JPH11299278A - Control method of brushless DC motor and recording medium storing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enlarge a high speed region by a method wherein a present lead angle is calculated based on the information about the rotating speed and the present lead angle is subtracted from the maximum lead angle to find out a lag angle and then a lag time is calculated from the lag angle and, after the passage of the lag time from a switching point of a position detecting sen sor, electricity is turned on in a next turn-on mode. SOLUTION: A microcomputer 24 is input with sensor signals H1, H2, H3 from a Hall sensor H and a switching signal IRQ1 from a sensor signal switching detecting circuit 26 and then generates gate driving signals UG+, VG+, WG+, UG-, VG-, and WG-and outputs these signals to a gate driving circuit 22 of an inverter circuit 20. The Hall element H is preliminarily mounted at a position of the maximum lead angle. Then, the present lead angle is found from the present rotating speed and the present lead angle is subtracted from the maximum lead angle to calculate a lag angle. After the passage of the lag time corresponding to the lag angle, electricity is turned on in a next turn-on mode.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a method for controlling a brushless DC motor (hereinafter simply referred to as a motor) and a recording medium storing the method.

[0002]

2. Description of the Related Art As a method of controlling a motor, a magnetic pole position detecting element such as a Hall sensor is mounted near teeth of a stator to detect a position of a rotor formed of a permanent magnet. On the basis of the sensor signal, which is an output signal, an ON command is immediately output to a transistor constituting a drive circuit of a motor, and an energization mode for a winding wound on a stator is determined.

[0003]

However, the speed and torque characteristics of the motor are determined by various constants of the motor.
There is a problem that the controllable speed range is limited.

Therefore, in order to perform a constant output operation in a wide speed control range and a high speed region, there is a field weakening method in the constant output region.

However, since a permanent magnet is used for the rotor of the motor, the field cannot be weakened directly. Therefore, conventionally, if the flux weakening control is performed by utilizing the demagnetization effect due to the armature reaction, the same effect as that of the above-described field weakening can be obtained. It becomes possible.

In view of the above problems, the present invention provides a motor control method capable of expanding a high-speed operation range and a recording medium storing the method.

[0007]

According to a first aspect of the present invention, there is provided a motor comprising: a plurality of position detection sensors for detecting a position of a rotor; A rotational speed detecting step of detecting rotational speed information indicating a rotational speed of the rotor in a brushless DC motor fixed to be shifted to a position where a maximum advance angle which is a predetermined advance angle from a position, and the rotational speed detecting step A lead angle calculation step of calculating a lead angle based on the rotation speed information detected in the step, and a delay calculating a delay angle by subtracting the lead angle calculated in the lead angle calculation step from the maximum lead angle of each of the position detection sensors. An angle calculation step, a delay time calculation step of calculating a delay time based on the delay angle calculated in the delay angle calculation step, and the plurality of position detection sensors From a position detection switched when the sensor to the next position detection sensor definitive, those made of energization step of energizing by the delay time calculation following energization mode after a the delay time calculated in step.

The control method of the motor will be described.

In the rotation speed detection step, rotation speed information indicating the rotation speed of the rotor is detected.

In the lead angle calculation step, the lead angle is calculated based on the rotation speed information detected in the rotation speed detection step.

In the delay angle calculation step, the delay angle is calculated by subtracting the advance angle calculated in the advance angle calculation step from the maximum advance angle of each position detection sensor.

In the delay time calculation step, a delay time is calculated based on the delay angle calculated in the delay angle calculation step.

In the energizing step, power is supplied to the next energizing mode after a lapse of the delay time calculated in the delay time calculating step from a switching time point when a switch is made from one position detecting sensor to the next position detecting sensor. is there.

According to a second aspect of the present invention, there is provided a motor control method according to the first aspect.
In order to omit the advance angle calculation step, the delay angle calculation step, and the delay time calculation step, a table is prepared so that the delay time can be immediately called from the rotation speed information.

According to the motor control method of the third aspect, the delay time is calculated from the maximum advance angle corresponding to the position of the next position detection sensor based on the position of one detection sensor.

According to a fourth aspect of the present invention, when the time point at which the next position detection sensor switches to the next position detection sensor comes before the time point at which the delay time elapses, the next time point at which the switchover is performed, the next time. In the current supply mode.

According to a second aspect of the present invention, a plurality of position detection sensors for detecting the position of the rotor are provided at predetermined intervals and at a predetermined lead angle from the power supply mode change position where no lead angle occurs. In a brushless DC motor fixed to be shifted to a position where the maximum advance angle is generated, the advance angle corresponding to the rotation speed information indicating the rotation speed of the rotor is subtracted from the maximum advance angle, A rotational speed detecting step for detecting the rotational speed information, and a delay time calling step for calling the delay time from the rotational speed information and the table detected in the rotational speed detecting step; And from the time when one of the plurality of position detection sensors is switched from one position detection sensor to the next position detection sensor, the delay time calling step is performed. After a call delay time Te to those made of energization step of energizing at the next energization mode.

According to a third aspect of the present invention, there is provided a brushless DC motor in which a plurality of position detecting sensors for detecting a position of a rotor are fixed at predetermined intervals and at a power-on mode change position where a lead angle does not occur. In the motor, each of the position detection sensors is fixed at the energization mode change position, and the rotation speed of the rotor is calculated from the maximum lead angle corresponding to the position of the next position detection sensor based on the position of the one position detection sensor. A lead angle corresponding to the indicated rotation speed information, a table storing delay times calculated from the delay angles obtained by subtracting the rotation speed information, the rotation speed detection step for detecting the rotation speed information, and the rotation speed detection step A delay time calling step of calling the delay time information from the rotation speed information detected in the table and the table; From switched point to the position detection sensor is made from energization step of energizing by the delay time call invocation delayed time following energization mode after the elapse of the step.

According to a fourth aspect of the present invention, there is provided a motor control method according to the third aspect.
In the above, the energizing step, before the time point of the delay time called in the delay time calling step, before the next position detection sensor switching time from the next position detection sensor comes, At the time of the switching, power is supplied in the next power supply mode.

According to a fifth aspect of the present invention, there is provided a recording medium, wherein a plurality of position detection sensors for detecting the position of a rotor are provided at predetermined intervals and at predetermined intervals from a power supply mode change position where a lead angle does not occur. In a brushless DC motor fixed to be shifted to a position where the maximum advance angle which is the advance angle of the rotor is detected, the rotation speed detection function for detecting the rotation speed information indicating the rotation speed of the rotor and the rotation speed detection function are used. A lead angle calculation function for calculating a lead angle based on rotation speed information,
A delay angle calculation function for calculating a delay angle by subtracting the advance angle calculated in the advance angle calculation function from the maximum advance angle of each of the position detection sensors, and a delay time based on the delay angle calculated in the delay angle calculation function A delay time calculation function for calculating the following power supply mode after a lapse of the delay time calculated by the delay time calculation function from a point in time when switching from one position detection sensor to the next position detection sensor in the plurality of position detection sensors is performed. And the energizing function for energizing the data is recorded.

According to a sixth aspect of the present invention, there is provided a recording medium, comprising: a plurality of position detection sensors for detecting a position of a rotor; In a brushless DC motor fixed to be shifted to a position where the maximum advance angle, which is the advance angle, is obtained by subtracting the advance angle corresponding to the rotation speed information indicating the rotation speed of the rotor from the maximum advance angle. A table for storing a delay time calculated from the delay angle, a rotation speed detection function for detecting the rotation speed information, and a delay for calling the delay time from the rotation speed information and the table detected in the rotation speed detection function; A time calling function and a delay time calling function from the point in time when the position detection sensor is switched from one position detection sensor to the next position detection sensor in the plurality of position detection sensors. The energizing function after the delay time for energizing in the next energization mode is a record.

According to a seventh aspect of the present invention, in the recording medium, a plurality of position detection sensors for detecting the position of the rotor are fixed at predetermined intervals and at the current supply mode change position where no lead angle occurs. In the brushless DC motor, the position detection sensors are fixed at the energization mode change position, and the rotor is moved from the maximum lead angle corresponding to the position of the next position detection sensor based on the position of the one position detection sensor. A rotation speed detection function for detecting the rotation speed information, comprising a table storing a delay time calculated from a delay angle obtained by subtracting a lead angle corresponding to rotation speed information indicating the rotation speed, A delay time calling function for calling a delay time from the rotation speed information detected in the number detecting function and the table, and a next position detecting sensor from the one position detecting sensor among the plurality of position detecting sensors. From 置検 out switched point to the sensor, and a current supply function of current after the elapse of the delay time the calling function calling the delay time in the in the next energization mode is a record.

The recording medium of the motor control method according to claim 8 is the recording medium according to claim 7, wherein the energizing function detects the next position before the elapse of the delay time called in the delay time calling function. When the point at which the sensor is further switched to the next position detection sensor comes, power is supplied in the next energization mode at the time of the switch.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) Hereinafter, a motor 10 according to a first embodiment of the present invention will be described.

FIG. 1 is a longitudinal sectional view of a motor 10 of the present embodiment, and FIG. 2 is a block diagram of a circuit for driving the motor 10.

As shown in FIG. 1, the motor 10 is composed of six poles having nine slots, and constitutes a Y connection.

That is, the stator 12 has nine teeth, and nine slots 16 exist between them.
Each tooth 14 is provided with a U winding, a V winding, and a W winding.

A rotor 18 is arranged inside the stator 12. The rotor 18 is provided with a permanent magnet on its outer peripheral surface.

Further, three Hall sensors H1, H2, and H3 for detecting the position of the rotor 18 are provided at the tips of the teeth 14 of the stator 12 (when three are collectively shown, they are called Hall sensors H). Are arranged. This mounting position is
As shown in FIG. 1, the rotor 18 is attached at a position opposite to the rotation direction of the rotor 18 by θ ° from a position where the lead angle is 0 ° (that is, the energization mode change position). The interval between the three Hall sensors H is every 30 °.

In this embodiment, the angle of θ is 30 ° in electrical angle. Hereinafter, θ is referred to as a maximum lead angle γMAX.

As shown in the block diagram of FIG.
At 0, an inverter circuit 20 is arranged. The inverter circuit 20 is provided with an FET in each of an upper stage and a lower stage, and sends a predetermined signal from each output to a U winding, a V winding, and a W winding. Further, a current detection resistor R is attached to the inverter circuit 20.

A gate drive circuit 22 for sending a signal to the gate terminal of each FET of the inverter circuit 20 is provided. The gate drive circuit 22 receives a gate drive signal UG ⁺ , VG ⁺ , WG ⁺ , UG ⁻ , VG ⁻ ,
WG ^- is input.

The microcomputer 24 receives the sensor signals H1, H2 and H3 from the Hall sensor H described above. Further, a switching signal IRQ1 indicating the switching point of the sensor signal is input from the sensor signal switching detection circuit 26.

The timing chart of these signals is substantially the same as that of the third embodiment described later, and is shown in FIG.

Next, a method of controlling the motor 10 having the above configuration will be described with reference to the flowchart of FIG.

First, this control is started by switching of the sensor signal. That is, the process starts from the time when the switching signal is output from the sensor signal switching detection circuit 26.

In step a1, a sensor signal is read, and a next FET ON state pattern is prepared.

In step a2, the time Δt from the previous switching of the sensor signal is measured.

In step a3, the rotational speed N is obtained from the measured time Δt. This Δt and the rotation speed N are inversely proportional, and the longer the time Δt, the lower the rotation speed N.

In step a4, a lead angle γ is calculated from the rotational speed N. This calculation formula is obtained from a mathematical expression of the graph shown in FIG. For example, 1,00
At 0 rpm, the advance angle amount is 0 °, but when the rotational speed is 3,000 rpm, the calculation is made to be 330.00 °.

In step a5, the maximum advance angle γMAX
Is subtracted from above to calculate the delay angle δ.

In step a6, a delay time J is calculated from the obtained delay angle δ.

In step a7, it is determined whether or not the delay time J has elapsed. If the delay time J has not elapsed, this step is continued, and if it has elapsed, the flow proceeds to step a8.

In step a8, the prepared FE
The ON pattern of T is output, and power is supplied.

To outline the above control method, the position of the Hall sensor H is previously attached to the position of the maximum advance angle γMAX where the advance angle occurs. Then, the current advance angle γ is obtained from the current rotational speed N. Then, the delay angle δ is obtained by subtracting the calculated advance angle γ from the maximum advance angle γMAX. The energization is performed after the delay time corresponding to the delay angle δ elapses.

That is, if the Hall sensor H is provided at a normal mounting position (the position where the advance angle is 0 °), the phase angle for switching the energization mode cannot be advanced even if the advance angle is obtained. Therefore, as described above, the maximum advance angle γ such that an advance angle is generated at the mounting position of the Hall sensor H as described above.
If the current advance angle is subtracted from the maximum advance angle γMAX to determine the delay angle, the energization time can be changed by this delay angle to advance the phase angle commensurate with the rotational speed. be able to.

FIG. 5 is a graph showing an experimental result obtained by comparing this control method with a conventional control method.

The solid line indicates the present control method, and the dotted line indicates the conventional control method.

When the number of rotations is compared, the torque is 0 to
At 1.4 (N · m), the control method has a higher rotation speed. That is, high-speed rotation is possible. The output of this embodiment is higher than that of this embodiment. Furthermore, if you change the way you look at current,
When the torque is 1.8 or more, the current value drops sharply, so that even if the torque is increased, the current value does not increase and an overcurrent does not occur.

The program of the control method of each step of the microcomputer 24 is stored in the memory of the microcomputer 24 in advance. The control method can be realized by taking out the program in a recording medium such as an FD or a CD-ROM and storing the program in a microcomputer of a conventional motor.

(Second Embodiment) The difference between the second embodiment and the first embodiment is that the delay time J is directly obtained from the time Δt from the time when the sensor signal is switched. That is, as shown in FIG. 6, in step b3, the time Δ
The delay time J is called from t. Therefore, unlike the first embodiment, in the present embodiment, a table for calling the delay time J from Δt is prepared in advance. This is stored in the memory or the RAM of the microcomputer 24.

According to the control method of the second embodiment, unlike the first embodiment, since the delay time J can be called directly from the time Δt, the response speed can be increased, and the motor speed can be increased. Hunting and other phenomena that cannot be controlled at a constant rotational speed do not occur.

The program of the control method of each step of the microcomputer 24 is stored in the memory of the microcomputer 24 in advance. The control method can be realized by taking out the program in a recording medium such as an FD or a CD-ROM and storing the program in a microcomputer of a conventional motor.

(Third Embodiment) The third embodiment differs from the first embodiment in the mounting positions of three Hall sensors H and the control method thereof.

In this embodiment, as shown in FIG. 7, the mounting positions of the Hall sensors H1, H2 and H3 are mounted at the position where the lead angle is 0 ° (ie, the normal energizing mode change position). Unlike the first embodiment, a method of calculating the maximum advance angle γMAX is obtained based on a signal from the position of the previous Hall sensor H. That is, in other words, the control is realized by designating the delay time from the previous energization mode change position.

A specific description will be given based on the drawings of FIGS.

FIG. 8 is a table showing the relationship between the switching time Δt between the sensors and the time for switching the energization with a delay from the previous sensor detection (ie, the delay time). Numerical values in this table indicate count values of pulses in the microcomputer 24, and the pulses are generated in units of 660 μsec. That is, a normal time is obtained by multiplying the count value stored in this memory by 660 μsec.

FIG. 9 is a graph for making the table of FIG. 8 easier to understand. The vertical axis indicates the switching time between the sensors, and the horizontal axis indicates the delay time.

FIG. 10 is a flowchart showing a control method according to this embodiment. FIG. 11 is a timing chart thereof.

This control starts when a switching signal obtained from the sensor signal is input.

In step c1, a sensor signal is read, and a pattern for the next ON state of the FET is prepared.

At step c2, the time t from the previous sensor signal switching time is measured.

In step c3, a delay time J is called from the time Δt. This call is made based on the table shown in FIG.

In step c4, if the delay time J has elapsed, the process proceeds to step c5, and if not, the process proceeds to step c4.

In step c5, the prepared FE
The pattern in the ON state of T is output to energize.

The feature of the control method in the third embodiment is that, like the control methods of the first and second embodiments, the Hall sensor H is moved from the original energization mode change position to the maximum advance angle γ.
When the motor 10 is mounted at a position advanced by MAX, when the rotation speed of the motor 10 cannot be measured, such as when the motor 10 is started, power must be supplied at the maximum advance angle γMAX. Therefore, when the motor 10 is started, the maximum current flows at a large lead angle, and the permanent magnet of the rotor 18 may be demagnetized.

However, according to the third embodiment, after the motor 10 is started, the lead angle is rotated at 0 ° until the motor 10 reaches a certain number of revolutions, so that demagnetization does not occur at the time of starting. When the rotation speed reaches a predetermined number, the lead angle control is realized by designating a delay time from the immediately preceding energization mode change position, and a lead angle control motor without demagnetization is realized. be able to.

The program of the control method of each step of the microcomputer 24 is stored in the memory of the microcomputer 24 in advance. The control method can be realized by taking out the program in a recording medium such as an FD or a CD-ROM and storing the program in a microcomputer of a conventional motor.

(Fourth Embodiment) In the control method according to the third embodiment, when the rotational speed of the motor 10 suddenly increases, it is predicted from the immediately preceding and the second previous energizing mode switching positions. The actual energization mode switching occurs before the time when the next energization mode switching position comes, and the energization switching is performed after that. Therefore, there is a possibility that a problem such as stoppage or reverse rotation of the motor 10 may occur. Therefore, when the rotation speed of the motor 10 is suddenly changed, the control method of the present embodiment is applied.

That is, in the flowchart of FIG. 12, control is performed in the same manner as in the control method of the third embodiment up to step d3, and in step d4, before the scheduled energization mode switching time, the next sensor signal When a switching signal is input and it is determined that the energization mode switching position has come, the process proceeds to step d6, where the scheduled energization mode switching is immediately performed.

That is, as a result, by performing this control, the energization mode is switched at a lead angle of 0 °. By doing so, even if the rotational speed fluctuates rapidly, problems such as stoppage and reverse rotation of the motor do not occur.

The program of the control method of each step of the microcomputer 24 is stored in the memory of the microcomputer 24 in advance. The control method can be realized by taking out the program in a recording medium such as an FD or a CD-ROM and storing the program in a microcomputer of a conventional motor.

[0073]

As described above, according to the motor control method and the storage medium of the present invention, in the low load or medium load torque range, the phase of the switching of the energizing mode to the motor windings is increased when the load is large. By increasing the angle, it is possible to increase the output and the number of rotations.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a state of a stator and a rotor in a first embodiment.

FIG. 2 is a block diagram showing a motor driving circuit.

FIG. 3 is a flowchart illustrating a control method according to the first embodiment.

FIG. 4 is a graph showing a relationship between a lead angle amount and a rotation speed.

FIG. 5 is a graph showing characteristics of the conventional example and the first example.

FIG. 6 is a flowchart illustrating a control method according to the second embodiment.

FIG. 7 is a longitudinal sectional view showing a stator and a rotor of a motor according to a third embodiment.

FIG. 8 is a table showing a relationship between a switching time and a delay time.

FIG. 9 is a graph showing a relationship between a switching time and a delay time.

FIG. 10 is a flowchart illustrating a control method according to a third embodiment.

FIG. 11 is a timing chart in the third embodiment.

FIG. 12 is a flowchart illustrating a control method according to a fourth embodiment.

[Explanation of symbols]

 Reference Signs List 10 Motor 12 Stator 18 Rotor 20 Inverter circuit 22 Gate drive circuit 24 Microcomputer 26 Sensor signal switching detection circuit H1, H2, H3 H Hall sensor

Claims (8)

[Claims] A plurality of position detection sensors for detecting the position of the rotor generate a maximum advance angle, which is a predetermined advance angle, at predetermined intervals and from a power supply mode change position where no advance angle occurs. In a brushless DC motor fixed to be shifted to a position, a rotation speed detection step for detecting rotation speed information indicating a rotation speed of the rotor; and a lead angle is calculated based on the rotation speed information detected in the rotation speed detection step. A lead angle calculation step, a delay angle calculation step of calculating a delay angle by subtracting the lead angle calculated in the lead angle calculation step from the maximum lead angle of each of the position detection sensors, and a delay calculated in the delay angle calculation step A delay time calculating step of calculating a delay time based on an angle; and a next position detection from one of the plurality of position detection sensors. From switched point to the sensor, the control method of a brushless DC motor, characterized in that consists of energization step of energizing at the next energization mode after the elapse of the delay time computation delay time calculated in step. A plurality of position detection sensors for detecting the position of the rotor generate a maximum advance angle, which is a predetermined advance angle, at predetermined intervals and from a power supply mode change position where no advance angle occurs. In a brushless DC motor fixed to be shifted to a position, a delay time calculated from a delay angle obtained by subtracting a lead angle corresponding to rotation speed information indicating a rotation speed of the rotor from the maximum lead angle is stored. A rotation speed detection step of detecting the rotation speed information; a delay time calling step of calling a delay time from the rotation speed information detected in the rotation speed detection step and the table; and the plurality of position detection sensors. In the delay time calling step, after the lapse of the delay time called in the delay time calling step from the switching time point of one position detection sensor to the next position detection sensor in And an energizing step of energizing in a next energizing mode. 3. A brushless DC motor in which a plurality of position detection sensors for detecting a position of a rotor are fixed at predetermined intervals and at an energization mode change position where a lead angle does not occur. Is fixed to the energization mode change position, and from the maximum advance angle corresponding to the position of the next position detection sensor with respect to the position of the one position detection sensor, the advance corresponding to the rotation speed information indicating the rotation speed of the rotor. A table storing a delay time calculated from the delay angle obtained by subtracting the angle, a rotation number detection step of detecting the rotation number information, and the rotation number information detected in the rotation number detection step; A delay time calling step of calling a delay time from a table; and switching from one position detection sensor to the next position detection sensor in the plurality of position detection sensors. From the point, a control method of a brushless DC motor, characterized in that consists of energization step of energizing at the next energization mode after a call delay time in the delay time calling step. 4. The method according to claim 1, wherein the energizing step is performed when a time point at which the next position detection sensor switches from the next position detection sensor comes before the time point of the delay time called in the delay time calling step. 4. The brushless DC motor control method according to claim 3, wherein power is supplied in the next power supply mode at the time of the switching. 5. A plurality of position detecting sensors for detecting the position of the rotor, at a predetermined interval, and a maximum advance angle, which is a predetermined advance angle, is generated from an energization mode change position where no advance angle is generated. In a brushless DC motor fixed at a shifted position, a rotation speed detection function for detecting rotation speed information indicating the rotation speed of the rotor, and a lead angle is calculated based on the rotation speed information detected by the rotation speed detection function. A lead angle calculation function, a delay angle calculation function of calculating a delay angle by subtracting a lead angle calculated in the lead angle calculation function from a maximum lead angle of each of the position detection sensors, and a delay calculated in the delay angle calculation function A delay time calculation function for calculating a delay time based on an angle, and from a point in time when the plurality of position detection sensors are switched from one position detection sensor to the next position detection sensor, The energizing function of energization after a the delay time calculated in serial delay time calculation function at the next power mode, characterized in that it is a recording medium recording a brushless D
Recording medium for C motor control method. 6. A plurality of position detecting sensors for detecting the position of the rotor, at a predetermined interval, and a maximum advance angle which is a predetermined advance angle is generated from an energization mode change position where no advance angle is generated. In a brushless DC motor fixed to be shifted to a position, a delay time calculated from a delay angle obtained by subtracting a lead angle corresponding to rotation speed information indicating a rotation speed of the rotor from the maximum lead angle is stored. A rotation speed detection function for detecting the rotation speed information; a delay time calling function for calling a delay time from the rotation speed information detected in the rotation speed detection function and the table; and the plurality of position detection sensors. In the following energization mode, after the elapse of the delay time called by the delay time calling function from the time when the position detection sensor is switched to the next position detection sensor in A brushless D, characterized in that the recording medium is a recording medium on which a power supply function for supplying power in the medium is recorded.
Recording medium for C motor control method. 7. A brushless DC motor in which a plurality of position detection sensors for detecting a position of a rotor are fixed at predetermined intervals and at an energization mode change position where a lead angle does not occur. Is fixed to the energization mode change position, and from the maximum advance angle corresponding to the position of the next position detection sensor with respect to the position of the one position detection sensor, the advance corresponding to the rotation speed information indicating the rotation speed of the rotor. An angle has a table that stores a delay time calculated from the delay angle obtained by subtracting the angle, a rotation speed detection function for detecting the rotation speed information, a rotation speed information detected by the rotation speed detection function, and A delay time calling function for calling a delay time from a table; and a time point at which the plurality of position detection sensors switch from one position detection sensor to the next position detection sensor. The energizing function of energization after a call delay time in the delay time call functions in the next energization mode, characterized in that it is a recording medium recording a brushless D
Recording medium for C motor control method. 8. The power supply function according to claim 1, wherein a time point for switching from the next position detection sensor to the next position detection sensor comes before a time point of the delay time called in the delay time calling function has elapsed. 8. The recording medium according to claim 7, wherein the power is supplied in the next power supply mode at the time of the switching.