Control apparatus for electric power tool including battery and dc brushless motor
View Patent ↗A controller apparatus for an electric power tool is provided where the electric power tool includes a battery and a DC brushless motor. The controller apparatus includes a current detector that detects an instantaneous current flowing in the DC brushless motor; a current calculator that calculates one of an average value and an effective value of the instantaneous current detected by the current detector; a current controller configured to utilize a result from the current calculator as a detected value; and a speed controller configured to generate a target value of the current controller. The controller apparatus further includes a limiter that limits the target value of the current controller, where the limiter is provided at an output stage of the speed controller.
1. A controller apparatus for an electric power tool comprising a battery and a DC brushless motor, the controller apparatus comprising:
a current detector that detects an instantaneous current flowing in the DC brushless motor;
a current calculator that calculates one of an average value and an effective value of the instantaneous current detected by the current detector;
a current controller configured to utilize a result from the current calculator as a detected value; and
a speed controller configured to generate a target value of the current controller, wherein the controller apparatus further comprises a first limiter that limits the target value of the current controller, the first limiter being provided at an output stage of the speed controller,
wherein the current controller further comprises a subtractor, a PI controller, a second limiter and a comparator,
wherein the subtractor is configured to subtract the average current signal or the effective value from a target current value signal indicating the target value, so that a current control value signal indicating a result of the subtraction is outputted to the PI controller,
wherein the PI controller is configured to perform proportional-integral control on the current control value, and to output a control signal to the comparator via the second limiter,
wherein the second limiter is configured to control an amplitude value of a PWM signal outputted from the comparator within a predetermined value, and
wherein the comparator is configured to generate the PWM signal for driving the motor by PWM modulation, and to output the PWM signal by comparing the control signal from the second limiter with a triangular wave generated by a triangular wave generator.
2. A control method for an electric power tool comprising a battery and a DC brushless motor, the control method comprising:
a current detection step of detecting an instantaneous current flowing in the DC brushless motor;
a current calculation step of calculating one of an average value and an effective value of the instantaneous current detected in the current detection step;
a current control step of utilizing a result from the current calculation step as a detected value;
a speed control step of generating a target value in the current control step; and
a step of limiting the target value in the current control step by a limiter provided at an output stage in the speed control step,
wherein the control method further comprises:
a step of subtracting the average current signal or the effective value from a target current value signal indicating the target value, so that a current control value signal indicating a result of the subtraction is outputted,
a step of performing proportional-integral control on the current control value, and of outputting a control signal,
a step of controlling an amplitude value of a PWM signal within a predetermined value, and
a step of generating the PWM signal for driving the motor by PWM modulation, and of outputting the PWM signal by comparing the control signal with a triangular wave generated by a triangular wave generator.
3. An electric power tool including a battery and a DC brushless motor,
wherein the electric power tool comprises a controller apparatus for the electric power tool,
wherein the controller apparatus comprises:
a current detector that detects an instantaneous current flowing in the DC brushless motor;
a current calculator that calculates one of an average value and an effective value of the instantaneous current detected by the current detector;
a current controller configured to utilize a result from the current calculator as a detected value; and
a speed controller configured to generate a target value of the current controller, and
wherein the controller apparatus further comprises a first limiter that limits the target value of the current controller, the first limiter being provided at an output stage of the speed controller,
wherein the current controller further comprises a subtractor, a PI controller, a second limiter and a comparator,
wherein the subtractor is configured to subtract the average current signal or the effective value from a target current value signal indicating the target value, so that a current control value signal indicating a result of the subtraction is outputted to the PI controller,
wherein the PI controller is configured to perform proportional-integral control on the current control value, and to output a control signal to the comparator via the second limiter,
wherein the second limiter is configured to control an amplitude value of a PWM signal outputted from the comparator within a predetermined value, and
wherein the comparator is configured to generate the PWM signal for driving the motor by PWM modulation, and to output the PWM signal by comparing the control signal from the second limiter with a triangular wave generated by a triangular wave generator.