CN104734577A - Motor driving device - Google Patents
- ️Wed Jun 24 2015
Embodiment
Below, be described with reference to the exemplary execution mode of accompanying drawing to the application.
First, be described with reference to the overview of Fig. 1 to motor drive.Fig. 1 is the circuit diagram of the structure of the motor drive 1 illustrated involved by present embodiment.
Motor drive 1 is for by providing drive current to control the device of the driving of motor 9 to motor 9.As shown in Figure 1, motor drive 1 has microcomputer 2, inverter 3 and protective circuit 4.
Microcomputer 2 based on the motor driving instruction signal inputted from outside to inverter 3 output pulse signal S2.
Inverter 3 provides drive current S31 based on pulse signal S2 to motor 9.Inverter 3 has voltage source V 1, switch element T and shunt resistance Rs.Switch element T and shunt resistance Rs is connected in series between voltage source V 1 and ground connection.That is, one end of shunt resistance Rs is connected with the downstream of switch element T, and the other end ground connection of shunt resistance Rs.Thus, as input pulse signal S2, by on/off switch elements T, the drive current S31 of pulse type is provided to motor 9.Now, the electric current flowed out from motor 9 and switch element T is imported into the shunt resistance Rs in downstream.
Protective circuit 4 has change-over circuit 41, reference voltage provides circuit 42 and comparison circuit 43.Protective circuit 4 corresponding to flow through shunt resistance Rs shunt current Is current value and to microcomputer 2 output detection signal S4.
Shunt current Is is converted to compare by change-over circuit 41 uses voltage S41, and outputs to comparison circuit 43 from comparing with output voltage terminals 52.Change-over circuit 41 has voltage source V 2, input terminal 51, first resistance R1, the second resistance R2 and compares with output voltage terminals 52.Voltage source V 2 is an example of " the second positive voltage source " of the present invention.
Between the switch element T that input terminal 51 is connected to inverter 3 and shunt resistance Rs.First resistance R1 and the second resistance R2 is connected in series between voltage source V 2 and input terminal 51.That is, one end of the first resistance R1 is connected with voltage source V 2, and the other end of the first resistance R1 is connected with one end of the second resistance R2.Further, one end of the second resistance R2 is connected with the other end of the first resistance R1, and the other end of the second resistance R2 is connected via input terminal 51 one end with shunt resistance Rs.
Comparison output voltage terminals 52 is connected between the first resistance R1 and the second resistance R2.Thus, when to one end input shunt current Is of shunt resistance Rs, the current value corresponding to this shunt current Is compares from comparing use voltage S41 with output voltage terminals 52 output.
Reference voltage provides circuit 42 to carry out dividing potential drop based on the resistance ratio of resistance R3, R4, R5 to the positive voltage provided from voltage source V 3, and generates the first voltage S61 and the second voltage S62 that are supplied to comparison circuit 43.Therefore, the first voltage S61 exported from the first lead-out terminal 61 is positive voltage with the second voltage S62 exported from the second lead-out terminal 62.Further, the magnitude of voltage of the first voltage S61 is larger than the magnitude of voltage of the second voltage S62.That is, voltage source V 3 is examples of " the first positive voltage source " of the present invention.
Comparison circuit 43 has the first comparator 71, second comparator 72, pull-up resistor Rp, voltage source V 4 and detection signal lead-out terminal 73.
First comparator 71 inputs the first voltage S61 to non-reverse rotation input terminal, compares use voltage S41 to the input of reverse rotation input terminal.Thus, when comparing larger than the magnitude of voltage of the first voltage S61 with the magnitude of voltage of voltage S41, the first comparison signal S71 exported from the first comparator 71 is low (Low).Further, when comparing less than the magnitude of voltage of the first voltage S61 with the magnitude of voltage of voltage S41, the first comparison signal S71 is high (High).
Second comparator 72 compares to non-reverse rotation input terminal input uses voltage S41, inputs the second voltage S62 to reverse rotation input terminal.Thus, when comparing larger than the magnitude of voltage of the second voltage S62 with the magnitude of voltage of voltage S41, the second comparison signal S72 exported from the first comparator 72 is high.Further, when comparing less than the magnitude of voltage of the second voltage S62 with the magnitude of voltage of voltage S41, the second comparison signal S72 is low.
Further, the lead-out terminal of the first comparator 71 and the lead-out terminal of the second comparator 72 are connected with one end of pull-up resistor Rp respectively.The other end of pull-up resistor Rp is connected with voltage source V 4.Further, the coupling part of the lead-out terminal of the first comparator 71, the lead-out terminal of the second comparator 72 and one end of pull-up resistor Rp is connected with detection signal lead-out terminal 73.
Thus, when any one party in the first comparison signal S71 and the second comparison signal S72 is low, the detection signal S4 exported from detection signal lead-out terminal 73 is low.Further, when the first comparison signal S71 and the second comparison signal S72 both sides are high, detection signal S4 is high.When the magnitude of voltage of detection signal S4 is low, detection signal S4 carrys out work as stop signal.That is, when comparing with the magnitude of voltage of voltage S41 more than during the first voltage S61 and time less than the second voltage S62, protective circuit 4 is output into the low detection signal S4 of stop signal to microcomputer 2.
At this, in change-over circuit 41, the current value of shunt current Is when being the magnitude of voltage identical with the first voltage S61 to compare with voltage S41 for first threshold, using the current value of the shunt current Is when to compare with voltage S41 be the magnitude of voltage identical with the second voltage S62 as Second Threshold.Words so, then, when the current value of shunt current exceedes first threshold and time less than Second Threshold, protective circuit 4 exports stop signal to microcomputer 2.When microcomputer 2 inputs the low detection signal S4 as stop signal, do not export the pulse signal S2 for turn on-switch elements T.Thus, owing to not flowing through electric current at switch element T, therefore, it is possible to suppress flow through overcurrent at switch element T and cause the vitiable situation of the merit of switch element T.
In the present invention, be positive current value when the shunt current Is of first threshold when the specified rotation than motor 9 is large.Further, shunt current Is when Second Threshold is motor 9 reverse rotation, and be negative current value.And the first voltage S61 and the second voltage S62 is positive magnitude of voltage.Thus, change-over circuit 41 all converts the first threshold of the threshold value of the positive side as shunt current Is and the Second Threshold as the threshold value of the minus side of shunt current Is to positive magnitude of voltage.Thus, reference voltage provides circuit 42 can generate the first voltage S61 as the reference voltage being input to comparison circuit 43 and the second voltage S62 from single positive voltage source V 3.That is, except positive voltage source V 3, do not need to prepare negative voltage source.Therefore, it is possible to suppress the maximization of motor drive 1.
In addition, the voltage source V 2 used in protective circuit 4, V3, V4 also realize by single positive voltage source.Now, the maximization of motor drive 1 can be suppressed further.
Next, the overall structure of motor drive 1 is described in detail.Fig. 2 is the circuit diagram of the structure that motor drive 1 is shown.Fig. 3 illustrates shunt current Is in motor drive 1 and the figure of relation between comparing with voltage S41.
In an exemplary execution mode of the application, the motor 9 as the driven object of motor drive 1 is three-phase brushless d.c. motor.Motor 9 has the stator winding of U phase, V phase, each phase of W phase.When providing drive current to the stator winding of each phase, between stator and rotor, produce torque, rotor carries out rotary actuation.But the motor as the driven object of motor drive involved in the present invention also can be single-phase motor or brush motor.
Microcomputer 2 is integrated circuits of the action of the switch element T had for control inverter 3.Microcomputer 2 based on the motor driving instruction signal inputted from outside to inverter 3 output pulse signal S2.As shown in Figure 2, pulse signal S2 be respectively with the pwm signal of the U phase of motor 9, V phase, each corresponding each a pair of W phase, totally six.The pulse signal S2 that slave microcomputer 2 exports is conditioned the scope of magnitude of voltage by level shift circuit 21 and is imported into inverter 3.
The pulse signal S2 that inverter 3 inputs based on slave microcomputer 2 provides drive current S31 to motor 9.Inverter 3 has voltage source V 1, six switch element T11, T12, T21, T22, T31, T32, three shunt resistance Rs1-Rs3 and three motor connect terminals 311-313 as shown in Figure 2.
Switch element T11, T12, T21, T22, T31, T32 are made up of transistor and diode respectively.The switch element T of an exemplary execution mode of the application uses insulated gate bipolar transistor (IGBT) as transistor.In addition, switch element T11, T12, T21, T22, T31, T32 also can use the switch element of other kinds.
Switch element T11, T12 and shunt resistance Rs1 are connected in series between voltage source V 1 and ground connection.Switch element T21, T22 and shunt resistance Rs2 are connected in series between voltage source V 1 and ground connection.Further, switch element T31, T32 and shunt resistance Rs3 is connected in series between voltage source V 1 and ground connection.Further, switch element T11, T12 and shunt resistance Rs1 is connected parallel with one another with switch element T21, T22 and shunt resistance Rs2, switch element T31, T32 and shunt resistance Rs3.
Motor connect terminals 311-313 is connected between switch element T11 and switch element T12, between switch element T21 and switch element T22 and between switch element T31 and switch element T32.
When motor 9 drives, about each phase of U phase, V phase, W phase, a pulse signals S2 is inputted respectively to pair of switches elements T 11, T12, pair of switches elements T 21, T22 and pair of switches elements T 31, T32.Thus, switch the driving opportunity of each switch element T, drive current S31 outputs to each phase the U phase of motor 9, V phase, W phase from motor connect terminals 311-313.
As mentioned above, three shunt resistance Rs1-Rs3 are connected in series respectively between switch element T12, T22, T32 and ground connection.Thus, the phase current of the U phase of motor 9, V phase, W phase is inputted respectively to shunt resistance Rs1-Rs3.
Protective circuit 4 has three change-over circuit 411-413, reference voltage provides circuit 42 and comparison circuit 43.Protective circuit 4 is corresponding to flowing through the current value of shunt current Is1-Is3 of shunt resistance Rs1-Rs3 to microcomputer 2 output detection signal S4.
The shunt current Is1-Is3 flowing through shunt resistance Rs1-Rs3 is converted to compare and uses voltage S411-S413 by change-over circuit 411-413 respectively, and outputs to comparison circuit 43 from comparing with output voltage terminals 521-523.
Input terminal 511-513 is connected between switch element T12 and shunt resistance Rs1, between switch element T22 and shunt resistance Rs2 and between switch element T13 and shunt resistance Rs3.Thus, the voltage proportional with the shunt current Is1-Is3 flowing through shunt resistance Rs1-Rs3 is inputted respectively to input terminal 511-513.
Change-over circuit 411 has input terminal 511, voltage source V 2, first resistance R1, the second resistance R2 and compares with output voltage terminals 521.First resistance R1 and the second resistance R2 is connected in series between voltage source V 2 and input terminal 511.That is, one end of the first resistance R1 is connected with voltage source V 2, and the other end of the first resistance R1 is connected with one end of the second resistance R2.Further, one end of the second resistance R2 is connected with the other end of the first resistance R1, and the other end of the second resistance R2 is connected with one end of shunt resistance Rs1.
Comparison output voltage terminals 521 is connected between the first resistance R1 and the second resistance R2.Thus, if flow through the electric current of switch element T12 to one end input of shunt resistance Rs1, then the current value corresponding to shunt current Is1 uses voltage S411 from comparing to compare with output voltage terminals 521 output.Change-over circuit 412,413 is the structure identical with change-over circuit 411, therefore omits repeat specification.
The resistance value of shunt resistance Rs1-Rs3 than the resistance value of the first resistance R1 and the resistance value of the second resistance R2 little.Thereby, it is possible to suppress the power consumption of shunt resistance Rs1-Rs3.
Reference voltage provides circuit 42 to be generate to be supplied to the first voltage S61 of comparison circuit 43 and the circuit of the second voltage S62.Reference voltage provides circuit 42 to have voltage source V 3, resistance R3, R4, R5.Also there is the first lead-out terminal 61 and the second lead-out terminal 62.Voltage source V 3 is positive voltage source.Resistance R3, R4, R5 are connected in series between voltage source V 3 and ground connection.
First lead-out terminal 61 is connected between resistance R3 and resistance R4.Thus, the voltage provided from voltage source V 3, and to be exported from the first lead-out terminal 61 as the first voltage S61 by dividing potential drop corresponding to the resistance value of resistance R3, resistance R4 and resistance R5.Further, the second lead-out terminal 62 is connected between resistance R4 and resistance R5.Thus, the voltage provided from voltage source V 3, and to be exported from the second lead-out terminal 62 as the second voltage S62 by dividing potential drop corresponding to the resistance value of resistance R3 and resistance R4 and resistance R5.Therefore, the first voltage S61 and the second voltage S62 is positive voltage.Further, the magnitude of voltage of the first voltage S61 is larger than the magnitude of voltage of the second voltage S62.
Comparison circuit 43 has three the first comparator 711-713, three the second comparator 721-723, pull-up resistor Rp, voltage source V 4 and detection signal lead-out terminals 73.
First comparator 711 inputs the first voltage S61 to non-reverse rotation input terminal, compares use voltage S411 to the input of reverse rotation input terminal.Thus, when comparing larger than the magnitude of voltage of the first voltage S61 with the magnitude of voltage of voltage S411, the first comparison signal S711 exported from the first comparator 711 is low (Low).Further, when comparing less than the magnitude of voltage of the first voltage S61 with the magnitude of voltage of voltage S411, the first comparison signal S711 is high (High).
Second comparator 721 compares to non-reverse rotation input terminal input uses voltage S411, inputs the second voltage S62 to reverse rotation input terminal.Thus, when comparing larger than the magnitude of voltage of the second voltage S62 with the magnitude of voltage of voltage S411, the second comparison signal S721 exported from the second comparator 721 is high.Further, when comparing less than the magnitude of voltage of the second voltage S62 with the magnitude of voltage of voltage S41, the second comparison signal S721 is low.
First comparator 712,713 is except comparing with except voltage S412, S413 this point to the input of reverse rotation input terminal, identical with the structure of the first comparator 711, therefore omits repeat specification.Further, the second comparator 722,723 is also except comparing with except voltage S412, S413 this point to non-reverse rotation input terminal input, identical with the structure of the second comparator 721, therefore omits repeat specification.
Further, the lead-out terminal of the first comparator 711-713 and the lead-out terminal of the second comparator 721-723 are connected with one end of pull-up resistor Rp respectively.The other end of pull-up resistor Rp is connected with voltage source V 4.Further, the coupling part of the lead-out terminal of the first comparator 711-713, the lead-out terminal of the second comparator 721-723 and one end of pull-up resistor Rp is connected with detection signal lead-out terminal 73.
Thus, when any one in the first comparison signal S711-S713 and the second comparison signal S721-S723 is low, the detection signal S4 exported from detection signal lead-out terminal 73 is low.Further, when the first comparison signal S711-S713 and the second comparison signal S721-S723 is high entirely, detection signal S4 is high.Detection signal S4 when its magnitude of voltage is low as stop signal action.That is, comparing with the magnitude of voltage of at least one in voltage S411, S412, S413 more than during the first voltage S61 and time less than the second voltage S62, protective circuit 4 exports the low detection signal S4 as stop signal to microcomputer 2.
At this, Fig. 3 illustrates shunt current Is1-Is3 that flowing through in change-over circuit 411-413 be connected with the shunt resistance Rs of input terminal 511-513 and the figure from the relation compared between the comparison voltage S411-S413 that exports with output voltage terminals 521-523.
As shown in Figure 3, the current value of shunt current Is1-Is3 when being the magnitude of voltage E1 identical with the first voltage S61 to compare with voltage S411-S413 is for first threshold I1, and the current value of shunt current Is1-Is3 when being the magnitude of voltage E2 identical with the second voltage S62 to compare with voltage S411-S413 is for Second Threshold I2.Thus, when the arbitrary current value in shunt current Is1-Is3 exceedes first threshold I1 and when being less than Second Threshold I2, protective circuit 4 exports stop signal to microcomputer 2.Microcomputer 2 does not export the pulse signal S2 for turn on-switch elements T after inputting the low detection signal S4 as stop signal.Thereby, it is possible to suppress following situation: owing to not having electric current to flow through at switch element T, therefore flow through overcurrent at switch element T and cause the loss function of switch element T.That is, can protection switch elements T.
Further, when whole current values of shunt current Is1-Is3 are in the scope of first threshold I1 to Second Threshold I2, it is not the high detection signal S4 of stop signal that protective circuit 4 exports to microcomputer 2.Now, microcomputer 2 does not stop the output of pulse signal S2.
The positive current value that specified shunt current I0 when first threshold I1 is the specified running than motor 9 is large.Further, shunt current when Second Threshold I2 is motor 9 reverse rotation, and be negative current value.Therefore, when specified shunt current I0 is positive current value, preferably the absolute value of first threshold is set larger than the absolute value of Second Threshold.Such as, when specified shunt current I0 is 3.0A, if first threshold I1 is 6.4A, Second Threshold I2 is-3.0A.
And the first voltage S61 and the second voltage S62 is positive magnitude of voltage.In an exemplary execution mode of the application, thus, the first threshold I1 of the threshold value of the positive side as shunt current Is and the Second Threshold I2 as the threshold value of minus side are all converted to positive magnitude of voltage by change-over circuit 41.Thus, reference voltage provides circuit 42 can generate the first voltage S61 as the reference voltage being input to comparison circuit 43 and the second voltage S62 from single positive voltage source V 3.That is, except positive voltage source V 3, do not need to prepare negative voltage source.Therefore, the maximization of motor drive 1 can either being suppressed, the switch element T of inverter 3 can being protected again not by just affecting against the overcurrent in two directions.
In addition, also realize by single positive voltage source for the protection of the voltage source V 2 in circuit 4, V3, V4.Now, the maximization of motor drive 1 can be suppressed further.
Next, be described with reference to the action of Fig. 4 to motor drive 1.Fig. 4 is the flow chart of the action that motor drive 1 is shown.
In an exemplary execution mode of the application, the motor 9 becoming the driven object of motor drive 1 is so-called sensorless motor.In sensorless motor, by before CD-ROM drive motor 9, flow into the pulse current of position probing from inverter 3 to motor 9, and detect the shunt current flowing through shunt resistance Rs and the position inferring the rotor of motor 9.
Therefore, when motor 9 during reverse rotation, exists following possibility due to external force: if flow through the pulse current of position probing at inverter 3, then by the current direction switch element T that the electromotive force of motor 9 produces, the loss function of switch element T.Therefore, before beginning CD-ROM drive motor 9, need to judge whether electric current flows to inverter 3 from motor 9.
Therefore, by making motor drive 1 according to following sequentially-operating, following situation can be suppressed: when driving the motor 9 as sensorless motor, the function of switch element T is damaged.
First, when adding the power supply of motor drive 1, the voltage source being provided to microcomputer 2, inverter 3 and protective circuit 4 drives respectively.Now, slave microcomputer 2 does not export pulse signal S2 for flowing through electric current at each switch element T to inverter 3.
Further, microcomputer 2 judges whether to have input motor driving instruction signal (step S101) from outside.When not inputting motor driving instruction signal to microcomputer 2, repeat step S101.And after inputting motor driving instruction signal to microcomputer 2, microcomputer 2 judges whether to have input stop signal (step S102) from protective circuit 4.Specifically, microcomputer 2 judges whether the detection signal S4 inputted from protective circuit 4 to microcomputer 2 is low.Thus, microcomputer 2 judges whether to have flowed into overcurrent at each switch element T of inverter 3.
In step s 102, when have input stop signal from protective circuit 4 to microcomputer 2, when namely detection signal S4 is low, microcomputer 2 is output pulse signal S2 not, but tenth skill.Thereby, it is possible to suppress flow into overcurrent at the switch element T of inverter 3 and cause the impaired situation of the function of switch element T.
And in step s 102, when not inputting stop signal from protective circuit 4 to microcomputer 2, when namely detection signal S4 is high, microcomputer 2 starts the output (step S103) of pulse signal S2.
In step s 103, the pulse signal S2 that microcomputer 2 exports starts the position estimating pulse signal of the position for the rotor for inferring motor 9, is converted to the driving pulse signal for making motor 9 rotate afterwards.In addition, in an exemplary execution mode of the application, motor 9 is sensorless motor, and therefore pulse signal S2 comprises position estimating pulse signal, but the present invention is not limited thereto.As long as motor 9 is for having the motor of position-detection sensor, then pulse signal S2 also can only include the driving pulse signal for making motor 9 rotate.
When starting the output carrying out pulse signal S2, microcomputer 2 judges whether to have input stop signal (step S104) from protective circuit 4.Thus, microcomputer 2 judges whether to have flowed into overcurrent to each switch element T of inverter 3.
In step S104, when have input stop signal from protective circuit 4 to microcomputer 2, that is, when detection signal S4 is low, enter step S106, the output of stop pulse signal S2.Thus, in the output procedure of pulse signal S2, following situation can be suppressed: cause owing to being applied with external force etc. the action of motor 9 to occur abnormal, thus make the function of switch element T damaged.
And in step S104, when not inputting stop signal from protective circuit 4 to computer 2, when namely detection signal S4 is high, microcomputer 2 judges whether to have input rotation stop signal (step S105) from outside.In step S105, when not inputting rotation stop signal to microcomputer 2, microcomputer 2 continues the output of pulse signal S2, and returns step S104.
In step S105, when not inputting rotation stop signal to microcomputer 2, the output (step S106) of microcomputer 2 stop pulse signal S2.Further, microcomputer 2 tenth skill.
Thus, at slave microcomputer 2 to before inverter 3 output pulse signal S2 and in output procedure, the shunt current Is inputted to shunt resistance Rs by monitoring and protecting circuit 4, the function of the switch element T that inverter 3 can be suppressed to have is damaged.
Above, exemplary execution mode of the present invention is illustrated, but the present invention is not defined as above-mentioned execution mode.
Fig. 5 is the circuit diagram of the structure of the motor drive 1A illustrated involved by a variation.In the above-described embodiment, inverter has and the U phase of motor, V phase, each three the corresponding shunt resistances of W phase.But motor drive of the present invention also can as shown in the motor drive 1A of Fig. 5, its inverter 3A has a whole shunt resistance RsA of the three-phase that is common to motor 9A.
In the inverter 3A of the example of Fig. 5, switch element T11A, T12A are connected in series between voltage source V 1A and shunt resistance RsA.Switch element T21A, T22A are connected in series between voltage source V 1A and shunt resistance RsA.Further, switch element T31A, T32A is connected in series between voltage source V 1A and shunt resistance RsA.Further, switch element T11A, T12A and switch element T21A, T22A, switch element T31A, T32A are parallel with one another is connected.One end of shunt resistance RsA is connected with switch element T12A, T22A, T32A, other end ground connection.
In the example of fig. 5, shunt resistance RsA is connected between switch element T12A, T22A, T32A and ground connection.Thus, shunt resistance RsA is transfused to the bus current of motor 9A.
Protective circuit 4A is connected between switch element T12A, T22A, T32A and shunt resistance RsA, and has input terminal 51A.Further, flow through the current value of the shunt current of shunt resistance RsA when exceeding predetermined first threshold and when being less than predetermined Second Threshold, protective circuit 4A exports the low detection signal S4A as stop signal to microcomputer 2A.And when the current value of shunt current is the value between first threshold and Second Threshold, protective circuit is not the high detection signal S4A of stop signal to microcomputer 2A output.
Thus, also the electric current corresponding with the U phase of motor, V phase and W is detected by a shunt resistance RsA.In the example of fig. 5, by being changed the current value of shunt current by change-over circuit 41A, the comparison voltage corresponding with first threshold and Second Threshold all becomes positive magnitude of voltage.Thereby, it is possible to being used in the voltage source inputting the first voltage and the second voltage to comparator is one.Therefore, it is possible to suppress the maximization of motor drive 1A and the switch element of inverter 3A can be protected not by just affecting against the overcurrent in two directions.
Further, in the above-described embodiment, if microcomputer input is as the low detection signal of stop signal, then do not carry out the output of pulse signal, or stop output pulse signal, but the present invention is not limited to this.If microcomputer input is as the low detection signal of stop signal, then also the exportable protection pulse for flowing into weak current to switch element replaces the pulse signal making switching elements ON." cut-off switch element " of the present invention also comprises the situation so reducing and flow through the electric current of switch element.
Further, in the above-described embodiment, low for stop signal with the output of inverter, but can height be also stop signal.Now, the input of each comparator to non-reverse rotation input terminal and the input to reverse rotation input terminal is switched.Further, now, the output of multiple comparator also can be inputted respectively to microcomputer.Further, also can suitably by each comparison signal that logical circuit exports to microcomputer input from multiple comparator.
Further, the inverter of above-mentioned execution mode is the so-called downside detection type inverter that shunt resistance is configured in the side, ground of switch element, but the present invention is not limited thereto.Inverter of the present invention also can be the inverter that shunt resistance is configured in the so-called high side detection type of the mains side of switch element.
Further, about the concrete circuit structure of each several part for realizing motor drive, also can be different from the circuit structure shown in Fig. 2.Further, in the scope do not conflicted, also can carry out appropriately combined to each key element occurred in above-mentioned execution mode and variation.