Motor having pulse mode and brushless mode, and control method and apparatus of the motor

1. A motor comprising a rotor having a magnet circumferentially magnetized with a plurality of poles, a stator including two coils, and a controller configured to control an excitation to each of the two coils separately,

wherein the stator further includes a first yoke excited by one of the two coils, a second yoke excited by the other of the two coils, a first rotor detector, and a second rotor detector, each of the first and second rotor detectors being configured to detect polarity changes of a magnetic flux by the magnet as the rotor rotates,

wherein the first yoke includes a plurality of magnetic pole tips whose centers are spaced from each other by an electric angle of 360° in a stator circumferential direction, and the second yoke includes a plurality of magnetic pole tips whose centers shift from the centers of the magnetic pole tips of the first yoke in the same direction in the stator circumferential direction by the electric angle of 90°,

wherein a center of the first rotor position detector is arranged at the same position as one of the centers of the magnetic pole tips of the first yoke in the stator circumferential direction, and a center of the second rotor position detector is arranged at the same position as one of the centers of the magnetic pole tips of the second yoke in the stator circumferential direction,

wherein the controller includes a signal switching unit configured to generate an excitation switching signal used to switch the excitation to each coil, an excitation unit configured to excite a corresponding coil in accordance with the excitation switching signal, and a delay angle operator configured to obtain a first delay angle and a second delay angle whenever the excitation switching signal corresponding to each coil is generated, the first delay angle being a delay amount of the excitation switching signal based on a just past polarity change of a first signal detected by the first rotor position detector, and a second delay angle being a delay amount of the excitation switching signal based on a just past polarity change of a second signal detected by the second rotor position detector, and

wherein the signal switching unit generates the excitation switching signal using the first delay angle for the first signal or the second delay angle for the second signal.

2. The motor according to claim 1 , wherein the first delay angle includes a first leading delay angle that is a delay angle based on one polarity change of the first signal, and a first trailing delay angle that is a delay angle based on another polarity change of the first signal,

wherein the second delay angle includes a second leading delay angle that is a delay angle based on one polarity change of the second signal, and a second trailing delay angle that is a delay angle based on another polarity change of the second signal; and

wherein when the excitation switching signal is generated based on the first signal, the excitation switching signal is generated by alternately utilizing the first leading delay angle and the first trailing delay angle, and when the excitation switching signal is generated based on the second signal, the excitation switching signal is generated by alternately utilizing the second leading delay angle and the second trailing delay angle.

3. The motor according to claim 1 , wherein when the motor is accelerated, the excitation switching signal is generated by setting a value subtracted from the first or second delay angle by a predetermined value ΔT 1 , to be the first or second delay angle, and

wherein when the motor is decelerated, the excitation switching signal is generated by setting a value added to the first or second delay angle by a predetermined value ΔT 2 , to be the first or second delay angle.

4. The motor according to claim 3 , wherein when the first or second delay angle that is being used to generate the excitation switching signal is equal to or larger than a first predetermined value in a deceleration control of the motor a reference signal used to generate the excitation switching signal is switched between the first signal and the second signal, and

wherein when the first or second delay angle that is being used to generate the excitation switching signal is equal to or smaller than a second predetermined value in an acceleration control of the motor the reference signal used to generate the excitation switching signal is switched between the first signal and the second signal.

5. The motor according to claim 3 , wherein when the first or second delay angle that is being used to generate the excitation switching signal is equal to or smaller than a predetermined value in an acceleration control of the motor a reference signal used to generate the excitation switching signal is switched between the first signal and the second signal, and

wherein in a deceleration control of the motor, when a delay angle A that is a delay amount of the excitation switching signal for a signal that is not being used to generate the excitation switching signal is larger than the predetermined value, and a delay angle B that is a delay amount of the excitation switching signal for a signal that is being used to generate the excitation switching signal is larger than the delay angle A, the signal used to generate the excitation switching signal is switched between the first signal and the second signal.

6. The motor according to claim 3 , wherein when the first or second delay angle that is being used to generate the excitation switching signal is equal to or smaller than a predetermined value in an acceleration control of the motor a reference signal used to generate the excitation switching signal is switched between the first signal and the second signal, and a leading delay angle and a trailing delay angle of the reference signal used to generate the excitation switching signal before switching of the reference signal are stored as n-th switching history in the acceleration control, and

wherein in a deceleration control of the motor, when a leading delay angle that is a delay amount of the excitation switching signal for a signal that is not being used to generate the excitation switching signal is larger than a leading delay angle of the n-th switching history or when a trailing delay angle that is a delay amount of the excitation switching signal for the signal that is not being used to generate the excitation switching signal is larger than a trailing delay angle of the n-th switching history, the reference signal used to generate the excitation switching signal is switched between the first signal and the second signal, and signal switching is repeated until n becomes 0 or deceleration down to a predetermined velocity is achieved by substituting n−1 for n whenever the reference signal is switched in the deceleration control.