Drive circuit for brushless motor

Abstract: A brushless motor driving circuit is provided for obtaining a reliable starting and stable rotation driving irrespective of the load condition. The brushless motor driving circuit comprises a plurality of the terminal voltages detection means located at every phase of the armature windings; a terminal voltage compensation means for adding or subtracting a compensation value to/from the terminal voltage of an armature windings detected at respective phases during actual driving period, the compensation value is determined by a resistor of the armature winding and a winding current; and a comparator means for comparing respective terminal voltages after compensation has carried out to obtain a rotor location signal; the armature windings are driven by the rotor location signal detected at comparator means.

Description: Field of the Invention The invention relates to a brushless motor driving circuit according to the pre-characterizing part of claim 1. Description of the Prior Art The rotation driving control of a brushless motor can be classified roughly into two functions. One of which is a commutation control for controlling the timing of respective phase current which flows through respective armature winding. Another is a speed control which maintains the rotation speed constant. In the commutation control, a rotor location signal is necessary which indicates the relative position of the armature winding and the rotor. On the other hand, in the speed control, a speed signal is necessary for indicating rotation speed of the rotor. For the commutation change control of conventional typical brushless motor, a rotor location detecting element such as Hall device is used. But, since the rotor location detecting element is no so cheap and needs further many electric wiring, there is some demerit which is complicated and causes an increase of cost. Further, by using the rotor location detecting element, the thinness and small sizing of the motor is restricted. Since an outpunt of the rotor location detecting element changes by temperature and humidity, there remain some problems from the view point of reliability. To avoid this demerit, some driving systems for the brushless motor are proposed for detecting a rotor location using a counter electromotive voltage signal induced in the armature winding. The typical driving system for detecting the rotor location from the counter electromotive voltage signal is disclosed in the laid-open Japanese Patent Publication No. 58-25038. In the above publication, two systems are disclosed, one of which is a system for detecting a location by comparing both terminal voltages of respective armature winding and the other system by comparing the terminal voltage and the neutral voltage of the armature winding. FIG. 38 shows a general construction of the system for detecting the location by comparing the terminal voltage and the neutral voltage of the armature winding. In FIG. 38, 12, 13 and 14 are the armature windings of a star connection brushless motor, 11 is a bridge circuit which switches the current flowing in the armature windings 12, 13 and 14. A comparator 500 compares the terminal voltages U, V, W, each of which is not neutral terminal of the armature winding, with a neutral voltage M, respectively, to detect the rotor location. A commutation control menas 501 controls the bridge circuit 11 according to the rotor location which is detected by the comparator 500 and makes the rotor rotate by supplying a current into the predetermined phase of the armature winding. Further, the laid-open Japanese Patent Publication No. 51-100216 discloses a method for compensating a phase delay generated when comparing the terminal voltages, where ohmic drop of the armature winding resistor is assumed to be constant and the phase delay is compensated using a shunt resister. In the conventional driving system in which the location detection is carried out by comparing the terminal voltages each other, since one of the terminal is a current supplying phase and another is a non-current supplying phase, when the current in the current supplying phase increases at load state, the ohmic drop in the armature winding of current supplying phase becomes large, and therefore the rotor location signal of the current supplying phase delays. This delay causes a commutation timing to delay, then the torque decreases, which causes a rotation speed to decrease. When the rotation speed decreases, the current increases in order to rise the rotation speed, and the ohmic drop further becomes large, that is, there occures a vicious circle. In the worst case, the motor can not generate a torque which is larger than the load, and then the motor will fall into stopping state. On the other hand, in the conventional driving system in which the location detection is carried out by comparing the neutral voltage with the terminal voltages, although the phase delay of the location detecting signal can be solved, it is necessary to draw out the neutral leads from inside of the brushless motor. The rotor location signal obtained by comparing the neutral voltage with the terminal voltages is shifted around wo degrees in electrical angle against the actually needed rotor location signal, then the compensation must be carried out. The integration filter is usually used for phase compensation, therefore, when the motor is derived in a variable speed, the integration filter constant must be changed. Accordingly, if the constant is fixed, the commutation operation becomes unstable at transient state. Further, in the above both driving system, by the influence of spike shaped noise generated on the terminal voltage waveform accompanied with the switching of the driving transistor, the rotor location signal becomes incorrect. In the conventional driving circuit for the brushless motor, a commutation timing is not synchronized with a timing for increasing or decreasing the armature winding current. Therefore, it is difficult to add or sutract a compensation value which is determined by the resistance value of the armature winding and the current flowing in the current supplying phase to/from the winding voltage during the actual driving period. In the conventional driving circuit for the brushless motor, the transistors are switched by the rectangular shaped wave, there occurs noise at commutation. From EP-A-0267 283 a brushless DC motor is known, wherein the rotor position is detected by means of the terminal voltages of the armature windings. A compensation for phase shifting by ohmic drop in the respective armature winding under load is achieved by using a variable mixing parameter for mixing of two terminal voltages. The mixing result is composed with a third terminal voltages. The mixing parameter can take one of only two different values depending on the magnituede of the current flowing through the respective armature winding. It is the object of the present invention to provide a driving circuit for the brushless motor having no phase delay in the rotor location signal even at load state, having a stable rotation irrespective of steady state or transyient state, and a simple lead connection. Further, it is the object of the present invention to provide a driving circuit for the brushless motor for correctly detecting a rotor location signal even if spike shaped voltage fluctuation is generated on the terminal voltage waveform accompanied with switching of driving transistor. SUMMARY OF THE INVENTION This object according to the invention is solved by a brushless motor driving circuit having the features of claim 1. Preferred embodiments of the brushless motor driving circuit according to the invention are defined in claims 2 to 11. A brushless motor driving circuit for driving a plurality of the armature windings of a brushless motor of the present invention comprises a plurality of the terminal voltages detection means located at every phase of the armature windings; a terminal voltage compensation means for adding or subtracting a compensation value to/from the terminal voltage of an armature windings detected at respective phases during actual driving period, the compensation value is determined by a resistance of the armature winding and a winding current; and a comparator means for comparing respective terminal voltages after compensation has carried out to obtain a rotor location signal; the armature windings are driven by the rotor location signal detected at the comparator means. Since the neutral point is not used and a location signal is obtained by compensating the compensation value determined by the armature winding current only during the actual driving period, the lead may be small and correct driving timing having less delay may be obtained. In a professed embodiment the brushless motor driving circuit comprises a plurality of the terminal voltages detection means located at every phase of the armature windings; a terminal voltage difference compensation means between respective phases for adding or subtracting a compensation value to/from the terminal voltage difference of respective phases detected between the armature windings during actual driving period, the compensation value is determined by a resistance of the armature winding and a winding current; and a comparator means for comparing respective terminal voltage difference between respective phases after compensation has carried out to obtain a rotor location signal; the armature windings are driven by the rotor location signal detected at the comparator means. Since the neutral point is not used and a location signal is obtained from the inter-terminal voltage by compensating the compensation value determined by the armature winding current only during the actual driving period, the lead may be small and correct driving timing having less delay may be obtained. Further the brushless motor driving circuit can comprise a rising and falling signal detection means for detecting a rising and falling signal of the rotor location signal to speed-feedback-control by assuming the detected resultant signal as a detected speed signal. Further, since a signal corresponding to the signal speed is obtained from the location signal, the speed control is simplified by using a simple apparatus. Further, the driving signals can be applied to the terminal voltage compensation means of respective phases and the terminal voltage difference compensation means between respective phases, respectively during the driving signals are applied to a bridge circuit for exciting and driving armature windings of respective phases. Since an actual driving is carried out during the driving signals is in a driving state, the phase delay is correctly compensated. Further, the brushless motor driving circuit can comprise an actual current detection resistor which is connected serially to a bridge circuit for exciting the armature windings; wherein the current flowing in the detection resistor is applied to terminal voltage compensation means and the terminal voltage difference compensation means, respectiveley, as a winding current. Since the compensation voltage was taken from the detection resistor for detecting the current flowing in the armature winding, the phase delay is correctly compensated. In a further preferred embodiment the brushless motor driving circuit comprises a differentiation circuit for detecting a rising and falling edge of comparison signal ot the terminal voltages and a voltages differences between respective phases; and a latch circuit for latching the comparison signal at the timing when the edge is detected in the differentiation circuit; the armature windings of respective phases are driven as a rotor location signal by combining the output signals of latch circuit. Since a new the location signal is obtained by latching the location signal, a correct location signal is obtained even if the noise is included in the detected signal. Further, the brushless motor driving circuit can comprise a differentiation circuit for detecting a rising and falling edge of comparison signal of the terminal voltages and voltage differences between respective phases; a timer for starting by a detected edge from the differentiation circuit and for stopping ist operation after a predetermined period; and a latch circuit for latching the comparison signal at the timing when the edge is detected in the differentiation circuit and for releasing the latch at the timing when the timer has stopped; the armature windings of respective phases are driven as a rotor location signal by combining the output signals of latch circuit. Since a logic signal obtained by comparing the terminal voltage isdifferentiated and latched, then the latch is released after a predetermined period, a correct rotor location signal is provided even if noise is included in the detected signal. Further, in the brushless motor driving circuit the timer period during the latch circuit latches and releases the comparison signal can be switched according to the indicated rotation speed to the armature. Since the timer length is variable, noise can be masked for an appropriate period. Further, according to a preferred embodiment the brushless motor driving circuit comprises a commutation circuit for obtaining an armature winding driving signal from a rotor location signal detected in the rotor location signal detection means which includes a compensation means for compensating each terminal voltage or voltage differences of respective phases and a comparing means for comparing each terminal voltage or voltage differences between respective phases; and a trapezoid driving signal generation circuit for forming a trapezoid driving signal from the output of the commutation circuit; the trapezoid driving signal is supplied to drive the armature winding. Since the armature windings are driven by the trapezoid shaped signal, it is possible to decrease noise at commutation. The brushless motor driving circuit of this embodiment can furthercomprise a charging/discharging circuit in the trapezoid driving signal generating circuit for changing the gradient of the trapezoid driving signal by changing the time constant of the charging /discharging circuit using a control signal inputted from outside. Since the gradient of the trapezoid shaped driving signal is changed by the outside controlling signal, it is possible to surely decrease noise at commutation, even if rotation speed of motor changes. Further, according to this embodiment the brushless motor driving circuit can comprise a phase leading circuit for leading a phase of the rotor location signal, the leading quantity of the phase leading circuit is set to substantially ½ of the gradient time of the trapezoid driving signal for driving the armature winding. Since the phase of rotor location signal is led so that the grading center of the trapezoid sheped driving signal coincides with the commutation timing, it is possible to decrease noise without decreasing the torque generating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a first embodiment of the present invention which shows a general construction of a brushless motor driving device. FIG. 2 shows a concrete construction example of a terminal voltage compensation circuit. FIG. 3 shows a concrete construction example of a comparator of the embodiment 1. FIG. 4 shows a signal wave which explains operation of the embodiments 1 and 2. FIG. 5 shows a signal wave which explains operation of the embodiments 1 and 2. FIG. 6.shows a construction of a compensation switching signal generating circuit and signal wave forms of a terminal voltages circuit. FIG. 7 shows a relationship between the current supplying phase and the driving signals. FIG 8. Is a block diagram of a second embodiment which shows a general construction of a brushless motor driving device. FIG. 9 shows a concrete inter-terminal voltage compensation circuit. FIG. 10 shows a table which explains an operation of an inter-terminal voltage compensation circuit. FIG. 11 shows a concrete construction example of a comparator of the embodiment 2. FIG. 12 shows a table which explains an operation of an inter-terminal voltage compensation circuits. FIG. 13 is a block diagram of a third embodiment which shows a general construction of a brushless motor driving device. FIG. 14 is a block diagram of a fourth embodiment which shows a general construction of a brushless motor driving device. FIG. 15 is a block diagram of a fifth embodiment of the present invention which shows a general construction a brushless motor driving device. FIG. 16 is a block diagram of a sixth embodiment of the present invention which shows an general construction a brushless motor driving device. FIG. 17 shows a concrete construction example of a waveform shaping circuit. FIG. 18 shows a signal wave which explains operation of a waveform shaping circuit. FIG. 19 shows a signal wave which explains operation of a waveform shaping circuit. FIG. 20 is a block diagram of an eighth embodiment which shows a general construction of a brushless motor driving device. FIG. 21 shows a signal wave of respective portion of the terminal voltage compensation circuit at a normal rotation state of a brushless motor driving device. FIG. 22 shows a construction example of a waveform shaping circuit of embodiment 8. FIG. 23 shows the terminal voltage waveform and signal waveform, of respective portion of the waveform shaping circuit. FIG. 24 is an enlarged signal waveforms of FIG. 23. FIG. 25 is a signal waveform which explains an operation of a mask signal generating circuit and a timer of embodiment 9. FIG. 26 is a signal waveform which explains an operation of a mask signal generating circuit and a timer of embodiment 9. FIG. 27 is a signal waveform which explains an operation of a mask signal generating circuit and a timer of embodiment 9. FIG. 28 is a block diagram of a tenth embodiment which shows a general construction of a brushless motor driving device. FIG. 29 shows a logic circuit in trapezoid driving signal generating circuit. FIG. 30 shows a construction of charging and discharging circuit of the embodiment 10. FIG. 31 is a timing chart which explains an operation of embodiment 10. FIG. 32 shows a construction of trapezoid wave combination circuit in trapezoid driving signal generating circuit. FIG. 33 is a block diagram of an eleventh embodiment of the present invention which shows a general construction of a brushless motor driving device. FIG. 34 shows a construction of charging and discharging circuit of the embodiment 11. FIG. 35 shows a signal wave which explains an operation of embodiment 11. FIG. 36 is a block diagram of a twelfth embodiment which shows a general construction of a brushless motor driving device. FIG. 37 shows a construction of comparator of the embodiment 12. FIG. 38 is a block diagram which shows a general construction of a conventional brushless motor driving device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 In the prior art, when voltages of the armature windings of respective phases are detected, there occurs a phase delay during the detection. Therefore, in the present invention, an compensation voltage which is a product of the load resistance and the current in an actual loading state is applied to the armature windings in order to obtain a terminal voltages at a correct phase in an actual loading state. Thus, the driving voltages of the armature windings of respective phases are generated in the commutation circuit according to the winding the terminal voltages. Furhter, in the present invention, equivalent motor speed is detected from the armature winding voltage of respective phases. This detected speed is feedbacked to the armature windings to control the rotor speeed, which is explained below. In this embodiment, a construction and an operation of the brushless motor driving device is explained. FIG. 1 is a block diagram of a first embodiment of the present invention which shows a general construction a brushless motor driving device. In FIG. 1, the numerals 12, 13 and 14 denote the armature windings of neutral nongrounding three phase star connection brushless motor, the numeral 11 denotes a bridge circuit which supplies predetermined driving currents to the armature windings 12, 13 and 14 by controlling driving transistor group TR1 ~ TR6. We call the armature windings 12, 13 and 14 as U phase, V phase, and W phase, respectively, in the following, for convenience' sake. The numeral 1 denotes a terminal voltage compensation circuit which compensates the terminal voltages and outputs compensation terminal voltage signal 1a, 1b and 1c. The numeral 2 denotes a comparator which compares the compensated terminal voltages of respective phases and obtain logic signals 2a, 2b and 2c. The numeral 3 denotes a waveform shaping circuit which obtains the rotor location signals 3a, 3b and 3c by shaping the waveform of logic signals 2a, 2b and 2c. The numeral 4 denotes a rotor location signal generating circuit which comprises elements 1, 2 and 3. The numeral 4 denotes a terminal where the motor rotation signal is inputted in order to enable the motor rotation, the numeral 6 denotes a pulse generating circuit, the numeral 7 denotes a counter circuit, the numeral 8 denotes a switching signal generating circuit, the numeral 9 denotes a commutation circuit. The commutation circuit 9 outputs the driving signals 9a ~ 9f and controls to switch the driving transistor group TR1 ~ TR6 according to a state of signal input of the rotor location signal generating circuit 4, the terminal 5, the counter circuit 7, the switching signal generating circuit 8. FIG. 2 shows a concrete construction example of a terminal voltage compensation circuit. IN FIG. 2, the numerals 22 ~ 34 denote npn transistor, the numeral 35 denotes a pnp transistor, the numerals 36 ~ 56 denote resistors, the numerals 57 ~ 60 denote constant current sources. U phase terminal voltage is inputted to the base of the npn transistor 20, V phase terminal voltage is inputted to the base of the npn transistor 25, W phase terminal voltage is inputted to the base of the npn transistor 30, and a voltage corresponding to the armature winding ohmic drop which is applied to the base terminal 61 is inputted to the pnp transistor 35. The numerals 62 ~ 67 denote terminals where the compensation switching signal are inputted which switches terminal voltage. The compensated the terminal voltages of respective phases are outputted as shown by numerals 1a, 1b and 1c. FIG. 3 shows a concrete construction example of a comparator shown in FIG. 1. In FIG. 3, the numerals 70 ~ 81 denote resistors, the numerals 82 ~ 84 denote differential amplifier circuit, the numerals 85 ~ 87 denote comparators. The compensated U phase ther terminal voltages 1a is applied to the non-inversion input termina of differential amplifier circuit 82 and to the inversion input terminal differential amplifier circuit 83 through the resistors 70 and 75, respectively. The compensated V physe the terminal voltages 1b is applied to the non-inversion input terminal of differential amplifier circuit 83 and to the inversion input terminal differential amplifier circuit 84 through the resistors 74 and 79, respectively. The compensated W phase the terminal voltages 1c is applied to the non-inversion input terminal of diffential amplifier circuit 84 and to the inversion input terminal differential amplifier circuit 82 through the resistors 78 and 71, respectively. Inversion input terminals of the differential amplifier circuits 82, 93 and 84 are connected to the output terminals of the differential amplifier circuits 82, 82 and 84 through resistors 73, 77 and 81, respectively, and the output terminals of the differential amplifier circuits 82, 83 and 84 are connected to non-inversion input terminals of comparator 85, 86 and 87. Further, a reference voltage Vref is inputted to the non-inversion input terminal of the differential amplifier circuit 82 and 93 and 84 and to the inversion input terminal of comparator 85, 86 and 87. The differential amplifier circuit 82 outputs a differential amplifier signal between 1a and 1b on both sides ot the center voltage of Vref. This differential amplifier signal is compared with Vref in the comparator 85 and a logic signal 2a is obtained. In the similar process, the logic signals 2b and 2c can be obtained. FIG. 4 shows a relationship between terminal voltage waveforms of respective phases at no load state, logic signals 2a, 2b ad 2c outputted from the comparator 2, and current supplying phase in case that the terminal voltages are not compensated. In an actual terminal voltage waveform at commutation, spike shaped voltage fluctuation is generated, but it is omitted here in order to simplify the explanation. At no load status, since a quantity of current supply is small, ohmic drop in the armature winding can not be neglected. Therefore, waveforms of the terminal voltage have a symmetry shape toward right and left direction as shownin FIG. 4 and a certain logic signal having a predetermined phase relationship with the rotor can be obtained. On the other hand, FIG. 5 shows a relationship between terminal voltage waveforms of respective phases at load state, the logic signals 2a, 2b and 2c outputted from the comparator 2, and current supplying phase in case that the terminal voltages are not compensated. In the load state, since there is increased supplying currents, the effects of the ohmic drop in the armature windings can not be neglected. In the two the terminal voltages in comparison, one is a current supplying phase, and another is no current supplying phase. For example, when the current supply is switched from V → W to U → W, the terminal voltages of U and V phase are compared. At this time, V phase is a current supplying phase and U phase is no current supplying phase. The ohmic drop voltage is supersposed to the terminal voltage waveform of the current supplying phase V. On the other hand, since the current does not flow in U phase, only counter electromotive voltage is generated at the terminal. Since the voltages of the bridge circuit is fixed to Vcc, and the neutral point is not grounded, the neutral voltage decreases by only ohmic drop. Therefore, the actual terminal voltage waveform is actually observed as a decrease in the terminal voltages of no current supplying phase U. Accordingly, there is a shifting at the positions where the terminal voltage level of u phase and the terminal voltages of V phase are coincident, and then the logic signal 2b delays, for example in of FIG. 5, in comparison with no-load state. In order to solve the above problem in which the phase delay is generated, in the present invention, the ohmic drop voltage is added to and subracted from the terminal voltages of current supply phase, and the terminal voltages are compared with each other to obtain logic signals 2a, 2b and 2c. For example, at U phase, when the voltage is applied, and when the voltage is applied from V phase or W phase to U phase, the ohmic drop voltageis added. An operation of the terminal voltage compensation circuit 1 is concretely explained using FIG. 2. Although FIG. 2, shows a terminal voltage compensation circuit of three phases for U, V, W, but the following explanation relates to only a terminal voltage compensation circuit of U phase. First in the following explanation, the terminal 62 and terminal 63 are assumed to be at H (high) level. Since collector voltages of npn transistor 22, npn transistor 24 become zero, the emitter voltage of npn transistor 21, npn transistor 23 also become zero, therefore, the current does not flow in the resistor 37 and the resistor 40. Accordingly, the current which flows in the resistor 36 (resistance value = R1) is only i 1 which is supplied by a constant current source 57. Therefore, the voltage which is observed at U phase output terminal of the terminal voltage compensation circuit becomes a voltage which subracts the voltage between base-emitter (V be )of the transistor 20 and the ohmic drop voltage in the resistor 36 from the input voltage of the terminal voltage compensation circuit such as indicated by the equation (1). 1a = U - V be - R1 x i 1 Next, the terminal 62 and terminal 63 are assumed to be at L (low) level. Assume that a voltage V ir is applied to the terminal 61. Then, since collector voltages of npn transistor 22, npn transistor 24 become V ir + V be , the emitter voltage of npn transistor 21, npn transistor 23 also become V ir , therefore, the current flowing in the resistor 37 (resistance value = R2) and the resistor 40 (resistance value = R2) is V ir /R2, respectively. Accordingly, the current which flows in the resistor 36 is i 1 which is supplied by a constant current source 57 plus a current which flows in the resistors 37, 40 Therefore, the voltage which is observed at U phase output terminal of the terminal voltage compensation circuit becomes below such as indicated by the equation (2). 1a = U - V be - R1 x i 1 - 2 R1 x V ir /R2 When the terminal 62 is H level and the terminal 63 is at L level, or the terminal 62 is at L level and the terminal 63 are set to H level, since a current V ir /R2 flows only either of the resistor 37 or the resistor 40, the voltage which is observed at U phase output terminal of the terminal voltage compensation circuit becomes below such as indicated by the equation(3) . 1a = U - V be - R1 x i 1 - 2 R1 x V ir /R2 Finally, when the ohmic drop voltage is to be added ( V → U, W → U) , the terminal 62 and the terminal 63 is set to H level, and when the ohmic drop voltage is to be subracted (U → V, U → W), the terminal 62 and the terminal 63 can be set to L level in order to compensate the terminal voltages. Further, when U phase need not to be compensated (V → W, W → V), the terminal 62 can be set to H level and the terminal 63 can be set to L level, or the terminal 62 is set to L level and the terminal 63 is set to H level. And when the ohmic drop voltage is to be subtracted (U → V, U → W), the terminal 62 and the terminal 63 are set to L level in order to compensate the terminal voltages. Similarly, in the V phase, when the ohmic drop voltage is to be added (U → W, W → V), the terminal 64 and the terminal 65 is set to H level, and when the ohmic drop voltage is to be subracted (V → U, V → W), the terminal 64 and the terminal 65 can be set to L level in order to compensate the terminal voltages. Further, when V phase need not to be compensated (U → W, W → U), the terminal 64 can be set to H level and the terminal 65 can be set to L level, or the terminal 64 is set to L level and the terminal 65 is set to H level. Similarly, in the W Phase, when the ohmic drop voltage is to be added (U → W, V → W) , the terminal 66 and the terminal 67 are set to H level, and when the ohmic drop voltage is to be subtracted (W → U, W → V), the terminal 66 and the terminal 67 can be set to L level in order to compensate the terminal voltages. Further, when W phase need not to be compensated (U → V, V → U), the terminal 66 can be set to H level and the terminal 67 can be set to L level, or the terminal 66 is set to L level and tthe terminal 67 is set to H level. FIG. 6 (b) shows a time chart having a relationship between the current supplying phase and the compensation switching signal inputted into the terminals 62 ~ 67. FIG. 6 (a) shows a detailed circuit diagram of concrete compensation switching signal generating circuit 16 in which the detected winding the terminal voltages are compensated by the product of the resistor and crrent only during actual driving period. In this embodiment, the rotor location signals 3a, 3b and 3c are applied to input terminal of the concrete compensation switching signal generating circuit 16, and resultant output signals shown in FIG. 6 (b) are supplied to the terminals 62 ~ 67 of the terminal voltage compensation circuit 1 after logical operation by the combination of the logical elements in the compensation switching signal generating circuit 16. Further, as shown in FIG. 1, since the current control circuit 211 and the buffer amplifier 212, the resistor 213, the driving transistor 214 control the armature currents, the output of the control circuit 211 is applied to the terminal 61 of terminal voltage compensation circuit 1. The current control circuit 211 detects a difference between the actual rotation speed obtained from the logic pulse signal 201 and the indicated rotation speed to control the armature current so that detected difference becomes zero. Further, three phase brushless motor is explained above in this embodiement, but is is apparent that the invention can be applied to a brushless motor having more than three phases. The means which is constituted of transistor circuit in this embodiment may be constituted by Operational (OP) amplifier and digital integrated circuit. Embodiment 2 In the prior art, when voltages of the armature windings of respective phases are detected, ther occurs a phase delay during the detection. Therefore, in the present invention, an compensation voltage which is a product of the load resistance and the current in an actual loading state is applied to the voltage difference of the armature windings of respective phase in order to obtain a terminal voltages at a correct phase in an actual loading state. Thus, the driving signals of the armature windings of respective phases are generated in the commutation circuit according to the winding of the terminal voltages. In this embodiment, a construction and an operation of the brushless motor driving device is explained. FIG. 8 is a block diagram of a second embodiment which shows a general construction of a brushless motor driving device. This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. In FIG. 8, the same elements are shown by the same numerals of the embodiment 1 in FIG. 1. The numeral 100 denotes an inter-terminal voltage compensation circuit which compensates the voltage between the terminals, and outputs inter-terminal compensation voltage signals 100a - 100f. The numeral 101 denotes a comparator which obtains logic signals 101a, 101b and 101c by comparing the compensated voltages between the terminals. The numeral 102 denotes a rotor location signal generating circuit which includes the inter-terminal voltage compensation circuit 100, the comparator 101 and a waveform shaping circuit 3. FIG. 9 shows a concrete inter-terminal voltage compensation circuits 100. In FIG. 9, the numerals 100 - 127 denote npn transistors, the numeral 128 denotes a pnp transistor, the numerals 129 - 155 denote resistors, the numerals 156 - 162 denote constant current sources. U phase the terminal voltages are applied to bases of the npn transistors 110 and 117, respectively, V phase the terminal voltages are applied to bases of the npn transistors 116 and 123, respectively, W phase the terminal voltages are applied to bases of the npn transistors 111 and 122, respectively. The armature winding ohmic drop is applied to the terminal 163 which is connected to the base of pnp transistor 128. The numerals 164 - 169 denote terminals where the compensation switching signals for switching voltage between the terminals are applied. The compensated inter-terminal voltage is outputted to 100a - 100f. A concrete operation of the inter-terminal voltage compensation circuit is explained below. In FIG. 9, lets assume the power supply voltage is Vcc, ohmic value of resistors 129, 131, 138, 140, 147 and 149 is R3, ohmic value of resistors 130, 139 and 148 are R4, ohmic value of resistors 134, 135, 143, 144, 152 and 153 are R5, current value supplied by constant current sources 156, 157 and 159 ~ 162 are i 2 , base current of npn transistor is i b , voltage inputted into terminal 163 is V ir . First, the terminal 164 being at H level is considered. The emitter voltage of the npn transistor 113 becomes zero volt, then the current does not flow in the resistor 134. In the resistor 130, a current of (U - W)/R4 flows from the emitter terminal of npn transistor 110 toward the emitter terminal of npn transistor 111. Accordingly, the current which flow in the resistor 129 is I 2 + (U - W) /R4 - i b , then the output 100a outputted from the inter-terminal voltage compensation circuits 100 is given by the equation (4) . 100a = Vcc - R3 x {i 2 + (U - W) /R4 - i b } On the other hand, when the terminal 164 is at L level, the current V ir /R5 flows in the resistor 134 then the output 100a outputted from the interterminal voltage compensation circuits 100 is given by the equation (5). 100a = Vcc - R3 x {i 2 + (U - W) /R4 - i b } Considering the other inter-terminal voltage in the similar way, the relationship between the logic level of terminals 164 ~ 169 and the outputs 100a ~ 100f is shown in FIG 10. FIG. 11 shows a concrete construction example of a comparator 101 of the embodiment 2. In FIG. 11, the numerals 170 ~ 172 denote comparators. The comparator 170 compares 100b with 100a and outputs a logic signal 101a, the comparator 171 compares 100d with 100c and outputs a logic signal 101b, and the comparator 172 compares 100f with 100e and outputs a logic signal 101c. The concrete operation of the comparator 101 is considered below. When the terminal 164 and terminal 165 are at H levels, the comparator 170 outputs a logic signal 101a of U>W. When the terminal 164 is at L level and the terminal 165 is at H level, the comparator 170 outputs a logic signal 101a of {U + R4 x V ir / (2xR5)} > W. As is shown in FIG. 4, the rotor location is detected by the coincidence of the terminal voltages of W phase and U at the time when switching current supply from U → V to W → V and at the time when switching current supply from V → U to V → W. But, since U phase is a current supplying phase is a non-current supply phase, an ohmic drop voltage is superposed to the U phase terminal voltage at both cases. Accordingly, it is necessary to compensate the ohmic drop voltage from U phase terminal voltage at a comparing point. When current supply is switched from U → V to W → V, it is necessary to subracts an ohmic drop voltage from U phase the terminal voltages. When current supply is switched from V → U to V → W, it is necessary to adds an ohmic drop voltage to U phase the terminal voltages. Accordingly, if R4 and R5 are set so that (R4 x v ir /(2xR5) is to be an armature winding ohmic drop voltage, and terminal 164 is set to H level and the terminal 165 is set to L level at U → V current supply, or the terminal 164 is set to L level and the terminal 165 is set to H level at V → U current supply, the comparator 101 compares U phase terminal voltage with W phase terminal voltage in which the ohmic drop are compensated, then outputs the logic signal 101a. Accordingly, the same effect may be obtained in comparison with the embodiment 1. It is possible to consider the other inter-terminal voltage in a similar way. If the terminal 166 is set to H level and the terminal 167 is set to L level at V → W current supply, or the terminal 166 is set to L level and the terminal 167 is set to H level at W → V current supply, the terminal 168 is set to H level and the terminal 169 is set to L level at W → U current supply, or the terminal 168 is set to L level and the terminal 169 is set to H level at U → W current supply, it is possible to get a similar effect in comparison with the embodiment 1. FIG. 12 shows a relationship between the current supplying phase and the compensation switching signal inputted into the terminals 164 ~ 169. Embodiment 3 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. In this third embodiment, the voltages of the armature windings of respective phases are detected as described in the embodiment, 1, an compensation voltage which is a product of the load resistance and a current in an actual loading state is applied to the armature windings of respective phase in order to obtain a terminal voltages at a correct phase in an actual loading state. Thus, the deriving signals of the armature windings of respective phases are generated. In the present embodiment, the above the driving signals is used as a compensation switching signal. An operation of the brushless motor driving device of the present embodiment is explained below. FIG. 13 is a block diagram of a third embodiment which shows a general construction a brushless motor driving device. In FIG. 13, the same elements are shown by the same numerals of the embodiment 1 in FIG. 1. In this embodiment, the driving signals 9a, 9b, 9c, 9d, 9e and 9f are inputted into the terminal 63, terminal 65, terminal 67, terminal 62, terminal 64 and terminal 66 of the terminal voltage compensation circuit 1, respectively. The compensation switching signal of the embodiment 1 shown in FIG. 6 is synchronized with the commutation. Accordingly, it is possible to use the driving signals for sequentially switching the driving transistors TR1 - Tr6 as compensation switching signals. FIG. 7 shows a relationship between the current supplying phase and the driving signals 9a - 9f of the bridge circuit 11 such as shown in FIG. 1. The compensation switching signals for the terminal 62, terminal 63, terminal 64, terminal 65, terminal 66 and the terminal 67 of FIG 6 correspond to the driving signals 9d, 9a, 9e, 9b, 9f and 9c, respectively. Accordingly, it is possible to supply a brushless motor driving device as an embodiment shown in FIG. 13. Embodiment 4 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. This fourth embodiment is an example which is combined by the embodiment 2 and embodiment 3. That is, in this third embodiment, the voltages of the armature windings of respective phases are detected as described in the embodiment 1, an compensation voltage which is a product of the load resistance and a current in an actual loading state is applied to the voltage difference of respective phases in order to obtain deriving signals of respective phases in the compensation circuit at a correct phase in an actual loading state. In the present embodiment, the above the compensation switching signals are obtained from the driving signal. FIG. 14 is a block diagram of a fourth embodiment which shows a general construction a brushless motor driving device. In FIG. 14, the same elements are shown by the same numerals of the embodiment 2 in FIG. B. In the present embodiment, the driving signals 9a is inputted to the terminal 165 and terminal 168 of the inter-terminal voltage compensation circuit 100, the driving signals 9b is inputted to the terminal 164, terminal 167 of inter-terminal voltage compensation circuit 100 and the driving signals 9c is inputted to the terminal 166 and the terminal 169 of inter-terminal voltage compensation circuit 100. When the inter-terminal voltage is compensated, it is possible to use the driving signals which sequentially switching the driving transistors TR1 - TR6 as a compensation switching signal in a similar way as shown in the embodiment 3. For example, the driving signals 9b, 9e, may be used instead of the compensation switching signals inputted into the terminal 164, since they may be H level at U → V current supply, and L level at V → U current supply. It is also possible to use the compensation switching signals inputted into terminal 165 instead of the driving signals 9a, 9d in the same way, the compensation switching signal inputted into terminal 166 instead of the driving signals 9c, 9f, the compensation switching signals inputted into terminal 167 instead of the driving signals 9b, 9e, the compensation switching signals inputted into terminal 168 instead of the driving signals 9a, 9d, and the compensation switching signals inputted into terminal 169 instead of the driving signals 9c, 9f. Accordingly, it is possible to supply a brushless motor driving device as an embodiment shown in FIG. 14. Embodiment 5 In this fifth embodiment, a current value for applying the compensation voltage which is a product of the load resistance and a current in an actual loading state can be obtained by detecting the drop voltage of a sensing resistor for load current detection. An operation of the brushless motor driving device of the present embodiment is explained below. FIG. 15 is a block diagram of a fifth embodiment of the present invention which shows a general construction a brushless motor driving device. In FIG. 15, the same elements are shown by the same numerals of the embodiment 1 in FIG. 1. In this embodiment, the common emitter terminals of transistors TR4 ~ TR6. Accordingly, it is possible to detect current quantity flowing in the armature windings as a voltage drop in the resistor 10. Assume that the current flowing in the armature windings is I L x Rs. Accordingly, since the voltage compensated at the terminal voltage compensation circuit is R1 x I L x Rs/R2, then R1, R2 and Rs can be determined so that this value is equal to I L x r. Embodiment 6 This sixth embodiment is an example in which the embodiment 5 is applied to the embodiment 2, which is explained below. FIG. 16 is a block diagram of a sixth embodiment of the present invention which shows a general construction a brushless motor driving device. In FIG. 16, the same elements are shown by the same numerals ot the embodiments 2 in FIG. 8. In this embodiment, the common emitter terminals of transistors TR4 ~ TR6 are connected to the terminal 163 of the inter-terminal voltage compensation circuit 100. In case of compensating the inter-terminal voltage, it is also possible to detect an armature winding ohmic drop voltage from the emitter terminals of the transistors TR4 ~ TR6 in a similar way as described in the embodiment 5. Accordingly, it is possible to supply a brushless motor driving device of the present invention as an embodiment shown in FIG. 16. Embodiment 7 In the above embodiments, the current waveforms are described as ideal waveforms which have no distortion. But, in an actual waveform, noises, for example, spike shaped noise as shown in FIG. 18, are superposed to the ideal waveform, and the operation accompanies chattering. The present invention can be applied to such waveforms to normally operate in such condition. In the presentinvention, the detected signal waveform is shaped to a correct stable waveform in the waveform shaping cirdcuit and then the compensation circuit is operated. FIG. 17 shows a concrete construction example of a waveform shaping circuit 3. In FIG. 17, the numeral 180 denotes a latch circuit, the numerals 181 ~ 186 denote a D flip-flops, the numerals 187 ~ 189 denote EOR circuits, the numeral 190 denotes an OR circuit, and the numeral 191 denotes a monostable multivibrator. FIG. 18 shows terminal voltage waveforms in the normal rotation state and signal waveforms at respective portions of the waveform shaping circuit. FIG. 19 shows enlarged portions between the time points T0 ~ T1 of FIG. 18. The concrete operation of the waveform shaping circuit is explained in reference to FIG. 18 an FIG. 19. Input signals inputted to the waveform shaping circuit 3 are logic signals 21, 2b and 2c or 101a, 101b and 101c which are outputted from the comparator 2 or comparator 101, respectively. In the embodiment 1, or in the embodiment 2, spike shaped voltage fluctuation has been neglected so far which is superposed to the terminal voltage waveform and generated when switching the driving transistors. But, actually, since the terminal voltage waveform includes spike shaped voltage fluctuation, the voltage fluctuation remains in the terminal voltage waveform which is obtained by compensating the armature winding ohmic drop. Accordingly, the logic signals 2a, 2b and 2c, which are obtained by comparing the terminal voltages, contains spike shaped noise as shown in FIG. 18. First, this logic signal is inputted into latch circuit 180. The latch circuit 180 is a circuit for carrying out latching operation according to a state of enable terminal 180a, which outputs the input data as it is when the enable terminal 180a is at H level. When the enable terminal 180a changes ist state to L level, the input data is latched, and the latch circuit 180 continues to output the latched data during the terminal 180a is at L level. In an initial condition, the terminal 180a of the latch circuit 180 is at H level, then the logic signals 2a, 2b and 2c are inputted into the respective D flip-flops 181, 183 and 185 as it is. The D flip-flops 181 ~ 186 and EOR circuits 187 ~ 189 output differential pulse at the timing of rising and falling edges of the logic signals 1a, 2b and 2c. At the timing point of T2, when compensated the terminal voltages 1a and 1c coincident and the polarity of 2a changes, the both edged differentiation circuit detects edges to generate a differential pulse 203. The output signals 187 ~ 189 of EOR circuit is summed in the OR circuit 190 to make a logic pulse signal 201 and inputted into the monostable multivibrator 191. The monostable multivibrator 191 trigge5s a rising edge of the logic pulse signals 201 and outputs a pulse 204 of L level during a predetermined period T3. The pulse 204 is inputted into the enable terminal 180a of the latch circuit. After the enable terminal 180a becomes L level, the latch circuit 180 latches the logic signals 2a, 2b and 2c continues to output latched data during the latch pulse 204 is at L level. The respective output signals 195, 196 and 197 of the D flip-flops 182, 184 and 186 is waveform shaped the rotor location signals 3a, 3b and 3c and inputted into the commutation circuit 9 of next stage. When the commutation operation is carried out in the commutation circuit 9, the driving transistors operates the switching. Therefore, spike shaped voltage fluctuation is generated in the U phase terminal voltage waveform. As a result, spike shaped noise 205 is generated at undesirable location as shown in 2b of FIG. 18. But, at the timing point where the spike shaped noise 205 is generated, the data input to the latch circuit is disabled by the pulse 204 transmitted from the monostable multivibrator 101. Accordingly, spike shaped noise 205 is masked in the latch circuit 180, then the spike shaped noise is not included in the waveformshaped the rotor location signals 3a, 3b and 3c. In the above mentioned waveform shaping circuit 3, a logic pulse signals 201 outputted from the OR circuit 190 has a predetermined interval between respective pulse at a normal rotation. Accordingly, it is possible to use this logic pulse signal 201 as a speed signal for controlling the rotation speed. Further, although an example of three phase brushless motor was explained in this embodiment, but it is apparent that this invention can be applied generally to a brushless motor having a plurality of phases. Embodiment 8 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. FIG. 20 is a block diagram of an eighth embodiment which shows a general construction a brushless motor driving device. In FIG. 20 the same elements are indicated by the same numerals as shown in,FIG. 1. In FIG. 20, the numeral 406 denotes a starting circuit, the numeral 409 denotes a speed difference detecting circuit for counting a period of the speed signal 3d by the counter and for outputting a period difference between the indicated value and the measured value as a speed difference detection signal 409a. The numeral 410 denotes a speed difference compensation filter for supplying a current indication value 410a to a current supplying circuit 411 so that the speed difference detection signal 409a become zero. A current supplying circuit 411 comprises a resistor 10, a bridge circuit 11, a buffer amplifier 212, a resistor 213 and a driving transistor 214, and supplies a predetermined driving current to the armature windings 12, 13 and 14 according to the driving signals 9a ~ 9f. The construction and the operation of the terminal voltage compensation circuit 1, the comparator 2 and the waveform shaping circuit 3 which constitute the rotor location signal generating circuit 4 which are the important means of the invention, are already disclosed in the embodiment 1. FIG. 21 shows a signal wave of respective portion of the terminal voltage compensation circuit 1 at a normal rotation state of a brushless motor driving device of the present invention. The concrete compensation operation of this terminal voltage compensation circuit 1 is already explained in the embodiment 1 using the equation (1) ~ (3). Spike shaped voltage fluctuation generated when the mode is switched from current supply state to no-current supply state, causes a false detection of the rotor location and a noise generation, therefore it is necessary to use a shaping circuit 3 for avoiding these causes. An example of the waveform shaping circuit is shown in FIG. 17 of the embodiment 7. FIG. 22 shows another construction example of a waveform shaping circuit 3. In FIG. 22, the numeral 180 denote a latch circuit, the numerals 191 ~ 186 denote D flip-Flops, the numerals 187 ~ 189 denote EOR circuits, and the numeral 190 denotes an OR circuit, the numeral 421 denotes a mask signal generating circuit and the numeral 422 denotes a timer. FIG. 23 shows the terminal voltage waveform and signal waveform of respective portion of the waveform shaping cicuit at a normal rotation state. FIG. 24 is an enlarged signal waveforms of timings t 0 ~ t 1 of FIG. 23. A concrete operation of the waveform shaping circuit of this embodiment is explained below. Input signals into the waveform shaping circuit are logic signals 2a, 2b and 2c outputted from the comparator 2. Since the logic signals 2a, 2b and 2c are obtained by comparing respective terminal voltages, they causes chattering as shown in FIG. 23. The logic signals 2a, 2b and 2c are inputted into latch circuit 180 at first. The latch circuit 180 carries out a latch operation according to a state of enable terminal 180a. In an initial state, the mask signal 421a outputted from the mask signal generating circuit 421 is at H level. Therefore, the logic signals 2a, 2b and 2c are inputted into the D flip-flops 181, 183 and 185 as they are. The D flip-flops 181 ~ 186 and EOR circuits 187 ~ 189 constitutes a both edge differentiation circuit. EOR circuits 187 ~ 189 outputs differential pulses 198, 199 and 200 at the timing of rising and falling edge of the logic signals 2a, 2b and 2c. At timing T2, when the compensated terminal voltages of 1a coincides with the compensated terminal voltages 1c and the polarity of 2a changes, the edge is detected at the both edged differentiation circuit and then a differential pulse 198b is generated. The output signal of EOR circuits 187 ~ 189 are summed in OR circuit 190 and ist output logic pulse signal 3d is inputted into the mask signals generating circuit 421 and the timer 422. The mask signal generating circuit 421 changes the mask signal 421a to L level by a trigger pulse of the rising edge of logic pulse signal 3d. Timer 422 is initialized at the rising edge of the logic pulse signal 3d and the timer value 422a becomes zero. Then, the timer 422 carries out a count-up operation in synchronism with the clock input. When the enable terminal 180a became L level, the latch circuit 180 latches the logic signals 2a, 2b and 2c. Then, the mask signals generating circuit 421 monitors a timer value of the timer 422, and changes the mask signals 421a to H level when the timer value 422a reaches a predetermined value. The latch circuit 180 releases the latch when the enable signal 180a becomes H level. The output signal of D flip-flops 182, 184 and 186 are supplied as waveform shaped rotor location signals 3a, 3b and 3c which are inputted into the next stage commutation circuit 9, and then the commutation operation is carried out according to the rotor location signals 3a, 3b and 3c. When commutation operation is carried out, the driving trransistor is switched, then spike shaped voltage fluctuation is caused. As a result, a spike shaped noise 2d is gnerated at an undesired location in the logic signal 2b. But, at a point where the spike shaped noise 2d is generated, a data inputted into the latch circuit is disabled by the mask signal 421a outputted from the mask signal generating circuit 421. Accordingly, the spike shaped noise 2d is masked in the latch circuit 180, therefore the spike shaped noise is not generated in the waveform shaped rotor location signals 3a, 3b and 3c. Therefore, in the present embodiment, stable rotor location signals 3a, 3b and 3c are provided. These stable rotor location signals 3a, 3b and 3c are applied to the armature windings to rotate the rotor stably. Further, although an example of three phase brushless motor was explained in this embodiment, but it is apparent that this embodiment can be applied generally to a brushless motor having a plurality of phases. Embodiment 9 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. In this embodiment, a period T3 where the mask signals 421a is maintained at L level changes in proportion to an indicated rotation speed when the indicated rotation speed for the motor is changed. General construction of the brushless motor driving circuit of this embodiment is similar to the embodiment 8. But, a construction for changing the indicated rotation speed (CLK) for the timer is different from the embodiment 8. An operation of the mask signals generating circuit 421 and the timer 422 of this embodiment is explained below using FIG. 25 and FIG. 27. As explained in the embodiment 8, a rising edge or a falling edge of the logic signal 2a, 2b and 2c are detected and then a logic pulse signal 3d is generated, therefore the mask signals generating circuit 421 changes the mask signals 421a ~ L level by a trigger pulse of the rising edge of logic pulse signal 3d. Timer 422 is initialized at the rising edge of the logic pulse signal 3d and the timer value 422a becomes zero. Then, the timer 422 carries out a count-up operation in synchronism with the clock input. Then, the mask signal generating circuit 421 monitors a timer value 422a of the timer 422, and changes the mask signal 421a ~ H level when the timer value 422a reaches a predetermined value N (N = 10 in FIG. 83). Assume that the clock period is T4, the mask signal 421a maintains L level during T4 x 10. Next, an operation is explained when the indicated rotation speed becomes twice from the state of FIG. 25. As illustrated in FIG. 26, a period of CLK (inputted from the outside of the driving circuit of the brushless motor) is set to T4/2. Thereby, the period where the mask signal 421a is maintained to L level becomes T4 x 5. Or as shown in FIG. 27, the clock period inputted into the timer remains T4 and only a value of N is changed to 5. Thereby, the period where the mask signal 421a is maintained to L level becomes T4 x 5, which is the same as when the clock period is changed. As described above, in the embodiment, the period where the mask signal maintains L level is changed according to the indicated rotation speed. Embodiment 10 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. Next, an example for reducing noise using trapezoidal shaped rotor driving signal is explained. FIG. 28 is a block diagram of a tenth embodiment which shows a general construction a brushless motor driving device. The numeral 630 denotes a logic circuit for outputting a plurality of logic signals 630a - 630g which are necessary to compose a trapezoid shaped driving signal, the numeral 631 is a charging / discharging circuit for charging and discharging to from capacitor 632 according to an output signal 630g from the logic circuit, the numeral 632 denotes a trapezoid wave combination circuit for composing trapezoid shaped driving signals 632a - 632f from output signals 631a of the charging discharging circuit and an output signals 630a 630f of the logic circuit. The trapezoid driving signal generating circuit 633 is constituted by the logic circuit 630, the charging / discharging circuit 631, the trapezoid wave combination circuit 632. FIG. 29 shows a concrete logic circuit in trapezoid driving signal generating circuit 630. In FIG. 29, the numerals 635 - 643 are constant current sources, the numeral 647 denotes a capacitor. SW1 turns ON when the output signal 630g of the logic circuit 630 is at H level, and turns OFF when the output signal 630g of the logic circuit 630 is at L level. An operation of charging / discharging circuit 631 is explained below. When the output signal 630g of logic circuit is at L level, SW1 turns OFF, and the capacitor 647 is charged by the constant current I3. On the other hand, the output signal 630g of logic circuit is at H level, SW1 turns ON, and the capacitor 647 is discharged by the constant current I3. Therefore, the output signal 631a of the charging / discharging circuit 631 becomes a trapezoid shaped signal as shown in FIG. 31. The output signal 631a of charging / discharging circuit 631, the output signals 630a ~ 630f of the logic circuit 630 are inputted into the trapezoid wave combination circuit 632. FIG. 32 shows a concrete construction of trapezoid wave combination circuit 632. In FIG. 32, the numerals 648 ~ 651 denotes inverted amplifier circuits, the numerals 652 ~ 657 denote NAND circuits. Assume that an operation voltage range of an output signal 631a of the charging / discharging circuit 631 and output signals 630a ~ 630f of the logic circuit 630 are the same, and Vref is the center voltage of operation voltage range. The output signal and 631a of the charging / discharging circuit 631 is inputted into a inverted input terminal of the inverted amplifier circuit 648, and the reference voltage Vref is inputted into the non-inverted input terminal to obtain a trapezoidal wave which is an inverted output signal 631a against the reference voltage Vref. In the same way, the inverted amplifier circuits 649, 650 and 651 obtain a inverted signal by inverting each 630a, 630c and 630e signal against the refernce voltage Vref. A concrete operation of the trapezoidal wave combination circuit 632 is explained. Here, portions for composing the trapezoid driving signal 632a here are mainly explained. SW2, SW3 and SW4 turn ON when each 630d, 630f, 652a is at H level, and turn OFF when at L level. The numeral number 652a is an output signal of the NAND circuit 652. During the period Ta shown in FIG. 31, since 630d is at H level, 630f is at L level, 652a is at L level, only SW2 turns ON, the trapezoid driving signal 632a becomes an output the signal 631a of the charging and discharging circuit 631. During the period Tb, since 630d is at L level, 630f is at L level, 652a is at H level, only SW4 turns ON, and the trapezoid driving signal 632a becomes an inverted signal of 630e against Vref. During the period Tc, since 630d is at L level, 630f is at H level, 652a is at L level, only SW3 turns ON, and the trapezoid driving signal 632a becomes an inverted signal of 631a against Vref. During the period Td, since 630d is at L level, 630f is at L level, 652a is at H level, only SW4 turns ON, and the trapezoid driving signal 632a becomes an inverted signal of 630e against Vref. As described aboce, the trapezoid driving signal 632a is composed. The trapezoid driving signals 632b ~ 632f are composed in a similar step. In this way, the trapezoid driving signals 632a ~ 632f, rising and falling gradient potions of which begin from the rising and falling edge point of the driving signals 9a ~ 9f. Embodiment 11 This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. In this embodiment, a driving circuit for brushless motor which changes gradient time of the trapezoid driving signals 632a - 632f corresponding to the indicated rotation speed inputted from outside. FIG. 33 is a block diagram of an eleventh embodiment which shows a general construction a brushless motor driving device. In Fig. 33, the same elements as those in FIG. 28 are indicated by the same numerals. In FIG. 33, the numeral 660 denotes a terminal where a mode switching signal 660a is inputted, the numeral 661 denotes another charging and discharging circuit which is different from the charging and discharging circuit 631. The mode switching signal 660a is a binary signal which polarity changes corresponding to the indicated rotation speed and is inputted from outside of the brushless motor driving circuit. FIG. 34 shows a concrete construction of charging and discharging circuit 661. In FIG. 34, the numeral 662 is an inverted circuit, the numerals 663, 664 is constant current source. SW5, SW7 turns ON when the mode switching signal 660a is at H level, and turns OFF when the mode switching signal 660a is at L level. SW6, SW8 turns ON when the mode switching signal 660a is at L level, and turns OFF when the mode switching signal 660a is at H level. Next, an operation of charging and discharging circuit 661 is explained when the mode switching signal 660a is at H level. When the output signal 630g of the logic circuit is at L level, SW1 turns OFF and the capacitor 647 is charged by the constant current I3. On the other hand, when the output signal 630g of the logic circuit is at H level, SW1 turns ON and the capacitor 647 is discharged by the constant current I3. The relation between the output signal 630g of the logic circuit 630 and the output signal 661a of the charging and discharging circuit 661 is shown at H level of 632a in FIG. 35. When the mode switching signal 660a is at L level, the capacitor 647 is charged through the constant current I4 when the output signal 630g of the logic circuit is at L level and the capacitor 647 is discharged through the constant current I4 when the output signal 630g of the logic circuit is at H level. When I4 is set such as I4 = 0.5 x I3, the output signal 661a of the charging and discharging circuit 661 is shown at L level of 632a in FIG. 35, the gradient time of trapezoidal wave becomes twice. The output signal 661a of the charging and discharging circuit 661 is inputted into trapezoid wave combination circuit 632 which output trapezoid driving signals 632a ~ 632f as described in the manner of embodiment 10. When the mode switching signal 660a is switched according to the indicated rotation speed, it is possible to change gradient time of the trapezoid driving signals 632a ~ 632f corresponding to the indicated rotation speed inputted from outside. Embodiment 12 The rising an falling gradient potions of trapezoid driving signals 632a ~ 632f generated in the trapezoid driving signal generating circuit 633 begin from the rising and falling edge point of the driving signals 9a ~ 9f. Accordingly, the switching point of the driving current delays from the ideal commutating timing, therefore, torque generation efficiency decreases. In this embodiment, a construction and operation of brushless motor driving circuit in which the phase of rotor location signal detected from each phase terminal voltage or the inter-terminal voltage differences of respective phases is put in a leading phase against the gradient time of the trapezoid driving signal is explained. FIG. 36 is a block diagram of a twelfth embodiment which shows a general construction a brushless motor driving device. This embodiment is not an embodiment of the invention but helpful to understand certain aspects of the invention. In FIG. 36, the same elements as those in FIG. 28 are indicated by the same numerals in FIG 36, the numeral 670 denotes another new comparator which is different from the comparator 2 in FIG. 28. FIG. 37 shows a concrete construction of comparator 670. In FIG. 37 the numerals 671 - 685 denotes resistors, the numerals 686 - 688 denote differential amplifier circuits. A concrete operation of the comparator 670 is explained below. For one example, assume that the resistance values of the resistors 671 - 685 are set as shown in FIG. 37. At this time, the output signal 686a of the differential amplifier circuit 686 becomes 1a + 1b - 2 x 1c, the output signal 687a of the differential amplifier circuit 687 becomes 1b + 1c - 2 x 1a and the output signals 688a of the differential amplifier circuit 688 becomes 1c + 1a - 2 x 1b. Now, 1a, 1b and 1c are three signals each of which are shifted by 2 π/3, the output signal 686a, 687a and 688a of the differential amplifier circuits 686, 687 and 688 are obtained by equations (11), (12) and (13) . The output signal 686a, 687a and 688a of the differential amplifier circuits 686, 687 and 688 are compared with Vref at each comparator 85, 86 and 87 and obtained logic signals 670a, 670b and 670c. 1a = sin  1b = sin ( + 2 π/3) 1c = sin ( - 2 π/3) 686a = sin  + sin ( + 2 π/3) - 2 x sin ( - 2 π/3) = 3 x sin ( + π/3) 687a = sin ( + 2 π/3) + sin ( - 2 π/3) - 2 x sin  = 3 x sin ( + π) 688a = sin ( - 2 π/3) +sin  - 2 x sin ( + 2 π/3) = 3 x sin ( - π/3) Here, a concrete operation of the comparator 2 is explained once again. For one example, assume that the resistance values of all resistors 70 ~ 81 are set to 10K Ω as shown in FIG. 28. At this time, the output signal 82a of the differential amplifier circuit 82 becomes 1a - 1c, the output signal 82a of the differential amplifier circuit 83 becomes 1B -1a and tne output signal 84a of the differential amplifier circuit 84 becomes 1c - 1b and the above outputs are obtained by equations (14), (15) and (16), respectively. The output signal 82a, 83a and 84a of the differential amplifier circuits 82, 82 and 84 are compared with Vref at each comparator 85, 86 and 87 and obtained logic signals 2a, 2b and 2c. 82a = sin  - sin ( - 2 π/3) = √ 3 x sin ( + π/6) 83a = sin ( + 2 π/3) - sin  =√ 3 x sin ( + π/6) 84a = sin ( - 2 π/3) - sin ( + 2 π/3) = √ 3 x sin (q - π/2) The output signal 686a, 687a and 688a of the differential amplifier cirucits 686, 687 and 688 are leading by π/6 against the output signal 82a, 83a and 84a of the differential amplifier circuits 82, 83 and 84, Accordingly the comparator 670 obtains logic signals 670a, 670b, 670c which is leading by π/6 against the logic signal 2a, 2b and 2c obtained from the comparator 2. In this embodiment, the resistance value of the resistors 671 ~ 685 are set such as shown in FIG. 37, it is possible to change the resistance value of the resistors 671 ~ 685 to get another leading phase. As described above, it is possible to coincide the current switching point with the ideal commutation timing by leading the phase of rotor location signal. In this embodiments, a circuit using a charging / discharging circuit is used for the trapezoid driving signal generationcircuit but it is possible to use a charging / discharging circuit 661.

Claims: A brushless motor driving circuit for driving a plurality of the armature windings (12, 13, 14) of a brushless motor, comprising a plurality of the terminal voltages detection means (20, 25, 30) located at every phase of the armature windings (12, 13, 14); a terminal voltage compensation means (1, 100); and a comparator means (2) for comparing respective terminal voltages after compensation has carried out to obtain a rotor location signal; said armature windings (12, 13, 14) are driven by said rotor location signal detected at said comparator means (2); the terminal voltage compensation means (1, 100) adds or subtracts a compensation voltage to/from the terminal voltages of the armature windings (12, 13, 14) detected at respective phases during actual driving period characterized in that said compensation voltage is determined by the drop voltage of a sensing resistor (10) corresponding to an ohmic resistance of said armature winding (12, 13, 14) and a winding current. The brushless motor driving circuit according to claim 1, characterized in that the terminal voltage compensation means is a terminal voltage difference compensation means (100) between respective phases for adding or subtracting a compensation voltage to/from the terminal voltage difference of respective phases detected between the armature windings (12, 13, 14) during actual driving period, and that the comparator means compares respective terminal voltage difference between respective phases. The brushless motor driving circuit according to claim 1 or 2, characterized by a rising and falling signal detection means (181 - 190) for detecting a rising and falling signal of the rotor location signal (2a, 2b, 2c) to speed-feedback-control by assuming the detected resultant signal (201) as a detected speed signal. The brushless motor driving circuit according to claim 1 or 2, characterized in that a driving signal is applied to the terminal voltage compensation means (1) of respective phases and the terminal voltage difference compensation means (100) between respective phases, respectively, during the driving signals are applied to a bridge circuit (11) for exciting and driving armature windings (12, 13, 14) of respective phases. The brushless motor driving circuit according to claim 1 or 2, characterized by an actual current detection resistor (10) which is connected serially to a bridge circuit (11) for exciting the armature windings (12, 13, 14), wherein the current flowing in the detection resistor (10) is applied to the terminal voltage compensation means (1, 100) as a winding current. The brushless motor driving circuit according to claim 1 or 2, characterized by a differentiation circuit (181 - 186, 187 - 189) for detecting a rising and falling edge of comparison signal of the terminal voltages and a voltage differences between respective phases; and a latch circuit (180) for latching the comparison signal at the timing when the edge is detected in the differentiation circuit; said armature windings (10, 13, 14) of respective phases are driven as a rotor location signal by combining said output signals of latch circuit (180). The brushless motor driving circuit according to claim 1 or 2, characterized by a differentiation circuit (191 - 186, 187 - 189) for detecting a rising and falling edge of comparison signal of the terminal voltages and voltage differences between respective phases; a timer (422) for starting by a detected edge from the differentiation circuit (181 - 186, 187 - 189) and for stopping its operation after a predetermined period; and a latch circuit (180) for latching the comparison signal at the timing when the edge is detected in the differentiation circuit (181 - 186, 187 - 189) and for releasing the latch (180) at the timing when the timer (422) has stopped; said armature windings (12, 13, 14) of respective phases are driven as a rotor location signal by combining said output signals of latch circuit (180). The brushless motor driving circuit according to claim 7, characterized in that a timer period during the latch circuit (180) latches and releases the comparison signal is switched according to the indicated rotation speed to the armature. The brushless motor driving circuit according to claim 1 or claim 2, characterized by a commutation circuit (610) for obtaining an armature winding driving signal from a rotor location signal detected in the rotor location signal detection means (4) which includes a compensation means (1) for compensating each terminal voltage or voltage differences of respective phases and a comparing means (2) for comparing each terminal voltage or voltage differences between respective phases; and a trapezoid driving signal generation circuit (633) for forming a trapezoid driving signal from the output of the commutation circuit (610); the trapezoid driving signal is supplied to drive the armature winding (12, 13, 14). The brushles motor driving circuit according to claim 9, characterized by a charging / discharging circuit (631) in the trapezoid driving signal generating circuit (633) for changing the gradient of the trapezoid driving signal by changing the time constant of the charging / discharging circuit (631) using a control signal inputted from outside. The brushless motor driving circuit according to claim 9, characterized by a phase leading circuit for leading a phase of the rotor location signal, the leading quantity of the phase leading circuit is set to substantially 1/2 of the gradient time of the trapezoid driving signal for driving the armature winding (12, 13, 14).

Inventors: HOSHI KIYOTAKA, IZUMI YUKIO, NAGAOKA HIDETADA, NISHIKAWA KEIICHI, ONODA ATSUO, OOMURA YUUJI, SUZUKI MITINAGA, HOSHI, KIYOTAKA, IZUMI, YUKIO, NAGAOKA, HIDETADA, NISHIKAWA, KEIICHI, ONODA, ATSUO, OOMURA, YUUJI, SUZUKI, MITINAGA, HOSHI, KIYOTAKA, C/O MITSUBISHI DENKI K.K, IZUMI, YUKIO, C/O MITSUBISHI DENKI K.K, NAGAOKA, HIDETADA, C/O MITSUBISHI DENKI K.K, NISHIKAWA, KEIICHI, C/O MITSUBISHI DENKI K.K, ONODA, ATSUO, C/O MITSUBISHI DENKI K.K, OOMURA, YUUJI, C/O MITSUBISHI DENKI K.K, SUZUKI, MITINAGA, C/O MITSUBISHI DENKI K.K
Applicants: MITSUBISHI ELECTRIC CORP, MITSUBISHI DENKI KABUSHIKI KAISHA
Application year: 1995
Main classification: H02P6
IPC codes: H02P6