Rotor position detection system

This application is based upon and claims the benefit of priority from the prior Japanese Patent Application No. 2017-158223, filed on Aug. 18, 2017, the entire contents of which are incorporated herein by reference.

An embodiment described herein relate to a rotor position detection system.

When driving a motor such as a DC motor and a stepping motor with high efficiency, a motor current is controlled by a pulse width modulation (PWM) control. In a motor drive system, it is important to detect a rotor position.

A voltage, a polarity and an inclination change with a wave height value and a phase delay amount of an induced voltage of a first phase and an induced voltage of a second phase, when the stepping motor detects an induced voltage in an interval where a motor control current does not flow, and detects a rotor position based on information of the voltage, the polarity, the inclination and the like. Therefore, there is a problem that it is difficult to detect the rotor position.

FIG. 1 is a circuit diagram showing a rotor position detection system according to a first embodiment;

FIG. 2 is a schematic diagram illustrating an internal configuration of a stepping motor according to the first embodiment;

FIG. 3 is an equivalent circuit diagram for one phase according to the first embodiment;

FIG. 4A is a view showing operation states I, II and III of an H bridge circuit according to the first embodiment, FIG. 4B is a diagram showing the operation state I→the operation state III, the operation state II→the operation state III of the H bridge circuit according to the first embodiment;

FIG. 5 is a diagram showing a flow of a motor current in the operation state I→the operation state III of the bridge circuit according to the first embodiment;

FIG. 6 is a circuit diagram showing a current detection circuit according to the first embodiment;

FIG. 7 is a circuit diagram showing a time measurement circuit according to the first embodiment;

FIG. 8 is a view showing a change in a detected voltage according to the first embodiment;

FIG. 9 is a view showing an operation of a time calculation circuit according to the first embodiment;

FIG. 10 is a view showing rotor position detection according to the first embodiment;

FIG. 11 is a view for explaining rotor position detection in a second modification;

FIG. 12 is a circuit diagram showing a rotor position detection system according to a second embodiment;

FIG. 13 is a circuit diagram showing a rotor position detection system according to a third embodiment;

FIG. 14 is a circuit diagram showing a rotor position detection system according to a fourth embodiment; and

FIG. 15 is a circuit diagram showing a rotor position detection system in a first modification.

A rotor position detection system according to one embodiment includes a H bridge circuit, a current detection circuit, a time measurement circuit, a zero cross determination circuit, and a rotor position calculation circuit. The H bridge circuit includes a first high side transistor and a second high side transistor that control a direction and a conduction of a current flowing through a coil of a motor provided between a power supply and the motor, and a first low side transistor and a second low side transistor provided between the motor and a ground potential. The current detection circuit detects a current flowing from the motor to the first low side transistor or the second low side transistor when the first and second high side transistors are turned off and the first and second low side transistors are turned on, and converts the detected current into a voltage. The time measurement circuit measures a first time until a detection voltage detected by the current detection circuit becomes lower than a first reference voltage, and a second time until the detection voltage becomes lower than a second reference voltage which is smaller than the first reference voltage, and calculates a difference time between the first time and the second time. The zero cross determination circuit calculates a zero cross position of the induced voltage of the motor based on the difference time. The rotor position calculation circuit calculates the rotor position of the motor based on the zero cross position of the induced voltage.

Hereinafter, a plurality of further embodiments will be described with reference to the drawings. In the drawings, the same reference numerals indicate the same or similar portions.

A rotor position detection system according to a first embodiment will be described with reference to the drawings. FIG. 1 is a circuit diagram showing the rotor position detection system. FIG. 2 is a schematic diagram illustrating an internal configuration of a stepping motor. In the present embodiment, a rotor position is calculated by detecting a current flowing from the motor to the first low side transistor or the second low side transistor when the first and second high side transistors are turned off and the first and second low side transistors are turned on, and measuring the time during which the amount of current changes.

As shown in FIG. 1 , a rotor position detection system 100 includes an H bridge circuit 1 , a drive control circuit 2 , a current detection circuit 4 , a time measurement circuit 5 , a zero cross determination circuit 6 , a rotor position calculation circuit 7 , and an induced voltage detection circuit 8 . The rotor position detection system 100 executes drive control of a motor 3 and calculation of the rotor position.

As shown in FIG. 2 , the motor 3 is a stepping motor including a rotor 31 , a first phase coil 32 , and a second phase coil 33 . The motor 3 is applied for a game machine, a printer, a computer, a digital camera, an industrial robot, and the like. The first phase coil 32 and the second phase coil 33 are provided on an outer peripheral side of the rotor 31 . The first phase coil 32 is connected to an H bridge circuit (I), and the second phase coil 33 is connected to an H bridge circuit (II).

In FIG. 1 , for simplicity of explanation, only one phase of the H bridge circuit is displayed. For the H bridge circuit (II), a current detection circuit, a time measurement circuit, a zero cross determination circuit, a rotor position calculation circuit, and an induced voltage detection circuit are additionally required. The current detection circuit, the time measurement circuit, the zero cross determination circuit, the rotor position calculation circuit, and the induced voltage detection circuit are not shown here for the sake of simplicity.

The drive control circuit 2 outputs control signals Ssg 1 to Ssg 4 to the H bridge circuit 1 to drive and control the H bridge circuit 1 . Control signals Ssg 1 to Ssg 4 are a pulse width modulation (PWM) signal whose duty is variable.

The H bridge circuit 1 includes a high side transistor HST 1 , a high side transistor HST 2 , a low side transistor LST 1 , and a low side transistor LST 2 . The H bridge circuit 1 is PWM controlled and generates a current to drive the motor 3 .

The high side transistor HST 1 (a first high side transistor) is an N-channel power MOS transistor. The high side transistor HST 1 has one end (drain) connected to a power supply (a high potential side power supply) Vm, and the other end (source) connected to a node N 1 and one end of a motor M 3 , and the control signal Ssg 1 is input to a control terminal (gate).

The high side transistor HST 2 (a second high side transistor) is an N-channel power MOS transistor. The high side transistor HST 2 has one end (drain) connected to the power supply (the high potential side power supply) Vm, and the other end (source) connected to a node N 2 and the other end of the motor M 3 , and the control signal Ssg 3 is input to the control terminal (gate).

The low side transistor LST 1 (a first low side transistor) is an N-channel power MOS transistor. The low side transistor LST 1 has one end (drain) connected to a node N 1 and one end of the motor M 3 , and the other end connected to a ground potential (a low potential side power supply) Vss, and the control signal Ssg 2 is input to the control terminal (gate).

The low side transistor LST 2 (a second low side transistor) is an N-channel power MOS transistor. The low side transistor LST 2 has one end (drain) connected to a node N 2 and the other end of the motor M 3 , and the other end connected to a ground potential (the low potential side power supply) Vss, and the control signal Ssg 4 is input to the control terminal (gate).

The induced voltage detection circuit 8 detects an induced voltage generated across the motor 3 . For example, the induced voltage detection circuit 8 has one end connected between the high side transistor HST 2 and the other end of the motor M 3 , and the other end connected between one end of the motor M 3 and the low side transistor LST 1 .

Next, an equivalent circuit of the stepping motor 3 will be described with reference to the drawings. FIG. 3 is a diagram showing one phase of the equivalent circuit of the stepping motor 3 .

The equivalent equation of the stepping motor 3 can be expressed as an expression (1) of Vinv−Ve=(Rm×Imc)+{Lm×(di/dt)}. Here, Vinv is a power supply voltage (a voltage of a power supply m), Ve is an induced voltage, Rm is an internal resistance (motor constant) of the motor 3 , Lm is an inductance (motor constant) of the coil of the motor 3 , di is a control current variation per unit time, and dt is unit time.

Here, the operation state of the H bridge circuit 1 will be described with reference to FIGS. 4 and 5 .

FIG. 4A is a view showing operation states I, II and III of an H bridge circuit, and FIG. 4B is a diagram showing the operation state I→the operation state III, the operation state II→the operation state III of the H bridge circuit. FIG. 5 is a diagram showing a flow of a motor current in the operation state I→the operation state III of the bridge circuit.

As shown in FIG. 4A , in the operation state I, the high side transistor HST 1 and the low side transistor LST 2 are turned on and the high side transistor HST 2 and the low side transistor LST 1 are turned off. In the operation state I, a current is supplied from the power supply Vm to the motor 3 via the high side transistor HST 1 .

In the operation state II, the high side transistor HST 2 and the low side transistor LST 1 are turned on and the high side transistor HST 1 and the low side transistor LST 2 are turned off. In the operation state II, a current is supplied from the power supply Vm to the motor 3 via the high side transistor HST 2 .

In the operation state III, the high side transistor HST 1 and the high side transistor HST 2 are turned off and the low side transistor LST 1 and the low side transistor LST 2 are turned on. In the operation state III, the charge accumulated in the coil of the motor 3 is discharged and a current flows in the direction of the ground potential Vss. The operation state III is also called Slow Decay.

Note that when the high side transistor HST 1 and the low side transistor LST 1 are simultaneously turned on or the high side transistor HST 2 and the low side transistor LST 2 are simultaneously turned on, a large current flows from the power supply Vm to the ground potential Vss side, so that significant damage occurs in the internal circuit of the rotor position detection system 100 . Therefore, an operation mode in which the high side transistor HST 1 and the low side transistor LST 1 are simultaneously turned on or the high side transistor HST 2 and the low side transistor LST 2 are simultaneously turned on is not set.

As shown in FIG. 4B , when the operation state changes from the operation state I to the operation state III, as shown in FIG. 5 , a motor current Imc flows from the motor 3 to the low side transistor LST 2 . When the operation state changes from the operation state II to the operation state III, the motor current Imc flows from the motor 3 to the low side transistor LST 1 .

Here, since Vinv=0 (zero) V in the state changed from the operation state I to the operation state III, expression (1) can be expressed as an expression (2) of −Ve=(Rm×Imc)+{Lm×(di/dt)}. It should be noted that the same applies to a state expression changed from the operation state II to the operation state III. When the expression (2) is transformed, an expression (3) of dt=(Lm×di)/[−(Ve+(Rm×Imc))] is satisfied.

In a step interval of the stepping motor where ΔVe>>(Rm×ΔImc) is satisfied, by controlling a di (current change amount per unit time) to a constant amount, it is possible to extract the change of an induced voltage Ve as a change of dt (unit time).

When the expression (3) is transformed, an expression (4) of di=[−(Ve+(Rm×Imc))]/Lm is satisfied. Here, when dt (unit time) is fixed, a change in the induced voltage Ve can be extracted as a change amount of di (current change amount per unit time).

The current detection circuit 4 detects a current flowing through the node N 1 and a current flowing through the node N 2 and outputs the current flowing through the node N 1 and the current flowing through the node N 2 as the detected voltage. As shown in FIG. 6 , the current detection circuit 4 includes an inverter INV 1 , an inverter INV 2 , and MOS transistors NMT 1 to NMT 4 .

The MOS transistor NMT 1 is an N-channel MOS transistor. The MOS transistor NMT 1 has one end (drain) connected to the node N 1 , and the other end (source) connected to a node N 3 , and the control signal Ssg 2 is input to the control terminal (gate).

The MOS transistor NMT 2 is an N-channel MOS transistor. The MOS transistor NMT 2 has one end (drain) connected to the node N 3 , and the other end (source) connected to the power supply (the high potential side power supply) Vm, and the control signal Ssg 2 is input to the control terminal (gate) via the inverter INV 1 . An inverted signal of the control signal Ssg 2 is input to the control terminal (gate) of the MOS transistor NMT 2 .

The MOS transistor NMT 3 is an N-channel MOS transistor. The MOS transistor NMT 3 has one end (drain) connected to the node N 2 , and the other end (source) connected to a node N 4 , and the control signal Ssg 4 is input to the control terminal (gate).

The MOS transistor NMT 4 is an N-channel MOS transistor. The MOS transistor NMT 4 has one end (drain) connected to the node N 4 , and the other end (source) connected to the power supply (the high potential side power supply) Vm, and the control signal Ssg 4 is input to the control terminal (gate) via the inverter INV 2 . An inverted signal of the control signal Ssg 4 is input to the control terminal (gate) of the MOS transistor NMT 4 .

A detection signal Skd 2 is output from the node N 3 to the time measurement circuit 5 and a detection signal Skd 1 is output from a node N 4 to the time measurement circuit 5 .

As shown in FIG. 7 , the time measurement circuit 5 includes a reference voltage generating circuit 51 , a reference voltage generating circuit 52 , a time calculation circuit 53 , a comparator CMP 1 , a comparator CMP 2 , a switch SW 1 , and a switch SW 2 .

When the high side transistor HST 1 and the high side transistor HST 2 of the H bridge circuit 1 are turned off, and the low side transistor LST 1 and the low side transistor LST 2 are turned on, for example, in the state changed from the operation state I to the operation state III, the time measurement circuit 5 measures a first time until the detection voltage becomes lower than the first reference voltage and a second time until the detection voltage becomes lower than the second reference time which is smaller than the first reference time, and calculates a difference time (as a unit time dt) between the first time and the second time.

The switch SW 1 is a single pole single throw (SPST) switch. The switch SW 1 causes the detection signal Skd 1 to flow to a node N 5 or blocks the detection signal Skd 1 based on a control signal (not shown). The switch SW 2 is a SPST switch. The switch SW 2 passes or interrupts the detection signal Skd 2 to the node N 5 based on a control signal (not shown). In the state changed from the operation state I to the operation state III, the switch SW 1 is turned on and the switch SW 2 is turned off.

The reference voltage generating circuit 51 is provided between a minus (−) port on the input side of the comparator CMP 1 and the ground potential (the low-potential side power supply) Vss, and generates a reference voltage V 1 (a first reference voltage). The reference voltage V 1 is a reference value obtained by converting a micro step current into a voltage. Specifically, the reference voltage V 1 is a value of (a micro step current value)×(on resistance (Ron) of the low side transistors LST 1 and LST 2 ).

The reference voltage generating circuit 52 is provided between a minus (−) port on the input side of the comparator CMP 2 and the ground potential (the low-potential side power supply) Vss, and generates a reference voltage V 2 (a second reference voltage). The reference voltage V 2 is a reference value obtained by converting a ripple amount of the micro step current into a voltage. Specifically, the reference voltage V 2 is a value of (the ripple amount of the micro step current)×(on resistance (Ron) of the low side transistors LST 1 and LST 2 ). The reference voltage V 1 is a value larger than the reference voltage V 2 .

In the comparator CMP 1 , a plus (+) port on the input side is connected to the node N 5 , the reference voltage V 1 is applied to a minus (−) on the input side, and a comparison signal Scm 1 subjected to comparison operation processing is output.

In the comparator CMP 2 , a plus (+) port on the input side is connected to the node N 5 , the reference voltage V 2 is applied to a minus (−) on the input side, and a comparison signal Scm 2 subjected to comparison operation processing is output.

The change in the detection voltage detected by the current detection circuit 4 will be described with reference to FIG. 8 . As shown in FIG. 8 , in a period (“charge” period) during which the motor current Imc is supplied to the motor 3 , the detected voltage is boosted from a state lower than the reference voltage V 2 to a voltage higher than the reference voltage V 1 . In a period (“slow” period) during which the electric charge accumulated in the motor 3 is discharged to the ground potential Vss side, the detected voltage is stepped down from a state higher than the reference voltage V 1 to a voltage lower than the reference voltage V 2 .

The time calculation circuit 53 receives the comparison signal Scm 1 and the comparison signal Scm 2 , and outputs a calculation signal Stc. As shown in FIG. 9 , the time calculation circuit 53 measures a time T 1 (a first time) until the comparison signal Scm 1 changes from “High” level to “Low” level and a time T 2 (a second time) until the comparison signal Scm 2 changes from “High” level to “Low” level), calculates a difference time between the time T 1 (the first time) and the time T 2 (the second time) as the dt time Tdt, and outputs the dt time Tdt as the calculation signal Stc.

The zero cross determination circuit 6 receives the calculation signal Stc (difference time information) output from the time measurement circuit 5 and a detection signal Syd (induced voltage information) output from the induced voltage detection circuit 8 , thereby calculating the zero cross position of the motor 3 .

Here, the zero cross determination circuit 6 receives the calculation signal Stc and the detection signal Syd and uses the detection signal Syd (induced voltage information) as an auxiliary. However, only the calculation signal Stc may be input to the zero cross determination circuit 6 without using the detection signal Syd as in the rotor position detection system 100 a of a first modification shown in FIG. 15 .

Specifically, since the induced voltage Ve=0 (zero) at the zero cross position of the induced voltage in the equation (3), an expression (5) of dt=(Lm×di)/[−(Rm×Imc)] is satisfied.

Here, di (current change amount per unit time) is controlled by the proportion of the motor current Imc (proportional value A). For example, if control is performed with an expression (6) of di:Imc=A:1, an expression (7) of dt=(Lm×A)/[−(Rm)] is satisfied.

Here, Rm is the internal resistance of the motor 3 , Lm is the inductance of the coil of the motor 3 , and Rm and Lm are constants peculiar to the motor. Therefore, as shown in FIG. 10 , it is found that a position where the dt time Tdt (Slow decay time) as the difference time is equal to the expression (7) is the zero cross position of the induced voltage.

The rotor position calculation circuit 7 receives a determination signal Sht (zero cross position information) output from the zero cross determination circuit 6 , and calculates the rotor position. The rotor position calculation circuit 7 outputs a rotor position information signal Sij to the drive control circuit 2 . The drive control circuit 2 controls the motor control current amount based on the rotor position information signal Sij.

In expression (3), the denominator of the region where −Ve=(Rm×Imc) is zero. Therefore, as shown in FIG. 11 , when Ve is (−Rm×Imc), the unit time dt (difference time) is maximal. For this reason, the change of the induced voltage Ve in the region where |Ve|>>(Rm×Imc) can be extracted as the change of the unit time dt (difference time). Therefore, it is possible to calculate the zero cross position as the first modification.

As described above, in the rotor position detection system 100 of the present embodiment, the H bridge circuit 1 , the drive control circuit 2 , the current detection circuit 4 , the time measurement circuit 5 , the zero cross determination circuit 6 , the rotor position calculation circuit 7 , and the induced voltage detection circuit 8 are provided. The H bridge circuit 1 includes the high side transistor HST 1 , the high side transistor HST 2 , the low side transistor LST 1 , and the low side transistor LST 2 . The motor 3 has one end connected between the high side transistor HST 1 and the low side transistor LST 1 (node N 1 ), and the other end connected between the high side transistor HST 2 and the low side transistor LST 2 (node N 2 ). When the high side transistors HST 1 and HST 2 are turned off and the low side transistors LST 1 and LST 2 are turned on, the current detection circuit detects the current flowing from the motor 3 side to the reference potential Vss as a detection voltage. The time measurement circuit 5 calculates the unit time dt (difference time) based on the detected voltage, the reference voltage V 1 , and the reference voltage V 2 smaller than the reference voltage V 1 . The zero cross determination circuit 6 calculates a zero cross position of the induced voltage of the motor 3 based on the unit time dt (difference time). The rotor position calculation circuit 7 calculates the rotor position based on the zero cross position.

Therefore, the rotor position can be detected even when voltage, polarity, and inclination change to the wave height value and phase delay amount of the induced voltage.

A rotor position detection system according to a second embodiment will be described with reference to the drawings. FIG. 12 is a circuit diagram showing the rotor position detection system. In the present embodiment, a step-out state is detected based on the unit time dt (difference time) calculated by the time measurement circuit and the induced voltage.

Hereinafter, the same component portions as those in the first embodiment will be denoted by the same reference numerals, the description of those portions will be omitted, and only different portions will be described.

As shown in FIG. 12 , a rotor position detection system 101 includes the H bridge circuit 1 , a drive control circuit 2 a , the current detection circuit 4 , the time measurement circuit 5 , the induced voltage detection circuit 8 , and a step-out state detection circuit 9 . The rotor position detection system 101 drives and controls the motor 3 and detects a step-out state of the motor.

The step-out state detection circuit 9 receives the calculation signal Stc (unit time dt (difference time)) output from the time measurement circuit 5 and the detection signal Syd (induced voltage) output from the induced voltage detection circuit 8 , and in an interval where the motor control current does not flow to the motor 3 , observes information such as the voltage, the polarity, and the inclination of the induced voltage to detect a step out state. The step-out state detection circuit 9 outputs a step-out information signal Sdc to the drive control circuit 2 a.

The drive control circuit 2 a drives and controls the H bridge circuit 1 . The drive control circuit 2 a controls the motor control current based on the step-out information signal Sdc so as to restore the motor from the step-out state to a normal state.

As described above, in the rotor position detection system 101 of the present embodiment, the H bridge circuit 1 , the drive control circuit 2 a , the current detection circuit 4 , the time measurement circuit 5 , the induced voltage detection circuit 8 , and the step-out state detection circuit 9 are provided. The step-out state detection circuit 9 detects a step-out state in a section where the motor control current does not flow to the motor 3 from the calculation signal Stc (unit time dt (difference time)) and the detection signal Syd (induced voltage).

Therefore, the motor can be restored from the step-out state to the normal state based on the detection result of the step-out state.

A rotor position detection system according to a third embodiment will be described with reference to the drawings. FIG. 13 is a circuit diagram showing the rotor position detection system. In the present embodiment, by measuring a current flowing from the motor to the first low side transistor or the second low side transistor when the first and second high side transistors of the H bridge circuit are turned off and the first and second low side transistors or the H bridge circuit are turned on, a rotor position is calculated based on the measured current and the induced voltage.

Hereinafter, the same component portions as those in the first embodiment will be denoted by the same reference numerals, the description of those portions will be omitted, and only different portions will be described.

As shown in FIG. 13 , a rotor position detection system 102 includes the H bridge circuit 1 , the drive control circuit 2 , a rotor position calculation circuit 7 a , the induced voltage detection circuit 8 , and a current measurement circuit 10 . The rotor position detection system 102 drives and controls the motor 3 to calculate the rotor position.

When the high side transistors HST 1 and HST 2 are turned off and the low side transistors LST 1 and LST 2 are turned on, the current measurement circuit 10 measures a first current flowing from the motor 3 to the low side transistor LST 1 in the operation state II→the operation state III shown in FIG. 4 ( b ) , or a second current flowing to the low side transistor LST 2 in the operation state I→the operation state III.

The rotor position calculation circuit 7 a receives a current information signal Sic (current value information of the first current or the second current) output from the current measurement circuit 10 and the detection signal Syd (induced voltage) output from the induced voltage detection circuit 8 , and calculates the rotor position to output the rotor position information signal Sij to the drive control circuit 2 . The drive control circuit 2 controls the motor control current amount based on the rotor position information signal Sij.

As described above, in the rotor position detection system 102 according to the present embodiment, the H bridge circuit 1 , the drive control circuit 2 , the rotor position calculation circuit 7 a , the induced voltage detection circuit 8 , and the current measurement circuit 10 are provided.

Therefore, the rotor position can be detected even when the voltage, the polarity, and the inclination change to the wave height value and phase delay amount of the induced voltage.

A rotor position detection system according to a fourth embodiment will be described with reference to the drawings. FIG. 14 is a circuit diagram showing the rotor position detection system. In the present embodiment, by measuring a current flowing from the motor to the first low side transistor or the second low side transistor when the first and second high side transistors of the H bridge circuit are turned off and the first and second low side transistors of the H bridge circuit are turned on, a step-out state is detected based on the measured current and the induced voltage.

Hereinafter, the same component portions as those in the first embodiment will be denoted by the same reference numerals, the description of those portions will be omitted, and only different portions will be described.

As shown in FIG. 14 , a rotor position detection system 103 includes the H bridge circuit 1 , the drive control circuit 2 a , the induced voltage detection circuit 8 , a step-out state detection circuit 9 a , and the current measurement circuit 10 . The rotor position detection system 102 drives and controls the motor 3 to calculate the rotor position.

The step-out state detection circuit 9 a receives the current information signal Sic (current value information of the first current or the second current) output from the current measurement circuit 10 and the detection signal Syd (induced voltage) output from the induced voltage detection circuit 8 , and in an interval where the motor control current does not flow to the motor 3 , observes information such as the voltage, the polarity, and the inclination of the induced voltage to detect a step out state. The step-out state detection circuit 9 a outputs the step-out information signal Sdc to the drive control circuit 2 a.

The drive control circuit 2 a drives and controls the H bridge circuit 1 . The drive control circuit 2 a controls the motor control current based on the step-out information signal Sdc so as to restore the motor 3 from the step-out state to a normal state.

As described above, in the rotor position detection system 103 according to the present embodiment, the H bridge circuit 1 , the drive control circuit 2 a , the induced voltage detection circuit 8 , the step-out state detection circuit 9 a , and the current measurement circuit 10 are provided. The step-out state detection circuit 9 a receives the current information signal Sic (current value information of the first current or the second current) and the detection signal Syd (induced voltage), and detects the step-out state of the motor 3 .

Therefore, the motor can be restored from the step-out state to the normal state based on the detection result of the step-out state.

In the first to third embodiments, the first and second modifications, the rotor position detection system is explained using the drive control circuit, the current measurement circuit, the time measurement circuit, the zero cross determination circuit, the rotor position calculation circuit, the induced voltage detection circuit, the step-out state detection circuit, the current measurement circuit, and the like as the hardware configuration, but the invention is not necessarily limited to this. For example, some or all of the hardware functions may be incorporated in a central processing unit (CPU), a microcomputer, a processor or the like and handled by software processing or the like.

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intend to limit the scope of the inventions. Indeed, the novel embodiments described herein may be embodied in a variety of the other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions.