CN114865818A - High-efficiency full-phase drive brushless motor and driver circuit - Google Patents

Abstract

The invention provides a high-efficiency full-phase drive brushless motor and a driver circuit, wherein the drive circuit is used for simultaneously electrifying and driving all windings during each drive, so that the power of the motor is improved, and the defect that the efficiency is reduced due to electric energy loss caused by that a certain number of armature teeth in the traditional brushless motor are subjected to the fact that a south pole is generated by one phase of winding and a north pole is generated by the other phase of winding at the same time is avoided. The winding mode of the stator coil is that the coil of the same phase winding is wound between two adjacent tooth slots of a single armature tooth. Because all the phase windings are driven simultaneously, the utilization rate of the winding coils is maximized, and the power density of the motor is increased. All north and south poles of the magnetic rotor containing the permanent magnets are driven at every driving so that the torque and power of the rotor are increased, and high electric energy driving efficiency and high power density are realized. The method has wide application prospect in places such as new energy vehicles and unmanned aerial vehicles, which are interested in energy efficiency and power.

Description

High Efficiency Full Phase Drive Brushless Motor and Driver Circuit

The invention discloses a high-efficiency full-phase driving brushless motor and a driver circuit, including a brushless motor and a brushless motor driver circuit.

technical field

The present invention relates to the technical field of brushless motors and brushless motor driver circuits.

Background technique:

A brushless motor consists of a motor body and a driver circuit, and is a typical mechatronics product.

Brushless motors are widely used in new energy electric vehicles, and their efficiency directly affects the cruising range of electric vehicles after a single charge. How to improve the efficiency of brushless motors has become an extremely critical factor. Improving the power of brushless motors is also an extremely important factor in use. Efficient electric power drive can bring efficient energy conversion and thus bring longer cruising range and save energy. Improving the power density of brushless motors is also an important requirement. . In traditional brushless motors, the winding method of winding coils across the armature teeth is widely used. For example, most of the three-phase winding brushless motors are wound across two armature teeth. In order to improve the output power and winding The coil utilization rate is almost always the star connection and delta connection of the three-phase AC motor, and at least the two-phase coil flows through each time it is powered on. When the coils are energized and driven at the same time, the magnetism generated in each armature tooth is often distributed according to the magnetic poles of "south-south, north, north, south-south, no". This armature tooth produces a south pole, and at the same time the other group of windings produces a north pole at the armature tooth to cancel each other out. This part of the electric energy is actually wasted, which reduces the efficiency. For this, I call it electric loss; The magnetic loss caused by the magnetic leakage between the pivot teeth should also be paid enough attention.

It can be seen from the above that in order to improve the efficiency and performance of the brushless motor, it is necessary to improve the winding and driving of the winding, reduce the electrical loss and magnetic loss, thereby improve the driving efficiency and achieve the best power output, thereby improving the new energy electric motor. The cruising mileage of the car, and the improvement of the torque of the brushless motor and the lightweight of the motor are also extremely critical technologies and the country's requirements for the brushless motor.

SUMMARY OF THE INVENTION

In the high-efficiency full-phase drive brushless motor of the present invention, the winding method of the stator coil of the brushless motor winding is to wind between two adjacent tooth slots of a single armature tooth, drive each phase at the same time, and Each south pole and north pole of the rotor is also driven at the same time, which increases the torque, and drives all the phase windings at each driving moment, which increases the driving power and improves the utilization rate of the winding coils, so it is named as the high-efficiency all-phase drive. Brush motor and driver circuits.

The rotor of the high-efficiency full-phase drive brushless motor winding of the present invention is a cylindrical magnetic material cylinder filled with permanent magnets in the radial direction in the outer stator wound with coils in the inner rotor structure. The cylinder can also be used in It is formed by inlaying permanent magnets on the cylindrical magnetic conductor. The cylindrical magnetic material can be solid or hollow; in the case of the outer rotor structure, it is a ring filled with permanent magnets in the radial direction outside the inner stator with coils. It can also be formed by fixing a permanent magnet on a ring-shaped object according to the manufacturing process.

The high-efficiency all-phase drive brushless motor of the present invention drives the rotor containing permanent magnets by energizing all the windings of the stator coil, and for the three-phase high-efficiency all-phase drive brushless motor, in each driving state, the three The phase coil is energized, and the rotor is driven to rotate one tooth position. In the next driving state, the three-phase coil is also energized (but the direction of the energization is different from the previous one), and the driving rotor rotates another tooth position. The drives both drive all south and north poles on the rotor.

The driver circuit of the high-efficiency full-phase driving brushless motor of the present invention is composed of a PWM pulse width modulator with adjustable rotational speed, a duty cycle regulator, an OR circuit for multi-phase driving, and a H driving the winding coils of each phase. Bridge power driver (generally high-power MOS tube or IGBT compound fully controlled voltage-driven power semiconductor device module).

Description of drawings

Figure 1 is a schematic diagram of the stator structure of the high-efficiency full-phase drive brushless motor of the present invention (inner rotor three-phase 4-pole, 12-slot winding as an example), M1 is the stator armature, 1 to 12 are the armature teeth of the stator, H1, H2 and H3 are Hall element magnetic position sensors with latches, which can also be composed in other ways. T1+ and T1- are the starting and ending ends of the L1-phase winding, respectively, and T2+ and T2- are the starting and ending ends of the L2-phase winding, respectively. The termination ends, T3+ and T3- are the starting and ending ends of the L3 phase windings, respectively, and the arrows on the winding lines in the stator indicate the winding directions of each winding on the armature tooth.

2 to 7 are the working intentions of the high-efficiency full-phase drive brushless motor of the present invention in each driving state (inner rotor three-phase 4 magnetic poles, outer stator 12 slots as an example, three-phase six-drive state), M2 is a permanent magnet inside Rotor, S1, S2 are the south poles of the rotor inside the permanent magnet, N1, N2 are the north poles of the rotor inside the permanent magnet. M1 is the outer stator armature that is wound with coils. The arrow on the stator winding line indicates the current direction of the winding at this time. S and N outside the armature tooth indicate the north and south poles generated by the armature tooth in the driving state; H1 , H2, H3 are magnetic position sensors composed of Hall elements. When there is a south pole approaching, it outputs a low level and has a latch function. When there is a north pole approaching, the output turns to a high level.

8 and 9 are schematic diagrams of the driver circuit composed of common components of the present invention (taking three-phase drive as an example, the number of driving phases can be increased in this way for an N-phase motor) SW1 is a rotation/stop switch, and FIG. 9 is a The push-back drive circuit, specifically, is to drive the winding that should be in the current driving state, the winding of the driving state just past, and the winding of the next driving state to drive together. For example, when the current driving state is to drive L1, the winding is used. L3 plus winding L2 to drive; Figure 8 is a push-forward drive circuit, specifically, the winding that should be currently driven plus the next two windings to be driven together to drive, for example, when the current driving state is to drive L1, It is driven by winding L1 plus winding L2 and winding L3; there is no fundamental difference between them, but the installation position of the magnetic sensor needs to be moved.

FIG. 10 is a schematic diagram of an H-bridge power driver circuit of the present invention (taking a three-phase drive as an example, for an N-phase motor, the number of driving phases can be increased accordingly).

Figure 11 is a control circuit diagram that can control two-phase to six-phase using STM32F103VET6 microcontroller MCU.

12 is a schematic diagram of winding windings between two adjacent tooth slots of a single armature tooth according to the present invention (three-phase 4 magnetic poles in the inner rotor and 12 slots in the outer stator as an example), 1 to 12 are the armature teeth of the stator, H1, H2, H3 are magnetic position sensors, T1+ and T1- are the starting and ending ends of the T1 phase windings, T2+ and T2- are the starting and ending ends of the T2-phase windings, T3+ and T3- are the T3-phase windings, respectively The starting and ending ends of the windings, and the arrows on the winding lines in the stator indicate the winding direction of each winding on the armature tooth.

Figure 13 is a schematic diagram of winding windings between two adjacent tooth slots of a single armature tooth when two-phase, four-pole, and eight-slots are used in the present invention, 1 to 8 are the armature teeth of the stator, H1, H2, H3, H4 is the magnetic position sensor, T1+ and T1- are the starting and ending ends of the T1-phase windings, T2+ and T2- are the starting and ending ends of the T2-phase windings, respectively. The arrows on the winding lines in the stator indicate that each winding is in the Winding direction of the armature teeth.

Figure 14 is a circuit diagram of the H-bridge power drive part of the two-phase high-efficiency full-phase drive brushless motor drive circuit.

15 to 18 are four driving state diagrams of the two-phase high-efficiency full-phase driving brushless motor.

Figure 19 is in the double slot state, when the integer K is equal to 2, when each phase winding is wound and then the two phases are connected in parallel to form a one-phase winding, then the number of stator armature slots of the high-efficiency full-phase drive brushless motor is equal to The number of the sum of the north and south magnetic poles of the permanent magnet rotor is multiplied by 2 times the number of phases, and the stator structure diagram when each phase winding is wound and then two phases are connected in parallel to form a one-phase winding (taking two phases and two magnetic poles as an example). Arrows indicate winding direction.

Figure 20 is the stator structure diagram when the double-slot state and the integer K is equal to 2, when two adjacent armature teeth are connected in series with the same phase winding and wound in the same direction (taking two-phase two-pole magnets as an example). Arrows indicate winding direction.

21 is a schematic diagram of winding windings between two adjacent tooth slots of a single armature tooth when using four-phase, two-pole, and eight-slots according to the present invention, 1 to 8 are the armature teeth of the stator, and H1 to H8 are the magnetic positions sensor.

Figure 22 is a circuit diagram of the H-bridge power drive part of the four-phase high-efficiency all-phase drive brushless motor drive circuit.

23 to 30 are eight drive state diagrams of the four-phase high-efficiency all-phase drive brushless motor.

Figure 31 is a schematic diagram of winding windings between two adjacent tooth slots of a single armature tooth when five phases, two magnetic poles and ten slots are used in the present invention, 1 to 10 are the armature teeth of the stator, and H1 to H10 are the magnetic positions sensor.

Figure 32 is a circuit diagram of the H-bridge power drive part of the five-phase high-efficiency full-phase drive brushless motor drive circuit.

33 to 35 are schematic diagrams of winding windings between two adjacent tooth slots of a single armature tooth when the present invention is six-phase, two-pole, twelve-slots, 1 to 12 are the armature teeth of the stator, H1 to H12 is a magnetic position sensor.

36 and 37 are circuit diagrams of the H-bridge power drive part of the six-phase high-efficiency full-phase drive brushless motor drive circuit.

In the above structural diagram, Tx+ and Tx- represent the starting and ending ends of the Lx-phase windings, respectively, and the arrows on the winding lines represent the winding directions of each winding on the armature tooth.

38 is a schematic structural diagram of an outer rotor high-efficiency full-phase drive brushless motor of the present invention (an outer rotor with three-phase 4 magnetic poles and 12 slots is taken as an example, and a single armature tooth winding method is used), M2 is a permanent magnet outer rotor, M1 is the inner stator armature wound with coils, N and S are the four north and south poles of the outer rotor of the permanent magnet, US, UN are the south and north poles generated by the armature teeth on the stator when the L1 phase winding is energized at a certain moment, VS , VN is the south pole and north pole produced by the armature tooth on the stator when the L2 phase winding is energized at another time, WS, WN are the south pole and north pole produced by the armature tooth on the stator when the L3 phase winding is energized at different times, H1, H2, H3 is a magnetic position sensor. The winding method of the winding coil is the same as the structure of the inner rotor. The winding of the same phase is wound between the adjacent two slots of a single armature tooth and the winding direction of the adjacent two coils is opposite, which is omitted here for clarity.

Detailed ways

The high-efficiency full-phase drive brushless motor of the present invention is multiplied by the number of stator slots multiplied by the number of north and south magnetic poles of the permanent magnet rotor. When the multiple K=1. Taking the three-phase winding, two pairs of 4 magnetic poles as an example, the number of slots is equal to 3 multiplied by 4 poles and 12 slots; if six pairs of 12 magnetic poles are used, it will be 36 slots; when the multiple K=2. Taking a three-phase winding and two pairs of 4 magnetic poles as an example, the number of slots is equal to 3 multiplied by 4 poles and 12 slots multiplied by 2 to equal 24 slots; if six pairs of 12 magnetic poles are used, it will be 72 slots.

In traditional brushless motors, the winding method of winding coils across the armature teeth is widely used. For example, most brushless motors with three-phase windings are wound across two armature teeth. In order to improve the output power and The utilization rate of the winding coils is almost always the star connection and delta connection of the three-phase AC motor, and at least the two-phase coil flows through each power-on. When the coil is energized and driven, the magnetism generated in each armature tooth is often distributed according to the magnetic poles of "south, south, north, north, south and south". The south pole, and at the same time the other group of windings in the armature tooth produces the north pole to cancel each other, resulting in a waste of electric energy, that is, electric energy loss. In order to avoid this shortcoming, the winding method of the stator coil of the high-efficiency full-phase drive brushless motor winding of the present invention is to wind between two adjacent tooth slots of a single armature tooth, and the adjacent two adjacent tooth slots of the same phase winding are wound. The winding direction of the coil is opposite, that is, part of the coil of the same phase winding is wound on both sides of a single armature tooth. The advantage of this winding is also to reduce the magnetic energy loss caused by magnetic leakage. In motor theory, there are often only copper losses and iron losses, but in fact electrical losses and magnetic losses also exist). Take the three-phase winding as an example, that is, the one-phase winding (L1 phase) is wound around the armature tooth 1 in one slot (slot 1) and the adjacent slot (slot 2), and after the required number of turns, the next phase The winding (L2 phase) is wound around the armature tooth 2 in this adjacent slot (slot 2) and the next adjacent slot (slot 3). ) and the next slot (slot 4) around the armature tooth 3, winding the next phase winding (L3 phase) to the required number of turns, then around the armature tooth 4, armature tooth 5, armature The teeth 6 are respectively wound in the opposite direction to the next group of coils of each phase winding L1, L2, L3 (for the three-phase case), so that the winding directions of the adjacent two coils of the same phase winding are kept in the opposite direction until the winding is completed. Motors with multiple N phases also have the same winding method. The two ends of each phase winding are respectively connected to the respective H-bridge type bridge power drive devices on the high-efficiency full-phase drive brushless motor driver.

Another great advantage of the single armature tooth winding is that the magnetic force is concentrated and the magnetic leakage is less. For example, the usual three-phase brushless motor needs to be wound across at least two armature teeth. The left side of the armature tooth 1 and the right side of the armature tooth 3 are wound, so that the magnetic field lines are dispersed and the two side slots of the middle armature tooth form magnetic resistance, and the magnetic field lines generated by the armature tooth 2 will also pass through the armature tooth 1 and the armature tooth. 3 forms a magnetic circuit, so as to partially cancel the magnetic field lines generated by armature tooth 1 and armature tooth 3 with the same polarity as that generated by armature tooth 2; similarly, armature tooth 2 will also partially cancel armature tooth 1 and armature tooth 3. magnetic field lines of the same polarity. Winding across the armature teeth will make the final magnetic force be the vector sum of the magnetic forces generated by the three physically different armature teeth, and some components of the vector sum must cancel each other out, resulting in a decrease in the electric drive efficiency. Winding completely avoids the above disadvantages, and the copper loss of single armature tooth winding is lower than that of cross armature tooth winding.

The power drive device that drives the winding to be energized is composed of IGBT composite fully controlled voltage-driven power semiconductor devices, and high-power MOS tubes and other high-power power devices can also be used.

In the brushless motor, for the rotor installed with permanent magnets, the magnetic pole position on the rotor is usually detected by Hall elements, or a disc with holes can be installed on the rotor shaft to cooperate with photoelectric elements for detection, and a resolver can also be used. This is a commonly used detection technology for the position of the magnetic pole on the rotor of the permanent magnet in the brushless motor. That is, the Hall element is also divided into three modes with latching and non-latching and linear characteristics.

For ease of understanding, the following first describes its full-phase drive working principle and specific implementation with a common Hall element with latch and a push-forward drive circuit composed of commonly used elements from Fig. 1 to Fig. 10 (Fig. 8). The implementation method composed of microcontroller MCU will be described later):

When the SW1 turn/stop switch is in the off (turned) state, one of the inputs of each of U13 to U18 is in a high state.

The arrows on the outer wire ends of the stator above in FIGS. 2 to 7 respectively indicate the directions of current flow in each driving state.

In the present invention, for the magnetic position sensor of the high-efficiency full-phase drive brushless motor with three phases in Figure 8, the H1, H2, H3 signals are respectively generated and input to the 3-wire 8-wire decoder IC2 after the inverter IC1. , respectively give the level to X1 to X6, when the given level is high H, correspondingly drive the following Y1 to Y6.

The driving circuit is described with reference to FIG. 8 and FIG. 10 , and the following describes each driving state in conjunction with FIG. 2 to FIG. 7 :

Driving state 1: As shown in Figure 2, when one of the south poles S1 of the permanent magnet rotor is near the armature tooth 3 and the Hall element H1, the outputs of H1, H2, and H3 are L, H, and H; The output of X6 is H, L, L, L, L, L so that Y1, Y2, Y3 are high level, the high level output by Y1 is divided into two channels, all the way to the transistor Q1 to make it turn on, so that the photocoupler is turned on by SH1 IC5 turns on to drive the IGBT T1 to turn on, and another high-level signal outputs the PWM drive signal SL1 to the IC8 FET driver to drive the IGBT T4 after U13 and the variable duty cycle PWM signal output by IC3 Turn on, the power supply +V flows through the T1+ winding to T1- and then through T4 to the ground, the current direction is from T1 to T4, and the south pole S is generated on the armature teeth 1 and 7 in Figure 2; the south pole S1 on the rotor is driven respectively. And S2, the north pole N is generated on the armature teeth 4 and 10; the north pole N1 and N2 on the rotor are driven respectively; and the high level output by Y2 is also divided into two channels, all the way to the transistor Q2 to make it conduct, so as to make it through SH2. The photocoupler IC9 is turned on to drive the T5 IGBT to turn on, and the other high-level signal outputs the PWM drive signal SL2 to the IC12 FET driver to drive after the PWM signal with variable duty ratio output by U14 and IC3. The IGBT of T8 is turned on, the power supply +V flows through the T2+ winding to T2- through T5, and then to the ground through T8, the current direction is from T5 to T8, and the south pole S is generated on the armature teeth 2 and 8 in Figure 2; it also drives the rotor respectively. The south poles S1 and S2 on the upper pole generate the north pole N on the armature teeth 5 and 11; it also drives the north pole N1 and N2 on the rotor respectively; It is turned on, so that the photocoupler IC13 is turned on through SH3 to drive the IGBT T9 to turn on, and the other high-level signal outputs the PWM drive signal SL3 after the PWM signal of the variable duty cycle output by U15 and IC3. Go to the IC16 FET driver to drive the IGBT T12 to turn on, the power supply +V flows through the T3+ winding to T3- through T9 and then to the ground through T12, the current direction is from T9 to T12, on the armature teeth 3 and 9 in Figure 2 Produces a south pole S; also drives the south poles S1 and S2 on the rotor, respectively, and produces a north pole N on the armature teeth 6 and 12; also drives the north poles N1, and N2 on the rotor, respectively. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot tooth position completes the first drive state.

Drive state 2: After the first drive state, as shown in Figure 3, when the rotor south pole S1 rotates to the vicinity of the armature tooth 4, the outputs of H1, H2, and H3 are L, L, and H; the output terminals X1 to X6 of the decoder IC2 output For L H, L, L, L, L, make Y2, Y3, Y4 high level, the high level output from Y2 is divided into two channels, the high level signal goes all the way to the transistor Q2 to make it turn on, so that the photoelectricity is turned on by SH2. The coupler IC9 is turned on to drive the IGBT of T5 to turn on, and the other high-level signal outputs the PWM drive signal SL2 to the IC12 FET driver to drive T8 after the PWM signal with variable duty ratio output by U14 and IC3. This IGBT is turned on, the power supply +V flows through the T2+ winding through T5 to T2- and then through T8 to the ground, the current direction is from T5 to T8, and the south pole S is generated on the armature teeth 2 and 8 in Figure 3; The south poles S1 and S2 generate the north pole N on the armature teeth 5 and 11; they drive the north poles N1 and N2 on the rotor respectively; and the high level output by Y3 is also divided into two paths, all the way to the transistor Q3 to make it conduct, thereby SH3 turns on the photocoupler IC13 to drive the IGBT T9 to turn on, and the other high-level signal outputs the PWM drive signal SL3 to the IC16 FET driver after the PWM signal of the variable duty cycle output by U15 and IC3 is phased. To drive the IGBT of T12 to turn on, the power supply +V flows through the T3+ winding to T3- through T9 and then to the ground through T12, the current direction is from T9 to T12, and the south pole S is generated on the armature teeth 3 and 9 in Figure 3; Drive the south poles S1 and S2 on the rotor to generate the north pole N on the armature teeth 6 and 12; also drive the north pole N2 and N1 on the rotor respectively; the high level output by the third Y4 is also divided into two channels, one to the triode Q4 turns it on, so that the photocoupler IC7 is turned on through SH4 to drive the IGBT T3 to turn on, and the other high-level signal is outputted after U16 and the variable duty cycle PWM signal output by IC3 and output PWM drive The signal SL4 goes to the IC6 FET driver to drive the IGBT of T2 to turn on. The power supply +V flows through the T1- winding to T1+ through T3 and then to the ground through T2. The current direction is from T3 to T2. In Figure 3, armature teeth 4 and 4 10 produces a south pole S; also drives the south poles S1 and S2 on the rotor, respectively, and produces a north pole N on the armature teeth 7 and 1; also drives the north poles N1, and N2 on the rotor, respectively. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot position completes the second drive state.

Drive state 3: After the second drive state, as shown in Figure 4, when the rotor south pole S1 rotates to the vicinity of the armature tooth 5, the outputs of H1, H2, and H3 are H, L, and H; the output terminals X1 to X6 of the decoder IC2 output For L, L, H, L, L, L, Y3, Y4, Y5 are high level, the high level output by Y3 is divided into two channels, and all the way to the transistor Q3 to make it turn on, so that the photocoupler IC13 is turned on through SH3. Pass to drive the IGBT of T9 to turn on, and another high-level signal given by U9 outputs the PWM drive signal SL3 to the IC16 FET driver to drive T12 after the PWM signal with variable duty ratio output by U15 and IC3. This IGBT is turned on, the power supply +V flows through the T3+ winding through T9 to T3- and then through T12 to the ground, the current direction is from T9 to T12, and the south pole S is generated on the armature teeth 3 and 9 in Figure 4; The south poles S1 and S2 generate the north pole N on the armature teeth 6 and 12; they drive the north poles N2 and N1 on the rotor respectively; and the high level output by Y4 is also divided into two paths, all the way to the transistor Q4 to make it conduct, thereby SH4 turns on the photocoupler IC7 to drive the IGBT T3 to turn on, and the other high-level signal outputs the PWM drive signal SL4 to the IC6 FET driver after the PWM signal of the variable duty cycle output by U16 and IC3 is phased. To drive the IGBT of T2 to turn on, the power supply +V flows through the T1- winding to T1+ through T3 and then to the ground through T2, the current direction is from T3 to T2, and the south pole S is generated on the armature teeth 4 and 10 in Figure 4; Drive the south poles S1 and S2 on the rotor to generate the north pole N on the armature teeth 7 and 1; also drive the north poles N2 and N1 on the rotor respectively; the high level output by the third Y5 is also divided into two channels, all the way to the transistor Q5 It is turned on, so that the photocoupler IC11 is turned on through SH5 to drive the IGBT T7 to turn on, and the other high-level signal outputs the PWM drive signal after the PWM signal with the variable duty ratio output by U17 and IC3. The FET driver from SL5 to IC10 drives the IGBT of T6 to turn on. The power supply +V flows through the T2- winding to T2+ through T7 and then to the ground through T6. The current direction is from T7 to T6. In Figure 4, armature teeth 5 and 11 It also drives the south poles S1 and S2 on the rotor, respectively, and generates the north pole N on the armature teeth 8 and 2; also drives the north poles N1 and N2 on the rotor, respectively. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot position completes the third drive state.

Drive state 4: After the third drive state, as shown in Figure 5, the rotor south pole S1 rotates to the vicinity of the armature tooth 6, and the outputs of H1, H2, and H3 are H, L, and L; the outputs of the output terminals X1 to X6 of the decoder IC2 are L, L, L, H, L, L make Y4, Y5, Y6 high level, the high level output by Y4 is divided into two channels, and all the way to the transistor Q4 to make it turn on, so that the photocoupler IC7 is turned on through SH4 To drive the IGBT of T3 to turn on, the other high-level signal outputs the PWM drive signal SL4 to the IC6 FET driver to drive the IGBT of T2 to turn on after the PWM signal with variable duty ratio output by U16 and IC3. The power supply +V flows through the T1- winding through T3 to T1+ and then to the ground through T2, the current direction is from T3 to T2, and the south pole S is generated on the armature teeth 4 and 10 in Figure 5; the south poles S1 and S2 on the rotor are driven respectively, The north pole N is generated on the armature teeth 7 and 1; the north pole N2 and N1 on the rotor are driven respectively; and the high level output by Y5 is also divided into two channels, and all the way to the transistor Q5 to make it conduct, so as to make the optocoupler through SH5. IC11 is turned on to drive the IGBT T7 to be turned on, and the other high-level signal outputs the PWM drive signal SL5 to the IC10 FET driver to drive the IGBT T6 after the phase of U17 and the PWM signal with variable duty ratio output by IC3. On, the power supply +V flows through the T2- winding through T7 to T2+ and then through T6 to the ground, the current direction is from T7 to T6, and the south pole S is generated on the armature teeth 5 and 11 in Figure 5; it also drives the south pole on the rotor respectively. S1 and S2 generate the north pole N on the armature teeth 8 and 2; they also drive the north pole N2 and N1 on the rotor respectively; the high level output by the third channel Y6 is also divided into two channels, and all the way to the transistor Q6 to make it conduct, Therefore, the photocoupler IC15 is turned on by SH6 to drive the IGBT T11 to turn on, and the other high-level signal outputs the PWM driving signal SL6 to IC14 field effect after the PWM signal of the variable duty ratio output by U18 and IC3 is phased. The tube driver drives the IGBT T10 to turn on, the power supply +V flows through the T3- winding to T3+ through T11 and then to the ground through T10, the current direction is from T11 to T10, and the south pole S is generated on the armature teeth 6 and 12 in Figure 5; Also drives the south poles S1 and S2 on the rotor, respectively, producing the north pole N on the armature teeth 9 and 3; also drives the north poles N1, and N2 on the rotor, respectively. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot position completes the fourth drive state.

Driving state 5: After the fourth driving state, as shown in Figure 6, the rotor south pole S1 rotates to the vicinity of the armature tooth 7, and the outputs of H1, H2, and H3 are H, H, and L; the outputs of the output terminals X1 to X6 of the decoder IC2 are L, L, L, L, H, L make Y5, Y6, Y1 high level, the high level output by Y5 is divided into two channels, and all the way to the transistor Q5 to make it turn on, so that the photocoupler IC11 is turned on through SH5 To drive the IGBT T7 to turn on, the other high-level signal outputs the PWM drive signal SL5 to the IC10 field effect transistor driver after the PWM signal with variable duty ratio output by U17 and IC3 to drive the IGBT of T6 to turn on. The power supply +V flows through the T2- winding to T2+ through T7 and then to the ground through T6, the current direction is from T7 to T6, and the south pole S is generated on the armature teeth 5 and 11 in Figure 6; the south poles S1 and S2 on the rotor are driven respectively, The north pole N is generated on the armature teeth 8 and 2; the north pole N2 and N1 on the rotor are driven respectively; and the high level output by Y6 is also divided into two paths, all the way to the transistor Q6 to make it conduct, so as to make the optocoupler through SH6. IC5 is turned on to drive the IGBT T11 to turn on, and the other high-level signal is in phase with the PWM signal with variable duty ratio output by U18 and IC3, and then outputs the PWM drive signal SL6 to the IC14 FET driver to drive the IGBT T10 On, the power supply +V flows through the T3- winding through T11 to T3+ and then through T10 to the ground, the current direction is from T11 to T10, and the south pole S is generated on the armature teeth 6 and 12 in Figure 6; it also drives the south pole on the rotor respectively. S1 and S2, generate the north pole N on the armature teeth 9 and 3; also drive the north pole N2 and N1 on the rotor respectively; the high level output by the third channel Y1 is also divided into two channels, all the way to the transistor Q1 to make it conduct, Therefore, the photocoupler IC5 is turned on through SH1 to drive the IGBT T1 to turn on, and the other high-level signal outputs the PWM driving signal SL1 to IC8 field effect after the PWM signal of the variable duty ratio output by U13 and IC3 is phased. The tube driver drives the IGBT T4 to turn on, the power supply +V flows through the T1+ winding to T1- and then to the ground through T4, the current direction is from T1 to T4, and the south pole S is generated on the armature teeth 7 and 1 in Figure 6; The south poles S1 and S2 on the rotor are also driven, respectively, producing a north pole N on the armature teeth 10 and 4; the north poles N1, and N2, respectively, on the rotor are also driven. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot position completes the fifth drive state.

Drive state 6: After the fifth drive state, as shown in Figure 7, the rotor south pole S1 rotates to the vicinity of the armature tooth 8, and the outputs of H1, H2, and H3 are L, H, and L; the outputs of the output terminals X1 to X6 of the decoder IC2 are L, L, L, L, L, H make Y6, Y1, Y2 high level, the high level output by Y6 is divided into two channels, and all the way to the transistor Q6 to make it turn on, so that the photocoupler IC15 is turned on through SH6 To drive the IGBT T11 to turn on, the other high-level signal outputs the PWM drive signal SL6 to the IC14 field effect transistor driver after the PWM signal with variable duty ratio output by U18 and IC3 to drive the IGBT of T10 to turn on. The power supply +V flows through T11 through the T3- winding to T3+ and then through T10 to the ground, the current direction is from T11 to T10, and the south pole S is generated on the armature teeth 6 and 12 in Figure 7; the south poles S1 and S2 on the rotor are driven respectively. , the north pole N is generated on the armature teeth 9 and 3; the north poles N2 and N1 on the rotor are driven respectively; and the high level output by Y1 is also divided into two paths, all the way to the transistor Q1 to make it conduct, so as to make the photoelectric coupling through SH1 The IC5 is turned on to drive the IGBT of T1 to be turned on, and the other high-level signal outputs the PWM drive signal SL1 to the IC8 FET driver to drive the T4 after the PWM signal with variable duty ratio output by U13 and IC3. The IGBT is turned on, the power supply +V flows through the T1+ winding to T1- and then through T4 to the ground, the current direction is from T1 to T4, and the south pole S is generated on the armature teeth 7 and 1 in Figure 7; it also drives the rotor on the rotor respectively. The south poles S1 and S2 generate the north pole N on the armature teeth 10 and 4; they also drive the north poles N2 and N1 on the rotor respectively; the high level output by the third channel Y2 is also divided into two channels, all the way to the transistor Q2 to make it conduct , so that the photocoupler IC9 is turned on through SH2 to drive the IGBT T5 to turn on, and another high-level signal is outputted after U14 and the variable duty cycle PWM signal output by IC3 and output PWM drive signal SL2 to IC12 field The effect tube driver drives the IGBT T8 to turn on. The power supply +V flows through the T2+ winding to T2- through T5 and then to the ground through T8. The current direction is from T5 to T8, and the south pole S is generated on the armature teeth 8 and 2 in Figure 6. ; also drive the south poles S1 and S2 on the rotor, respectively, producing a north pole N on the armature teeth 11 and 5; also drive the north poles N1 and N2 on the rotor, respectively. The South S generated by the stator together drives the South Pole on the rotor and attracts the North Pole on the rotor to rotate forward; the North N generated jointly drives the North Pole on the rotor and attracts the South Pole on the rotor to rotate forward; the rotor rotates an electric The pivot position completes the sixth drive state.

After driving state 6, the south pole of S2 on the rotor reaches the south pole position of S1 in Fig. 2, and the process from driving state 1 to driving state 6 is repeated thereafter to form the continuous operation of the motor rotor. In each driving state, all stator coils are driven The armature teeth of the current drive all the south and north poles on the rotor at the same time, each phase winding is energized to participate in the work, the coil efficiency reaches 100%, and the motor power density is maximized in terms of driving mode.

When the stop switch SW1 is turned on, the IC2 outputs X1 to X6 are all low level, so that Q1 to Q6 are all turned off, so that SH1 to SH6 are all turned off, and one input terminal of U13 to U18 is low level, so that SL1 is turned off All outputs to SL6 are low level, so that the MOS/IGBT drivers from T1 to T12 are all turned off, and the motor stops.

In Fig. 8 and Fig. 9, IC4 generates a power +VH which is about 15V higher than the power supply +V by MC1555 and peripheral components and supplies it to the photocoupler.

V1 in FIG. 8 and FIG. 9 is the frequency regulator of the pulse width modulation signal, and V2 adjusts the duty cycle of the pulse width modulation signal to adjust the rotational speed of the motor rotor.

Fig. 10 is the circuit of the H-bridge type power drive device used for the high-efficiency full-phase drive brushless motor with three phases of the present invention. It is composed of an H-bridge power driver composed of the right arm composed of the other two groups of compound fully-controlled voltage-driven power semiconductor devices in series. At the midpoint of the arm and the right arm, the upper and lower control terminals of the left arm and the right arm of each group of H-bridge power drivers are controlled by four different signals respectively. The power drive device can also use high-power MOS field effect transistors.

Due to the development of society, many circuits originally composed of ordinary electronic components can often be realized by microcontroller MCU, and many MCUs have the function of pulse width modulation PWM, and have a variety of buses, such as USB bus and CAN bus, etc. , when using it, please refer to its description file and apply it, such as the STM32F103 series of microcontroller MCUs produced by STMicroelectronics. Figure 11 shows the control circuit diagram composed of STM32F103VET6 microcontroller that can control two-phase to six-phase, in which the output signals of Hall magnetic sensors H1 to H12 are input to the I/O port of IC1 microcontroller MCU, IC1 microcontroller The output port of the device with PWM function outputs SL1 to SL12 pulses with pulse width modulation PWM, and the other I/O ports of the IC1 microcontroller MCU output SH1 to SH12 signals (active high), so that the It can realize the function of forming a circuit with ordinary electronic components as shown in Figure 8, and has a variety of communication interfaces (not drawn in the figure for the sake of clarity). The IC4 part in Figure 11 is the same as in Figure 8. The power supply +VH, which is about 15V higher than the power supply +V, is generated by the MC1555 and peripheral components to supply the photocoupler. In Figure 11, SW1 is a forward/reverse switch, SW2 is a run/stop switch, and V1 is a potentiometer for adjusting the rotational speed.

In the process of research and development, we found that the Hall magnetic position sensor with latch often causes the rotor to rotate at different distances in each driving state due to the difference in quality. In some driving transition states, the rotor needs to rotate by a relatively large angle to enter the next driving transition state. The Hall magnetic position sensor without latch, due to its fixed position, often makes the rotor rotate at the same distance in each driving state. A resolver for detection has a similar effect. Although the number of sensors is twice that of a latched Hall magnetic position sensor, it is still recommended for improving motor performance. Figure 12 shows the winding method of a single armature tooth of a three-phase 4-pole 12-slot motor and the installation structure of six Hall magnetic position sensors without latching.

There are two ways of Hall magnetic position sensor with latch and Hall magnetic position sensor without latch (correspondingly, photoelectric position sensor with latch and photoelectric position sensor without latch, as well as the use of The latched resolver sensor and the non-latched resolver position sensor) can be applied to the controller made by the microcontroller MCU, and only the hexadecimal value of the magnetic pole state is input to the microcontroller MCU. The values are different, and there is no fundamental difference between the two. For example, the hexadecimal values (inverse code) given by the Hall magnetic position sensor with latch in Figure 8 are 0x06, 0x04, 0x05, 0x01, 0x03, 0x02 ; and the hexadecimal (one's complement) given by the Hall magnetic position sensor without latch in Figure 12 will correspond to 0x3e, 0x3d, 0x3b, 0x37, 0x2f, 0x1f. Applied in Figure 11 (the unused Hall elements are not connected, and the corresponding outputs are all grounded) in the program, only the state judgment code can be replaced, such as the first state:

The hex value given by the Hall Magnetic Position Sensor with Latch is 0x06

case 0x06: //state 1:

TIM1->CCR1=gt_pwm.pwm_curr_arr; //PE9

TIM1->CCR2=gt_pwm.pwm_curr_arr; //PE11

TIM1->CCR3=gt_pwm.pwm_curr_arr; //PE13

TIM1->CCR4=0; //PE14

TIM4->CCR1=0; //PD12

TIM4->CCR2=0; //PD13

PD8=H; PD9=H; PD10=H; PA8=L; PA9=L; PA10=L; //IO

break;

The corresponding hexadecimal value given by the Hall magnetic position sensor without latch is 0x3e, just rewrite case0x06://state1 to case0x3e://state1. In this state, PD8, PD9, and PD10 output high level, while PE9, PE11, and PE13 output pulses with pulse width modulation PWM, so that T1 and T4 in Figure 10 are turned on, and the current flows through the winding from T1+ to T1-. L1; T5, T8 are turned on, and the current flows through the winding L2 from the direction of T2+ to T2-; T9, T12 is turned on, and the current flows from the direction of T3+ to T3- through the winding L3.

It should be noted that due to the different magnetic field patterns generated by specific rotors, some rotor magnetic pole patterns are saddle-shaped. In order to maintain a good angular relationship between the interaction force of the magnetic field of the stator and the rotor to make the operation smooth, the Hall magnetic position sensor is used. The specific position of the motor will have a certain displacement, which should be determined by the specific motor through experiments.

The following describes the implementation of the two-phase to six-phase high-efficiency full-phase drive brushless motor with a microcontroller MCU and a Hall magnetic position sensor without latch:

Figure 13 shows the winding method of a single armature tooth winding of a high-efficiency full-phase drive brushless motor with four poles and eight slots. M1 is the stator armature, 1 to 8 are the stator armature teeth, H1, H2, H3 and H4 are Hall element magnetic position sensors without latching, T1+ and T1- are the starting and ending ends of the L1 phase winding, T2+ and T2- are the starting and ending ends of the L2 phase winding, respectively. The arrows on the winding wires in the stator indicate the winding direction of each winding on the armature tooth. The driving mode of each driving cycle of the two sets of winding coils is composed of the following 4 driving states (the arrows on the lines from Figure 15 to Figure 18 indicate the current direction):

In drive state 1 (Fig. 15), the output of Hall element magnetic position sensors H1, H2, H3, H4 are L, H, H, H, and their hexadecimal values are 0E. In Fig. 11, IC1 outputs PD8=H, PD9 =H, make SH1 and SH2 low, and T1 and T5 in Figure 14 are turned on; in Figure 11, the output terminals PE9 and PE11 of IC1 output PWM waves with pulse width modulation to SL1, and SL2 makes T4 and T8 in Figure 14 lead. Turn on, so that the current of the power supply +V flows to T1+ to T1-, T2+ to T2-; armature tooth 1 and armature tooth 2 produce the south pole S, armature tooth 3 and armature tooth 4 produce the north pole N, which drives the rotor on the south pole S1 to rotate ( The relationship between the other armature teeth and the rotor magnetic pole is also shown in Figure 15), so that the rotor rotates one armature tooth and enters the driving state 2 shown in Figure 16.

In driving state 2 (Fig. 16), the output of Hall element magnetic position sensors H1, H2, H3, H4 are H, L, H, H, and their hexadecimal values are 0x0D. In Fig. 11, IC1 outputs PD9=H, PD10 =H, make SH2, SH3 low level, T5, T3 in Fig. 14 are turned on; in Fig. 11 IC1 output terminal PE11, PE13 output PWM wave with pulse width modulation to SL2, SL3 makes T2, T8 in Fig. 14 lead Turn on, so that the current of the power supply +V flows to T2+ to T2-, T1- to T1+; armature tooth 2 armature tooth 3 produces the south pole S, armature tooth 4 armature tooth 5 produces the north pole N, which drives the rotor on the south pole S1 to rotate ( The relationship between the other armature teeth and the rotor magnetic pole is also shown in Figure 16), so that the rotor rotates one armature tooth and enters the driving state 3 shown in Figure 17.

In drive state 3 (Fig. 17), the output of the Hall element magnetic position sensors H1, H2, H3, H4 is H, H, L, H, and the hexadecimal value of H is 0x0B. In Fig. 11, IC1 outputs PD10=H, PA8 =H, make SH3 and SH4 low level, T3 and T7 in Fig. 14 are turned on; in Fig. 11, the output terminals PE13 and PE14 of IC1 output the PWM wave with pulse width modulation to SL3, and SL4 makes T2 and T6 in Fig. 14 lead. Turn on, so that the current of the power supply +V flows to T1- to T1+, T2- to T2+; armature teeth 3 and armature teeth 4 generate the south pole S, armature teeth 5 and armature teeth 6 generate the north pole N, which drives the rotor on the south pole S1 to rotate ( The relationship between the other armature teeth and the rotor magnetic pole is also shown in Figure 17), so that the rotor rotates one armature tooth and enters the driving state 4 shown in Figure 18.

In drive state 4 (Fig. 18), the output of Hall element magnetic position sensors H1, H2, H3, H4 is H, H, H, L, and their hexadecimal value is 0x07. In Fig. 11, IC1 outputs PA8=H, PD8 =H (set when programming), make SH4 and SH1 low, and T7 and T1 in Figure 14 are turned on; on Figure 11, IC1 output terminals PE14 and PE9 (set when programming) output pulse width modulation PWM wave to SL4, SL1 turns on T6 and T4 in Figure 14, so that the current of power +V flows to T2- to T2+, T1+ to T1-; armature tooth 4, armature tooth 5 generate south pole S, armature tooth 6 electric current The pivot tooth 7 generates the north pole N, which drives the upper south pole S1 of the rotor to rotate (the relationship between the other armature teeth and the rotor magnetic pole is also shown in Figure 18), so that the rotor rotates one armature tooth and enters the driving state 1 shown in Figure 15 (only S1) is replaced by S2, thus completing a complete drive cycle.

In order to increase the power density of the motor, people have also doubled the number of slots to wind more wires. When doubled, when the integer K is equal to 2, the stator electronics of the high-efficiency full-phase drive brushless motor The number of pivot slots is equal to twice the number of the sum of the north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases. When each phase winding is wound and then the two phases are connected in parallel to form a one-phase winding, as shown in Figure 19 (with two-phase and two-pole magnetic poles) Example), two adjacent coils of the same phase winding of the stator are wound in opposite directions and the number of phases wound in the middle minus one is the number of armature teeth; when two adjacent armature teeth are of the same phase winding in series and wound in the same direction As shown in Figure 20 (taking two phases and two magnetic poles as an example), at this time, two armature teeth are regarded as one electric drive tooth, and the adjacent two electric drive tooth coils of the same phase winding of the stator are wound in opposite directions and separated by a number of phases. The number of electric drive teeth minus one, the same phase winding is wound between two adjacent tooth slots of a single armature tooth, and then wound in the same way between the adjacent two adjacent tooth slots of the next armature tooth. , become a number of electric drive teeth, after the number of electric drive teeth is subtracted by one from the phase number, the next coil of the phase winding is wound on the two armature teeth in the opposite way to the winding direction of the previous group of coils, and this method is repeated until the stator The coils on each armature tooth are all wound, and the arrows on the windings in Figures 19 and 20 indicate the winding directions. The multi-phase high-efficiency full-phase drive brushless motor is also wound in one of these two ways. The relationship between the number of magnetic poles of the permanent magnet rotor and the number of phases and the number of stator armature slots is: the number of stator armature slots is equal to the north and south of the permanent magnet rotor. The number of the sum of the magnetic poles is multiplied by the number of phases and then the integer K, the number of phases is greater than or equal to 2, and the integer K is greater than or equal to 1. For example, for a three-phase 8-pole high-efficiency full-phase drive brushless motor when K=2, the number of stator armature slots is equal to 8X3X2=48 slots.

In the above, we described the winding and driving of high-efficiency all-phase drive brushless motors with two and three phases. The following describes the four, five, and six-phase high-efficiency all-phase drive brushless motors.

Figure 21 shows the winding method of a high-efficiency full-phase drive brushless motor with four phases of two magnetic poles and a magnetic position sensor without latching. The arrows on the line indicate the winding direction, T1+ and T1- are respectively are the start and end of the first phase winding L1, T2+ and T2- are the start and end of the second phase winding L2, respectively, T3+ and T3- are the start and end of the third phase winding L3, T4+ and T4- are the start and end of the fourth phase winding L4, respectively.

Described below in conjunction with Figure 11 and Figure 22:

When driving state 1 (Fig. 23), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is L, H, H, H, H, H, H, H and PD8, PD9 of IC1 , PD10, PA8 output is high level H, make SH1, SH2, SH3, SH4 low level L, make T1, T5, T9, T13 in Figure 22 turn on, PE9, PE11, PE13, PE14 of IC1 output PWM wave, make T4, T8, T12, T16 in Fig. 22 conduct, and the windings L1, L2, L3, L4 are energized, and the current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4- , which drives the rotor counterclockwise to the next position Figure 24.

When driving state 2 (Fig. 24), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, L, H, H, H, H, H, H and PD9, PD10 of IC1 , PA8, PA9 output is high level H, make SH2, SH3, SH4, SH5 low level L, make T5, T9, T13, T3 in Figure 22 turn on, PE11, PE13, PE14, PD12 of IC1 output PWM wave, make T8, T12, T16, T2 in Figure 22 conduct, the windings L2, L3, L4, L1 are energized, and the current flows from T2+ to T2-, T3+ to T3-T4+ to T4-, T1- to T1+, driving The rotor turns counterclockwise to the next position Figure 25.

When driving state 3 (Fig. 25), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, H, L, H, H, H, H, H and PD10, PA8 of IC1 , PA9, PA10 output is high level H, make SH3, SH4, SH5, SH6 low level L, make T9, T13, T3, T7 in Figure 22 turn on, PE13, PE14, PD12, PD13 of IC1 output PWM wave, make T12, T16, T2, T6 in Fig. 22 conduct, make the windings L3, L4, L1, L2 energized, the current flows from T3+ to T3-, T4+ to T4-, T1- to T1+, T2- to T2+ , which drives the rotor counterclockwise to the next position Figure 26.

When driving state 4 (Fig. 26), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, H, H, L, H, H, H, H and PA8, PA9 of IC1 , PA10, PC10 output is high level H, make SH4, SH5, SH6, SH7 low level L, make T13, T3, T7, T11 in Figure 22 turn on, PE14, PD12, PD13, PD14 of IC1 output PWM wave, make T16, T2, T6, T10 in Figure 22 conduct, the windings L4, L1, L2, L3 are energized, and the current flows from T4+ to T4-, T1- to T1+, T2- to T2+, T3- to T3+ to drive the rotor Turn counterclockwise to the next position Figure 27.

When driving state 5 (Fig. 27), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, H, H, H, L, H, H, H and PA9, PA10 of IC1 , PC10, PC11 output is high level H, make SH5, SH6, SH7, SH8 low level L, make T3, T7, T11, T15 in Figure 22 turn on, PD12, PD13, PD14, PD15 of IC1, output PWM wave, make T2, T6, T10, T14 in Figure 22 conduct, the windings L1, L2, L3, L4 are energized, and the current flows from T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+ , which drives the rotor counterclockwise to the next position Figure 28.

When driving state 6 (Fig. 28), in Fig. 11, H1, H2, H3, H4, H5, H6, H7, H8 output are H, H, H, H, H, L, H, H and PA10, PC10 of IC1 , PC11, PD8 output is high level H, make SH6, SH7, SH8, SH1 low level L, make T7, T11, T15, T1 in Figure 22 turn on, PD13, PD14, PD15, PE9 of IC1 output PWM wave, make T6, T10, T14, T4 in Figure 22 conduct, the windings L2, L3, L4, L1 are energized, and the current flows from T2- to T2+, T3- to T3+, T4- to T4+, T1+ to T1-, Drive the rotor counterclockwise to the next position Figure 29.

When driving state 7 (Fig. 29), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, H, H, H, H, H, L, H and PC10, PC11 of IC1 , PD8, PD9 output is high level H, make SH7, SH8, SH1, SH2 low level L, make T11, T15, T1, T5 in Figure 22 turn on, PD14, PD15, PE9, PE11 of IC1 output PWM wave, make T10, T14, T4, T8 in Fig. 22 conduct, the windings L3, L4, L1, L2 are energized, and the current flows from T3- to T3+, T4- to T4+, T1+ to T1-, T2+ to T2-, Drive the rotor counterclockwise to the next position Figure 30.

When driving state 8 (Fig. 30), the output of H1, H2, H3, H4, H5, H6, H7, H8 in Fig. 11 is H, H, H, H, H, H, H, L and PC11, PD8 of IC1 , PD9, PD9 output is high level H, make SH8, SH1, SH2, SH3 low level L, make T15, T1, T5, T9 in Figure 22 turn on, PD15, PE9, PE11, PE13 of IC1 output PWM wave, make T14, T4, T8, T12 in Fig. 22 conduct, the windings L4, L1, L2, L3 are energized, and the current flows from T4- to T4+, T1+ to T1-, T2+ to T2-, T3+ to T3-, Drive the rotor counterclockwise to the next position Figure 23.

After the above drive state 1 to drive state 8, a total of 8 drive states, the rotor completes one rotation.

The high-efficiency all-phase drive brushless motor and driver circuit with four-phase structure are described in detail above. For a five-phase high-efficiency all-phase drive brushless motor with five phases, there is a similar structure only with one more phase winding. Figure 31 The winding method of a high-efficiency full-phase drive brushless motor with five phases of two magnetic poles and a magnetic position sensor without latching is shown. The arrow on the line on the figure indicates the winding direction, and T1+ and T1- are the first The starting and ending ends of the first-phase winding L1, T2+ and T2- are the starting and ending ends of the second-phase winding L2, respectively, T3+ and T3- are the starting and ending ends of the third-phase winding L3, respectively, T4+ and T4- They are the start end and the end end of the fourth phase winding L4, respectively, and T5+ and T5- are the start end and the end end of the fifth phase winding L5, respectively. The high-efficiency full-phase drive brushless motor with five phases has a drive mode of each drive cycle, which is composed of the following 10 drive states. The following describes in conjunction with Figure 11 and Figure 32:

When driving state 1, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is L, H, H, H, H, H, H, H, H, H and IC1 The output of PD8, PD9, PD10, PA8, PA9 is high level H, making SH1, SH2, SH3, SH4, SH5 low level L, making T1, T5, T9, T13, T17 in Figure 32 turn on, IC1 PE9, PE11, PE13, PE14, PD12 output PWM wave, so that T4, T8, T12, T16, T20 in Figure 32 are turned on, windings L1, L2, L3, L4, L5 are energized, and the current flows from T1+ to T1- , T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, drive the rotor to rotate counterclockwise to the next position.

When driving state 2, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, L, H, H, H, H, H, H, H, H and IC1 The output of PD9, PD10, PA8, PA9, PA10 is high level H, making SH2, SH3, SH4, SH5, SH6 low level L, making T5, T9, T13, T17, T3 in Figure 32 turn on, IC1 PE11, PE13, PE14, PD12, PD13 output PWM wave, so that T8, T12, T16, T20, T2 in Figure 32 are turned on, windings L2, L3, L4, L5, L1 are energized, and the current flows from T2+ to T2- , T3+ to T3-, T4+ to T4-, T5+ to T5-, T1- to T1+, drive the rotor to rotate counterclockwise to the next position.

When driving state 3, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, L, H, H, H, H, H, H, H and IC1 The output of PD10, PA8, PA9, PA10, PC10 is high level H, making SH3, SH4, SH5, SH6, SH7 low level L, making T9, T13, T17, T3, T7 in Figure 32 turn on, IC1 PE13, PE14, PD12, PD13, PD14 output PWM wave, so that T12, T16, T20, T2, T6 in Figure 32 are turned on, windings L3, L4, L5, L1, L2 are energized, and the current flows from T3+ to T3, T4+ to T4-, T5+ to T5-, T1- to T1+, T2- to T2+, drive the rotor to rotate counterclockwise to the next position.

When driving state 4, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, L, H, H, H, H, H, H and IC1 The output of PA8, PA9, PA10, PC10, PC11 is high level H, making SH4, SH5, SH6, SH7, SH8 low level L, making T13, T17, T3, T7, T11 in Figure 32 turn on, IC1 PE14, PD12, PD13, PD14, PD15 output PWM wave, so that T16, T20, T2, T6, T10 in Figure 32 are turned on, windings L4, L5, L1, L2, L3 are energized, and the current flows from T4+ to T4- , T5+ to T5-, T1- to T1+, T2- to T2+, T3- to T3+, drive the rotor to rotate counterclockwise to the next position.

When driving state 5, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, L, H, H, H, H, H and IC1 The output of PA9, PA10, PC10, PC11, PC12 is high level H, making SH5, SH6, SH7, SH8, SH9 low level L, making T17, T3, T7, T11, T15 in Figure 32 turn on, IC1 PD12, PD13, PD14, PD15, PC6 output PWM wave, so that T20, T2, T6, T10, T14 in Figure 32 are turned on, windings L5, L1, L2, L3, L4 are energized, and the current flows from T5+ to T5- , T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, drive the rotor to rotate counterclockwise to the next position.

When driving state 6, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, H, L, H, H, H, H and IC1 The output of PA10, PC10, PC11, PC12, PD0 is high level H, making SH6, SH7, SH8, SH9, SH10 low level L, making T3, T7, T11, T15, T19 in Figure 32 turn on, IC1 The PD13, PD14, PD15, PC6, PC7 output PWM wave, so that T2, T6, T10, T14, T18 in Figure 32 are turned on, the windings L1, L2, L3, L4, L5 are energized, and the current flows from T1- to T1+ , T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, drive the rotor to rotate counterclockwise to the next position.

When driving state 7, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, H, H, L, H, H, H and IC1 The output of PC10, PC11, PC12, PD0, PD8 is high level H, making SH7, SH8, SH9, SH10, SH1 low level L, making T7, T11, T15, T19, T1 in Figure 32 turn on, IC1 PD14, PD15, PC6, PC7, PE9 output PWM wave, so that T6, T10, T14, T18, T4 in Figure 32 are turned on, windings L2, L3, L4, L5, L1 are energized, and the current flows from T2- to T2+ , T3- to T3+, T4- to T4+, T5- to T5+, T1+ to T1-, drive the rotor to rotate counterclockwise to the next position.

When driving state 8, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, H, H, H, L, H, H and IC1 The output of PC11, PC12, PD0, PD8, PD9 is high level H, making SH8, SH9, SH10, SH1, SH2 low level L, making T11, T15, T19, T1, T5 in Figure 32 turn on, IC1 The PD15, PC6, PC7, PE9, PE11 output PWM wave, so that T10, T14, T18, T4, T8 in Figure 32 are turned on, the windings L3, L4, L5, L1, L2 are energized, and the current flows from T3- to T3+ , T4- to T4+, T5- to T5+, T1+ to T1-, T2+ to T2-, drive the rotor to rotate counterclockwise to the next position.

When driving state 9, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, H, H, H, H, L, H and IC1 The output of PC12, PD0, PD8, PD9, PD10 is high level H, making SH9, SH10, SH1, SH2, SH3 low level L, making T15, T19, T1, T5, T9 in Figure 32 turn on, IC1 PC6, PC7, PE9, PE11, PE13 output PWM wave, so that T14, T18, T4, T8, T12 in Figure 32 are turned on, windings L4, L5, L1, L2, L3 are energized, and the current flows from T4- to T4+ , T5- to T5+, T1+ to T1-, T2+ to T2-, T3+ to T3-, drive the rotor to rotate counterclockwise to the next position.

When driving state 10, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10 in Figure 11 is H, H, H, H, H, H, H, H, H, L and IC1 The output of PD0, PD8, PD9, PD10, PA8 is high level H, making SH10, SH1, SH2, SH3, SH4 low level L, making T19, T1, T5, T9, T13 in Figure 32 turn on, IC1 PC7, PE9, PE11, PE13, PE14 output PWM wave, so that T18, T4, T8, T12, T16 in Figure 32 are turned on, windings L5, L1, L2, L3, L4 are energized, and the current flows from T5- to T5+ , T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, drive the rotor to rotate counterclockwise to the next position.

After the above drive state 1 to drive state 10, a total of 10 drive states, the rotor completes one rotation.

For a high-efficiency all-phase drive brushless motor with six phases, there is a similar structure with only one more phase winding than five-phase. Figure 33 shows the winding and no lock of the two-pole six-phase high-efficiency all-phase drive brushless motor. The way of the existing magnetic position sensor, the arrow on the line in the figure represents the winding direction, T1+ and T1- are the start and end of the first phase winding L1, respectively, T2+ and T2- are the start of the second phase winding L2. Start and end, T3+ and T3- are the start and end of the third phase winding L3 respectively, T4+ and T4- are the start and end of the fourth phase winding L4 respectively, T5+ and T5- are the fifth phase respectively The starting end and the ending end of the winding L5, T6+ and T6- are the starting end and the ending end of the sixth phase winding L6, respectively. In order to clearly show the winding of the two-pole six-phase high-efficiency all-phase drive brushless motor, we show the windings of windings L1, L3, L5, and windings L2, L4, and L6 in part in Figure 34 and Figure 35, respectively. mapping. For a six-phase high-efficiency full-phase drive brushless motor with six phases, the drive mode of each drive cycle is composed of the following 12 drive states.

When driving state 1, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is L, H, H, H, H, H, H, H, H , H, H, H and IC1's PD8, PD9, PD10, PA8, PA9, PA10 output is high level H, making SH1, SH2, SH3, SH4, SH5, SH6 low level L, making Figure 36 Figure 37 T1, T5, T9, T13, T17, T21 are turned on, and PE9, PE11, PE13, PE14, PD12, PD13 of IC1 output PWM wave, so that T4, T8, T12, T16, T20, T24 in Figure 36 and Figure 37 lead On, windings L1, L2, L3, L4, L5, L6 are energized, and the current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6-, Drive the rotor counterclockwise to the next position.

When driving state 2, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, L, H, H, H, H, H, H, H , H, H, H and IC1's PD9, PD10, PA8, PA9, PA10, PC10 output is high level H, making SH2, SH3, SH4, SH5, SH6, SH7 low level L, making Figure 36 Figure 37 T5, T9, T13, T17, T21, T3 are turned on, and the PE11, PE13, PE14, PD12, PD13, and PD14 of IC1 output PWM waves, so that T8, T12, T16, T20, T24, T2 in Figure 36 and Figure 37 lead On, windings L2, L3, L4, L5, L6, L1 are energized, and the current flows from T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+, Drive the rotor counterclockwise to the next position.

When driving state 3, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, L, H, H, H, H, H, H , H, H, H and IC1's PD10, PA8, PA9, PA10, PC10, PC11 output is high level H, making SH3, SH4, SH5, SH6, SH7, SH8 low level L, making Figure 36 Figure 37 T9, T13, T17, T21, T3, T7 are turned on, and IC1's PE13, PE14, PD12, PD13, PD14, PD15 output PWM wave, so that T12, T16, T20, T24, T2, T6 in Figure 36 and Figure 37 lead On, windings L3, L4, L5, L6, L1, L2 are energized, and the current flows from T3+ to T3, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+, driving The rotor turns counterclockwise to the next position.

When driving state 4, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, L, H, H, H, H, H , H, H, H and IC1's PA8, PA9, PA10, PC10, PC11, PC12 output is high level H, making SH4, SH5, SH6, SH7, SH8, SH9 low level L, making Figure 36 Figure 37 T13, T17, T21, T3, T7, T11 are turned on, and IC1's PE14, PD12, PD13, PD14, PD15, PC6 output PWM wave, so that T16, T20, T24, T2, T6, T10 in Figure 36 and Figure 37 lead On, windings L4, L5, L6, L1, L2, L3 are energized, and the current flows from T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+, Drive the rotor counterclockwise to the next position.

When driving state 5, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, L, H, H, H, H , H, H, H and IC1's PA9, PA10, PC10, PC11, PC12, PD0 output is high level H, make SH5, SH6, SH7, SH8, SH9, SH10 low level L, make Figure 36 Figure 37 T17, T21, T3, T7, T11, T15 are turned on, and PD12, PD13, PD14, PD15, PC6, PC7 of IC1 output PWM wave, so that T20, T24, T2, T6, T10, T14 in Figure 36 and Figure 37 lead On, windings L5, L6, L1, L2, L3, L4 are energized, and the current flows from T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, Drive the rotor counterclockwise to the next position.

When driving state 6, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, L, H, H, H , H, H, H and IC1's PA10, PC10, PC11, PC12, PD0, PD1 outputs are high level H, make SH6, SH7, SH8, SH9, SH10, SH11 low level L, make Figure 36 Figure 37 T21, T3, T7, T11, T15, T19 are turned on, PD13, PD14, PD15, PC6, PC7, PC8 of IC1 output PWM wave, so that T24, T2, T6, T10, T14, T18 in Figure 36 and Figure 37 lead On, windings L6, L1, L2, L3, L4, L5 are energized, and the current flows from T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, Drive the rotor counterclockwise to the next position.

When driving state 7, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, L, H, H , H, H, H and IC1's PC10, PC11, PC12, PD0, PD1, PD2 outputs are high level H, make SH7, SH8, SH9, SH10, SH11, SH12 low level L, make Figure 36 Figure 37 T3, T7, T11, T15, T19, T23 are turned on, and PD14, PD15, PC6, PC7, PC8, PC9 of IC1 output PWM wave, so that T2, T6, T10, T14, T18, T22 in Figure 36 and Figure 37 lead On, windings L1, L2, L3, L4, L5, L6 are energized, and the current flows from T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, T6- to T6+, Drive the rotor counterclockwise to the next position.

When driving state 8, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, H, L, H , H, H, H and IC1's PC11, PC12, PD0, PD1, PD2, PD8 outputs are high level H, make SH8, SH9, SH10, SH11, SH12, SH1 low level L, make Figure 36 Figure 37 In T7, T11, T15, T19, T23, T1 is turned on, PD15, PC6, PC7, PC8, PC9, PE9 of IC1 output PWM wave, so that T6, T10, T14, T18, T22, T4 in Figure 36 and Figure 37 lead On, windings L2, L3, L4, L5, L6, L1 are energized, and the current flows from T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, T6- to T6+, T1+ to T1-, Drive the rotor counterclockwise to the next position.

When driving state 9, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, H, H, L , H, H, H and IC1's PC12, PD0, PD1, PD2, PD8, PD9 outputs are high level H, make SH9, SH10, SH11, SH12, SH1, SH2 low level L, make Figure 36 Figure 37 T11, T15, T19, T23, T1.T5 are turned on, PC6, PC7, PC8, PC9, PE9, PE11 of IC1 output PWM wave, so that T10, T14, T18, T22, T4, T8 in Fig. 36 and Fig. 37 lead On, windings L3, L4, L5, L6, L1, L2 are energized, and the current flows from T3- to T3+, T4- to T4+, T5- to T5+, T6- to T6+, T1+ to T1-, T2+ to T2-, Drive the rotor counterclockwise to the next position.

When driving state 10, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, H, H, H , L, H, H and IC1's PD0, PD1, PD2, PD8, PD9, PD10 outputs are high level H, make SH10, SH11, SH12, SH1, SH2, SH3 low level L, make Figure 36 Figure 37 T15, T19, T23, T1.T5, T9 are turned on, and PC7, PC8, PC9, PE9, PE11, PE13 of IC1 output PWM wave, so that T14, T18, T22, T4, T8, T12 in Figure 36 and Figure 37 lead On, windings L4, L5, L6, L1, L2, L3 are energized, and the current flows from T4- to T4+, T5- to T5+, T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, Drive the rotor counterclockwise to the next position.

When driving state 11, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, H, H, H , H, L, H and IC1's PD1, PD2, PD8, PD9, PD10, PA8 output is high level H, make SH11, SH12, SH1, SH2, SH3, SH4 low level L, make Figure 36 Figure 37 T19, T23, T1.T5, T9, T13 are turned on, PC8, PC9, PE9, PE11, PE13, PE14 of IC1 output PWM wave, so that T18, T22, T4, T8, T12, T16 in Figure 36 and Figure 37 lead On, windings L5, L6, L1, L2, L3, L4 are energized, and the current flows from T5- to T5+, T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, Drive the rotor counterclockwise to the next position.

When driving state 12, the output of H1, H2, H3, H4, H5, H6, H7, H8, H9, H10, H11, H12 in Figure 11 is H, H, H, H, H, H, H, H, H , H, H, L and IC1's PD2, PD8, PD9, PD10, PA8, PA9 output is high level H, making SH12, SH1, SH2, SH3, SH4, SH5 low level L, making Figure 36 Figure 37 T23, T1.T5, T9, T13, T17 are turned on, PC9, PE9, PE11, PE13, PE14, PD12 of IC1 output PWM wave, so that T22, T4, T8, T12, T16, T20 in Figure 36 and Figure 37 lead On, windings L6, L1, L2, L3, L4, L5 are energized, and the current flows from T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, The rotor is driven to rotate counterclockwise to the next position, that is, to the driving state 1, to complete a driving cycle.

The two-phase, three-phase, four-phase, five-phase and six-phase high-efficiency all-phase drive brushless motors are described above completely, and the same can be extended to high-efficiency all-phase drive brushless electrodes for more phases. For the high-efficiency full-phase drive brushless motor of the inner rotor and the outer rotor, the principle is exactly the same. The motor winding structure is shown in Figure 38. (The outer rotor three-phase 4-pole, 12-slot as an example), M2 is a permanent magnet Outer rotor, M1 is the inner stator armature wound with coils, N and S are the four north and south poles of the outer rotor of the permanent magnet, US, UN are the south and south poles generated by the armature teeth on the stator when the L1 phase winding is energized at a certain moment. The north pole, VS, VN are the south and north poles generated by the armature teeth on the stator when the L2 phase winding is energized at another time, WS, WN are the south and north poles generated by the armature teeth on the stator when the L3 phase winding is energized at different times, H1 , H2, H3 are magnetic position sensors. The winding method of the winding coil is the same as the structure of the inner rotor. The winding of the same phase is wound between the adjacent two slots of a single armature tooth and the winding direction of the adjacent two windings of the same phase winding is opposite, which is omitted here for the sake of clarity. Go unpainted.

The invention provides a high-efficiency full-phase driving brushless motor which is wound on a single armature tooth and drives each phase winding at the same time, and is suitable for the high-efficiency full-phase driving brushless motor of the inner rotor and the outer rotor.

It will be apparent to those skilled in the art that the present invention includes, but is not limited to, the details of the above-described exemplary embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (13)

1. The high-efficiency full-phase drive brushless motor and driver circuit, including the motor and the driver circuit, are characterized in that: the winding method of the stator coil of the high-efficiency full-phase drive brushless motor is between two adjacent tooth slots of a single armature tooth. Winding, the adjacent two coils of the same phase winding are wound in opposite directions when the number of stator armature slots is equal to the number of the sum of the north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases, and the driver circuit uses an H-bridge power driver to drive the current. It flows through the windings, and each phase winding is fully energized during each drive, and the rotor containing permanent magnets rotates tooth by tooth through a single armature tooth position, and drives the rotor containing permanent magnets to rotate in a tooth-by-tooth rotation manner. 2. high-efficiency full-phase drive brushless motor and driver circuit according to claim 1, it is characterized in that: the relationship between the number of magnetic poles and the number of phases and the number of stator armature slots of the permanent magnet rotor of the high-efficiency full-phase drive brushless motor is: : The number of stator armature slots is equal to the number of the sum of the north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases and then multiplied by the integer K, the number of phases is greater than or equal to 2, and the integer K is greater than or equal to 1. 3. The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 or claim 2, wherein: when the integer K is equal to 1, the high-efficiency full-phase drive brushless motor is equal to the permanent number of stator armature slots. In the case where the sum of the north and south magnetic poles of the magnet rotor is multiplied by the number of phases, the adjacent two coils of the same phase winding of the stator are wound in opposite directions and are separated by the number of phase numbers minus one. Winding between each tooth slot, the next phase winding is wound on the adjacent next armature tooth in the same way and in the same direction until the required number of phases is wound, and then each phase winding is wound again in the same way but with the previous group. The winding direction of the coil is reversed to wind the next coil of each phase winding. Repeat this method until the coils on each armature tooth of the stator are wound, and the start and end ends of each phase winding are connected to their respective H bridges. On the type power driver, the number of phases is greater than or equal to 2, and the winding methods of each phase winding are the same. 4. The high-efficiency full-phase driving brushless motor and driver circuit according to claim 1 or claim 2, wherein: when the integer K is equal to 2, the number of stator armature slots of the high-efficiency full-phase driving brushless motor is equal to the permanent value. The sum of the north and south magnetic poles of the magnet rotor is multiplied by twice the number of phases. When each phase winding is wound and then two phases are connected in parallel to form a one-phase winding, the adjacent two coils of the same phase winding of the stator are wound in opposite directions and spaced apart in the middle. The number of winding phases minus one armature tooth number; when two adjacent armature teeth are connected in series with the same phase winding and wound in the same direction, the two armature teeth are regarded as one electric drive tooth at this time, and the stator has the same phase winding The two adjacent electric drive tooth coils are wound in opposite directions and are separated by the number of electric drive teeth minus one in the middle. The adjacent two tooth slots of an armature tooth are wound in the same way to form a number of electric drive teeth. The pivot tooth winds the next coil of the phase winding, and repeats this method until the coils on each armature tooth of the stator are wound, and the start and end ends of each phase winding are connected to their respective H-bridge power drivers. , the number of phases is greater than or equal to 2, and the winding methods of each phase winding are the same. 5. The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 or claim 2 or claim 3 or claim 4, characterized in that: the inner rotor high-efficiency full-phase drive brushless motor rotor is wound around The cylindrical permanent magnet rotor inside the outer stator of the coil, for the outer rotor the high-efficiency all-phase drive brushless motor is the ring-shaped permanent magnet rotor outside the inner stator with the coil wound. 6. The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 or claim 2, wherein the device of each phase winding power driver is composed of two groups of series-connected compound fully-controlled voltage-driven power semiconductor devices It is composed of an H-bridge power driver composed of the left arm and the right arm composed of the other two groups of composite fully-controlled voltage-driven power semiconductor devices in series. The start and end of each phase winding are connected to their respective H bridges. At the midpoint of the left arm and the right arm of the H-bridge type power driver, the upper and lower control terminals of the left arm and the right arm of each group of H-bridge power drivers are controlled by 4 different signals respectively. High-power MOS field effect transistors can be used. 7 . The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 , wherein the rotational speed of the motor rotor is adjusted by a pulse width modulation signal. 8 . 8. The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 or claim 7 or claim 8, wherein: when the high-efficiency full-phase drive brushless motor rotates, its driver circuit drives simultaneously at every moment. The upper arm of the H-bridge power drive device with the same number of phases and the lower arm of the other H-bridge power drive device with the same number of phases after passing through each winding coil are turned on, and the driving state is twice the number of phases. 9 . The high-efficiency full-phase driving brushless motor and driver circuit according to claim 1 or claim 10 , wherein: for a high-efficiency full-phase driving brushless motor with two phases, each driving cycle of the two sets of winding coils Its driving mode is composed of the following 4 driving states: when driving state 1, its current flows from T1+ to T1-, T2+ to T2-; when driving state 2, its current flows from T2+ to T2-, T1- to T1+ ; When driving state 3, its current flows from T1- to T1+, T2- to T2+; when driving state 4, its current flows from T2- to T2+, T1+ to T1-. T1+ and T1- are the start end and the end end of the first phase winding L1, respectively, and T2+ and T2- are the start end and the end end of the second phase winding L2, respectively. 10. The high-efficiency full-phase driving brushless motor and driver circuit according to claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with three phases, each driving cycle of the three groups of winding coils Its driving mode is composed of the following 6 driving states: when driving state 1, its current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-; when driving state 2, its current flows from T2+ to T2- , T3+ to T3-, T1- to T1+; when driving state 3, its current flows from T3+ to T3, T1- to T1+, T2- to T2+; when driving state 4, its current flows from T1- to T1+, T2- To T2+, T3- to T3+; when driving state 5, its current flow is T2- to T2+, T3- to T3+, T1+ to T1-; when driving state 6, its current flow is T3- to T3+, T1+ to T1- , T2+ to T2-. T1+ and T1- are the start and end of the first phase winding L1, respectively, T2+ and T2- are the start and end of the second phase winding L2, respectively, T3+ and T3- are the start and end of the third phase winding L3, respectively end. 11. The high-efficiency full-phase driving brushless motor and driver circuit according to claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with four phases, each driving cycle of the four groups of winding coils Its driving mode is composed of the following 8 driving states: when driving state 1, its current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-; when driving state 2, its current flow direction It is T2+ to T2-, T3+ to T3-, T4+ to T4-, T1- to T1+; when driving state 3, the current flows from T3+ to T3-, T4+ to T4-, T1- to T1+, T2- to T2+; When driving state 4, the current flows from T4+ to T4-, T1- to T1+, T2- to T2+, T3- to T3+; when driving state 5, the current flows from T1- to T1+, T2- to T2+, T3- To T3+, T4- to T4+; when driving state 6, its current flow is T2- to T2+, T3- to T3+, T4- to T4+, T1+ to T1-; when driving state 7, its current flow is T3- to T3+ , T4- to T4+, T1+ to T1-, T2+ to T2-; when driving state 8, the current flows from T4- to T4+, T1+ to T1-, T2+ to T2-, T3+ to T3-. T1+ and T1- are the start and end of the first phase winding L1, respectively, T2+ and T2- are the start and end of the second phase winding L2, respectively, T3+ and T3- are the start and end of the third phase winding L3, respectively The end ends, T4+ and T4- are the start end and the end end of the fourth phase winding L4, respectively. 12. The high-efficiency full-phase drive brushless motor and driver circuit according to claim 1 or claim 10, wherein: for a high-efficiency full-phase drive brushless motor with five phases, each driving cycle of five groups of winding coils Its driving mode is composed of the following 10 driving states: in driving state 1, its current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-; driving state 2 When the driving state is 3, the current flows from T3+ to T3, T4+ to T4-, T5+ To T5-, T1- to T1+, T2- to T2+; when driving state 4, the current flows from T4+ to T4-, T5+ to T5-, T1- to T1+, T2- to T2+, T3- to T3+; driving state At 5, the current flows from T5+ to T5-, T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+; when driving state 6, the current flows from T1- to T1+, T2- to T2+ , T3- to T3+, T4- to T4+, T5- to T5+; when driving state 7, the current flows from T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, T1+ to T1-; When driving state 8, the current flows from T3- to T3+, T4- to T4+, T5- to T5+, T1+ to T1-, T2+ to T2-; when driving state 9, the current flows from T4- to T4+, T5- To T5+, T1+ to T1-, T2+ to T2-, T3+ to T3-; when driving state 10, the current flows from T5- to T5+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4 -. T1+ and T1- are the start and end of the first phase winding L1, respectively, T2+ and T2- are the start and end of the second phase winding L2, respectively, T3+ and T3- are the start and end of the third phase winding L3, respectively The end ends, T4+ and T4- are the start end and the end end of the fourth phase winding L4, respectively, and T5+ and T5- are the start end and the end end of the fifth phase winding L5, respectively. 13. The high-efficiency full-phase driving brushless motor and driver circuit according to claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with six phases, each driving cycle of six groups of winding coils Its driving mode is composed of the following 12 driving states: in driving state 1, its current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6 -; when driving state 2, its current flow is from T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+; when driving state 3, its current flow is T3+ to T3, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+; when driving state 4, the current flows from T4+ to T4-, T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+; when driving state 5, the current flows from T5+ to T5-, T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+; when driving state 6, the current flows from T6+ to T6-, T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+; when driving state 7 , the current flows from T1- to T1+, T2- to T2+, T3- to T3+, T4- to T4+, T5- to T5+, T6- to T6+; when driving state 8, the current flows from T2- to T2+, T3 - to T3+, T4- to T4+, T5- to T5+, T6- to T6+, T1+ to T1-; when driving state 9, the current flows from T3- to T3+, T4- to T4+, T5- to T5+, T6- To T6+, T1+ to T1-, T2+ to T2-; when driving state 10, the current flows from T4- to T4+, T5- to T5+, T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3 -; when driving state 11, its current flow is T5- to T5+, T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-; when driving state 12, its current flow is T6- to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-. T1+ and T1- are the start and end of the first phase winding L1, respectively, T2+ and T2- are the start and end of the second phase winding L2, respectively, T3+ and T3- are the start and end of the third phase winding L3, respectively The end, T4+ and T4- are the start and end of the fourth-phase winding L4, respectively, T5+ and T5- are the start and end of the fifth-phase winding L5, respectively, T6+ and T6- are the sixth-phase winding L6 start and end of .

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