Motor current controller and method for controlling motor current
View Patent ↗A motor current controller operates to: set a reference current value and a decay mode switching time for each PWM cycle based on a positional relationship between a rotor and a stator; switch an H-bridge circuit to the charge mode at the time of start of each PWM cycle; switch the H-bridge circuit to the fast decay mode and store a charge mode time when determined that the motor current is greater than the reference current value; switch the H-bridge circuit to the slow decay mode when the decay mode switching time elapses; compare the charge mode time of the corresponding PWM cycle in a present falling side with the charge mode time of the PWM cycle in a previous falling side; update the decay mode switching time of the PWM cycle previous to the corresponding PWM cycle in a subsequent falling side.
1. A motor current controller comprising:
an H-bridge circuit that includes a switching element and is connected to a motor coil provided in a motor; and
a control unit that drives the switching element every PWM cycle and designates any operation mode from among a plurality of modes including a charge mode, in which a motor current flowing in the motor coil increases, a fast decay mode, in which the motor current is decreased, and a slow decay mode, in which the motor current is decreased at a speed lower than that in the fast decay mode, for the H-bridge circuit,
wherein the control unit is configured to perform a series of process comprising:
setting a reference current value and a decay mode switching time for each PWM cycle based on a positional relationship between a rotor and a stator;
switching the H-bridge circuit to the charge mode at the time of start of each PWM cycle;
determining whether the motor current is greater than the reference current value;
switching the H-bridge circuit to the fast decay mode and storing a charge mode time when determined that the motor current is greater than the reference current value;
switching the H-bridge circuit to the slow decay mode when the decay mode switching time elapses after a time point at which the H-bridge circuit is switched to the fast decay mode;
comparing the charge mode time of the corresponding PWM cycle in a present falling side with the charge mode time of the PWM cycle having the same number as the corresponding PWM cycle in a previous falling side; and
updating, based on a result of the comparing of the charge modes, the decay mode switching time of the PWM cycle previous to the corresponding PWM cycle in a subsequent falling side.
2. The motor current controller according to claim 1 ,
wherein the control unit is configured to perform the series of process further comprising:
decreasing the decay mode switching time of the PWM cycle previous to the corresponding to the PMW cycle in the subsequent falling side when the charge mode time of the corresponding PWM cycle in the present falling side is longer than the charge mode time of the PWM cycle having the same number as the corresponding PWM cycle in the previous falling side; and
increasing the decay mode switching time of the PWM cycle previous to the corresponding to the PMW cycle in the subsequent falling side when the charge mode time of the corresponding PWM cycle in the present falling side is shorter than the charge mode time of the PWM cycle having the same number as the corresponding PWM cycle in the previous falling side.
3. The motor current controller according to claim 1 ,
wherein the control unit is configured to perform the series of process further comprising:
synchronizing the PWM cycle with every predetermined phase angle of the motor.
4. The motor current controller according to claim 3 ,
wherein the predetermined phase angle is one of angles including π/2, π, and 2π.
5. A method for controlling motor current of a motor current controller having an H-bridge circuit that includes a switching element and is connected to a motor coil provided in a motor and a control unit that drives the switching element every PWM cycle and designates any operation mode from among a plurality of modes including a charge mode, in which a motor current flowing in the motor coil increases, a fast decay mode, in which the motor current is decreased, and a slow decay mode, in which the motor current is decreased at a speed lower than that in the fast decay mode, for the H-bridge circuit, the method comprising:
setting a reference current value and a decay mode switching time for each PWM cycle based on a positional relationship between a rotor and a stator;
switching the H-bridge circuit to the charge mode at the time of start of each PWM cycle;
determining whether the motor current is greater than the reference current value;
switching the H-bridge circuit to the fast decay mode and storing a charge mode time when determined that the motor current is greater than the reference current value;
switching the H-bridge circuit to the slow decay mode when the decay mode switching time elapses after a time point at which the H-bridge circuit is switched to the fast decay mode;
comparing the charge mode time of the corresponding PWM cycle in a present falling side with the charge mode time of the PWM cycle having the same number as the corresponding PWM cycle in a previous falling side; and
updating, based on a result of the comparing of the charge modes, the decay mode switching time of the PWM cycle previous to the corresponding PWM cycle in a subsequent falling side.