低通濾波處理再進行積分放大處理，以產生處理後的d軸電壓信號

，並依據處理後的d軸電壓信號

與啟動電流信號

，確定直流無刷馬達160的軸端負載狀態。 In some embodiments, the control unit 150 may first respond to the d-axis voltage signal

Perform low-pass filtering and then integral amplification to generate a processed d-axis voltage signal

, And based on the processed d-axis voltage signal

And start current signal

To determine the load state of the shaft end of the DC brushless motor 160.

與啟動電流信號

，確定直流無刷馬達160的軸端負載狀態，但本發明不限於此，控制單元150也可以利用q軸電壓信號

與啟動電流信號

，確定直流無刷馬達160的軸端負載狀態。在一些實施例中，控制單元150亦可以同時利用d軸電壓信號

與q軸電壓信號

和啟動電流信號

，確定直流無刷馬達160的軸端負載狀態。 In addition, in the above embodiment, the control unit 150 uses the d-axis voltage signal

And start current signal

To determine the load state of the shaft end of the DC brushless motor 160, but the present invention is not limited to this, the control unit 150 may also use the q-axis voltage signal

And start current signal

To determine the load state of the shaft end of the DC brushless motor 160. In some embodiments, the control unit 150 can also use the d-axis voltage signal

Voltage signal with q axis

And start current signal

To determine the load state of the shaft end of the DC brushless motor 160.

並根據公式(4)(如下所示)計算取得直流無刷馬達160在不同角速度與角加速度下之扭力需求，

(4) Next, the control unit 150 electrically rotates the angular velocity according to the internal parameters

According to formula (4) (shown below), the torque requirements of the brushless DC motor 160 at different angular speeds and angular accelerations are calculated,

(4)

為馬達輸出的轉矩，亦即維持馬達在特定角速度與特定角加速度下之扭力需求，

為直流無刷馬達160軸端所承受負載轉矩，

為轉子慣量，

為角速度，

為摩擦力。在控制單元150取得直流無刷馬達電氣旋轉角速度

與所計算之

扭力需求後，控制單元150會依據直流無刷馬達160的當前扭力需求狀態，適應性調整驅動單元110之啟動電流信號

的大小，例如將啟動電流信號

的大小進行調降的操作。如此一來，在直流無刷馬達160之啟動程序期間，可以有效地減少直流無刷馬達160的電量損失。 among them,

The torque output for the motor, that is, the torque required to maintain the motor at a specific angular speed and specific angular acceleration,

It is the load torque on the shaft end of the brushless DC motor 160,

Is the rotor inertia,

Is the angular velocity,

For friction. Obtain the electrical rotation angular velocity of the DC brushless motor in the control unit 150

And calculated

After the torque demand, the control unit 150 will adaptively adjust the starting current signal of the drive unit 110 according to the current torque demand state of the DC brushless motor 160

The size of the current signal, for example

The size can be adjusted down. In this way, during the start-up procedure of the brushless DC motor 160, the power loss of the brushless DC motor 160 can be effectively reduced.

The above describes the components of the motor control device 100 of the present embodiment and their arrangement relationships, and other embodiments will be listed below to explain the operation of the motor control device 100.

為啟動電流信號(對應直流無刷馬達160之相電流峰值)，W1為提供給直流無刷馬達160之電氣旋轉角速度之命令對應的實際值，在期間T1~T4其值為

，其餘期間其值為速度命令產生器111所產生之角速度命令，S1為直流無刷馬達160之實際轉速。 FIG. 2 is an operation timing diagram of a motor control device according to an embodiment of the invention. Please refer to FIG. 2, the symbol T is the start-up procedure period, that is, the open loop control phase, and the start-up procedure period T includes periods T1, T2, T3, and T4. The curve S11 represents the phase current driving the DC brushless motor 160, and the curve S12 represents the load state of the shaft end of the DC brushless motor 160 estimated by the present invention,

For the starting current signal (corresponding to the peak value of the phase current of the DC brushless motor 160), W1 is the actual value corresponding to the command of the electrical rotation angular speed provided to the DC brushless motor 160, and its value is T1~T4 during

In the remaining period, the value is the angular speed command generated by the speed command generator 111, and S1 is the actual speed of the DC brushless motor 160.

並將啟動電流信號

增加至第一預設值i1。另外，驅動單元110依據具有第一預設值i1的啟動電流信號

與相電流信號產生對應的驅動電壓信號並提供給變頻器130，使變頻器130依據驅動電壓信號而產生驅動電流信號，以驅動直流無刷馬達160進行運轉。 During the period T1, the control unit 150 provides a starting current signal

And will start the current signal

Increase to the first preset value i1. In addition, the driving unit 110 is based on the starting current signal having the first preset value i1

The driving voltage signal corresponding to the phase current signal is generated and provided to the inverter 130, so that the inverter 130 generates a driving current signal according to the driving voltage signal to drive the brushless DC motor 160 to operate.

和q軸電壓信號

，據此，控制單元150可對d軸電壓信號

或q軸電壓信號

進行處理(例如低通濾波及積分放大處理)，以取得直流無刷馬達160之軸端負載狀態分級資訊(如第2圖的曲線S12)，分級資訊可例如輕載、中載或重載。 During the period T2, the actual shaft end load state of the DC brushless motor 160 is analyzed according to the above principle, which will be reflected in the output d-axis voltage signal of the current controllers 120 and 121

And q-axis voltage signals

, According to which, the control unit 150 can respond to the d-axis voltage signal

Or q-axis voltage signal

Perform processing (such as low-pass filtering and integral amplification processing) to obtain the shaft end load status classification information of the brushless DC motor 160 (such as curve S12 in FIG. 2). The classification information may be, for example, light load, medium load, or heavy load.

由第一預設值i1調降至第二預設值i2，並且調降的斜率例如為△1。其中，第二預設值i2的有效值(方均根)例如為3A。第一預設值的有效值(方均根)例如為4A。第二預設值i2可依據軸端負載狀態的不同而改變。舉例來說，輕載對應之第二預設值i2會小於中載對應之第二預設值i2，且中載對應之第二預設值i2也會小於重載對應之第二預設值i2。 During the period T3, the control unit 150 will activate the current signal according to the load state of the shaft end of the DC brushless motor (that is, the shaft end load information provided by the curve S12)

The first preset value i1 is adjusted down to the second preset value i2, and the slope of the adjusted down is, for example, Δ1. The effective value (root mean square) of the second preset value i2 is, for example, 3A. The effective value (root mean square) of the first preset value is, for example, 4A. The second preset value i2 can be changed according to the different load conditions of the shaft end. For example, the second preset value i2 corresponding to light load will be less than the second preset value i2 corresponding to mid-load, and the second preset value i2 corresponding to mid-load will also be less than the second preset value corresponding to heavy load i2.

)其馬達轉速也會維持固定值。此時，由於直流無刷馬達160之轉速維持固定，則公式(4)中之

會歸零，且直流無刷馬達160所對應之摩擦力B會隨直流無刷馬達160之轉速上升而下降(摩擦力會下降)，因此控制單元150可以透過公式(4)或查表取得對應直流無刷馬達160的扭力需求，亦即直流無刷馬達160的扭力需求會下降。 During the period T4, when the value W1 corresponding to the electrical angular velocity command provided to the DC brushless motor 160 reaches the preset angular velocity W _set and is maintained at the preset angular velocity W _set , and the DC brushless motor 160 rotates synchronously (s1=

) The motor speed will also maintain a fixed value. At this time, since the rotation speed of the brushless DC motor 160 is kept fixed, the formula (4)

It will return to zero, and the friction force B corresponding to the DC brushless motor 160 will decrease as the speed of the DC brushless motor 160 rises (the frictional force will decrease), so the control unit 150 can obtain the correspondence through formula (4) or look-up table The torque demand of the DC brushless motor 160, that is, the torque demand of the DC brushless motor 160 will decrease.

由第二預設值i2調降至第三預設值i3，並且調降的斜率例如為△2。其中，第三預設值i3的有效值(方均根)例如為2A。類似地，第三預設值i3也會隨著第二預設值i2的不同而改變。 Then, the control unit 150 can activate the current signal according to the torque demand of the DC brushless motor 160

The second preset value i2 is adjusted down to the third preset value i3, and the slope of the adjusted down is, for example, Δ2. The effective value (root mean square) of the third preset value i3 is, for example, 2A. Similarly, the third preset value i3 will also vary with the second preset value i2.

與直流無刷馬達160之電氣旋轉角速度W1大致上與第2圖相同。第3圖與第2圖的差異在於在期間T2之後的期間T3，當直流無刷馬達160之電氣旋轉角速度W1到達預設角速度W _set且維持於預設角速度W _set時，直流無刷馬達160之轉速也會維持固定。 FIG. 3 is an operation timing chart of a motor control device according to another embodiment of the invention. In Fig. 3, during the period T1 and T2 of the starting procedure period T, the starting current signal

The electrical rotation angular velocity W1 of the DC brushless motor 160 is substantially the same as in FIG. 2. The difference between FIG. 3 and FIG. 2 is that in the period T3 after the period T2, when the electrical rotation angular velocity W1 of the DC brushless motor 160 reaches the preset angular velocity W _set and is maintained at the preset angular velocity W _set , the brushless DC motor 160 The rotation speed will also remain fixed.

會歸零，且直流無刷馬達160所對應之摩擦力B會隨直流無刷馬達160之轉速上升而下降(摩擦力會下降)，因此控制單元150可以透過公式(4)或查表取得對應直流無刷馬達160的扭力需求，亦即直流無刷馬達160的扭力需求會下降。接著，控制單元150便可依據直流無刷馬達160之扭力需求，將啟動電流信號

由第一預設值i1調降至第二預設值i2的有效值例如為3A，並且調降的斜率例如為△2。 At this time, since the rotation speed of the brushless DC motor 160 is kept fixed, the formula (2)

It will return to zero, and the friction force B corresponding to the DC brushless motor 160 will decrease as the speed of the DC brushless motor 160 rises (the frictional force will decrease), so the control unit 150 can obtain the correspondence through formula (4) or look-up table The torque demand of the DC brushless motor 160, that is, the torque demand of the DC brushless motor 160 will decrease. Then, the control unit 150 can activate the current signal according to the torque demand of the DC brushless motor 160

The effective value adjusted from the first preset value i1 to the second preset value i2 is, for example, 3A, and the slope of the adjusted down is, for example, Δ2.

由第二預設值i2調降至第三預設值i3，並且調降的斜率例如為△1。。其中，第三預設值i3的有效值例如為2A。類似地，第三預設值i3也會依據軸端負載狀態的不同而改變。舉例來說，輕載對應之第三預設值i3會小於中載對應之第三預設值i3，且中載對應之第三預設值i3也會小於重載對應之第三預設值i3。 Then, during the period T4, the control unit 150 activates the current signal according to the load state of the shaft end of the DC brushless motor (for example, curve S12 in FIG. 2)

The second preset value i2 is adjusted down to the third preset value i3, and the slope of the adjusted down is, for example, Δ1. . The effective value of the third preset value i3 is, for example, 2A. Similarly, the third preset value i3 will also vary according to the load state of the shaft end. For example, the third preset value i3 corresponding to light load will be less than the third preset value i3 corresponding to mid-load, and the third preset value i3 corresponding to mid-load will also be less than the third preset value corresponding to heavy load i3.

與直流無刷馬達160之氣旋轉角速度W1大致上與第2圖和第3圖相同。第4圖與第2圖和第3圖的差異在於在期間T2之後的期間T3，控制單元150沒有對啟動電流信號

進行調整，亦即啟動電流信號

仍維持於第一預設值i1。 FIG. 4 is an operation timing chart of a motor control device according to another embodiment of the invention. In Fig. 4, during the period T1 and T2 of the starting procedure period T, the starting current signal

The gas rotation angular velocity W1 with the DC brushless motor 160 is substantially the same as in FIGS. 2 and 3. The difference between FIG. 4 and FIGS. 2 and 3 is that in the period T3 after the period T2, the control unit 150 does not respond to the start current signal.

Make adjustments, that is, start the current signal

It remains at the first preset value i1.

由第一預設值i1調降至第二預設值i2。其中，第二預設值i2的有效值例如為2A。，第二預設值i2也會依據軸端負載狀態的不同而調整。 Then, during the period T4, when the electrical rotation angular speed W1 of the DC brushless motor 160 reaches the preset angular speed _Wset and is maintained at the preset angular speed _Wset , the rotation speed of the DC brushless motor 160 will also remain fixed. Since the rotation speed of the DC brushless motor 160 remains constant, and the torque demand of the DC brushless motor 160 calculated by the control unit 150 decreases, the control unit 150 can be based on the torque demand of the DC brushless motor 160 and the DC brushless motor 160. The shaft end load status will start the current signal

Adjusted from the first preset value i1 to the second preset value i2. The effective value of the second preset value i2 is, for example, 2A. , The second preset value i2 will also be adjusted according to the different load conditions of the shaft end.

和q軸電壓信號

之至少一者，確定直流無刷馬達160之軸端負載狀態，且判斷此軸端負載狀態是否為堵轉狀態。當確認軸端負載狀態為堵轉狀態，控制單元150更將啟動電流信號

由第一、第二和第三預設值i1、i2、i3調升至第四預設值i4，使得直流無刷馬達160可以順利運轉。其中，第四預設值i4例如為直流無刷馬達160允許之最大電流，且此最大電流的有效值例如為5A。在本實施例中，啟動電流信號

的調整方式是將第一預設值i1按一上升斜率調升至第四預設值i4，且並不限定此斜率之數值。 In some embodiments, during the period T2~T4 corresponding to FIG. 2, FIG. 3, and FIG. 4, the control unit 150 uses the d-axis voltage signal

And q-axis voltage signals

At least one of them determines the load state of the shaft end of the DC brushless motor 160, and determines whether the load state of the shaft end is a locked-rotor state. When it is confirmed that the load state of the shaft end is the locked-rotor state, the control unit 150 will also start the current signal

The first, second, and third preset values i1, i2, and i3 are increased to a fourth preset value i4, so that the brushless DC motor 160 can smoothly run. The fourth preset value i4 is, for example, the maximum current allowed by the brushless DC motor 160, and the effective value of this maximum current is, for example, 5A. In this embodiment, the starting current signal

The adjustment method is to increase the first preset value i1 to a fourth preset value i4 according to a rising slope, and the value of this slope is not limited.

According to the description of the above embodiment, during the start-up procedure of the brushless DC motor 160, the motor control device 100 of this embodiment can adaptively reduce the load according to the shaft end load condition of the brushless DC motor 160, the electrical rotation angular velocity and the torque demand The size of the starting current signal. In this way, it is possible to avoid the situation that the continuous large starting current signal drives the brushless DC motor 160 to run and increase the power loss, so as to effectively reduce the power loss of the brushless DC motor 160 during the start-up procedure.

In the foregoing embodiment, the motor control device 100 is suitable for driving the brushless DC motor 160, especially the brushless DC motor 160 without a sensor, but the invention is not limited thereto. The motor control device 100 of this embodiment can also be adapted to drive a built-in permanent permanent magnet synchronous motor (IPMSM), and the operation of the motor control device 100 can refer to the description of the above embodiment, and the same control can still be achieved effect.

和q軸電壓信號

之至少一者的資訊，由控制單元150進行設定。 In addition, the aforementioned first preset value is a preset as an example, but the present invention is not limited thereto. If the difference in starting load of the brushless DC motor 160 is not large, the first preset value can also be based on the d-axis voltage signal obtained during T during the previous starting procedure

And q-axis voltage signals

The information of at least one of them is set by the control unit 150.

FIG. 5 is a flowchart of a motor control method 500 according to an embodiment of the invention. The motor control method of this embodiment is suitable for the startup procedure of a sensorless DC brushless motor. In step S502, the phase voltage signal and the driving voltage signal are generated according to the starting current signal and the phase current signal having the first preset value. In step S504, a driving current signal is generated according to the driving voltage signal to drive the brushless DC motor for operation, wherein the first preset value is used to at least maintain the brushless DC motor for normal operation. In step S506, the driving current signal is sensed to generate a corresponding phase current signal.

In step S508, the load state of the shaft end of the DC brushless motor is determined according to the phase voltage signal (for example, at least one of the d-axis voltage signal and the q-axis voltage signal) that changes with the corresponding phase current signal. In step S510, the size of the starting current signal is adaptively adjusted according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor. In other words, the starting current can be adjusted directly based on the confirmed shaft end load status, or the starting current can be adjusted directly based only on the electrical rotation angular speed and torque requirements of the DC brushless motor, or it can be selected according to the shaft end load status and according to the DC Brush motor electrical rotation angular speed and torque requirements adjust the starting current. In this embodiment, the torque requirement includes load torque, motor inertia and friction.

FIG. 6 is a flowchart of a motor control method 600 according to another embodiment of the invention. The motor control method 600 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 600 includes steps S502-S506 and S510 in the motor control method 500, and further includes steps S608-S610. In step S608, at least one of the d-axis voltage signal and the q-axis voltage signal that changes with the phase current signal is processed, such as low-pass filtering and integral amplification processing. Next, the load state of the shaft end of the DC brushless motor is determined according to the processed d-axis voltage signal and/or q-axis voltage signal and the starting current signal (step S610).

FIG. 7 is a flowchart of a motor control method 700 according to another embodiment of the invention. The motor control method 700 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 700 includes steps S502-S508 in the motor control method 500, and further includes steps S710-S712. In step S710, the starting current signal is adjusted from the first preset value to the second preset value according to the load state of the shaft end. In some embodiments, step S712 may be selectively performed. In step S712, when the electrical rotation angular velocity of the DC brushless motor reaches the preset angular velocity and is maintained at the preset angular velocity, the starting current signal is adjusted from the second preset value to the third according to the torque demand of the DC brushless motor default value.

FIG. 8 is a flowchart of a motor control method 800 according to another embodiment of the invention. The motor control method 800 of this embodiment is similar to the motor control method 700, except that steps S810-S812 are different from steps S710-S712. In step S810, when the load state of the shaft end of the DC brushless motor is determined and the electrical rotation angular velocity of the DC brushless motor reaches the preset angular velocity and is maintained at the preset frequency, the current signal will be activated according to the torque demand of the DC brushless motor Adjusted from the first preset value to the second preset value. In some embodiments, step S812 may be selectively performed. In step S812, the starting current signal is adjusted from the second preset value to the third preset value according to the load state of the shaft end.

FIG. 9 is a flowchart of a motor control method 900 according to another embodiment of the present invention. The motor control method 900 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 900 includes steps S502 to S508 in the motor control method 500, and further includes step S910. In step S910, when the shaft end load state is locked, the starting current signal is adjusted from a first preset value to a second preset value by a rising slope, wherein the maximum value of the second preset value is DC Maximum current allowed for brushless motors. In some embodiments, the magnitude of the slope can be adjusted according to actual needs to adjust the increase of the starting current signal.

To sum up, the motor control method and device disclosed in the present invention generate phase voltage signals (such as d-axis voltage signals and q-axis voltage signals) by starting current signals and phase current signals having a first preset value and The driving voltage signal and the driving voltage signal generate a driving current signal to drive the brushless DC motor for operation, and the DC is determined according to at least one of the d-axis voltage signal and the q-axis voltage signal that vary with the phase current signal and the starting current signal The load state of the shaft end of the brushless motor, and according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor, adaptively adjust the size of the starting current signal. In this way, it is possible to avoid a situation in which a large starting current is used to drive the DC brushless motor to run and increase the power loss, so as to effectively reduce the power loss during the start-up procedure of the DC brushless motor.

Although the present invention has been disclosed as above by the embodiments, it is not intended to limit the scope of the present invention. Anyone who has ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined in the appended patent application.

100‧‧‧Motor control device

110‧‧‧Drive unit

111‧‧‧Speed command generator

112‧‧‧Subtractor

113‧‧‧Speed controller

114, 122, 123‧‧‧ Limiter

115‧‧‧Speed and position estimator

116‧‧‧ Back EMF Estimator

117, 118‧‧‧ switch

119‧‧‧Three-phase to two-phase converter

120, 121‧‧‧ current controller

124‧‧‧Two-phase to three-phase converter

125‧‧‧Modulation unit

130‧‧‧Inverter

140‧‧‧sensing unit

150‧‧‧Control unit

160‧‧‧DC brushless motor

i _qs ‧‧‧Start current signal

v _ds , v _qs ‧‧‧ phase voltage signal

、W_set‧‧‧角速度

、W _set ‧‧‧Angular speed

‧‧‧角速度誤差

‧‧‧Angular velocity error

、

‧‧‧反電動勢電壓

,

‧‧‧ Back EMF voltage

、

、

‧‧‧電氣角度

,

,

‧‧‧Electrical angle

、

‧‧‧靜止軸電壓

,

‧‧‧ Static shaft voltage

、

‧‧‧靜止軸電流

,

‧‧‧ Static shaft current

‧‧‧電流信號

‧‧‧Current signal

、

、

‧‧‧相電流信號

,

,

‧‧‧Phase current signal

、

‧‧‧同步軸電流

,

‧‧‧ Synchronous shaft current

、

‧‧‧電流

,

‧‧‧ Current

、

、

‧‧‧三相電壓

,

,

‧‧‧Three-phase voltage

T‧‧‧During start-up procedure

W1‧‧‧Electrical rotation angular velocity

S1‧‧‧Speed

During T1, T2, T3, T4 ‧‧‧

S11, S12‧‧‧curve

i1‧‧‧First preset value

i2‧‧‧Second preset value

i3‧‧‧ third preset value

500, 600, 700, 800, 900 ‧‧‧ motor control method

S502~S510, S608, S610, S710, S712, S810, S812, S910

FIG. 1A is a schematic diagram of a motor control device according to an embodiment of the invention. FIG. 1B is a single-phase equivalent circuit of a brushless DC motor according to an embodiment of the invention. FIG. 1C is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to an embodiment of the invention. FIG. 1D is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to another embodiment of the present invention. FIG. 1E is a vector analysis of the output voltage of the inverter on the d-q axis according to an embodiment of the present invention. FIG. 1F is a vector analysis of the output voltage of the inverter on the d-q axis according to another embodiment of the present invention. Figure 1G is a vector analysis of the output voltage of the inverter on the d-q axis according to another embodiment of the present invention. Figure 1H is a vector analysis of the output voltage of the frequency converter on the d-q axis according to another embodiment of the present invention. FIG. 2 is an operation timing diagram of a motor control device according to an embodiment of the invention. FIG. 3 is an operation timing chart of a motor control device according to another embodiment of the invention. FIG. 4 is an operation timing chart of a motor control device according to another embodiment of the invention. FIG. 5 is a flowchart of a motor control method according to an embodiment of the invention. FIG. 6 is a flowchart of a motor control method according to another embodiment of the invention. FIG. 7 is a flowchart of a motor control method according to another embodiment of the invention. FIG. 8 is a flowchart of a motor control method according to another embodiment of the invention. FIG. 9 is a flowchart of a motor control method according to another embodiment of the invention.

S502, S504, S506, S508, S510

Claims (18)

A motor control method suitable for the startup procedure of a sensorless DC brushless motor. The motor control method includes: (a) generating a current signal and a phase current signal according to a first preset value A phase voltage signal and a driving voltage signal; (b) generating a driving current signal according to the driving voltage signal to drive a DC brushless motor for operation, wherein the first preset value is used to at least enable the DC brushless motor Maintain normal operation; (c) Sensing the driving current signal to generate the corresponding phase current signal; (d) According to the phase voltage signal and the starting current signal that change with the corresponding phase current signal, determine that the DC has no Load state of a shaft end of the brush motor; and (e) adaptively adjust the magnitude of the starting current signal according to the load state of the shaft end and/or according to an electrical rotation angular speed and a torque requirement of the DC brushless motor. The motor control method as described in item 1 of the patent scope, wherein the phase voltage signal includes at least one of a d-axis voltage signal and a q-axis voltage signal. The motor control method as described in item 1 of the patent application, wherein step (e) includes: adjusting the starting current signal from the first preset value to a second preset value according to the load state. The motor control method as described in item 3 of the patent application, wherein step (e) further includes: When the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, the starting current signal is reduced from the second predetermined value according to the torque demand of the DC brushless motor To a third preset value. The motor control method as described in item 1 of the patent application scope, wherein step (e) includes: when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, according to the DC The torque requirement of the brush motor reduces the starting current signal from the first preset value to a second preset value. The motor control method as described in item 5 of the patent application, wherein step (e) further includes: adjusting the starting current signal from the second preset value to a third preset value according to the load state. The motor control method as described in item 1 of the patent application, wherein step (e) includes: when the load state is a locked-rotor state, the starting current signal is raised from the first preset value to a second preset Set value, wherein the maximum value of the second preset value is a maximum current allowed by the DC brushless motor. The motor control method as described in item 1 of the patent application, wherein step (d) includes: performing a low-pass filtering and integral amplification process on the phase voltage signal to generate the processed phase voltage signal; and Based on the processed phase voltage signal and the starting current signal, the load state of the DC brushless motor is determined. The motor control method as described in item 1 of the patent application range, wherein the first preset value is set according to the phase voltage signal obtained during the previous start-up procedure of the DC brushless motor. A motor control device is suitable for the startup procedure of a sensorless DC brushless motor. The motor control device includes: a drive unit, a startup current signal and a phase current signal according to a first preset value, Generates a phase voltage signal and a drive voltage signal; an inverter generates a drive current signal according to the drive voltage signal to drive a DC brushless motor to operate, wherein the first preset value is used to at least make the DC The brush motor maintains normal operation; a sensing unit that senses the drive current signal of the inverter to generate the corresponding phase current signal; and a control unit that provides the starting current signal and based on the corresponding phase current The phase voltage signal and the starting current signal of the signal change determine the load state of the shaft end of the brushless DC motor, and depending on the load state of the shaft end and/or according to an electrical rotation angular velocity and a torque requirement of the brushless DC motor, Adjust the size of the starting current signal adaptively. The motor control device as described in item 10 of the patent application range, wherein the phase voltage signal includes at least one of a d-axis voltage signal and a q-axis voltage signal. The motor control device as described in item 10 of the patent application range, wherein the control unit further adjusts the starting current signal from the first preset value to a second preset value according to the load state. The motor control device as described in item 12 of the patent application scope, wherein when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, the control unit is based on the DC brushless motor's The torque requirement reduces the starting current signal from the second preset value to a third preset value. The motor control device as described in item 10 of the patent application range, wherein when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, the control unit further depends on the DC brushless motor According to the torque requirement, the starting current signal is adjusted from the first preset value to a second preset value. The motor control device as described in item 14 of the patent application range, wherein the control unit further adjusts the starting current signal from the second preset value to a third preset value according to the load state. The motor control device as described in item 10 of the patent application scope, wherein when the load state is a stalled state, the control unit further increases the starting current signal from the first preset value to a second preset value , Where the maximum value of the second preset value is a maximum current allowed by the DC brushless motor. The motor control device as described in item 10 of the patent application scope, wherein the control unit further performs a low-pass filtering and integral amplification process on the phase voltage signal, and determines based on the processed phase voltage signal and the starting current signal The load state of the DC brushless motor. The motor control device as described in item 10 of the patent application range, wherein the first preset value is set according to the phase voltage signal obtained during the previous start-up procedure of the DC brushless motor.

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