CN101192803B - Device and method for driving rotary mechinery - Google Patents
Device and method for driving rotary mechinery Download PDFInfo
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- CN101192803B CN101192803B CN2007101940743A CN200710194074A CN101192803B CN 101192803 B CN101192803 B CN 101192803B CN 2007101940743 A CN2007101940743 A CN 2007101940743A CN 200710194074 A CN200710194074 A CN 200710194074A CN 101192803 B CN101192803 B CN 101192803B
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Abstract
A motor drive device (1) comprises a step-out observation circuit (7), observing rotation of rotating machinery (2) such as a brushless DC motor etc. to detect phenomenon of converting to a step-out status. When the phenomenon is detected, a driver control circuit (4) stops driving the rotating machinery temporarily to make it to enter a freely running state. Then control is performed to recover driving the rotating machinery. In addition, the motor drive device (1) comprises an inverter (12) and a drive control circuit (220). The switch operation of the inverter (12) is controlled based on the rotation of the rotating machinery (2).
Description
Technical field
The present invention relates to a kind of apparatus and method that are used to drive such as electric rotating machines such as brushless DC motors, the rotor-position of wherein estimating rotating machinery is to determine to drive the actuation duration point of this rotating machinery.
Background technology
Some conventional drive units adopt the method for position-sensor-frees, and this method is designed to the rotor-position of brushless DC motor is estimated, thereby obtain the point and drive this motor commutating period of this motor.If break down in this class drive unit or the fluctuation of load takes place, then it may enter desynchronizing state, and under this desynchronizing state, drive unit is drive motors as expection again.
JP-A-2004-104935 discloses a kind of technology, and this technology is used for detecting that motor has entered desynchronizing state and restart this motor of drive controlling when having stopped.Yet,, under the situation of driving motor vehicles such as motor,, also be not suitable for when vehicle travels, stopping the rotation of this motor even motor has entered desynchronizing state according to this technology.Must keep the rotation of motor as much as possible.In this technology,, deal carefully with this step-out detecting motor fully after the step-out.
JP 4-3 17587A, US 5432414 (JP 5-284781A) and the disclosed technology of JP 7-327390A are to start this motor by excitation (excitation) frequency that changes motor.Because the torque that produces in temporary transient rotation in opposite direction of motor or the motor is too big, and this can cause and overrun and step-out, thereby has caused the starting time of conventional equipment elongated, so proposed these technology.Yet it is very complicated that being used to of proposition changes the circuit of excitation frequency, and this also can increase the size of circuit inevitably.For example, when utilizing digital processing to change excitation frequency, the figure place that is used to calculate corresponding to the counter in cycle of frequency also will increase.
JP 11-18478A discloses a kind of technology of coming some detection time based on the induced voltage as motor terminal voltage that produces, and at this time point, the electrical degree of motor equals predetermined electrical degree.According to this technology, limited the permission time period that to detect the time that predetermined electrical degree occurs.Yet detected motor speed value is converted to too high value or low excessively value, and is fixed on that value.In these cases, be difficult to control as required the rotation status of motor.When the rotating speed of motor value was converted to too high value or low excessively value, the time that predetermined electrical degree occurs did not fall in this permission time period.Have such situation, for example the supply power voltage of motor or load are fluctuateed suddenly, and this can cause that rotating speed of motor fluctuates suddenly.Also have, in these cases, the time that predetermined electrical degree occurs may drop on outside this permission time period temporarily.For this reason, if the time of predetermined electrical degree did not fall in the permission time period, will determine that so rotation status is unusual.There is following possibility, that is, will be difficult to control as required the interim rotation fluctuation status that the state (desynchronizing state) of rotation status and load variations etc. cause and all be defined as unusually.Therefore, load variations for example only taking place, then is difficult to continue the control rotating machinery.
US 2005/0258788 (JP 2005-333689A) discloses by detecting induced voltage (that is terminal voltage) and has determined the electrical degree of motor.When the starting three phase electric machine, all switch elements of inverter all turn-off, so each phase of three phase electric machine all is a high impedance status.For this reason, the situation that neutral point voltage equals each phase electromotive force of three phase electric machine may appear.When detecting induced voltage under this state, if sneaked into noise, neutral point voltage and every phase voltage tend to crosstalk mutually so.At last, usually detected zero-crossing timing mistakenly.For this reason, for example, need can't suitably meet this requirement based on the detection signal relevant with zero-crossing timing point operated inverter after being close to three phase electric machine starting system.
In addition, in US 2005/0258788, can utilize the time interval between the time point that above-mentioned zero passage situation occurs to determine the predetermined electrical degree needed time of interval of rotor rotation.Regard occur as specified time point as through the time point of required time after the zero-crossing timing point,, the angle of benchmark occurred providing for switching manipulation at the time point place of this appointment.This is set fixed time during point when three phase electric machine starting and by said method, this fixed time point calculates the predetermined electrical degree of using in the needed time in the above and is provided with at interval by shortening.If this time point is to calculate in the starting stage of starting under normal operation, can there be delay in this time point with respect to the time point that reference angle occurs without any exception so.In this case, by determining from the zero-crossing timing point occurring to the required time of reference angle occurring, so that this fixed time point to be set based on the time interval that occurs between the zero-crossing timing point.The inventor finds: in order to be provided with accurately, rotating speed of motor must be stablized.For this reason, not only when electric motor starting but also generally when the rotating speed fluctuation, the time point that described reference angle occurs can not be set accurately all.This may cause the controllability of motor to descend.
JP 2642357B1 discloses the example of the conventional control device that is used for heterogeneous rotating machinery.In the another kind of technology of control rotating machinery (three-phase brushless motor), a kind of 120 ° of motivational techniques shown in Figure 50 have been proposed.In this accompanying drawing, (a) show the transformation situation of terminal voltage Vu, Vv, Vw; (b) show as comparison signal PU, the PV of the comparative result of terminal voltage Vu, Vv, Vw and the reference voltage Vref represented with solid line among the figure (a), the transformation situation of PW; (c) show transformation situation by the bit combination signal PS that comparison signal PU, PV, PW logical combination are obtained; (d) show by the waveform of composite signal PS being carried out the transformation situation of the detection signal Qs that shaping obtained.Locating, make the output switching activity of comparison signal PU, PV, PW by terminal voltage Vu, Vv, the Vw time point (zero-crossing timing point) consistent of (a) expression with reference voltage Vref.Yet in fact, when the operation change of the switch element of the inverter that is connected with brushless electric machine (power transformation circuit), the output of comparison signal PU, PV, PW is also overturn.This upset is to be caused by the electric current diode that is connected in parallel with switch element of flowing through.For this reason, the rising edge of the composite signal PS that is obtained by logic synthetic comparison signal PU, PV, PW is not only only consistent with zero-crossing timing point with trailing edge.Some rising edges are consistent with the time point that provides electric current to pass through diode with trailing edge.Meanwhile, the whole rising edges as waveform shaping result's detection signal Qs of acquisition are all consistent with zero-crossing timing point with trailing edge.
The electrical degree of brushless electric machine is determined by zero-crossing timing point is unique.For this reason, when having begun to pass through required time of motor rotation predetermined angular intervals (for example 30 °) from zero-crossing timing, the mode of operation that (fixed time point) changes switch element by at this moment can be carried out following operation.Can utilize 120 ° of motivational techniques to control brushless electric machine.More particularly, pre-determine the time series pattern of operating about switch element.Therefore, by coming the console switch element can realize the control of 120 ° of motivational techniques according to above-mentioned pattern when point fixed time occurring at every turn.
Because detection signal Qs is a signal, therefore can not in three-phase brushless motor, a zero-crossing timing and another zero-crossing timing be made a distinction according to this signal.For this reason, if the rotation status of brushless electric machine becomes unusual or noise is sneaked among terminal voltage Vu, Vv, the Vw etc., there is the remarkable possibility that descends of controllability of brushless electric machine so.To provide more specific description below.Even brushless electric machine is reverse rotation for example, also be difficult to detect this reverse rotation according to detection signal Qs.Therefore, when rising edge or trailing edge from detection signal Qs begin to have passed through the required time (fixed time point), exist the operation of switch element to continue the possibility that changes under normal operation.In this case, can not control brushless electric machine well.
For output, control and the restriction of controlling brushless electric machine are supplied with the electric current of brushless electric machine or for other similar purpose, are had a kind of following known technology that is used to carry out.During the permission time period (limiting) that the conducting of switch element is operated, carry out the PWM modulation treatment to repeat the described switch element of turn-on and turn-off based on above-mentioned fixed time point.Yet, in this case, problem has appearred.In the PWM modulation treatment, switch element switches to shutoff from conducting continually, thereby makes the electric current diode of flowing through continually.As a result, comparison signal PU, PV, PW and composite signal PS will overturn continually.At this moment, be difficult to produce as with the detection signal Qs of the synchronous proper signal of zero-crossing timing point.Therefore, be difficult to suitably be provided with the fixed time point.
Summary of the invention
Therefore, first purpose of the present invention provides a kind of rotating machinery drive unit and method, wherein before rotating machinery enters desynchronizing state fully, can recover drive controlling and the operation of the rotating machinery that need not to stop to be driven by no sensor, method.In order to realize first purpose, the sign (sign) that the rotation status of monitoring rotating machinery is converted to desynchronizing state to detect described rotating machinery, and when detecting described sign, temporarily stop the driving of described rotating machinery, so that described rotating machinery freedom of entry running status.Afterwards, restart to be used to drive the normal control of described rotating machinery.
Second purpose of the present invention provides a kind of rotating machinery drive unit and method, and wherein rotating machinery can be by the starting at short notice of simple structure.In order to realize second purpose, carry out the forced commutation of rotating machinery, when carrying out forced commutation, the electric current that offers the winding of described rotating machinery is restricted to higher limit, wherein said higher limit is set to be higher than the current value that is flow through when described rotating machinery is in normal rotation status.
The 3rd purpose of the present invention provides a kind of rotating machinery drive unit, and it can be based on the induced voltage of motor and more suitably detects the rotation status of rotating machinery.In order to realize the 3rd purpose, allow a permission time period that is used for detecting predetermined electrical degree based on the terminal voltage value of detected rotating machinery, when the number of times before or after predetermined electrical degree appears at the described permission time period continuously was equal to or greater than threshold value, the rotation status of determining described rotating machinery was for unusual.
The 4th purpose of the present invention provides a kind of rotating machinery drive unit, and this device can avoid detecting mistakenly the zero-crossing timing point that neutral point voltage equals reference voltage.In order to realize the 4th purpose, the terminal voltage and the described reference voltage of described rotating machinery are compared about amplitude, with the induced voltage that detects described reference voltage and rotating machinery zero-crossing timing point consistent with each other, wherein said reference voltage is neutral point voltage or its equivalent voltage of described rotating machinery.Put based on described zero-crossing timing and to operate the switch element that is used for providing electric current to described rotating machinery.When the rotating speed of rotating machinery is zero substantially, the terminal voltage value that compare and at least one in the reference voltage level are carried out offset correction, so that distinguish the value of described terminal voltage and described reference voltage.
The 5th purpose of the present invention provides a kind of rotating machinery drive unit, wherein on the basis of the comparative result of the induced voltage of rotating machinery and reference voltage, can obtain the information relevant with the electrical degree of rotating machinery with higher precision.In order to realize the 5th purpose, the terminal voltage and the reference voltage of each phase of rotating machinery are compared, comparative result when in the current operation status of switch element, zero-crossing timing point occurring with about each actual comparative result mutually, can obtain the information relevant with the electrical degree of rotating machinery.Inductive voltage value based on detected rotating machinery, can determine under the rotation status of described rotating machinery, whether to exist unusual, when detecting when unusual, all of described rotating machinery all are directed to the positive pole or the negative pole of power supply mutually, thereby force to stop the rotation of described rotating machinery.
The 6th purpose of the present invention provides a kind of rotating machinery drive unit, wherein when the switch element of power transformation circuit is operating as the control rotating machinery, equal the zero-crossing timing point of reference voltage based on the induced voltage of described rotating machinery, and do not consider the fluctuation of rotating speed, can more suitably determine the time point that refers now to the angle.In order to realize the 6th purpose, from the testing result of zero-crossing timing point, extract the information relevant, and be provided for controlling the fixed time point of described rotating machinery based on the described information relevant changeably with rotation speed change with the rotation speed change of rotating machinery.Described information is acceleration.According to described acceleration, limit the energizing quantity of described rotating machinery.At described electric rotating machine prestart, will be supplied to described rotating machinery from the electric current that a part flows to its another part phase mutually, make the anglec of rotation of described rotating machinery be fixed on predetermined angle.A described part comprises a plurality of phases with at least one in mutually of described another part mutually.
Description of drawings
By the following detailed description of carrying out with reference to the accompanying drawings, it is more apparent that above and other objects of the present invention, feature and advantage will become.In the accompanying drawings:
Fig. 1 is the circuit diagram that illustrates according to the rotating machinery drive unit of first embodiment of the invention;
Fig. 2 is the flow chart that the process of being carried out by Drive and Control Circuit and step-out observation circuit is shown;
Fig. 3 is the signal graph of the output voltage waveforms of observed inverter unit when being illustrated in the motor rotation;
Fig. 4 is the signal graph that second embodiment of the invention is shown;
Fig. 5 is the signal graph that the switching signal fluctuation when switching ahead of time is described;
Fig. 6 is the signal graph of the switching signal fluctuation when irregular the switching is described;
Fig. 7 is the circuit diagram that illustrates corresponding to the third embodiment of the invention of Fig. 1;
Fig. 8 is the signal graph that illustrates corresponding to Fig. 3;
Fig. 9 illustrates the circuit diagram of part corresponding to the fourth embodiment of the invention of Fig. 1;
Figure 10 illustrates the motor desynchronizing application drawing of current fluctuation state before;
Figure 11 is the circuit diagram that the rotating machinery drive unit in the fifth embodiment of the invention is shown;
Figure 12 is the signal graph that observed each phase voltage and rotor-position signal when motor rotates under normal condition are shown;
Figure 13 is the circuit diagram that gate driver circuit is shown;
Figure 14 is the signal graph that is illustrated in the waveform that produces when gate driver circuit limits starting current;
Figure 15 is the signal graph of the electric current that the actual starting of motor is shown the time provides observed each phase voltage and current of electric when being limited to 2A;
Figure 16 is that electric current did not have schematic diagram restricted and that the observed starting time changes when being limited to each limits value when electric motor starting was shown;
Figure 17 is the flow chart of the part process carried out by Drive and Control Circuit when electric motor starting is shown;
Figure 18 is the circuit diagram that the rotating machinery drive unit that is used for brushless electric machine among the 6th embodiment is shown;
Figure 19 illustrates to be used to carry out 120 ° of signal graphs that encourage the pattern of control;
Figure 20 illustrates to be used to be provided with 120 ° of flow charts that encourage the process of the counter of controlling;
Figure 21 is the flow chart that the pattern that is used for the console switch element is shown;
Figure 22 is the flow chart that the process of the counting rate that is used for the counts corrected device is shown;
Figure 23 illustrates the characteristic diagram that concerns between change in voltage and the counting rate correction coefficient;
Figure 24 is the flow chart that the process that is used for definite desynchronizing state is shown;
Figure 25 is the flow chart that the process that is used for definite desynchronizing state is shown;
Figure 26 A is the flow chart that the process of the counting rate that is used for the counts corrected device among the 7th embodiment is shown;
Figure 26 B illustrates the characteristic diagram that concerns between acceleration and the counting rate correction coefficient;
Figure 27 A illustrates the signal graph that being used among the 8th embodiment is provided with the method for maximum leading counter;
Figure 27 B is the signal graph that the counting operation of maximum leading counter is shown;
Figure 28 illustrates the flow chart that is used for determining desynchronizing state;
Figure 29 illustrates the chart of a counting rate correction coefficient in the modification with respect to the relation of voltage and change in voltage;
Figure 30 illustrates counting rate correction coefficient in another modification with respect to the chart of the relation of change in voltage and motor temperature;
Figure 31 is the circuit diagram that the rotating machinery drive unit among the 9th embodiment is shown;
Figure 32 is the signal graph that 120 ° of excitation control models are shown;
Figure 33 is the signal graph that the pattern that is used to detect reverse rotation is shown;
Figure 34 be illustrate be rotated in the forward and reverse rotation between the application drawing that concerns;
Figure 35 is a flow chart of resetting process when being illustrated in reverse rotation;
Figure 36 A-36E is the signal graph of the transformation of the reference voltage that occurs when being illustrated in the brushless electric machine that starting stopped the rotation and terminal voltage;
Figure 37 is the circuit diagram that the comparator among the tenth embodiment is shown;
Figure 38 is the circuit diagram that the rotating machinery drive unit among the 11 embodiment is shown;
Figure 39 is the signal graph that 120 ° of excitation control models are shown;
Figure 40 is the flow chart that the process that is used for the console switch element is shown;
Figure 41 is the flow chart that the process of the operation that is used to change switch element is shown;
Figure 42 is the flow chart that the process in the PWM control is shown;
Figure 43 is the signal graph that pwm pattern is shown;
Figure 44 is the signal graph that the reverse rotation pattern is shown;
Figure 45 be illustrate be rotated in the forward and reverse rotation between the application drawing that concerns;
Figure 46 illustrates being used among the 12 embodiment to reset the flow chart of the process of brushless electric machine;
Figure 47 is the signal graph that the principle of the wiring disconnection among the 13 embodiment is shown;
Figure 48 illustrates the flow chart that is used to detect the process that wiring disconnects;
Figure 49 is the circuit diagram that the rotating machinery drive unit among the 14 embodiment is shown;
Figure 50 is the signal graph that 120 ° of conventional excitation control models are shown;
Figure 51 is the circuit diagram that the rotating machinery drive unit among the 15 embodiment is shown;
Figure 52 is the signal graph that mode switching control is shown;
Figure 53 is the signal graph that mode switching control is shown;
Figure 54 is the flow chart that the process that is used to be provided with the individual count device is shown;
Figure 55 is the flow chart that the process that is used for the diverter switch element is shown;
Figure 56 A and 56B are the signal graphs that is illustrated in the induced voltage skew between normal and accelerating time;
Figure 57 A and 57B are the curves that is illustrated in the experimental result of the detection error of rotor angle when quickening;
Figure 58 A and 58B are flow chart and the tables of data that the process that is used to be provided with the fixed time point is shown;
Figure 59 is the signal graph through the simulation result of overcorrect in rotating speed increase process when being illustrated in electric motor starting;
Figure 60 is the signal graph of the not calibrated simulation result in rotating speed increase process when being illustrated in electric motor starting;
Figure 61 A and 61B illustrate flow chart and the tables of data that being used among the 16 embodiment is provided with the process of fixed time point;
Figure 62 illustrates being used among the 17 embodiment to estimate the flow chart of the process of zero-crossing timing point;
Figure 63 is the flow chart that the process that is used for current limliting among the 18 embodiment is shown;
Figure 64 A and 64B are the circuit diagrams that the position fixing process that being used among the 19 embodiment carry out before the starting brushless motor is shown;
Figure 65 A and 65B illustrate to utilize position fixing process to stablize the signal graph of required time of rotor angle;
Figure 66 illustrates to utilize rotor angle that position fixing process fixes and the curve that concerns between the starting time;
Figure 67 illustrates the signal graph that concerns between the torque that produces when utilizing rotor angle that position fixing process fixes and beginning start-up function;
Figure 68 is the flow chart that position fixing process is shown;
Figure 69 is the flow chart that the position fixing process among the 20 embodiment is shown;
Figure 70 is the flow chart that the position fixing process among the 21 embodiment is shown;
Figure 71 is the flow chart that the position fixing process among the 22 embodiment is shown;
Figure 72 illustrates being used among the 23 embodiment to limit the flow chart of process of the energizing quantity of position fixing process;
Figure 73 illustrates the flow chart that being used among the 24 embodiment begins the process of starting brushless motor; And
Figure 74 is the signal graph of the transformation of the cell voltage when starting is shown.
Embodiment
(first embodiment)
With reference to figure 1, from the driving power pole tension VB of the battery (not shown) of vehicle drive power to 1 power supply of rotating machinery drive unit.By 3 pairs of brushless DC motors 2 of inverter unit, promptly rotating machinery drives.By for example connecting 6 N channel power MOS FET 3a to 3f, inverter unit 3 is configured to power transformation circuit with the three-phase bridge structure.Each phase output terminal of inverter unit 3 is connected respectively on stator coil (winding) 2U, 2V, 2W of motor 2 each phase.In the accompanying drawing downwards towards arrow represent ground.
Control by 4 pairs of inverter units 3 of Drive and Control Circuit (drive control module) that microcomputer or logical circuit constitute.Drive signal outputs to the grid of FET 3a to 3f by gate driver circuit 5a to 5f.Comparator 6U, 6V, 6W compare with the dummy neutral electromotive force to the output voltage of inverter unit 3 every phases.Then, they output to Drive and Control Circuit 4 and step-out observation circuit (step-out prediction module) 7 with comparison signal PU, PV, PW.(+) end of comparator 6U, 6V, 6W is connected respectively to output OUTu, OUTv, the OUTw of each phase of inverter unit 3.(-) end of comparator 6U, 6V, 6W is connected to reference voltage source 8 jointly, and this reference voltage source 8 is equivalent to dummy neutral electromotive force (or VB/2).
Drive and Control Circuit 4 signal PU, PV, PW based on the comparison produces the commutation mode signal that is used for inverter unit 3, and it is outputed to the grid of each FET 3 by corresponding gate driver circuit 5.Be similar to Drive and Control Circuit 4, step-out observation circuit 7 is made of microcomputer or logical circuit.It detects the sign (possibility) that motor 2 is converted to desynchronizing state based on above-mentioned comparison signal PU, PV, PW.When detecting this sign, it is only exported in the given time and drives stop signal to Drive and Control Circuit 4.As long as exported the driving stop signal, Drive and Control Circuit 4 will stop the drive controlling of inverter power supply 3 so that motor 2 keeps free-run state.
The process of Drive and Control Circuit 4 and step-out observation circuit 7 execution graphs 2.When being used for the electric power starting of drive unit 1, Drive and Control Circuit 4 usefulness direct currents carry out excitation to determine the position (step 1:S1) of its rotor to winding 2U, 2V, the 2W of motor 2.Afterwards, according to predetermined commutation mode excitation winding 2U, 2V, 2W, and thus by forced commutation actuating motor 2 (S2).
When the revolution of motor 2 is increased to certain degree after electric motor starting, can observe the induced voltage that produces among winding 2U, 2V, the 2W.Therefore, Drive and Control Circuit 4 drive scheme that will be used for motor 2 becomes no mode sensor (S3).That is, signal PU, PV, PW produce the commutation mode signal that is used for inverter unit 3 based on the comparison, and signal UH outputs to each FET 3a to the grid of 3f to WL.The zero-crossing timing point of induced voltage has the phase retardation of 30 ° of electrical degrees with respect to suitable actuation duration point.Therefore, Drive and Control Circuit 4 is regulated this phase retardation when it produces the commutation mode signal.
In just with no mode sensor drive motors 2, step-out observation circuit 7 obtains to be used to predict the data (S4) of step-out.Based on these data, whether step-out observation circuit 7 inspection has a step-out under the driving condition of motor 2 sign (possibility) (S5).When the sign of determining not have step-out ("No"), process proceeds to S7.
At S7, Drive and Control Circuit 4 signal PU, PV, PW based on the comparison checks whether rotate at this time point place motor 2.When motor rotated ("Yes"), this process turned back to S3, and continued no mode sensor.When motor 2 stopped ("No"), process turned back to S1, by execution initial alignment process, and carried out the forced commutation process subsequently and reset motor 2.
The step-out that S4 and S5 place carry out is predicted and is detected as described below.The output voltage waveforms of observed inverter unit 3 when Fig. 3 is illustrated in motor 2 rotations.When three phase electric machine was driven, its voltage waveform was as follows.Make the two-phase of excited target between high side and the downside become high level and low level, and remaining unexcited one is in high impedance status mutually.In the meantime, produce induced voltage Vu, Vv, Vw among winding 2U, the 2V, and the instantaneous voltage that demonstrates between high level and the low level changes.In Fig. 3, induced voltage Vu, Vv, Vw are described to as it is that straight line increases or reduces during the above-mentioned time period.Yet in fact, induced voltage is a sinusoidal variations.
For each non-actuation duration section in mutually, the time interval (not between the homophase) that produces the induced voltage zero crossing is the time period T60 that equals 60 ° of electrical degrees.When the commutation pattern changed, to shown in (c), electric current was by the fly-wheel diode backflow lasting instantaneous time of FET 3a to 3f, and generation " zero passage " point as Fig. 3 (a).Therefore, the above-mentioned time period be reflected in comparator 6U to the comparison signal PU of 6W output in PW.Yet the waveform processing in Drive and Control Circuit 4 and the step-out observation circuit 7 is ignored this time period.As a result, position signalling PU ', the PV ' of generation, PW ' arrive shown in (f) as Fig. 3 (d).
Zero passage section blanking time T60 between step-out observation circuit 7 position-based signal PU ', PV ', the PW ' detection mutually.Then, it checks whether this time period T60 equals the time corresponding to the normal revolution of motor 2.For example, when the normal revolution of motor 2 was N for the number of poles of 10000rmp and motor 2 under normal speed, 1/6 of time per unit rotational time section was (2/N) ms.Therefore, when zero passage section blanking time T60 became than long scheduled time of (2/N) ms, step-out observation circuit 7 determined that motors 2 may be converted to desynchronizing state (S5: "Yes").Then, step-out observation circuit 7 drives stop signal to Drive and Control Circuit 4 outputs.
Then, Drive and Control Circuit 4 stops the drive controlling to motor 2 in the time period of output driving stop signal.Like this, (free-running operation is controlled, S6) to make motor 2 be in free-run state.At this moment, to remain on the time of free-run state for example be hundreds of μ s to motor 2 to about several ms.Motor 2 keeps free-run state only to continue after the scheduled time, and Drive and Control Circuit 4 proceeds to S7.When the rotation of motor 2 does not also stop ("Yes"), continue with no mode sensor drive controlling.
According to first embodiment, realized following aspect.The rotation status of the step-out observation circuit 7 monitoring brushless DC motors 2 of rotating machinery drive unit 1 is to be used to detect the sign that motor 2 is converted to desynchronizing state.When detecting this sign, Drive and Control Circuit 4 temporarily stops drive motors 2 and makes motor freedom of entry running status.Afterwards, carry out control with drive motors 2 again.Therefore, can prevent motor, and continue rotary drive motor owing to the complete step-out of motor stops.
Particularly, step-out observation circuit 7 detects the speed of motors 2 and with the normal speed comparison of detected speed and motor 2.When the difference between them is equal to or higher than predetermined value, detect the sign that is converted to desynchronizing state.When motor 2 possibility step-outs, the speed rapid fluctuations of motor 2.Step-out observation circuit 7 is put based on the zero-crossing timing of the induced voltage of motor 2 and is detected the time period T60 that equals 60 ° of electrical degrees.Then, the length of detected time period T60 was compared with the time period that equals 60 ° of electrical degrees under normal speed.Therefore, can detect the sign that is converted to desynchronizing state easily.
(second embodiment)
In second embodiment shown in Fig. 4 to 6, adopt different detection schemes to predict step-out, this S4 and S5 place in Fig. 2 carries out.Step-out observation circuit 7 position-based signal PU ' among second embodiment, PV ', PW ' carry out logical combination, and produce switching signal Ssw, shown in Fig. 4 (g).
Switching signal becomes high level during position signalling PU ', the PV ' of any two-phase, PW ' are for high level.Thereby repeatedly become high level and low level with the time period that equals 60 ° of electrical degrees.When motor 2 rotated with normal speed, the output voltage of each phase of inverter unit 3 repeated preassigned pattern.Therefore, switching signal Ssw is the square wave with 50% duty ratio.When generation is different from the pattern of preassigned pattern, then there is the high likelihood that is converted to step-out.Therefore, the output state of step-out observation circuit 7 monitoring switching signals is with the prediction step-out.
The situation that the waveform of the switching signal shown in Fig. 5 is represented is to put early than normal speed the commutating period of motor 2.This is an abnormality, and under this state, the time period of switching signal promptly shortens.Otherwise if commutating period, point became slower, then the time period of switching signal is elongated.The situation that the waveform of switching signal shown in Figure 6 is represented is that some commutating period of motor 2 does not have not change as expection or do not have rule to change.This also is a kind of abnormality, and under this state, the time period of switching signal temporarily shortens.When any one state in detecting these states surpasses the scheduled time, can think that motor 2 has the sign of step-out,, can be defined as "Yes" at S5.
According to second embodiment, step-out observation circuit 7 is carried out following process.When the generation pattern of the output voltage of each phase of inverter unit 3 and inconsistent time period of preassigned pattern are equal to or greater than predetermined value, detect the sign that is converted to desynchronizing state.Therefore, can detect this sign reliably.
(the 3rd embodiment)
In Fig. 7 and the 3rd embodiment shown in Figure 8, the generation pattern of step-out observation circuit (step-out prediction module) 7 each phase induced voltage of monitoring.For this purpose, for each provides three comparators 13 mutually.
Be similar to comparator 6U, 6V, 6W among first embodiment, comparator 13UM, 13VM, 13WM compare the output voltage of inverter unit 3 with the dummy neutral electromotive force of reference voltage source 8M.Comparator 13UH, 13VH, 13WH be the high side threshold of above-mentioned output voltage and reference voltage source 8H, wherein will this high side threshold value be provided with to such an extent that be higher than the electromotive force of reference voltage source 8M.Comparator 13UL, 13VL, 13WL be the downside threshold of above-mentioned output voltage and reference voltage source 8L, wherein this downside threshold value is provided with to such an extent that be lower than the electromotive force of reference voltage source 8M.
Though do not illustrate among Fig. 7, comparison signal PU, PV, the PW of comparator 13UM, 13VM, 13WM output offer Drive and Control Circuit 4 as first embodiment.In Fig. 7, the fly-wheel diode of FET 3a to 3f is not shown, and gate driver circuit 5 (5a is to 5f) is with shown in the mode of block diagram.
In the following description, about all total mutually operations, Reference numeral no longer has suffix " U, V or W ".The incentive mode of step-out observation circuit 7 position-based signal PH ', PM ', each phase of PL ' monitoring, wherein said position signalling PH ', PM ', PL ' are to obtain from comparison signal PH, the PM of comparator 13H, 13M, 13L output, PL.At this moment, incentive mode is divided into three level: high level SH, intermediate level (high impedance) SM and low level SL.Fig. 8 (d), (e), (f) show position signalling PUH ', PUM ', the PUL ' of U phase.
More specifically, high level SH and low level SL are determined by SH=PH ' and SL=/PL ' ("/" expression is negated) respectively.Intermediate level is determined by following.
SM＝(/PH′·PM′)+(/PM′·PL′)
Owing to can determine intermediate level SM, so realized following aspect.When the rotation of motor 2 normal (being in stable state), step-out observation circuit 7 can be discerned: U phase, V mutually and the incentive mode of each phase of W in mutually be converted to state 6 from state 1, as shown in the table, each electrical degree of 60 ° of being separated by.Here, " M " represents high impedance.
| State | ?1 | ?2 | ?3 | ?4 | ?5 | ?6 |
| ?U | ?L | ?L | ?M | ?H | ?H | ?M |
| ?V | ?H | ?M | ?L | ?L | ?M | ?H |
| ?W | ?M | ?H | ?H | ?M | ?L | ?L |
Therefore, step-out observation circuit 7 monitoring above-mentioned from state 1 to state cycle of 6 whether with the pattern repetition of correct (normally).If departed from correct pattern, then can define the sign of step-out.
According to the 3rd embodiment, step-out observation circuit 7 is carried out following process.In the generation pattern of each the phase output voltage that detects motor 2, output voltage is divided into three level: high level, low level and the non-level of drive (intermediate level).Therefore, can more clearly monitor the rotation status of motor.
In the 3rd embodiment, intermediate level SM can be divided into the pattern of two level with the segmentation output voltage again.
SMH＝/PH′·PM′
SML＝/PM′·PL′
In addition, can also remove comparator 13UM, 13VM, 13WM, and can determine by SM=/PH ' PL '.
For state 1 to 6, can adopt following means.Only optionally detect the time period " M " reach high impedance, and the development model of monitoring time section " M " normal circulation whether.
(the 4th embodiment)
In the 4th embodiment shown in Fig. 9 and 10, rotating machinery drive unit 1 is constructed so that step-out observation circuit (step-out prediction module) 7 detects the electric current that offers motor 2, and predicts step-out based on the fluctuation status of electric current.The drain and gate of the FET 3a of inverter unit 3 is connected with the drain and gate of current sense N channel power MOS FET 23 respectively.Make their conducting/shutoffs simultaneously by the common grid signal.FET 3a, 23 so is provided with, and makes that the ratio of the electric current that flows through is approximately 100: 1 to 5000: 1 respectively when their conductings.
The source electrode of FET 23 is connected to ground wire by the collector electrode-emitter and the resistor 26 of diode 24, NPN transistor 25, and is connected to (+) end of operational amplifier 27.(-) end of operational amplifier 27 is connected to the source electrode of FET 3a, and its output is connected to the base stage of transistor 25.The emitter of transistor 25 be connected to comparator 28 (+) end, and (-) of comparator 28 end be connected to voltage source 29, this voltage source 29 is used to provide the reference voltage that compares.Comparator 28 is constructed so that its output signal is input in the Drive and Control Circuit 4.
When FET 3a, 23 conductings simultaneously, corresponding to their drain current of the current ratio FET 3a, 23 that flows through respectively.In this case, their source voltage is equal to each other owing to the operation (imaginary short) of operational amplifier 27 becomes.Therefore, even resistor 26 is connected on the current sense FET 23, their current ratio also keeps as specified.
The electric current that provides during FET 23 conductings flows to resistor 26 via diode 24 and transistor 25.Utilize comparator 28, the terminal voltage of resistor 26 and the reference voltage of voltage source 29 are compared.When the former level became higher, the output signal of comparator 28 became high level.
As shown in figure 10, the electric current that offers motor 2 fluctuateed before motor is converted to desynchronizing state.Yet the electric current of describing in this accompanying drawing is not by FET 23 detected electric currents, but the total current by direct current supply line.When motor 2 rotated under normal (stablizing) state, electric current fluctuateed hardly and is constant basically.When occurring certain fault and its output torque than great fluctuation process or at other similar applications in the rotation of motor 2, current fluctuation also can increase thereupon.Therefore, step-out observation circuit 7 comes step-out is predicted by the current fluctuation (increase) that detects this moment.
More particularly, when the output signal of comparator 28 became high level, Drive and Control Circuit 4 was changed by this level and triggers, and makes motor 2 freedom of entry running statuses.These processes corresponding to the process S4 among Fig. 2 to S6.
According to the 4th embodiment, 7 pairs of electric currents that offer motor 2 of step-out observation circuit detect.When the fluctuation in the electric current becomes when being equal to or greater than predetermined value, step-out observation circuit 7 detects the sign of step-out.Therefore, can predict step-out reliably.
In first to the 4th embodiment, can predict step-out by making up the step-out Forecasting Methodology among the various embodiment and applying the OR condition.These embodiment not only are applicable to the drive motors that drives motor vehicle.It can also be widely used in when by no sensor, method drive motors and be difficult to will stop in the application of brushless DC motor because of step-out.
(the 5th embodiment)
In the 5th embodiment shown in Figure 11, rotating machinery drive unit 1 is configured to motor is driven, be used to drive for example mini-disk (MD) or hard disk drive (HDD).This rotating machinery drive unit 1 is similar to the rotating machinery drive unit (Fig. 1) of first embodiment, but does not have the step-out observation circuit.Yet Drive and Control Circuit 4 comprises the internal counter (not shown) with the time interval between the edge of measuring position signal PU ', PV ', PW ', thereby measures the zero-crossing timing section T60 corresponding to 60 ° of electrical degrees, shown in Figure 12 (g).The zero-crossing timing point of induced voltage has the phase retardation of 30 ° of electrical degrees with respect to suitable actuation duration point.Therefore, Drive and Control Circuit 4 is by compensating the commutation pattern that produces to phase retardation.The time interval corresponding to 30 ° of electrical degrees can be defined as T60/2.The output voltage waveforms of observed inverter unit 3 is shown in Figure 12 during motor 2 rotations.When driving three phase electric machine 2, its voltage waveform is similar to the voltage waveform (Fig. 3) of first embodiment.
High side gate driver circuit 5a, 5c, 5f are constructed to similar each other.For example, gate driver circuit 5a is configured to as shown in figure 13.The drain and gate that constitutes the FET 3a of inverter unit 3 is connected with the drain and gate of current sense N channel power MOS FET 107 respectively.They are by common signal while turn-on and turn-off.FET 3a, 107 so is provided with, makes that the ratio of the electric current that flows through respectively for example is about 100: 1 to 5000: 1 when their conductings.
Between power line (VB) and ground wire, resistor 111 and 112 and the series circuit of N-channel MOS FET 113 have been connected.Resistor 111 is connected with the base stage of PNP transistor 114 with 112 common tie point, and the emitter of transistor 114 is connected on the power line.The collector electrode of transistor 114 is connected to the grid of FET 107 and FET 3a by booster circuit part 115 and diode 116.
Between the source electrode of the anode of diode 116 and FET 107, two Zener diodes 117 and 118 are connected to make their series connection in the opposite direction each other.Booster circuit part 115 is used to carry out boost operations to obtain to drive high side N-MOSFET 3a and 107 required grid voltages.Booster circuit part 115 is to be made of the conventional charge pump circuit that diode and capacitor bank form.
The source electrode of FET 107 is connected on the ground wire by the collector electrode-emitter and the resistor 121 of diode 119, NPN transistor 120, and is connected to (+) end of operational amplifier 122.(-) end of operational amplifier 122 is connected to the source electrode of FET 3a, and its output is connected to the base stage of transistor 120.The emitter of transistor 120 be connected to comparator 123 (-) end, and (+) of comparator 123 end be connected to voltage source 124, this voltage source 124 is used to provide the reference voltage of comparison.The output signal of comparator 123 offer with door 126 to any input of filter 125.
To be configured to realize following aspect with door 126.When the output signal of comparator 123 was in high level, the signal UH that Drive and Control Circuit 4 is exported with door 126 exported to FET 3a and FET 107.When output signal changed low level into, it forbade the output of signal UH.When the gate drive signal of high level is provided to FET 113, FET113 conducting, also conducting of transistor 114 as a result.Like this, the gate drive voltage relevant with the source electrode of FET 107 is applied on the grid of FET 3a and FET 107 FET 3a and 107 conducting once more.
The time constant of filter 125 can be set to realize following aspect, shown in Figure 14 of back.Cut down the noise that with door 126 drives interrupts electric currents time frequency is higher than turn-off time Toff.
The operation of this embodiment will be described referring now to figs. 14 through Figure 17.When motor 2 startings, Drive and Control Circuit 4 is carried out process shown in Figure 17, and it is similar to the process (Fig. 2) among first embodiment.The part process comprises the process of being carried out by hardware.Drive and Control Circuit 4 utilizes direct current that winding 2U, 2V, the 2W of motor 2 are carried out excitation to determine the position (S1) of its rotor.Then, according to predetermined commutation pattern, excitation winding 2U, 2V, 2W, and therefore come actuating motor 2 (S2) by forced commutation.
Drive and Control Circuit 4 is constructed so that when carrying out forced commutation it carries out leading excitation, that is, and in advance angle or the excitation of advance angle place.That is,, carry out commutation at leading normal suitable time point place of putting 30 ° commutating period with respect to the rotor-position of determining at S1.By when motor 2 starts, carrying out leading excitation, reduced the torque of motor 2.Therefore, obtained the effect that overrunning appears in inhibition.
When the revolution of motor 2 is increased to certain degree after electric motor starting, can observe the induced voltage that produces among winding 2U, 2V, the 2W.Therefore, Drive and Control Circuit 4 drive scheme that will be used for motor 2 becomes no mode sensor (S3).That is, signal PU, PV, PW produce the commutation mode signal that is used for inverter unit 3 based on the comparison, and output signal UH arrives the grid of single FET 3a to 3f to WL.Leading 30 ° in excitation phase angle in the no mode sensor with respect to the zero crossing of induced voltage.
When S2 carries out forced commutation, the output signal of the comparator 123 among the gate driver circuit 5a changes according to the FET 107 detected electric currents that offer motor 2.The reference voltage of voltage source 124 is set to such level, so that the overcurrent that provides during motor 2 starting is according to restriction shown in Figure 14.In the present embodiment, reference voltage is set to be equivalent to for example voltage of 2A electric current.
Viewed each phase voltage Vu was to Vw and current of electric Im when Figure 15 the electric current that provides when the actual starting of motor 2 is provided was restricted to 2A.Shown in Figure 15 (d), when motor 2 normal rotations, the electric current I m that flows through is less than 1A.The limits value of 2A provides the set upper limit for the electric current of the excessive value that only the time flows through in starting.
When current of electric Im surpassed this limits value, the output current of comparator 123 became low level, and stoped the output of signal UH with door 126.Like this, the high side FET 3a of inverter unit 3,3c, 3e turn-off, and stop exciting electric 2.As a result, detected current value reduces, and the output current of comparator 123 returns high level.Meanwhile, export signal UH again with door 126, and exciting electric 2.
The winding 2U of motor 2 makes the variation that detects electric current have predetermined gradient to the induction of 2W.As shown in figure 14, detect electric current and change like that, and limited this electric current at the sawtooth waveforms of starting time image near limits value.
When Figure 16 shows motor 2 starting under the unrestricted situation of electric current and electric current be limited to the variation of viewed starting time (ms) under the situation of limits value of 1A, 2A and 4A.Here the rotation that " starting time " mentioned is defined as motor 2 reaches its normal revolution (for example, time of 90% 10000rm).Trunnion axis is represented the initial position (degree) of rotor.
When this initial position changed, the starting time also can change.When this limits value was set to 1A, this limits value was low excessively, and can not obtain required starting torque.Starting time all is 100ms on the gamut of initial position, and the standard value of this for example 70ms more required than product (product) is much bigger.Under the situation of " unrestrictedly ", and be limited at electric current under the situation of 2A and 4A, the starting time is starkly lower than above-mentioned in the required standard value of the gamut of initial position.
To estimate three kinds of situations that the starting time is shorter than required standard below.At limits value is under the situation of 2A, and the starting time is 25ms on the gamut of initial position.In " unrestrictedly " and limits value is under the situation of 4A, and it is starting time under the 2A situation that the starting time can be shorter than limits value, and this depends on initial position.Yet the worst-case value under the both of these case (30ms) is starting time under the 2A situation greater than limits value.Therefore, think that limits value is that the situation of 2A helps product most.
In some other examples of measuring, under " unrestrictedly " situation of electric current big ups and downs and limits value be that starting time under the 4A situation is that starting time under the 2A situation is longer than limits value.
According to present embodiment,, realized following aspect when rotating machinery drive unit 1 during by forced commutation starting brushless motor 2.The winding 2U that gate driver circuit 5 will offer motor 2 is restricted to higher limit to the electric current of 2W, and wherein this higher limit is set to and is higher than the current value that offers motor 2 when motor 2 is in normal or stable rotation status.Therefore, can suppress to overrun, thereby shorten the starting time, and can not stop the stable rotation of motor.
When after Drive and Control Circuit 4 is being determined rotor-position, carrying out forced commutation, this Drive and Control Circuit 4 carry out control so that winding 2U to scheduled volume of excitation phase angular advance of 2W.Therefore, can further shorten the starting time.
The 5th embodiment can revise in many ways.For example, the limits value of starting current and normal revolution can be according to the suitably modifications such as rated value of institute's use motor.Leading excitation in the forced commutation can be carried out as required.The rotating machinery drive unit not only is applicable to the motor that drives mini-disk (MD) or hard disk drive (HDD).It can also be widely used in when driving brushless DC motor by no sensor, method and be difficult to will stop because of step-out in the application of motor rotation.
(the 6th embodiment)
In the 6th embodiment shown in Figure 18, proposed to be used for the rotating machinery drive unit of brushless DC motor 2, this brushless DC motor 2 can be arranged in the vehicle as rotating machinery.
Motor 2 is actuators of the petrolift of three phase electric machine and the being used for internal combustion engine that is installed in locomotive.The three-phase of brushless electric machine 2 (U phase, V phase, W phase) is connected with inverter 12.Inverter 12 is three-phase inverters, and the voltage of battery 214 is applied on the three-phase of brushless electric machine 2.In order to provide conducting mutually and between the positive pole of battery 214 and the negative pole among the three-phase each, inverter 12 is constructed so that it comprises the unit that is connected in parallel, and this unit that is connected in parallel has: switch element SW1, SW2 (U phase arm), switch element SW3, SW4 (V phase arm) and switch element SW5, SW6 (W phase arm).Switch element SW1 that is connected in series and the tie point between the switch element SW2 are connected with the U of brushless electric machine 2.Switch element SW3 that is connected in series and the tie point between the switch element SW4 are connected with the V of brushless electric machine 2.Switch element SW5 that is connected in series and the tie point between the switch element SW6 are connected with the W of brushless electric machine 2.These switch elements SW1 is connected in parallel to D6 with sustained diode 1 respectively to SW6.
The high-side switch element SW1 of each arm, SW3, SW5 are made of the P channel MOS transistor, and low side switch element SW2, SW4, the SW6 of each arm are made of the N-channel MOS transistor.Sustained diode 1 to the D6 parasitic diode by MOS transistor constitutes.
Drive and Control Circuit 220 makes inverter 12 work, thus the output of control brushless electric machine 2.Specifically, Drive and Control Circuit 220 comprises driver 222, voltage detector 228 and on-off controller 227.Voltage detector 228 detects the voltage VB of battery 214.
On-off controller 227 passes through driver 222 turn-on and turn-off switch element SW1 to SW6.In this example, on-off controller 227 mainly utilizes 120 ° of motivational techniques to carry out switch control.More specifically, utilize each phase terminal voltage Vu, Vv of brushless electric machine 2, the time point that Vw equals induced voltage, on-off controller 227 detects following.It detects the time (zero-crossing timing) that induced voltage equals the dummy neutral voltage (reference voltage Vref) of brushless electric machine 2.Then, it locates to change the operation of switch element SW1 to SW6 at the time point (fixed time point) that postpones predetermined electrical degree (for example, 30 degree) from zero-crossing timing point.Yet when the electric current that is sent to brushless electric machine 2 (energizing quantity) when being restricted, switch element SW1 is not set to 120 ° time period to time period of SW6 conducting.The substitute is, in this time period, carry out PWM control.
On-off controller 227 can be constituted or can and be used for stored program memory cell by CPU and constitute by logical circuit.
Fig. 2 shows the mode of carrying out switch control under normal operation.Specifically, (a) show terminal voltage Vu, the Vv of motor 2, the transformation of Vw; (b) show the transformation of comparison signal Uc, Vc, Wc; (c) show the transformation of zero passage detection signal; (d) show the transformation of the value of individual count device; And (e) show the transformation of switch element SW1 to the actuated signal of SW6.(e) actuated signal shown in comprises high-side switch element SW1, actuated signal U+, V+, W+ and the low side switch element SW2 of SW3, SW5, actuated signal U-, the V-of SW4, SW6, the W-of each arm.In this example, the high-side switch element SW1 of each arm, SW3, SW5 are p channel transistors; Therefore, to be in the time period of logic low (L) be the time period of their conductings for these actuated signals U+, V+, W+.
(d) solid line that makes progress in is represented the value Cm of zero passage measurement counter, and this zero passage measurement counter is used to measure the time interval between the adjacent zero-crossing timing.As shown in the figure, when zero-crossing timing occurring, this counter of initialization is reset the time counting operation then.The time interval between the adjacent or continuous zero-crossing timing is relevant with rotating speed.For this reason, the value (maximum of counter) of counter before being close to initialization provides the parameter relevant with rotating speed.
(d) downward solid line represents that fixed time point is provided with the value Cs of counter in, and this fixed time point is provided with counter to be counted when putting at fixed time becoming up to the zero-crossing timing point etc. the required time, and the fixed time point is set thus.The fixed time point is provided with the initial value of the Counter Value of counter before the zero-crossing timing place adopts initialization as it, and it is successively decreased.Then, to be provided with that counter will be worth be that zero time point is as the fixed time point for fixed time point.At this moment, carry out following operation.
When the time interval between zero-crossing timing point and the fixed time point for example was 30 °, it was the twice of increasing velocity of measurement counter that decline rate is set to.Consider that the time interval between the adjacent zero-crossing timing is 60 °, can think that this is provided with the value Cs that can make fixed time point that counter is set and becomes 0 time point and postponed 30 ° with respect to zero-crossing timing point.
(d) the two point form chain-dotted line in represents to allow to start the value Cp of counter.This allows the time started of starting counter determining time (allowing the time period), in this time period, allows to detect zero-crossing timing based on the comparative result of terminal voltage Vu, Vv, Vw and reference voltage Vref.For fear of following incident and for other similar purpose, provide this permission time period.Providing to D6 in the time period of electric current by diode D1, terminal voltage Vu, Vv, Vw equal reference voltage Vref, and mistakenly this are defined as zero-crossing timing constantly thus.This counter also with the value of the counter before the initialization as its initial value at zero-crossing timing, and it is successively decreased.Then, it is worth the time started that null time point is set to allow the time period.Being arranged to when the time started that will allow the time period is at a distance of zero-crossing timing for example during time of 45 °, and can decline rate being set to is 3/2 times of increasing velocity of measurement counter.
(d) the point type chain-dotted line in represents to allow the time period that the value Cps of counter is set, and this permission time period is provided with counter and is used for determining the above-mentioned permission time period.When the value that allows the starting counter is zero, allows the time period counter to be set, and it is successively decreased the value of the measurement counter before the last initialization initial value as it.Its time period when this value is zero is set to allow the time period.When to allow the time period for example be time period of 30 °, can decline rate being set to was the twice of increasing velocity of measurement counter.
In the value that allows the time period that counter is set was not less than time period of zero, comparison signal Uc, Vc, Wc were effective.When comparison signal Uc, Vc, Wc overturn in this time period, the upset of the zero passage detection signal of corresponding phase.Zero-crossing timing place when the zero passage detection signal overturns, the fixed time point is provided with the beginning of successively decreasing of counter.When its value was zero, switch element SW1 was to the operation change of SW6.
Below with reference to Figure 20 and Figure 21 switch control procedure in the present embodiment is described.Drive and Control Circuit 220 is for example carried out process among Figure 21 repeatedly with predetermined period, and this process is used for being provided with the Counter Value of above-mentioned four counters.
This series process is carried out according to following manner.At S10, check whether the value Cps that allows the time period that counting is set is equal to or greater than zero.When definite this value was not less than zero, whether any one in S12 inspection comparison signal Uc, Vc, Wc changed or overturns.This process is used to detect zero-crossing timing.When determining that at S12 in the comparison signal any one changed, at S14 with the currency Cm of measurement counter maximum as counter.Subsequently at S16, the maximum of counter is provided with counter and allows the time period that the value Cs and the Cps of counter are set as the fixed time point.At S18, measurement counter be initialised (Cm=0)
When being defined as not at S10 or S12, measurement counter (Cm) is increased progressively at S20.Meanwhile, make and allow starting counter (Cp), allow the time period that counter (Cps) and fixed time be set to put and counter (Cs) is set successively decreases.At S22, check whether the value Cp that allows the starting counter is zero subsequently.This process is used to check whether it is the time started that allows the time period.When the value Cp that determines permission starting counter is zero, the maximum Cm of counter is allowed to be provided with the value Cps of counter at S24 as the permission time.Afterwards, allowing based on the comparison that signal Uc, Vc, Wc detect zero-crossing timing, is zero up to the value Cps that allows the time period that counter is set.
When being defined as not at S22, perhaps when the process of S18 or S24 was finished, this series process stopped once.
Carry out by the process shown in Figure 21 switch element SW1 is become conducting to the state of SW6.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
At S30, whether the value Cs that inspection fixed time point is provided with counter is zero.This process is used for determining whether the fixed time point occurs.When determining that value Cs that the fixed time point is provided with counter has been zero, change the mode of operation of switch element SW1 to SW6 at S32.In this example, the following change of mode of operation.When before switch element SW1, SW4 are changing, being conducting, mode of operation is changed so that switch element SW1, SW6 begin conducting.When before switch element SW1, SW6 are changing, being conducting, mode of operation is changed so that switch element SW3, SW6 begin conducting.When before switch element SW3, SW6 are changing, being conducting, mode of operation is changed so that switch element SW2, SW3 begin conducting.When before switch element SW2, SW3 are changing, being conducting, mode of operation is changed so that switch element SW2, SW5 begin conducting.When before switch element SW2, SW5 are changing, being conducting, mode of operation is changed so that switch element SW4, SW5 begin conducting.When before switch element SW4, SW5 are changing, being conducting, mode of operation is changed so that switch element SW1, SW4 begin conducting.
In the present embodiment, the time point and the corresponding one by one switch control of carrying out 120 ° of motivational techniques of zero-crossing timing point by switch element SW1 is changed to SW6.
In vehicle, the voltage of battery 214 is easy to fluctuation.When the voltage fluctuation of battery 214, the rotating speed of brushless electric machine 2 changes.At this moment, the time interval between the adjacent zero-crossing timing (maximum of counter) can not be represented the rotating speed near current zero-crossing timing exactly.Therefore, can not will allow the time period to be arranged in the desired electrical degree scope according to the above-mentioned time interval.For this reason, when for example brushless electric machine 2 quickened, zero-crossing timing might be ahead of and allow the time period to occur.When for example brushless electric machine 2 slowed down, zero-crossing timing might lag behind and allow the time period to occur.
In the present embodiment, in order to tackle this situation, will allow being provided with of time period to proofread and correct to consistent with the rotation speed change of brushless electric machine 2.Consider that rotating speed is that variation by the voltage VB of battery 214 changes, and specifically, will allow being provided with of time period to proofread and correct to consistent with the change in voltage of battery 214.
Carry out this correction that the setting that allows the time period is carried out, as shown in figure 22.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
At S40, obtain the voltage VB of battery 214.At S42, check whether the variation delta VB of the voltage VB of battery 214 is equal to or greater than first threshold α subsequently.This process is used for determining whether current situation is the situation that following situation possible take place.As the result that brushless electric machine 2 quickens, zero-crossing timing occurred before the permission time period that rotating speed is determined.This threshold alpha is based on that minimum value that said circumstances occurs is provided with.When definite described variation delta VB is equal to or greater than threshold alpha, increase the counting rate that allows starting counter and permission time period that counter is set at S44.As shown in figure 23, specifically, this counting rate increases with the increase of variation delta VB.In this example, can take following measures.For each centrifugal pump of variation delta VB pre-determines a correction coefficient, and progressively change counting rate.As an alternative, counting rate can continuously change according to variation delta VB.This process be used under the situation that the rotating speed of brushless electric machine 2 increases, realizing following aspect.Electrical degree scope when allowing the time period to be set to substantially with invariablenes turning speed is identical.
As variation delta VB during, determine at S46 whether described variation delta VB is equal to or less than second threshold value beta less than threshold alpha.This process is used for determining whether current situation is the situation that following situation possible take place.As the result that brushless electric machine 2 quickens, zero-crossing timing occurred after the permission time period that rotating speed is determined.This threshold value beta is based on that maximum that said circumstances occurs is provided with.When definite described variation delta VB is equal to or less than threshold value beta, reduce the counting rate that allows starting counter and permission time period that counter is set at S48.As shown in figure 23, specifically, this counting rate reduces with the reduction of variation delta VB.When variable quantity presents negative value and the increase of its absolute value, reduce counting rate.This process be used under the situation that the rotating speed of brushless electric machine 2 reduces, realizing following aspect.Electrical degree scope when allowing the time period to be set to substantially with invariablenes turning speed is identical.
When determining described variation delta VB greater than threshold value beta at S46, perhaps when the process of S44 or S48 was finished, this series process stopped once.According to said process, even when the variable quantity of the voltage VB of battery 214 changes the rotating speed of brushless electric machine 2, also can suitably detect zero-crossing timing.
The situation that existence becomes too high or too low based on the rotating speed of the brushless electric machine 2 of the detected value of zero-crossing timing point.This can cause the situation of the rotation status (desynchronizing state) that is difficult to suitably control brushless electric machine 2.In this case, need reset brushless electric machine 2.Before this situation occurring, the rotating speed of brushless electric machine 2 increases continuously or reduces.For this reason, zero-crossing timing departs from the phenomenon that allows the time period and often occurs continuously more than once.Therefore, in the present embodiment, when the number of times before or after zero-crossing timing appears at the permission time period continuously is equal to or greater than threshold value, carry out following process.The rotation status of determining brushless electric machine 2 is for unusual, and the process of brushless electric machine 2 is reset in execution.
Below, with reference to Figure 24 and Figure 25 this process is described.Process shown in Figure 24 is used to tackle zero-crossing timing and appears at permission time period abnormal conditions before.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
In this process,, check whether the value Cp that allows the starting counter is zero at S50.This process is used to determine whether to be the time started that allows the time period.When the value Cp that determines permission starting counter is zero, determine at S52 whether the logical value of corresponding comparison signal Uc, Vc, Wc is normal.This process is used for determining whether zero-crossing timing appeared at before the described permission time period.
As shown in figure 19, per 60 ° a zero-crossing timing occurs.Arbitrarily the induced voltage of phase is to rise process or decline process thereon to pass reference voltage Vref 360 ° of cycles are all arranged.For this reason, can according to following state discern current zero-crossing timing appear at which mutually and the induced voltage of this phase be to rise process or decline process thereon: previous zero-crossing timing appear at which mutually and the induced voltage of this phase be to rise process or decline process thereon.More particularly, in the example shown in Figure 19, suppose: zero-crossing timing is in its decline process when V phase terminal voltage Vv passes reference voltage Vref.In this case, can predict that next zero-crossing timing will appear at the U phase, and zero-crossing timing appears at the uphill process of this phase terminal voltage Vu.For this reason, can think: allowing in the time period, the comparison signal Uc of U phase is turned to logic high from logic low.Simultaneously, if the comparison signal Uc of U phase has been in logic high when allowing the value of starting counter to be zero, can determine so that zero-crossing timing has appeared to allow before the time period.
When zero-crossing timing is assumed to be that appearing at the comparison signal logical value that allows that phase in the time period is confirmed as when unusual, process proceeds to S54.At S54, determine that zero-crossing timing point is excessively leading.Then, the value with this counter replaces allowing the value Cp of starting counter and the value Cs that the fixed time point is provided with counter.Like this, be that zero time point is as the zero-crossing timing point, so that fixed time point etc. to be set with the value Cp that allows the starting counter.Also can avoid following situation even this process is used for making mistake at S52 when determining: the setting of fixed time point etc. is with respect to putting over-deflection normal time.Subsequently at S56, the initialization survey counter.
At S58, check that whether continuing is excessively leading determining, whether promptly previous zero-crossing timing also appears at and allowed before the time period.When previous zero-crossing timing also appears at before this permission time period,, excessively leading counter is increased progressively at S60.When counter is configured to before zero-crossing timing appears at the permission time period continuously excessively in advance number of times Ca is counted.Subsequently, at S62, check whether the value Ca of excessively leading counter has equaled threshold value MAX.Whether the rotation status that this process is used for determining brushless electric machine 2 is unusually and whether be difficult to control this rotation status.When brushless electric machine 2 starting, the value of this threshold value MAX is set at greater than zero-crossing timing appears at number of times estimated when allowing before the time period.When the value of determining excessively leading counter equals threshold value MAX, carry out the process of resetting (recovery process) of brushless electric machine 2 at S64.Meanwhile, the excessively leading counter of initialization.
When making at S58 negates really regularly, should excessively leading counter in the S66 initialization.This process be used to avoid when since the starting of brushless electric machine 2, noise effect etc., load variations etc. appear at zero-crossing timing allow the time period before the time following state.The value Ca of excessively leading counter increases, and finally is defined as the unusual process of resetting of also carrying out.When making negative timing really at S50 or S52, perhaps when finishing the process of S64 or S66, this series process stops once.
Process shown in Figure 25 is used to tackle zero-crossing timing and appears at permission time period abnormal conditions afterwards.That is, zero-crossing timing is delayed.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.This series process is carried out in the following manner.
At S70, check whether the value Cps that allows the time period that counter is set is zero.This process is used to determine whether to be the concluding time that allows the time period.When the value Cps that determine to allow the time period that counter is set is zero, determines whether at S72 that S52 in Figure 24 has made and sure determine and whether detected zero-crossing timing.This process is used for determining whether zero-crossing timing appeared at before the permission time period.In particular, when zero-crossing timing also do not appear at allow the time period before and do not appear at when allowing in the time period, can think that zero-crossing timing will postpone and appear to allow after the time period.
When being defined as at S72 negating, S74 carry out to S86 with Figure 24 in S54 to the similar process of S66, wherein use delay counter that delay is counted, with as length of delay Cd.
In the present embodiment, appear at continuously based on zero-crossing timing and allow to determine desynchronizing state before or after the time period.For this reason, can make a distinction departing from the state and the desynchronizing state that allow the time period by occasioned zero-crossing timings such as noise effects.In addition, carry out such setting so that allowing the time period is the electrical degree of being scheduled to, and ignore the voltage fluctuation of battery 214.Therefore, can prevent to be confirmed as desynchronizing state owing to the voltage fluctuation of battery 214.
According to the 6th embodiment, have following advantage:
When (1) number of times before or after zero-crossing timing appears at the permission time period continuously is equal to or greater than threshold value MAX, brushless electric machine 2 is defined as unusually.Like this, when owing to load variations etc. occurring and temporary transient rotation fluctuation occurs or any other similar incidents occur, can prevent to be confirmed as unusual.
(2) in the time of before definite zero-crossing timing has appeared at the permission time period, suppose that allowing the time started of time period is zero-crossing timing, so that the fixed time point to be set.Like this, even when determining to be mistake, also can avoid being provided with very irrelevantly the fixed time point.
(3) in the time of after definite zero-crossing timing appears at the permission time period, suppose that allowing the concluding time of time period is zero-crossing timing, so that the fixed time point to be set.Like this, even when determining to be mistake, also can avoid being provided with very irrelevantly the fixed time point.
(4) the comparison signal value of locating based on the time started that allows the time period checks whether zero-crossing timing appeared at before the permission time period.Whether there is variation based in the permission time period, comparing signal, checks whether zero-crossing timing appeared at after the permission time period.Like this, carrying out that can be appropriate these determine.
(5), proofread and correct based on allowing the starting counter and allowing the time period that the set permission time period of value of counter is set according to the rotation speed change of brushless electric machine 2.This makes and can will allow the time period be arranged in the required electrical degree scope exactly, and ignores any variation of rotating speed, and can improve the robust control to the rotation status of brushless electric machine 2.
(6) the voltage variety Δ VB of the voltage VB by battery 214 detects rotation speed change.Like this, can detect variation in the rotating speed rightly.Particularly, detect rotating speed based on the voltage VB of battery 214 and have following advantage.When rotation status becomes the voltage VB fluctuation of ignoring battery 214 unusually, allow the setting of time period to remain unchanged.For this reason, when the voltage VB of battery 214 fluctuation, can only proofread and correct the permission time period that is provided with based on the time interval between the zero-crossing timing.
(the 7th embodiment)
In the 7th embodiment, detect the acceleration of brushless electric machine 2 based on detected zero-crossing timing value, and proofread and correct the setting of permission time period based on this acceleration.Figure 26 A shows the process that is used to proofread and correct the setting that allows the time period.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.This series process is carried out in the following manner.
At S90, calculate the acceleration A of brushless electric machine 2 based on the current maximum of the previous maximum sum counter of counter.Maximum can be determined based on the value Cm (Figure 19) of measurement counter.The maximum of counter is used to calculate the time interval between the zero-crossing timing, and is associated with transient speed between the zero-crossing timing.For this reason, these two values (the current maximum of the previous maximum sum counter of counter) are the values that is positioned at respect to two different time points places of transient speed.For this reason, can calculate acceleration A by them.
Subsequently, at S92, check whether acceleration A is equal to or greater than threshold value A max.This process is used for determining whether zero-crossing timing appeared at before the permission time period, and the wherein said permission time period is determined by the result's who quickens as brushless electric machine 2 rotating speed.When definite acceleration is equal to or greater than threshold value A max, carry out and the identical process of S44 among Figure 22 at S94.That is, the counting rate that allows the starting counter and allow the time period that counter is set increases along with the increase of acceleration A, shown in Figure 26 B.
When being defined as at S92 negating, determine at S96 whether acceleration A is equal to or less than threshold value A min simultaneously.This process is used for determining whether zero-crossing timing appeared at after the permission time period, and the described permission time period is determined by the result's of slowing down as brushless electric machine 2 rotating speed.When definite acceleration is equal to or less than threshold value A min, carry out and the identical process of S48 among Figure 22 at S98.That is, the counting rate that allows the starting counter and allow the time period that counter is set reduces along with reducing of acceleration A.When acceleration presents negative value and the increase of its absolute value, reduce counting rate.
When being defined as at S96 negating, perhaps when finishing the process of S94 or S98, these a series of processes stop once.
According to above-described present embodiment,, also has following advantage except having the 6th embodiment described (1) to the advantage of (5).
(7), extract the information relevant with the rotation speed change of brushless electric machine 2 based on the testing result of zero-crossing timing.Therefore, can determine rotation speed change rightly.
(the 8th embodiment)
In the 6th embodiment, in the time of before zero-crossing timing appears at the permission time period, with allowing the time started of time period to be assumed to zero-crossing timing, so that the fixed time point to be set.Yet in this case, in the time of before zero-crossing timing appears at the permission time period continuously, the fixed time point postpones continuously in the appropriate time point, and this can reduce the control efficiency to the output of brushless electric machine 2.
Therefore, in the 8th embodiment, the maximum leading time that is assumed that zero-crossing timing and employing can be arranged on and allow before time that time point begins.In the time of before zero-crossing timing appears at the permission time period, zero-crossing timing is arranged to be in the maximum leading time and allow time (time that comprises maximum leading time and beginning) between time that the time period begins, at this place time, the difference minimum between it and the zero-crossing timing.
Shown in Figure 27 A and Figure 27 B, the value Cma that the maximum leading time is set to maximum leading counter becomes 0 time point.Maximum leading counter begins to successively decrease from its initial value, wherein with the value of the counter at zero-crossing timing place as this initial value.Decline rate by making maximum leading counter can be that the maximum leading time at zero place was arranged on before the time started that allows the time period with the value of the leading counter of maximum faster than the decline rate that allows the starting counter.According to the technical descriptioon of brushless electric machine 2 grades, with this maximum leading time pre-determine into behind zero-crossing timing through the time point of predetermined electrical degree.
Process shown in Figure 28 is used to tackle and zero-crossing timing occurs and appear at the abnormal conditions that allow before the time period.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.In Figure 28,, will identify with identical step number with the identical process shown in Figure 24 for for simplicity.
When being defined as at S52 negating, that is, determine that zero-crossing timing appeared at before the permission time period, process proceeds to S100.At S100, check whether corresponding one the output level transformation period among comparison signal Uc, Vc, the Wc appears at the maximum leading time (comprising the maximum leading time) before, perhaps early than the maximum leading time (comprising the maximum leading time).For example, be whether corresponding one logical value among 0 o'clock comparison signal Uc, Vc, the Wc is unusual according to the value of the leading counter of maximum, can carry out this process.In the time of before definite transformation period appears at the maximum leading time, carry out following process at S102: except the excessive leading process of determining zero-crossing timing point with replace with the value Cm of counter the process of the value Cp that allows to start counter, carry out that also the maximum leading time is assumed to zero-crossing timing so that the process that the fixed time puts to be set.That is, will put the value Cs that counter is set the fixed time and so be provided with, make based on realizing following aspect from previous zero-crossing timing to the time period of the zero-crossing timing of supposing at this moment.The fixed time point is provided with the value of counter employing corresponding to the required time of point from the current time to the fixed time.
After determining that at S100 transformation period appears at the maximum leading time, except carrying out the excessive leading process of determining zero-crossing timing point and replacing the process of the value Cp that allows the starting counter, also carry out following process at S104: will be assumed to be zero-crossing timing the fixed time point also is set thus in the maximum leading time to the time period of the time started of permission time period, comparing corresponding one transformation period signal Uc, Vc, the Wc with the value Cm of counter.That is, will put the value Cs that counter is set the fixed time and so be provided with, make based on realizing following aspect from previous zero-crossing timing to the time period of the zero-crossing timing of supposing at this moment.The fixed time point is provided with the value of counter employing corresponding to the required time of point from the current time to the fixed time.
When the process of S102 or S104 was finished, the S56 in the execution graph 6 was to the process of S64.
According to present embodiment, brought following advantage.Even if in the time of before zero-crossing timing appears at the time started that allows the time period, also can be by the maximum leading time is set so that the fixed time point is set with the time point of approaching as far as possible actual zero-crossing timing point.For this reason, can suppress the decline of the output control efficiency of brushless electric machine 2 well.In addition, appear at continuously based on zero-crossing timing and allow to determine any unusual of rotation status before the time period; Therefore, also can suitably carry out thisly determining.
The 6th embodiment to the eight embodiment can be according to hereinafter described revising.
In the 6th embodiment, start counter and allow the time period that the counting rate of counter is set according to the voltage variety Δ VB correction permission of battery 214.Replacedly, as shown in figure 29, described counting rate can be according to two parameter corrections: the voltage VB of battery 214 and variation delta VB thereof.Figure 29 describes the datagram that concerns between these two parameters and the counting rate correction coefficient Aij in detail.Use the voltage VB of battery 214 as follows as the reason of parameter.Even when the voltage variety Δ VB of battery 214 is identical, the rotation speed change degree of brushless electric machine 2 also may be different, and this depends on the voltage VB of battery 214.For this reason, use two parameters can detect the fluctuate rotation fluctuation of caused brushless electric machine 2 of voltage VB by battery 214 more exactly.
The parameter that is used to detect the rotation speed change of brushless electric machine 2 be not limited to the foregoing description and their modification embodiment described those.For example, along with the rising of the temperature T m of brushless electric machine 2, the magnetic flux in the brushless electric machine 2 dies down and its rotating speed increases.Consider these, can use the variation of temperature amount (perhaps its equivalent amount) of brushless electric machine 2.Replacedly, use the figure that concerns between the voltage variety Δ VB of the temperature T m clearly demonstrated counting rate correction coefficient Bij and brushless electric machine 2 and battery 214, it is shown in Figure 30, can be based on these two parameter detecting rotation speed change.
In the 6th embodiment, do not need to carry out the process among Figure 22.By adjusting the threshold value among Figure 24 or Figure 25, desynchronizing state can be come at least with owing to the influence difference of starting or the rotation of accidental caused by noise is fluctuateed.
The neutral point voltage of brushless electric machine 2 can be used as reference voltage Vref, to replace dummy neutral voltage.By utilizing resistive element that battery 214 is carried out dividing potential drop, can use half of voltage VB of battery 214.
When using the technology of PWM control conduct control brushless electric machine 2, for example can adopt following measures.Switch element SW1 is allowed the time period as conducting to time period of SW6 conducting, and in this time period, repeat turn-on and turn-off switch element SW1 to SW6.Yet in this case, the rotating speed of brushless electric machine 2 can change according to the ratio (duty ratio) of ON time and the summation of ON time and turn-off time.Therefore, need recently determine the pattern of counts corrected speed according to this duty.
The time point of being scheduled to electrical degree based on the appearance of induced voltage detection is not limited to the zero-crossing timing point.For example, can adopt the technology that proposes among the JP 11-18478A.
The power supply that is connected to brushless electric machine 2 needn't be a battery 214, and can connect generator.Brushless electric machine 2 needn't be the actuator of onboard fuel pump, and can be the actuator of vehicle-mounted cooling fan.Rotating machinery needn't be a three-phase brushless motor, and can be the motor with any number of phases.In addition, needn't be motor, also can be generator.
(the 9th embodiment)
In the 9th embodiment shown in Figure 31, brushless electric machine 2 is three phase electric machines, and it is the actuator of petrolift that is used for being installed in the internal combustion engine of locomotive.The three-phase of brushless electric machine 2 (U phase, V phase, W phase) is connected with inverter 12.This inverter 12 is three-phase inverters, and the voltage VB of battery 214 is imposed on the three-phase of brushless electric machine 2.In order between the negative or positive electrode of each phase among the three-phase and battery 214, to provide conducting, inverter 12 is constructed so that it comprises the main body that is connected in parallel, and this main body that is connected in parallel has: switch element SW1, SW2 (U phase arm), switch element SW3, SW4 (V phase arm) and switch element SW5, SW6 (W phase arm).Switch element SW1 is connected in the mode (Figure 18) that is similar to the 6th embodiment to D6 with diode D1 to SW6.
Drive and Control Circuit 230 is by driver 222 operation inverters 12, thus the output of control brushless electric machine 2.Specifically, Drive and Control Circuit 230 receives comparison signal PU, PV, PW from comparator 224,226,228, and based on described comparison signal console switch element SW1 to SW6.
Comparator 224,226,228 is used for terminal voltage Vu, Vv, Vw and the reference voltage Vref of each phase are compared.Comparator 224 compares the U phase terminal voltage Vu and the reference voltage Vref of brushless electric machine 2, and exports this comparative result signal PU as a comparison.Comparator 226 compares the V phase terminal voltage Vv and the reference voltage Vref of brushless electric machine 2, and exports this comparative result signal PV as a comparison.Comparator 228 compares the W phase terminal voltage Vw and the reference voltage Vref of brushless electric machine 2, and exports this comparative result signal PW as a comparison.
In the present embodiment, will carry out dummy neutral voltage that dividing potential drop obtained as reference voltage Vref to terminal voltage Vu, Vv, the Vw of each phase by utilizing resistive element RU, RV, RW.Reason is as follows.In on-vehicle battery 214, its magnitude of voltage is easy to rapid fluctuations, and the rate of change of the induced voltage in the brushless electric machine 2 often is lower than the voltage change ratio of battery 214.For this reason, when the voltage of battery 214 raises rapidly, the amplitude of induced voltage 1/2 and be not equal to battery 214 voltage 1/2.For this reason, when with 1/2 during as reference voltage of the voltage of battery 214, comparator 224,226,228 can not compare under the situation of the voltage fluctuation of battery 214 rightly.
Drive and Control Circuit 230 is passed through driver 222 turn-on and turn-off switch element SW1 to SW6.In this example, Drive and Control Circuit 230 mainly utilizes 120 ° of motivational techniques to carry out switch control.Utilize above-mentioned comparison signal PU, PV, PW, the induced voltage of each phase of its detection brushless electric machine 2 equals the time point (zero-crossing timing point) of the reference voltage Vref of brushless electric machine 2.Then, it locates to change the operation of switch element SW1 to SW6 at the time point (fixed time point) that postpones predetermined electrical degree (for example, 30 °) from zero-crossing timing point.
Drive and Control Circuit 230 can be constituted or can be made of CPU and stored program memory cell by logical circuit.
Shown in figure 32, utilize 120 ° of excitation controls to carry out switch control.Specifically, (a) show the transformation of the reference voltage Vref that terminal voltage Vu, Vv, Vw and a point type chain-dotted line that solid line represents represent.In the present embodiment, dummy neutral voltage is used as reference voltage Vref.Though reference voltage Vref is actually fluctuation, think here that for easy it is constant.(b) show terminal voltage Vu, Vv, Vw and reference voltage Vref comparative result (comparison signal PU, PV, PW) about amplitude.(c) show the transformation of the logical combination signal PS of comparison signal PU, PV, PW.2 (d) show the transformation of comparison signal PU, PV desired when zero-crossing timing occurs, the logical combination signal of PW (desired signal Se), and switch element SW1 works to SW6 simultaneously.Fig. 2 (e) shows the transformation of detection signal Qs with respect to zero-crossing timing point.This is rising edge and trailing edge and the synchronous signal of zero-crossing timing point.(f) show the transformation of the value of various counters, and (g) show the transformation of switch element SW1 to the actuated signal of SW6.(g) actuated signal shown in comprises high-side switch element SW1, actuated signal U+, the V+ of SW3, SW5, the W+ of each phase arm, and low side switch element SW2, actuated signal U-, the V-of SW4, SW6, the W-of each phase arm.The high-side switch element SW1 of each phase arm, SW3, SW5 are p channel transistors; Therefore, to be in the time period of logic low be the time period of their conductings for these actuated signals U+, V+, W+.
Composite signal PS is a tribute signal, and each logical value of comparison signal PU, PV, PW the logical value with high order (the highest effectively) position, interposition and low order (minimum effectively) position is consistent respectively.That is, when comparison signal PU was in logic high, high order position was set to 1; And when comparison signal PU was in logic low, high order position was set to 0.For this reason, when comparison signal PU, PV, PW for example are in high level, low level and high level respectively, composite signal PS be set to binary notation 101 and decimal number system 5.In Figure 32, composite signal PS and desired signal Se are represented by decimal number system.
(f) solid line in is represented the value Cm of measurement counter, and this measurement counter is used to measure the time interval between the adjacent zero-crossing timing.When zero-crossing timing occurring, this measurement counter of initialization, and reset the time counting operation.The time interval between the adjacent zero-crossing timing is relevant with rotating speed.For this reason, the value (maximum of counter) of counter before being close to initialization provides the parameter relevant with rotating speed.
(f) the point type chain-dotted line in represents that the fixed time point is provided with the value Cs of counter, and this fixed time point is provided with counter zero-crossing timing point required time when grade is put is at fixed time counted, and the fixed time point is set thus.The fixed time point is provided with the initial value of the Counter Value of counter before the zero-crossing timing place adopts initialization as it, and it is successively decreased.Then, to be provided with that counter will be worth be that zero time point is as the fixed time point for fixed time point.At this moment, carry out following operation.When the time interval between zero-crossing timing point and the fixed time point for example was 30 °, it was the twice of measurement counter increasing velocity that decline rate is set to.Consider that the time interval between the adjacent zero-crossing timing is 60 °, can think that the value that this setting makes the fixed time point that counter is set becomes 0 time point with respect to 30 ° of zero-crossing timing point delays.
(f) the two point form chain-dotted line shown in is represented the value Cmk of masking period segment counter.This masking period segment counter is determined a time period (masking period section), in this masking period section, suppress (forbidding) based on terminal voltage Vu, Vv, Vw and reference voltage Vref relatively to the detection of zero-crossing timing.This counter is used to avoid following incident.Providing to D6 in the time period of electric current,, detected zero-crossing timing mistakenly as terminal voltage Vu, Vv, when Vw is consistent with reference voltage Vref by diode D1.The Counter Value of this counter before the zero-crossing timing place also adopts initialization be as its initial value, and it is successively decreased.Then, the time period before its this value equals zero is set to the masking period section.When the masking period section being arranged to be at a distance of zero-crossing timing for example during time period of 45 °, can decline rate being set to is 3/2 times of increasing velocity of measurement counter.
When the value of masking period segment counter is zero, enable comparison signal PU, PV, PW and composite signal PS.When composite signal PS is consistent with desired signal Se in this time period, make detection signal Qs upset.At the zero-crossing timing place of detection signal Qs upset, the fixed time point is provided with counter to begin to successively decrease.When the value that counter is set when fixed time point was zero, switch element SW1 was to the operation change of SW6.
Shown in figure 32, switch element SW1 has correlation one to one to the fixed time point of SW6 conducting with the zero-crossing timing point.For this reason, according to the mode of operation of switch element SW1, can determine terminal voltage Vu, the Vv of each phase, the characteristic of Vw uniquely to SW6.Therefore, above-mentioned desired signal Se can determine uniquely.
If battery 214 fully is not connected with inverter 12, if any other similar incidents have perhaps taken place, then following phenomenon may appear.Owing to the transfer of vibration of vehicle has been given battery 214 or any other reason, battery 214 and inverter 12 may instantaneous each other disconnections, then rebulid conducting between them.If at this moment temporarily interrupted the power supply to brushless electric machine 2, then the rotating speed of brushless electric machine 2 descends.If the petrolift that is driven by motor 2 is refluxed from the fuel that fuel tank is discharged into upstream side, the power that affacts the reverse rotation side so can be applied on the brushless electric machine 2.This may finally cause motor 2 reverse rotations.If switch element SW1, may go wrong according to operation under normal operation so to SW6 in this case.For example, the oscillatory occurences that brushless electric machine 2 repeats normal rotation and reverse rotation occurs, and be difficult to brushless electric machine 2 is controlled at correct rotation status.
Can be based on the above-mentioned reverse rotation that suitably detects brushless electric machine 2 by three composite signal PS that form.As shown in figure 33, when brushless electric machine 2 just normally rotates with forward, should be about the time series data of composite signal PS with consistent about the time series data of desired signal Se.Simultaneously, when brushless electric machine 2 during just with reverse rotation, about the time series data of composite signal PS should with by the time series data about desired signal Se being carried out the data consistent that time reversal (being about to put in order oppositely) is obtained, as shown in figure 34.For this reason, can detect the reverse rotation of brushless electric machine 2 based on composite signal PS.
When the rotation status of brushless electric machine 2 became unusual, all switch element SW1 turn-offed to SW6, and operation awaits brushless electric machine 2 stops.Then, reset brushless electric machine 2.Yet, in this case, take long time and make brushless electric machine 2 return to normal condition.
In order to tackle this problem, carry out following process in the present embodiment.When detecting brushless electric machine 2 just in reverse rotation, carry out the process of forcing to stop brushless electric machine 2 rotations, then, carry out the process of resetting.
Figure 35 shows the process of resetting brushless electric machine 2 in the present embodiment.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 230.
This series of programs is carried out according to following manner.At S210, check whether the value Cmk of masking period segment counter is zero.When the value Cmk that determines this masking period segment counter is zero, determine at S212 whether the composite signal PS of comparison signal PU, PV, PW changes.This process is used to determine whether to be the zero-crossing timing point.When definite composite signal PS has changed, determine at S214 whether current composite signal is consistent with the second previous desired signal Se.This process is used for determining that whether brushless electric machine 2 is just with reverse rotation.As shown in figure 33, when brushless electric machine 2 during, be reversed about the time series data of composite signal PS just with reverse rotation.Therefore, suppose that current composite signal PS is consistent with the second previous desired signal Se.When current composite signal PS is consistent with the second previous desired signal Se, determine that at S216 brushless electric machine 2 is just with reverse rotation.
Subsequently, at S218, carry out the process of forcing to stop brushless electric machine 2 rotations.Specifically, switch element SW1, SW3, SW5 or switch element SW2, SW4, the whole conductings of SW6 are so that all phase short circuits of brushless electric machine 2.Like this, only brushless electric machine 2 rotates the induced voltage that is produced provides electric current through brushless electric machine 2.The resistance of current path is promptly decayed this electric current.As a result, the energy of rotation of brushless electric machine 2 is transformed into electric energy, and is attenuated subsequently.For this reason, brushless electric machine 2 can promptly stop.
At S220, check whether the rotating speed of brushless electric machine 2 is zero substantially.Can calculate rotating speed based on the time interval between the adjacent zero-crossing timing point.This can usage counter maximum Cm carry out.When definite rotating speed is zero substantially, by based on zero-crossing timing point operation switch element SW1 to SW6, reset process in the S222 execution.
When being defined as in S210 any one in S214 negating, perhaps when the process of S222 was finished, these a series of processes stopped once.
Like this, use zero-crossing timing point and determine in conjunction with stopped process whether rotating speed is zero substantially.Yet this may cause problem.Use dummy neutral that reference voltage Vref is set.Therefore, when the rotating speed of brushless electric machine 2 was zero substantially, the terminal voltage Vv of all phases of brushless electric machine 2, Vu, Vw can be consistent with reference voltage Vref.When all switch element SW1 are once turn-offed when resetting motor to SW6, all carry out high impedance status mutually.Therefore, equally in this case, the terminal voltage Vv of all phases of brushless electric machine 2, Vu, Vw can be consistent with reference voltage Vref.
If noise following phenomenon occurs so being superimposed upon under these situations on terminal voltage Vv, Vu, the Vw.Terminal voltage Vv shown in the solid line among Figure 36 A, Vu, Vw frequently intersect mutually with the reference voltage shown in the point type chain-dotted line.In fact, the reference voltage Vref according to terminal voltage Vv, Vu, Vw also can fluctuate; Yet,, think that it is constant for easy.In this case, the possibility that has frequent error detection zero-crossing timing point.In the present embodiment, in order to tackle this problem, reference voltage Vref is carried out offset correction to realize following aspect.When rotating speed is zero substantially, the value of the value that is input to the reference voltage Vref in the comparator shown in Figure 31 224,226,228 and terminal voltage Vv, Vu, Vw is differed from one another.That is, the holding wire that will be used to make reference voltage Vref be input to comparator 224,226,228 is connected to the positive pole of battery 214 by resistive element 30.Like this, can realize following aspect, shown in Figure 36 (b).By the offset with respect to terminal voltage Vu, the reference voltage Vref that obtains in the time of can being zero with rotating speed substantially is corrected to the side of the positive electrode of battery 214.In this example, only show the U phase.
This offset is set to a very little amount, so that can not influence the control to brushless electric machine 2.Simultaneously, side-play amount is set to suppose the amount that needs to realize following aspect.When rotating speed is zero substantially,, also can avoid terminal voltage Vu and reference voltage Vref to intersect mutually, shown in Figure 36 B even sneaked into noise.Utilize this set, shown in Figure 36 C, reference voltage Vref increases along with the increase of rotating speed.When terminal voltage Vu raise and surpass reference voltage Vref, terminal voltage Vu and the reference voltage Vref zero-crossing timing point when intersected with each other had appearred.Like this, shown in Figure 36 D,, can carry out the control under normal operation shown in Figure 32 for the U phase.
In the present embodiment, particularly, avoided the decrease in efficiency of brushless electric machine 2 by calibration reference voltage Vref.To terminal voltage Vu, Vv, Vw timing, will the phenomenon shown in Figure 36 E appear when simultaneously.That is, the magnitude of a voltage fluctuation that can be applied on the brushless electric machine 2 is lower than the positive pole of battery 214 and the voltage VB between the negative pole, and this has reduced efficient.That is to say, produced the waste that is equivalent to the shadow region among Figure 36 E.
Expectation be that the approximate number magnitude of offset is lower than the observed falling quantity of voltages VE when D6 provides electric current by diode D1.The microseismic noise that this value that can prevent comparison signal PU, PV, PW is produced during to the operation change of SW6 owing to switch element SW1 becomes unusual.For this reason, though when carrying out PWM control, also can realize following aspect.That is to say, though time period that will be from fixed time o'clock to 120 ° as the conducting operation allow time period and switch element SW1 to SW6 at this moment in the section during turn-on and turn-off, also can realize following aspect.Utilize the method shown in Figure 32 can detect the zero-crossing timing point exactly.
According to the 9th embodiment, provide following advantage.
(1) when the rotating speed of brushless electric machine 2 was zero substantially, terminal voltage Vu, Vv, Vw were equal to each other.At this moment, to carrying out offset correction by in the value of the value of relatively terminal voltage Vu, Vv of comparator 224,226,228, Vw and reference voltage level Vref at least one.Thereby, these values are differed from one another.Therefore therefore, even sneaking into noise and during voltage undulation, also can avoid occurring the phenomenon that terminal voltage and reference voltage frequently intersect.As a result, can avoid the error detection of zero-crossing timing point well.
(2) utilize resistive element 30 to carry out above-mentioned correction, the holding wire that this resistive element 30 will be used to make reference voltage Vref be input to comparator 224,226,228 is connected to the positive potential of battery 214.Like this, reference voltage Vref can be corrected to the positive potential of battery 214, in addition, this correcting value can be adjusted by the resistance value of resistive element 30.
(4) owing to high-ranking officers' reference voltage Vref, so brought following advantage.Compare with the situation of proofreading and correct terminal voltage Vu, Vv, Vw, can suppress the decline of the control efficiency of brushless electric machine 2, but also can reduce the quantity of correction target.
(5) dummy neutral voltage is used as reference voltage Vref.Therefore, even when brushless electric machine 2 is not connected to the line of neutral point, also can determine reference voltage Vref rightly.
(6) based on the detected value of zero-crossing timing point, beginning switch element SW1 is in the brushless electric machine 2 that stops to the operation of SW6 with starting.If noise has been sneaked among terminal voltage Vu, Vv, the Vw in this case, the phenomenon that terminal voltage Vu, Vv, Vw and reference voltage Vref are frequently intersected each other can appear so.As a result, be easy to occur the error detection of zero-crossing timing point.In order to tackle this problem, present embodiment is configured to aforesaid operations and advantage can particularly advantageously be provided.
In the 9th embodiment, can adopt MICROCOMPUTER PROCESSING to replace comparator 224,226,228 to carry out the mutual comparison of terminal voltage Vu, Vv, Vw and reference voltage Vref.To be used to apply reference voltage Vref can pass through resistive element ground connection for the holding wire of comparator 224,226,228.Like this, reference voltage Vref can be corrected to the ground potential side.It must be so following that the structure of calibration reference voltage Vref does not need, that is, be used to apply reference voltage Vref and be connected to predetermined potential for the signal line passes resistive element peace of comparator 224,226,228.For example, can impose on holding wire with the positive potential of battery 214 being carried out the output signal that voltage transformation obtained, to be used for that reference voltage Vref is imposed on comparator 224,226,228 by inverted amplifier circuit or non-inverted amplifier circuit.The target of proofreading and correct can need not to be reference voltage Vref, and can be terminal voltage Vu, Vv, Vw.Replacedly, it also can be reference voltage Vref and terminal voltage Vu, Vv, Vw.Yet, when proofreading and correct terminal voltage Vu, Vv, Vw, their correcting value is equal to each other.
(the tenth embodiment)
In the tenth embodiment, the setting by comparator 224,226,228 differs from one another terminal voltage Vu, the Vv that will compare mutually, the value of Vw and the value of reference voltage Vref.Each comparator 224,226,228 is constructed as shown in figure 37.
Each comparator is so constructed, make it comprise differential amplifier circuit 240 and output circuit 250.In differential amplifier circuit 240, the constant-current source 241 that is connected to battery 214 positive poles is connected with the emitter of pair of transistor 242,243.This base stage to transistor 242,243 is connected with reverse input end (-) with the non-inverting input (+) of comparator 224,226,228 respectively.The collector electrode of transistor 242,243 is connected with the collector electrode of transistor 244,245 respectively.The base stage short circuit each other of transistor 244,245, the emitter of transistor 244,245 is by resistive element 246,247 ground connection.The base stage of transistor 244,245 is connected to the tie point place between transistor 242 and the transistor 244.
Utilize this structure, carry out following operation.When the voltage of non-inverting input is higher than the voltage of reverse input end, transistor 243 conductings, and transistor 242 turn-offs.Therefore, flow to the base stage of transistor 252 by transistor 243 from the electric current of constant-current source 241.As a result, transistor 252 conductings, and transistor 254 turn-offs.Therefore, make the output of comparator 224,226,228 become the positive potential of battery 214.In other words, comparator output logic high level signal.
When the voltage of non-inverting input is lower than the voltage of reverse input end, transistor 242 conductings, and transistor 243 turn-offs.As a result, the electric current from constant-current source 241 flows in the base stage of transistor 244,245 by transistor 242.For this reason, transistor 244,245 conductings, and do not have electric current to flow to the base stage of transistor 252.As a result, transistor 252 turn-offs, and transistor 254 conductings.Therefore, make the output of comparator 224,226,228 change to ground potential.In other words, comparator output logic low level signal.
In the present embodiment, make the element that corresponds respectively to input to being asymmetric.As a result, when the magnitude of voltage that imposes on non-inverting input and input equated, the output signal of comparator 224,226,228 necessarily presented particular logic value.This is because in differential amplifier circuit 240, even when identical voltage imposed on non-inverting input and reverse input end, any one in the transistor 242,243 is easier to conducting.
When transistor 242,243 is constructed so that they are for example asymmetric, realize following aspect.When making falling quantity of voltages UVF+ between the emitter and collector greater than the falling quantity of voltages UVF-that makes owing to transistor 243 conductings between the emitter and collector owing to transistor 242 conductings, transistor 243 is easier to conducting.When transistor 244,245 is constructed so that they are asymmetric, realize following aspect.When making falling quantity of voltages UVf+ between the emitter and collector greater than the falling quantity of voltages Uvf-that makes owing to transistor 245 conductings between the emitter and collector owing to transistor 244 conductings, transistor 243 is easier to conducting.When the resistance value of resistive element 246 during greater than the resistance value of resistive element 247, transistor 243 is easier to conducting.
Adopt this setting, realize following aspect.Under the consistent each other situation of reference voltage Vref and terminal voltage Vu, Vv, Vw, necessarily can make comparator 224,226,228 determine that any one is higher.For this reason, even under the situation shown in Figure 36 A, also can avoid the output valve of comparator 224,226,228 to overturn continually.In order to make the time interval between the zero-crossing timing consistent with 60 ° of time intervals exactly, need take following measures.In the consistent each other situation of the actual value of reference voltage Vref and the actual value of terminal voltage Vu, Vv, Vw, make comparator 224,226,228 identical about which (terminal voltage Vu, Vv, Vw or terminal voltage) higher comparative result.In addition, when the output switching activity of comparator 224,226,228,, need make the difference between reference voltage Vref and terminal voltage Vu, Vv, the Vw identical for all phases.In the present embodiment, for this reason, make the structure of comparator 224,226,228 identical.
According to present embodiment, except advantage, also has following advantage with the 9th embodiment.
(7) input terminal that corresponds respectively to comparator 224,226,228 in the differential amplifier circuit 240 is right element is to being constructed so that they are asymmetric.Like this, can change the input signal that will compare mutually between relative magnitude relation.For this reason, can be substantially at the rotating speed of brushless electric machine 2 zero and therefore under the situation that is equal to each other of reference voltage Vref and terminal voltage Vu, Vv, Vw realization following aspect.Can enlarge the relative mistake between these values that will compare mutually.
(8) comparator 224,226,228 all is identical for all mutually structurally.Like this, the time interval between the zero-crossing timing can be set to 60 ° exactly.
In the tenth embodiment, the circuit of comparator 224,226,228 can be configured to comprise MOS transistor.
In the 9th and the tenth embodiment, can adopt following processing mode.
Counter is set the fixed time point and measurement counter can be identical aspect counting rate, and according to the value (maximum) before the counter initialization initial value that the fixed time point is provided with counter is set.To be arranged to be when postponing 30 ° time point with respect to zero-crossing timing point when putting the fixed time, measurement counter peaked 1/2 is provided with the initial value of counter as the fixed time point.Masking period segment counter and measurement counter can be identical aspect counting rate, and the initial value of masking period segment counter is set according to the value (maximum) before the counter initialization.When the angular region from zero-crossing timing o'clock to 45 ° is set to the masking period section, with counter peaked 3/4 initial value as the masking period segment counter.Substitute dummy neutral voltage, the neutral point voltage that can adopt brushless electric machine 2 is as reference voltage Vref.Switch element SW1, SW3 on the high side of each arm, SW5 can be made of the N-channel MOS transistor.It must be battery 214 that the power supply that is connected with brushless electric machine 2 does not need, and also can be generator.Brushless electric machine 2 needn't be the actuator of onboard fuel pump, and can be the actuator of vehicle-mounted cooling fan.Rotating machinery needn't be a three-phase brushless motor, and can be the motor with any number of phases.In addition, needn't be motor, also can be generator.
(the 11 embodiment)
In the 11 embodiment, the similar mode of utilization and the 6th embodiment (Figure 18) and the 9th embodiment (Figure 31) is constructed rotating machinery drive unit as shown in figure 38.Yet, in the present embodiment, provide current detector 228 to replace voltage detector 225 (Figure 18).Like this, detect electric current based on switch element SW1 to the conducting resistance of SW6 through them.That is to say that current detector 228 comprises the detection transistor, be used to detect respectively through the electric current of switch element SW1 to SW6.Switch element SW1 to SW6 and the transistorized source electrode short circuit of respective detection together, and their grid also short circuit together, thereby constitute current mirroring circuit.Like this, can detect the electric current to SW6 based on detecting transistorized output current through switch element SW1.In fact, current detector 228 need be formed near inverter 12.For this information, for example JP-A-10-256541 discloses and has constituted current mirroring circuit to detect the technology of electric current.
On-off controller 227 passes through driver 222 turn-on and turn-off switch element SW1 to SW6.In this example, on-off controller 227 mainly utilizes 120 ° of motivational techniques to carry out switch control.More specifically, as by resistive element RU, RV, RW at each phase terminal voltage Vu, Vv of brushless electric machine 2, the result that Vw carries out dividing potential drop, obtained dummy neutral voltage (reference voltage Vref).Based on every phase terminal voltage Vu, Vv, the Vw consistent time point of this dummy neutral voltage, detect the induced voltage time point (zero-crossing timing point) consistent with reference voltage Vref with brushless electric machine 2.Then, it locates to change the operation of switch element SW1 to SW6 at the time point (fixed time point) that postpones predetermined electrical degree (for example, 30 degree) from zero-crossing timing point.Yet, when current detector 228 detected electric currents have surpassed current limit value, adopt following measures to limit the electric current (energizing quantity) of the brushless electric machine 2 of flowing through.Replacement also can be carried out PWM control with the time period as switch element SW2, SW4, SW6 conducting time period of 120 ° in this time period.
On-off controller 227 can be constituted or can and be used for stored program memory cell by CPU and constitute by logical circuit.
Show the switch control mode that on-off controller 227 utilizes 120 ° of excitation controls to carry out as Figure 39.Specifically, (a) show the transformation of terminal voltage Vu, Vv, Vw and reference voltage Vref that solid line represents.In the present embodiment, dummy neutral voltage is used as reference voltage Vref.Though reference voltage Vref is actually fluctuation, think here that for easy it is constant.(b) show the transformation of terminal voltage Vu, Vv, Vw and reference voltage Vref about the comparative result (comparison signal PU, PV, PW) of amplitude.(c) show the transformation of the logical combination signal PS of comparison signal PU, PV, PW.(d) show the transformation of comparison signal PU, PV desired when zero-crossing timing occurs, the logical combination signal of PW (desired signal Se), switch element SW1 works to SW6 simultaneously.(e) show the transformation of detection signal Qs with respect to zero-crossing timing point.This is rising edge and trailing edge and the synchronous signal of zero-crossing timing point.(f) show the transformation of the value of various counters, and (g) show the transformation of switch element SW1 to the actuated signal of SW6.(g) actuated signal shown in comprises high-side switch element SW1, actuated signal U+, the V+ of SW3, SW5, the W+ of each phase arm, and low side switch element SW2, actuated signal U-, the V-of SW4, SW6, the W-of each phase arm.The high-side switch element SW1 of each phase arm, SW3, SW5 are p channel transistors; Therefore, to be in the time period of logic low be the time period of their conductings for these actuated signals U+, V+, W+.
Composite signal PS is a tribute signal, and each logical value of comparison signal PU, PV, PW the logical value with high order position, interposition and low order position is consistent respectively.That is, when comparison signal PU was in logic high, high order position was set to 1; And when comparison signal PU was in logic low, high order position was set to 0.For this reason, when comparison signal PU, PV, PW for example are in high level, low level and high level respectively, composite signal PS be set to binary notation 101 and decimal number system 5.In Figure 39, composite signal PS and desired signal are all represented by decimal number system.
(f) solid line in is represented the value Cm of measurement counter, and this measurement counter is used to measure the time interval between the adjacent zero-crossing timing.As shown, when zero-crossing timing occurring, the counting Cm of this measurement counter of initialization, and reset the time counting operation.The time interval between the adjacent zero-crossing timing is relevant with rotating speed.For this reason, the value Cm (maximum of counter) of counter before being close to initialization provides the parameter relevant with rotating speed.
(f) the point type chain-dotted line in represents that fixed time point is provided with the value Cs of counter, and this fixed time point is provided with counter to counting to the fixed time required time of point occurring from the zero-crossing timing point occurring, and the fixed time point is set thus.The fixed time point is provided with the initial value of the Counter Value of counter before the zero-crossing timing place adopts initialization as it, and it is successively decreased.Then, to be provided with that counter will be worth be that zero time point is as the fixed time point for fixed time point.At this moment, carry out following operation.When the time interval between zero-crossing timing point and the fixed time point for example was 30 °, it was the twice of measurement counter increasing velocity that decline rate is set to.Consider that the time interval between the adjacent zero-crossing timing is 60 °, can think that the value that this setting makes the fixed time point that counter is set becomes 0 time point with respect to 30 ° of zero-crossing timing point delays.
(f) the two point form chain-dotted line in is represented the value Cmk of masking period segment counter.This masking period segment counter is determined a masking period section, in this masking period section, suppress (forbidding) based on terminal voltage Vu, Vv, Vw and reference voltage Vref relatively to the detection of zero-crossing timing.This counter is used to avoid following incident.Providing to D6 in the time period of electric current,, detected zero-crossing timing mistakenly as terminal voltage Vu, Vv, when Vw is consistent with reference voltage Vref by diode D1.The Counter Value of this counter before the zero-crossing timing place also adopts initialization be as its initial value, and it is successively decreased.Then, the time period before its this value equals zero is set to the masking period section.When the masking period section being arranged to be at a distance of zero-crossing timing for example during time period of 45 °, can decline rate being set to is 3/2 times of increasing velocity of measurement counter.
When the value of masking period segment counter is zero, enable comparison signal PU, PV, PW and composite signal PS.When composite signal PS is consistent with desired signal in this time period, make detection signal Qs upset.At the zero-crossing timing place of detection signal Qs upset, the fixed time point is provided with counter to begin to successively decrease, and when its value was zero, switch element SW1 was to the operation change of SW6.
Switch element SW1 has correlation one to one to the fixed time point of SW6 conducting with the zero-crossing timing point.For this reason, according to the mode of operation of switch element SW1, can determine terminal voltage Vu, the Vv of each phase, the characteristic of Vw uniquely to SW6.Therefore, above-mentioned desired signal Se can determine uniquely.
Then, as Figure 40 and shown in Figure 41, carry out the process of 120 ° of excitation controls.Be used for the process that the Counter Value on above-mentioned three counters is set is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
In these a series of processes,, check whether the value Cmk of masking period segment counter is zero at S310.When definite this value is zero, determine at S312 whether the composite signal PS of comparison signal PU, PV, PW changes.When determining that at S312 composite signal PS has changed, determine at S314 whether composite signal PS is consistent with each other with desired signal Se.It is consistent with the variation of supposing to the mode of operation of SW6 by switch element SW1 that this process is used for determining that whether the magnitude relation between terminal voltage Vu, Vv, Vw and the reference voltage Vref changes.When definite composite signal PS and desired signal Se are consistent with each other, check upset allows flag F ip whether to be set to ON.It is a mark that this upset allows flag F ip, when the value Cmk of masking period segment counter is that this mark was set to ON when detection signal Qs did not also overturn after zero.For this reason, when composite signal PS and desired signal Se are zero back when for the first time consistent with each other in the value of masking period segment counter, the permission flag F of overturn ip is set to ON.
When allowing mark to be set to ON, overturn at S318 detection signal Qs when overturning.At S320, overturning allows mark to be set to OFF.Subsequently, at S322, the value Cm of measurement counter is provided with the value Cs and the Cmk of counter and masking period segment counter as the fixed time point.At S324, measurement counter be initialised (Cm=0).
When being defined as at S310 negating, the value Cm of measurement counter is increased progressively at S326.Subsequently, at S328, whether the value Cs that inspection fixed time point is provided with counter is zero.When the value that counter is set when fixed time point is zero, allow counter to be set to ON in the above-mentioned upset of S330.When fixed time point is provided with the value Cs of counter when non-vanishing, the value Cs that makes the fixed time point that counter is set at S332 successively decreases.
When complete process S330 or S332, determine at S334 whether the value Cmk of masking period segment counter is zero.When the value of masking period segment counter is non-vanishing, the masking period segment counter is successively decreased at S336.
When making at S334 certainly really regularly, negate really regularly when making, and when finishing the process of S336, these a series of processes stop once in S312 any one in the S316.
The process of Figure 41 is used for based on above-mentioned fixed time point counter being set 120 ° of excitation controls and changes the operation of switch element SW1 to SW6.This process is for example carried out with the predetermined cycle repeatedly by Drive and Control Circuit 220.
In this process, at S340, whether the value Cs that inspection fixed time point is provided with counter has been zero.This process is used to determine whether to be to change the time of switch element SW1 to the operation of SW6.When determining that value that the fixed time point is provided with counter has been zero, change the operation of switch element SW1 to SW6 at S342.Change the operation of switch element to the operator scheme (switching mode) of SW6 based on switch element SW1.More specifically, though switch element SW1 changes to the operator scheme of the SW6 interval with as shown in figure 39 60 ° of electrical degrees, it has 360 ° cycle.For this reason, utilize current operation status to determine the next mode of operation of switch element SW1 uniquely to SW6.Therefore, based on this unique relation, change the operation of switch element SW1 to SW6.
Subsequently, at S344, upgrade desired signal Se.When switch element SW1 when the mode of operation of SW6 changes, suppose a zero-crossing timing in the time period that keeps this mode of operation, to occur.Comparison signal PU, the PV at this zero-crossing timing place, the value of PW are determined uniquely by mode of operation.For this reason, desired signal Se is updated to and the corresponding value of current operation status.Particularly, carry out following process.If previous desired signal is 1, then current desired signal is set to 5; If previous desired signal is 5, then current desired signal is set to 4; If previous desired signal is 4, then current desired signal is set to 6; If previous desired signal is 6, then current desired signal is set to 2; If previous desired signal is 2, then current desired signal is set to 3; And if before desired signal had been 3, then current desired signal is set to 1.
When making at S340 negates really regularly, and when the process of S444 was finished, these a series of processes stopped once.
According to said process, can carry out 120 ° of excitation controls rightly.
Figure 42 shows the process in the said PWM control.This process is for example carried out with the predetermined cycle repeatedly by Drive and Control Circuit 220.
In this process,, utilize current detector shown in Figure 38 228 to determine whether the current maxima Imax of the single phase by brushless electric machine 2 has surpassed threshold value Iref at S350.This threshold value Iref for example can be provided with based on the lowest high-current value that switch element SW1 allows in the SW6.When determining to surpass this threshold value, carry out the PWM process at S352.In this process, the low side switch element SW2 of the arm of inverter 12, SW4, SW6 turn-on and turn-off repeatedly in the ON time section (conducting allows the time period) that above-mentioned fixed time point is determined.When making at S350 negates really regularly, and when the process of S352 was finished, these a series of processes stopped once.
When carrying out said PWM control, terminal voltage Vu, Vv, Vw frequently change.Yet,,, also can detect the zero-crossing timing point exactly even if in this case according to process shown in Figure 40.Figure 43 shows the mode of utilizing the control of PWM control carrying out switch.(a) among Figure 43 arrives (e) to (a) that (e) corresponds respectively among Figure 39.
The conducting operation of the low side switch element SW2 that the figure shows at U phase arm allows to carry out in the time period (120 ° are encouraged the ON time section in the control) mode of PWM control.As shown in the figure, whenever switch element SW2 when conducting state switches to off state, the terminal voltage Vu of U phase raises and is higher than the positive voltage VB of battery 214.This be because when switch element SW2 when conducting state switches to off state, the inductance component of brushless electric machine 2 has produced a voltage, this voltage offers the U phase when remaining on the SW2 conducting electric current flows through.At this moment, switch element SW1, the SW2 of U phase turn-off; Therefore by diode D1, provide electric current to pass through the U phase.For this reason, the terminal voltage Vu of the U phase size that is higher than the positive voltage VB of battery 214 is approximately the falling quantity of voltages that is equal to diode D1.
Because at this moment switch element SW5, the SW6 of W phase turn-off, so W enters high impedance status mutually.At this moment, the terminal voltage Vw of W phase is drawn high with U terminal voltage Vu mutually by the terminal voltage Vv of V phase, and as the result of switch element SW3 conducting, the terminal voltage Vv of V phase and U terminal voltage Vu have mutually equaled the positive voltage VB of battery 214.Therefore, it is higher than the positive voltage VB of battery 214.For this reason, when switch element SW2 turn-offs, the positive voltage VB that the reference voltage Vref of virtual center point setting also becomes and is higher than battery 214.Though reference voltage Vref is lower than the terminal voltage Vu of U phase when switch element SW2 turn-offs, at this moment it be higher than the terminal voltage Vw of W phase.For this reason, the terminal voltage Vw of W phase keeps below reference voltage Vref, is equal to or higher than reference voltage Vref up to the induced voltage of W phase.
Like this, when zero-crossing timing occurred, comparison signal PW became logic high for the first time.As shown in figure 40, therefore,, can make the change time point of detection signal Qs corresponding one by one with zero-crossing timing point by taking following measures.When composite signal PS is for the first time consistent with desired signal, detection signal Qs upset.When switch element SW2 turn-offed, the terminal voltage Vw of W phase can alternately present value that is higher than reference voltage Vref and the value that is lower than reference voltage Vref.Even in this case, time that also can composite signal PS and desired signal is for the first time consistent with each other is as zero-crossing timing.This is because in this case, only following situation can take place.Composite signal 4 among the figure is replaced by 5.
Simultaneously, when utilization comparison signal PU, PV, PW as shown in figure 12 produced a bit combination signal, this composite signal is frequently upset in PWM control.Therefore, can not detect the zero-crossing timing point.
In fact, because microseismic noise and switch element SW1, may make comparison signal PW instantaneous logic high that becomes before zero-crossing timing occurs to the operation change of SW6.Yet in this case, the logical value of comparison signal PU may be different from shown in Figure 43.Therefore, make three bit combination signal PS and desired signal possibility minimum consistent with each other before zero-crossing timing occurs.
In order to avoid influencing the error detection of caused zero-crossing timing point more reliably, need take following measures by microseismic noise.In the value of composite signal PS, the duration equal or those values of being shorter than predetermined value with desired signal relatively.This process is for example by taking following measures to realize.Composite signal PS is sampled with the high-speed sampling cycle, and think neighbouring sample in the cycle twice or repeatedly different values will be subjected to The noise, and with its eliminating.By the reference voltage that produces based on dummy neutral is carried out slight offset correction, also can avoid the detection of above-mentioned mistake more reliably.
Present embodiment according to describing in detail provides following advantage.
Comparison signal PU, the PV that is supposed when (1) zero-crossing timing being appeared at switch element SW1 to the current operation status of SW6, the composite signal (desired signal Se) of PW compare about each mutually with practical combinations signal PS.Based on these comparative results, obtain the information relevant with the electrical degree of brushless electric machine 2.Like this, compare, can utilize more detailed information with the situation of a bit combination signal that uses comparison signal PU, PV, PW.For this reason, can obtain information about the pin-point accuracy of electrical degree.
(2) default of signal PU, PV, PW and actual value detect the zero-crossing timing point about all consistency between mutually based on the comparison.In other words, about the consistency between all, detect the zero-crossing timing point based on three bit combination signal PS and desired signal.Like this, the time with will be used to represent that a bit combination signal about all comparative results mutually changes the time thinks that the situation of zero-crossing timing compares, and is used to detect the condition strictness more of zero-crossing timing point.For this reason, can detect the zero-crossing timing point exactly.
(3) based on the zero-crossing timing point fixed time point is set, this fixed time puts switch element SW1 for a change and provides benchmark to the mode of operation of SW6.Like this, the fixed time point can be set rightly.
(4) fixed time point and zero-crossing timing point have correlation one to one.As a result, switch element SW1 also has correlation one to one with the zero-crossing timing point to the mode of operation of SW6.Therefore, can determine comparison signal PU, the PV, the PW (desired signal) that when zero-crossing timing appears at switch element SW1 to the current operation status of SW6, are supposed uniquely.
(5) reference voltage Vref is provided with by the dummy neutral voltage of brushless electric machine 2.When the electric current that offers brushless electric machine 2 was excessive, the operation of conducting separately of at the appointed time putting determined switch element SW2, SW4, SW6 allowed execution PWM control in the time period, and operated in the conducting operation and turn-off switching between the operation.In this case, comparison signal PU, PV, PW logical combination signal can not detect the zero-crossing timing point.Simultaneously, according to present embodiment,, can determine the zero-crossing timing point exactly based on the comparison that all is the desired signal and the composite signal PS of tribute signal.
In the 11 embodiment, detect zero passage constantly about the consistency between all based on composite signal PS and desired signal Se.Yet for example, the zero-crossing timing point can detect based on the consistency between the position, and wherein said position is mutually corresponding with induced voltage during PWM controls and the mutual zero passage of reference voltage Vref.
(the 12 embodiment)
The 12 embodiment is similar to the 9th embodiment (Figure 31 is to Figure 36).
If battery 214 and inverter 12 fully do not connect and cause disconnecting on electric between them, if any other similar incidents have perhaps taken place, then following phenomenon may appear.Owing to the transfer of vibration of vehicle has been given battery 214 or any other similar reason, battery 214 and inverter 12 may instantaneous each other disconnections, then rebulid conducting between them.If at this moment temporarily interrupted the power supply to brushless electric machine 2, then the rotating speed of brushless electric machine 2 descends.If petrolift is refluxed from the fuel that fuel tank is discharged into upstream side, the power that affacts the reverse rotation side so can be applied on the brushless electric machine 2, and this may finally cause reverse rotation.If switch element SW1 according to operation under normal operation, may occur the oscillatory occurences that brushless electric machine 2 repeats normal rotation and reverse rotation to SW6 so in this case.Be difficult to brushless electric machine 2 is controlled at correct rotation status.
Can be based on the above-mentioned reverse rotation that suitably detects brushless electric machine 2 by three composite signal PS that form.More particularly, as shown in figure 44, when brushless electric machine 2 normal (along forward) rotates, should be about the time series data of composite signal PS with consistent about the time series data of desired signal Se.Simultaneously, when brushless electric machine 2 during just with reverse rotation, about the time series data of composite signal PS should with by the time series data about desired signal is carried out the data consistent that time reversal obtained, as shown in figure 45.For this reason, can detect the reverse rotation of brushless electric machine 2 based on composite signal PS.
Feasible is, when the rotation status of brushless electric machine 2 becomes unusual, all switch element SW1 are turn-offed to SW6, and operation awaits, stop up to brushless electric machine 2.Then, reset brushless electric machine.Yet, in this case, take long time and make brushless electric machine 2 return to normal condition.
In order to tackle this problem, carry out following process in the present embodiment.When detecting brushless electric machine 2 reverse rotations, carry out the process of forcing to stop brushless electric machine 2 rotations, then, carry out the process of resetting.Figure 46 shows the process of resetting brushless electric machine 2 in the present embodiment.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
These a series of processes are carried out according to following manner.At S360, check whether the value Cmk of masking period segment counter is zero.When the value of determining this masking period segment counter is zero, determine at S362 whether the composite signal PS of comparison signal PU, PV, PW changes.This process is used to determine whether to be zero-crossing timing.When definite composite signal PS has changed, S364 determine current composite signal whether with last before desired signal consistent.This process is used for determining that whether brushless electric machine 2 is just with reverse rotation.More particularly, as Figure 44 and shown in Figure 45,, be reversed about the time series data of composite signal PS when brushless electric machine 2 during just with reverse rotation.Therefore, suppose that current composite signal PS is consistent with the desired signal before last.When current composite signal PS is consistent with the desired signal Se before last, determine that at S366 brushless electric machine 2 is just with reverse rotation.
Subsequently, at S368, carry out the process of forcing to stop brushless electric machine 2 rotations.Specifically, switch element SW1, SW3, SW5 or switch element SW2, SW4, the whole conductings of SW6 are so that all phase short circuits of brushless electric machine 2.Like this, only brushless electric machine 2 rotates the induced voltage that is produced provides electric current through brushless electric machine 2.The resistance of current path etc. is promptly decayed this electric current.As a result, the energy of rotation of brushless electric machine 2 converts electric energy to, and is attenuated subsequently.For this reason, brushless electric machine 2 can promptly stop.
When the rotating speed of brushless electric machine 2 is zero (S370: in the time of "Yes"), carry out the process of resetting at S372 substantially.Calculate the rotating speed of brushless electric machine 2 based on the time interval between the adjacent zero-crossing timing point.This can be undertaken by the maximum Cm that uses measurement counter.
When being defined as in S360 any one in S364 negating, perhaps when the process of S372 was finished, these a series of processes stopped once.
According to present embodiment, except the advantage (1) of the 11 embodiment to (5), also have following advantage.
Inconsistent between composite signal PS that is supposed when (6) occurring zero-crossing timing based on switch element SW1 in the current operation status of SW6 and the desired signal determines that the rotation status of brushless electric machine 2 is unusual.Use three bit combination signal PS and three desired signal Se can determine whether to exist unusual rightly.
(7) carry out consistency between pattern that time reversal obtains and the actual time sequence pattern based on time series pattern, determine to exist the unusual of brushless electric machine 2 reverse rotations the composite signal PS that supposes to the time series pattern of the mode of operation of SW6 according to switch element SW1.Like this, can detect brushless electric machine 2 rightly just in reverse rotation.
(8) when definite brushless electric machine 2 during, carry out the process of forcing to stop brushless electric machine 2, reset brushless electric machine 2 afterwards just in reverse rotation.Like this, brushless electric machine 2 promptly can be returned to normal condition.
(9) set up from the conducting of whole negative or positive electrodes to battery 214 of brushless electric machine 2 and stop brushless electric machine 2 with pressure.Like this, can reduce the energy of rotation of brushless electric machine 2 rapidly.
In the 12 embodiment, whole phase short circuits of brushless electric machine 2 are to force to stop brushless electric machine 2.As an alternative, can control so that produce the torque of stopping the rotation to the switch of SW6 switch element SW1.In addition, under the composite signal PS condition consistent, detect reverse rotation with the desired signal before last.Except this condition, when next composite signal PS is consistent with the desired signal desired signal before in the end, also can detect reverse rotation.
(the 13 embodiment)
The 13 embodiment is intended to improve following point.That is, when any phase line of brushless electric machine 2 disconnected, inverter 12 provided voltage to the line that does not have to disconnect of motor 2.Yet the mobile possible weakened and overload of electric current may be applied on the brushless electric machine 2.Therefore JP2-290191A proposes to utilize shunt resistor to determine whether phase current flows, and determines based on this that result detects and whether have disconnection.Yet, in this example, must have sensing element to come the voltage on the sensing shunt resistor to descend.This will increase the circuit size of Drive and Control Circuit 220.
Therefore, according to present embodiment, signal PU, PV, PW detect and whether have disconnection based on the comparison.Because control circuit 220 receives those comparison signals PU, PV, PW to be used for console switch element SW1 to SW6.Therefore, disconnect, can avoid increasing the size of circuit based on those input.At first describing based on the comparison below, signal PU, PV, PW detect the principle that disconnects.
As mentioned above, comparison signal PU, PV, PW are according to changing shown in Figure 43 (b).Here, owing to switch to when turn-offing from conducting at the switch element of PWM control, reference voltage Vref has surpassed the cathode voltage VB of battery 214.As a result, the comparison signal of the phase of switch element continuation conducting is reverse on logical value.If brushless electric machine 2 is in off-state, as shown in figure 47, then comparison signal can be not reverse on logical value.Here, (a) of Figure 47 and (b) and (b) corresponding to (a) of Figure 43, and situation about illustrating is that the phase line of the W phase of brushless electric machine 2 more disconnects near that side of brushless electric machine 2 than the tie point with resistive element RW.
As shown in figure 47, the terminal voltage Vw of W phase approximately drops to the cathode voltage of battery 214.Though this is because W is in high impedance status in example shown in Figure 47, because the parasitic capacitance between the grid of switch element SW6 and the drain electrode etc. make the direction decline of the electromotive force of W phase towards the negative pole electromotive force of battery 214.In this case, when switch element SW2 when shutoff switches to conducting, electric current flows among the diode D1.As a result, the terminal voltage Vu of U phase is increased to the cathode voltage VB that is higher than battery 214, and reference voltage Vref drops to the cathode voltage VB that is lower than battery 214.This is because the terminal voltage of W phase descends owing to disconnecting.
For this reason, irrelevant with the state of switch element SW2, reference voltage Vref continues to be lower than the terminal voltage Vu of the V phase of the cathode voltage VB side that is connected to battery 214.Like this, shown in Figure 47 (b), the comparison signal PV of V phase continues as high level, and is different from the state shown in Figure 43 (b).Therefore, can detect the disconnection of brushless electric machine 2 based on the difference between these states.
Situation about disconnecting appears in (will becoming high impedance) mutually though Figure 47 shows that high therein side arm and switch element on the low side arm all turn-off.Even when the phase (the U phase among Figure 47) of PWM control disconnects, also can detect disconnection in a similar manner by using comparison signal PV.This is because because the terminal voltage Vu of the U phase of battery 214 continues as the cathode voltage of battery 214, so reference voltage Vref can not surpass the cathode voltage VB of battery 214.
Figure 48 shows the process that disconnects that detects.This process is for example carried out with predetermined period repeatedly by control circuit 220.
In these a series of processes,, check the PWM that S352 the carried out control of whether carrying out among Figure 42 at S380.If determine to carry out PWM control, specify a phase at S382 so, be in the phase that the conducting operation allows the time period among switch element SW1, the SW3 that specified is mutually in high side arm, the SW5.Utilize this step, in the example of Figure 47, specified the V phase.In S384 subsequently, check that whether being in the conducting operation of specifying phase allowed in the time period.This step is used to specify a time period, and the terminal voltage that is used to detect the suitable phase of disconnection in this time period does not change.
If determined that at S384 this is in the conducting operation mutually and allows the time period, whether be low level in the logical value of the comparison signal of the phase of step S82 appointment then in the further inspection of S386.This step is used to determine whether exist disconnection.If determine it is sure at S386, be set to ON at S388 low level certification mark so, become low level with the presentation logic value.This step can be implemented as the step that in control circuit 220, changes register value.
When S388 has finished or made at S386 negates that really regularly process turns back to S390.In S390, check whether the low level certification mark is ON.This step is used to determine whether exist disconnection.That is,, can think so the phenomenon shown in Figure 47 (b) to have occurred if the logical value of comparison signal allows not become low level in the time period in the conducting of the phase of S382 appointment.In this example, can determine to have occurred disconnection.Therefore, if make negative determining, then send the notice that detects disconnection and arrive outside at step S392 control device at S390.When S392 has finished or made at step S380 or S390 negates really regularly, is set to OFF at S394 low level certification mark.
When finishing S394, stop this a series of processes.
According to present embodiment, except the advantage of the 11 embodiment, also has following advantage.
(10) only make brushless electric machine 2 one make with the negative pole end conducting of battery 214 another with the situation of the positive terminal conducting of battery 214 under, whether there is the upset of another comparison signal mutually during based on the switch element that makes negative pole end and brushless electric machine 2 conductings in shutoff, detects brushless electric machine 2 and whether have disconnection.Like this, can detect the disconnection of brushless electric machine 2.
(11) in 120 ° of excitation controls, reference voltage Vref can not surpass the cathode voltage of battery 214.In this example, because input disconnects based on the comparison, therefore detection disconnects in PWM control.Therefore, can suitably realize disconnection detection.
(the 14 embodiment)
Figure 49 shows the 14 embodiment.Brushless electric machine 2 is two-phase induction motors.For to detect whether there is disconnection in the two-phase induction motor 2, diode D5, the D6 that is connected in series is parallel-connected to switch element SW1, SW2 that is connected in series and switch element SW3, the SW4 that is connected in series with the similar mode of the 13 embodiment.Tie point between diode D5, the D6 is connected to the neutral point of brushless electric machine 2a.Like this, be defined as the U phase mutually, be defined as the V phase mutually what be connected to tie point between switch element SW3, the SW4 with what be connected to tie point between switch element SW1, the SW2, and will be connected to tie point between diode D5, the D6 be defined as the W phase mutually.
Comparator C u produces comparison signal PU by terminal voltage Vu and reference voltage Vref are compared.Comparator C v produces comparison signal PV by terminal voltage Vv and reference voltage Vref are compared.Comparator C w produces comparison signal PW by terminal voltage Vw and reference voltage Vref are compared.Based on these comparison signals PU, PV, PW, can be to detect disconnection with the similar mode of the 13 embodiment.
The 11 embodiment to the 14 embodiment can make amendment according to hereinafter describing.
By adjust the decline rate that the fixed time point is provided with counter with respect to the increasing velocity of measurement counter, the fixed time point is set.Yet the counting rate of these counters is identical, and the initial value that the fixed time point is provided with counter can be set according to the value (maximum) before the measurement counter initialization.To be arranged to be when for example postponing 30 ° time point with respect to zero-crossing timing point when putting the fixed time, measurement counter peaked 1/2 can be provided with the initial value of counter as the fixed time point.
By adjust the decline rate of masking period segment counter with respect to the increasing velocity of measurement counter, the masking period section is set.Yet the counting rate of these counters is identical, and the initial value of masking period segment counter is set according to the value (maximum) before the measurement counter initialization.When the angular region from zero-crossing timing to 45 ° is set to the masking period section, can be with measurement counter peaked 3/4 initial value as the masking period segment counter.
Unusually be not limited to reverse rotation in the rotation status of brushless electric machine 2.In fact only when composite signal PS and desired signal were inconsistent, rotation status just was confirmed as unusually.
When the phase current of brushless electric machine 2 surpasses threshold value, carry out PWM control.Yet, for example can also only when electric current continues to surpass threshold value, force to turn-off the switch element on the low side arm that is in being interrupted when conducting allows.Like this, utilize this control that a kind of operational means can be provided, be in the switch element that conducting allows the time period to be used for repeatedly turn-on and turn-off.
It is the means that are used to operate the switch element of low side arm that this operational means is not limited to, but also can be the means that are used to operate the switch element of high side arm.In this case, in the 13 embodiment and the 14 embodiment, whether the comparison signal that is fixed to that phase of conducting state at the switch element that hangs down side arm exists on the basis of upset, detects whether there is disconnection.
Reference voltage Vref does not need necessarily to be based on terminal voltage Vu, Vv, the formed dummy neutral of Vw, and can be the neutral point voltage of brushless electric machine 2.Even in this case, also can provide with according to those identical advantages of the 11 embodiment.Even, utilize three bit combination signals and three desired signals also can realize following aspect with 1/2 during of the voltage of battery 214 as reference voltage Vref.Unusual in the rotation status can be detected exactly, and the detection accuracy of 120 ° of zero-crossing timing points in the excitation control can be improved.When in inverter 12 sides rather than when disconnecting,,, can detect disconnection by adopting reference voltage Vref as neutral point voltage based on the phenomenon identical with the 13 embodiment with resistive element RU, the RV of the phase line of brushless electric machine 2, phase line that RW is connected side.
Switch element SW1, SW3 on the high side of each arm, SW5 can be made of the N-channel MOS transistor.It must be battery 214 that the power supply that is connected with brushless electric machine 2 does not need, and also can be generator.Brushless electric machine 2 needn't be the actuator of onboard fuel pump, and can be the actuator of vehicle-mounted cooling fan.
Heterogeneous rotating machinery needn't be a three-phase brushless motor, and can be the motor with any number of phases.In addition, needn't be motor, also can be generator.Even when in the 13 embodiment, the number of phases of rotating machinery being changed into N (＞3), be to be in conducting to allow in the time period as long as the switch element of a phase is only arranged on the low side arm, just can in PWM control, detect disconnection in the mode identical with the 13 embodiment.That is, become when turn-offing from conducting at the switch element that a phase is only arranged, it is (N-1) * VB/ (N+Vf) that reference voltage Vref just becomes approximately.Unless number of phases N becomes excessive, otherwise reference voltage Vref keeps below the cathode voltage VB of battery 214.On the contrary, when not taking place to disconnect, reference voltage Vref becomes the cathode voltage VB that is higher than battery 214.As a result, based on whether having upset, can detect disconnection with the logical value of corresponding that comparison signal mutually of the switch element that is fixed to conducting state of high side arm.
(the 15 embodiment)
The 15 embodiment shown in Figure 51 is constructed with brushless electric machine 2, inverter 12 and Drive and Control Circuit 220.This structure and the 11 embodiment shown in Figure 38 are similar, therefore are not described in detail.
Figure 52 shows the mode that on-off controller 227 adopts 120 ° of excitation controls to carry out switch control.Particularly, (a) show the transformation of the U phase terminal voltage Vu that represents by solid line, the transformation of the U phase induced voltage that the two point form chain-dotted line is represented, and the reference voltage Vref represented of a point type chain-dotted line.(b) show the transformation that detects relevant signal (zero passage detection signal) Un with zero-crossing timing point.(c) show the transformation of the actuated signal of switch element SW1, (d) show the transformation of the actuated signal of switch element SW2.V is identical with the mode switching control of U phase with the mode switching control of W phase mutually, has omitted their explanation and description.
As shown in Figure 2, when switch element SW1, SW2 conducting, terminal voltage Vu is consistent with the positive potential or the negative potential of battery 214.Simultaneously, in the time period (induced voltage open-assembly time section) that switch element SW1 and switch element SW2 turn-off, there is electric current time period by the U phase.In these time periods, terminal voltage Vu equals induced voltage.Even in the time period that switch element SW1 and switch element SW2 turn-off, terminal voltage Vu and the electric current induced voltage during by diode D1, D2 supply (commutation transient state) is also inconsistent.
Therefore, in the following time period, terminal voltage Vu is induced voltage Vu and the consistent each other zero-crossing timing point of reference voltage Vref with the consistent each other time point of reference voltage Vref: switch element SW1 and switch element SW2 turn-off and do not have electric current to pass through the time period of diode D1 or D2.Therefore, (for example, 30 °) time point is defined as the fixed time point, and the operation that should put the fixed time as switch element SW1, SW2 becomes the time point that conducting is operated from turn-offing operation will to postpone predetermined electrical degree from this zero-crossing timing point.Conducting state begins to continue 120 ° time period from the fixed time point occurring.Particularly, with the time point of following fixed time point: rise the fixed time point that zero-crossing timing point consistent with reference voltage Vref the process postpones predetermined electrical degree (for example, 30 °) thereon from induced voltage as the switch element SW1 of the high side arm of conducting.Following fixed time point is hanged down the time point of the switch element SW2 of side arm as conducting: from the induced voltage fixed time point that the zero-crossing timing point consistent with reference voltage Vref postpones predetermined electrical degree (for example, 30 °) its decline process.The time point of conducting U phase switch element SW1, SW2 can by the zero-crossing timing point in the U phase induced voltage uphill process with and the decline process in zero-crossing timing point determine.Therefore, in the present embodiment, produced the zero passage detection signal Un that in uphill process, rises and in the decline process, descend with zero-crossing timing point with zero-crossing timing point.Its rising edge and trailing edge are used to be provided with the fixed time point.
Figure 53 shows the mode of carrying out switch control in the normal condition of the stabilization of speed of brushless electric machine 2.Particularly, (a) show the transformation of terminal voltage Vu, Vv, Vw; (b) show comparison signal Uc, the Vc that is used to represent the magnitude relation between terminal voltage and the reference voltage Vref, the transformation of Wc; (c) show the transformation of zero passage detection signal Un, Vn, Wn; (d) show the transformation of the value on the individual count device; (e) show the transformation of switch element SW1 to the actuated signal of SW6.(e) actuated signal shown in comprises actuated signal U+, V+, the W+ that is used for high side arm switch element SW1, SW3, SW5 and is used for downside arm switch element SW2, actuated signal U-, the V-of SW4, SW6, W-.High side arm switch element SW1, SW3, SW5 are p channel transistor; Therefore, these actuated signals U+, V+, W+ are that the time period of logic low is the time period of its conducting.
(d) solid line in is represented the value Cm of measurement counter, and this measurement counter is used to measure the time interval between the zero-crossing timing point of adjacent appearance.As shown in the figure, when zero-crossing timing point occurring, the value of this measurement counter of initialization is reset the time counting operation then.The time interval between the zero-crossing timing point of adjacent appearance is relevant with rotating speed.For this reason, the value (maximum of counter) of counter before being close to initialization provides the parameter relevant with rotating speed.
(d) the point type chain-dotted line in represents that fixed time point is provided with the value Cs of counter, and this fixed time point is provided with counter to counting to the fixed time required time of point occurring from the zero-crossing timing point occurring, and the fixed time point is set thus.The fixed time point is provided with the initial value of the Counter Value of counter before the employing initialization of zero-crossing timing point place occurring as it, and it is successively decreased.Then, to be provided with that counter will be worth be that zero time point is as the fixed time point for fixed time point.At this moment, carry out following operation.When the interval between zero-crossing timing point and the fixed time point for example was 30 °, it was the twice of measurement counter increasing velocity that decline rate is set to.This be because the zero-crossing timing point of adjacent appearance between be 60 ° at interval.For this reason, when invariablenes turning speed, the value that the fixed time point is provided with counter becomes 0 time point with respect to 30 ° of zero-crossing timing point delays.
(d) the two point form chain-dotted line in is represented the value Cmk of masking period segment counter.This masking period segment counter is determined a time period (masking period section), in this masking period section, suppress (forbidding) based on terminal voltage Vu, Vv, Vw and reference voltage Vref at amplitude relatively to the detection of zero-crossing timing point.This counter is used to avoid following incident.Providing to D6 in the time period of electric current,, detected the appearance of zero-crossing timing point mistakenly as terminal voltage Vu, Vv, when Vw is consistent with reference voltage Vref by diode D1.The initial value of the Counter Value of zero-crossing timing point place before also adopting initialization as it appearring in this counter, and it is successively decreased.Then, the time period before its this value equals zero is set to the masking period section.When the masking period section being arranged to be at a distance of the zero-crossing timing point that occurs for example during time period of 45 °, it is 3/2 times of increasing velocity of measurement counter that decline rate is set to.
With reference to Figure 54 and Figure 55 the process that switch is controlled is described.Figure 54 shows the process that is used to be provided with the Counter Value on above-mentioned three counters.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
This series process is carried out according to following manner.At S410, check whether the value Cmk of masking period segment counter is 0.When definite this value was zero, whether any one in S412 among definite comparison signal Uc, Vc, the Wc overturn.In fact, this process is used for determining that above-mentioned zero passage detection signal Un, Vn, Wn are in its rising edge or its trailing edge.When determining that at S412 arbitrary signal has overturn, the value Cm of counter is provided with the value Cs and the Cmk of counter and masking period segment counter at S414 as the fixed time point.At S416, with measurement counter initialization (Cm=0).
When making negative timing really, measurement counter is increased progressively at S418 at S410 or S412.Then, at S420, whether the value Cs that inspection fixed time point is provided with counter is zero.When fixed time point is provided with the value of counter when non-vanishing, make the fixed time point that counter is set at S422 and successively decrease.Simultaneously, when making at S420 certainly really regularly, perhaps when finishing the process of S422, determine at S424 whether the value of masking period segment counter is zero.When the value of masking period segment counter is non-vanishing, the masking period segment counter is successively decreased at S426.
When making at S424 certainly really regularly, perhaps when finishing the process of S416 or S426, this series process stops once.
Fig. 5 shows and is used for the process stream of turn-on switch component SW1 to SW6.For example, this process is carried out with predetermined period repeatedly by Drive and Control Circuit 220.
Serial process shown in Figure 55 is carried out according to following manner.At S430, whether the value Cs that inspection fixed time point is provided with counter is zero.This process is used to determine whether occurred the fixed time point.When determining that value that the fixed time point is provided with counter has been zero, carry out the process of any switch element SW1 of conducting to SW6.More specifically, when zero-crossing timing point (the value Cm of counter is set to the value that fixed time point is provided with counter) when being U phase zero-crossing timing point (S432: be), carry out following processes.When the zero passage detection signal rises (S434: be), switch element SW1 conducting (S436).When the zero passage detection signal descends (S434: deny), switch element SW2 conducting (S438).
Simultaneously, when above-mentioned zero-crossing timing point is V phase zero-crossing timing point (S440: be), carry out following processes.When the zero passage detection signal rises (S442: be), switch element SW3 conducting (S444).When the zero passage detection signal descends (S442: deny), switch element SW4 conducting (S446).When above-mentioned zero-crossing timing point is W phase zero-crossing timing point (S440: in the time of not), carry out following processes.When the zero passage detection signal rises (S448: be), switch element SW5 conducting (S450).When the zero passage detection signal descends (S448: deny), switch element SW6 conducting (S452).
Stopcock element SW1 is to the technology of SW6 and previously described similar.That is to say that they are turned off at the time point that postpones predetermined electrical degree (for example 30 °) from the fixed time point, shown in Figure 53.More particularly, switch element SW1, the SW3 of high side arm, SW5 turn-off on the time point that postpones predetermined electrical degree with respect to the zero-crossing timing point in the out of phase induced voltage uphill process.Switch element SW2, the SW4 of low side arm, SW6 turn-off on the time point that postpones predetermined electrical degree with respect to the zero-crossing timing point in the decline process.This process also can be carried out similarly with the process among Figure 55, and the descriptions thereof are omitted.
Shown in Figure 56 A and 56B, as the example of an acceleration, the zero-crossing timing point depends on the rotating speed of brushless electric machine 2.Therefore, when the fluctuation of speed of brushless electric machine 2, problem has appearred.Rotating speed in the time interval between the zero-crossing timing point of zero-crossing timing point that occurs during initialization and appearance next time can not accurately be represented by being close to initialization Counter Value before.Therefore, the value Cs that may exist the fixed time point that counter is set puts situation about departing from zero time point and the fixed time.
As an example of fluctuation of speed situation, Figure 57 A and 57B show the experimental result that mistake is set of fixed time point in the accelerator.Shown in Figure 57 A, when initial speed when zero is increased to predetermined speed, will observe the detection error (phase shift) of the rotor angle shown in Figure 57 B.Know that from Figure 57 B phase shift is big especially in low-speed range.
Therefore, in the present embodiment, from the testing result of zero-crossing timing point, extract the information relevant with the rotation speed change of brushless electric machine 2, and based on the information setting fixed time point that is extracted.More particularly, the rotation speed change that is included in the above-mentioned information is relevant with time period before fixed time point occurring.Yet, suppose that the rotating speed that rotation speed change can be used to determine to be close in time interval of the zero-crossing timing point that the adjacent appearance before the fixed time point occurs the fixed time occurs and puts poor between the rotating speed before with being close to.Therefore, it is above-mentioned poor to determine based on above-mentioned information, and the fixed time point is set.
Figure 58 A shows the process that being used in the present embodiment is provided with the fixed time point.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
This series process is carried out according to following manner.At S460, whether inspection is to cancelling the time of sheltering.That is, whether the value Cmk of inspection masking period segment counter has been zero.When to the cancellation shelter time the time, at S462 the value Cac of acceleration detection counter is increased progressively.At S464, whether any one among inspection comparison signal Uc, Vc, the Wc upset of the S412 in Figure 54.When making at S464 certainly really regularly, determine at S466 whether the value Cac of acceleration detection counter is equal to or higher than predetermined value B.This process is used for determining whether brushless electric machine 2 is in acceleration mode.In this example, when the masking period section be when identical, can realize following aspect to the increasing velocity of the increasing velocity of 45 ° time period and acceleration detection counter and measurement counter from zero-crossing timing o'clock occurring.When the value of acceleration detection counter during, can determine that brushless electric machine 2 is in acceleration mode less than 1/4 times of counter preceding value.Therefore, in this case, predetermined value B is arranged to less than the counter preceding value 1/4 times.
When determining that at S466 brushless electric machine 2 is in acceleration mode, be provided for proofreading and correct the correction amount delta Ai that the fixed time point is provided with the value of counter according to the value of acceleration detection counter at S468.Acceleration increases along with the minimizing of acceleration detection Counter Value.Consider this point, in this example, when the value Cac of acceleration detection counter reduces, correction amount delta Ai is arranged to bigger value, shown in Figure 58 B.Subsequently, at S470, the value Cs that counter is set from fixed time point deducts the resulting value of correction amount delta Ai and is set to the value Cs that the fixed time point is provided with counter.
When making at S466 negates really regularly, perhaps when finishing the process of S470, at S472 initialization acceleration detection counter (Cac=0).When making negative timing really at S460 or S464, perhaps when finishing the process of S472, this series process stops once.
Figure 59 shows the pattern of the output that is used to control brushless electric machine 2 in the present embodiment.Specifically, (a) show the transformation of rotor angle; (b) show the transformation of rotating speed; (c) show the transformation of phase current.It should be understood that the fixed time detection error of point is also very little in accelerator (for example, 0.04 to 0.06 second time period).Therefore, rotating speed can be increased to the expectation rotating speed smoothly.Simultaneously, if there is not the trimming process of the measurement counter shown in the execution graph 58A, the error of fixed time point is very big so, shown in Figure 60.Therefore, rotating speed can not increase smoothly.
According to the 15 embodiment, can provide following advantage.
(1) from the testing result of zero-crossing timing point, extract the information relevant with the rotation speed change of brushless electric machine 2, and based on this information setting fixed time point.Therefore, can accurately calculate from specifying the zero-crossing timing point that occurs to the required time of fixed time point (the fixed time point is provided with the value Cs of counter) occurring.Therefore, the fixed time point can be set exactly.
(2) time interval below utilizing, calculate from being close to and the zero-crossing timing point that occurred before the fixed time point occurs to the fixed time required time of point that occurs: the interval the zero-crossing timing point of appearance (value of counter).In addition, can proofread and correct based on above-mentioned information.Like this, even when the fluctuation of speed, still can accurately calculate the required time (initial value that the fixed time point is provided with counter).
(3) obtain above-mentioned information based on shelter the time that zero-crossing timing point occurs from cancellation.Like this, above-mentioned information can be obtained rightly.
(4) time before zero-crossing timing point occurs is short more, and the fixed time point is just leading more.Like this, can the fixed time point be set exactly according to acceleration.
(the 16 embodiment)
In the 16 embodiment, utilize the testing result of zero-crossing timing point to calculate the acceleration of brushless electric machine 2, and the fixed time point is set changeably according to this acceleration.Figure 61 A shows the process that is used to be provided with the fixed time point in the present embodiment.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
These a series of processes are carried out according to following manner.At S480 and S482, S410 among execution Figure 54 and the process of S412 are to determine whether the being zero-crossing timing point.When it is zero-crossing timing point, carry out the process of calculating acceleration A i at S484.At this moment, calculate difference between acceleration A i:N (i) and the N (i-1) by following difference, wherein N (i) be the previous zero-crossing timing point that occurs with the zero-crossing timing point of current appearance between the inverse in the time interval, and N (i-1) is the inverse in the time interval between the zero-crossing timing point of the zero-crossing timing point of the second previous appearance and appearance before.In fact, can carry out this process by the previous peaked inverse that from the current peaked inverse of measurement counter, deducts measurement counter.Specifically, acceleration Δ Ai can calculate according to following method, wherein Ti is defined as previous zero-crossing timing point.
Ai＝N(i)-N(i-1)
N(i)＝1/{Ti-T(i-1)}
Subsequently, at S486, calculate according to the acceleration A i that calculates and to be used to proofread and correct the correction amount delta Ai that the fixed time point is provided with the value Cs of counter.At this moment, correction amount delta Ai determines shown in Figure 61 B.That is, when acceleration A i was equal to or greater than predetermined value A2 (＞0), correction amount delta Ai was set to negative value, so that its absolute value increases along with the increase of acceleration A i.When acceleration A i is equal to or less than predetermined value A1 (＜0), correction amount delta Ai be set on the occasion of so that its absolute value increase along with reducing of acceleration A i.
Subsequently, at S488, increase correction amount delta Ai by the value Cs that counter is set to the fixed time point and proofread and correct the value Cs that the fixed time point is provided with counter.When being defined as negating at S480 or S482, perhaps when finishing the process of S488, these a series of processes stop once.
According to the 16 embodiment, except the advantage (1) and (2) of the 15 embodiment, also have the following advantages.
(5), calculate the acceleration A i of brushless electric machine 2, and the fixed time point is set based on this acceleration based on a plurality of values about the time interval between the zero-crossing timing point that occurs.Like this, the fixed time point can be set exactly, and irrelevant with the fluctuation of speed.
(the 17 embodiment)
When the value Cmk at the masking period segment counter is when zero-crossing timing point occurring before zero, the fixed time point can not be set rightly and masking period segment counter etc. can not be set rightly.In order to tackle this problem, this 17 embodiment is configured to come Te estimated time based on the induced voltage of this moment, this time T e is from the zero-crossing timing point occurring to the over and done with time of current time.Figure 62 shows the process of above-mentioned estimation.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
These a series of processes are carried out in the following manner.At S490, whether checked the time that cancellation is sheltered, that is, and the time of the value Cmk vanishing of masking period segment counter.When to the cancellation shelter time the time, determine whether to have finished the appearance of zero-crossing timing point at S492.Can carry out this process by adopting following measures.When induced voltage is in its uphill process, check whether terminal voltage has surpassed reference voltage Vref.When induced voltage was in its decline process, whether the inspection terminal voltage has dropped to was lower than reference voltage Vref.
When the appearance of determining zero-crossing timing point had been finished, process proceeded to S494.At S494, estimate from the zero-crossing timing point occurring to current time elapsed time Te based on the preceding value of counter and terminal voltage.When cancellation was sheltered, terminal voltage was represented induced voltage.Difference between the value of induced voltage and reference voltage Vref contains the relevant information with above-mentioned time in the past Te.Yet, because the amplitude of induced voltage depends on rotating speed, so can not only determine this elapsed time exactly by current induced voltage.Therefore, in the present embodiment, estimate this elapsed time based on the previous maximum (parameter relevant) and the current induced voltage of counter with rotating speed.At this moment, for example can take following measures.On-off controller 227 is made of microcomputer, and uses datagram to estimate the elapsed time, and this datagram has defined previous maximum and the current induced voltage and the relation between the elapsed time of counter.
At S496, be set to value Cs and the Cmk that the fixed time point is provided with counter and masking period segment counter by from the currency of counter, deducting the value that the elapsed time obtains.This process is used for based on the zero-crossing timing point of estimating fixed time point and masking period section being set.At S498, the value Cm of counter is set to the elapsed time.When making certainly really regularly at S490 or S492, perhaps when the process of S498 was finished, these a series of processes stopped once.
In the 17 embodiment, estimate from the zero-crossing timing point that is close to appearance before to the current time elapsed time based on induced voltage and rotating speed.Yet, for example, can estimate the elapsed time based on the maximum of formerly sheltering the induced voltage of cancellation in the time period or minimum value and current induced voltage.More particularly, consider that the amplitude of induced voltage depends on rotating speed, so can adopt rotating speed.As an alternative, can also use the previous maximum of induced voltage or minimum value to determine amplitude.
According to present embodiment, except the advantage (1) of the 15 embodiment to (4), also have following advantage.
When (6) the zero-crossing timing point that is close to appearance before when cancellation is sheltered has been finished, estimate from the zero-crossing timing point that is close to appearance before to current time institute's elapsed time based on induced voltage.Like this, can estimate from the zero-crossing timing point that is close to appearance before to the time that fixed time point needs occur.
(the 18 embodiment)
In the 18 embodiment, be provided with changeably according to the acceleration of brushless electric machine 2 and flow through the limits value of switch element SW1 to the electric current of SW6.Figure 63 shows the process that is used to be provided with above-mentioned current limit value.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
These a series of processes are carried out in the following manner.At S500, calculate acceleration A i.This process is identical with process S484 among Figure 61.Subsequently, at S502, check whether acceleration A i is equal to or greater than first and specifies acceleration A max.Described first specifies acceleration A max to be provided with according to too high acceleration, and when acceleration was too high, the accuracy of set fixed time point significantly reduced based on the time interval between the zero-crossing timing point that occurs.When definite acceleration A i is equal to or greater than the first appointment acceleration A max, make current limit value Li reduce Δ L1 (＞0) at S504.This process is used to reduce the acceleration of brushless electric machine 2.
When definite acceleration A i is lower than the first appointment acceleration A max, determine at S506 whether it is equal to or less than second and specifies acceleration A min.Second specifies acceleration A min to be provided with according to low excessively acceleration (too high deceleration), crosses when low at acceleration, and the accuracy of putting based in the time interval between the zero-crossing timing point that the occurs set fixed time significantly reduces.When definite acceleration is equal to or less than the second appointment acceleration A min, make current limit value Li increase Δ L2 (＞0) at S508.This process is used to reduce the absolute value of the acceleration of brushless electric machine 2.
In the present embodiment, therefore excessive and be provided with under the significantly reduced situation of accuracy of fixed time point at the absolute value of acceleration A i, carry out following process.Execution is used to reduce the process of the absolute value of acceleration.Thereby, improve the accuracy that the fixed time point is set.This is arranged in the following situation effective especially: mainly utilize 120 ° of motivational techniques to encourage the situation of only controlling rotating speed with the same with present embodiment.More particularly, by the definite acceleration such as load on the output shaft that is applied to brushless electric machine 2, and its fluctuation has various situations.For example, when the fuel viscosity in the petrolift was very low, the load that is applied on the output shaft of brushless electric machine 2 was light.Therefore, the possibility that exists acceleration to become too high at the starting equal time.When taking measures to prevent that acceleration from becoming too high under the low situation of fuel viscosity, following situation appears.Under the high situation of fuel viscosity, prolonged the starting time.Owing to the demand that has the shortening starting time or owing to other similar reason, be difficult to stop acceleration to become too high.
When offering switch element SW1 when the electric current of SW6 surpasses current limit value, carry out PWM and control and replace making switch element SW1 to one 120 ° time periods of SW6 conducting.At this moment, in 120 ° of time periods of fixed time point, switch element SW1 switches between conducting state and off state to the state of SW6.At this moment, switch element SW1 enters the time point of conducting state or time point that they enter off state for the last time is always not consistent with the fixed time point for the first time to SW6.
When controlling turn-on and turn-off switch element SW1 to SW6, provide electric current to pass through diode D1 to D6 by PWM.As a result, produced again the mutual inconsistent time period of terminal voltage Vu, Vv, Vw and reference voltage Vref.Therefore, the masking period section is set in addition.
In the present embodiment, when acceleration for just and when too high, only can change current limit value.
According to the 18 embodiment, except the advantage (1) of the 15 embodiment to (4), also have following advantage.
(7) according to acceleration current limit value Li is set changeably.The increase of absolute value that like this, can degree of will speed up be suppressed to can excessive descent based on the accuracy of the calculating of the time interval between the zero-crossing timing point that occurs required time degree.For this reason, by using the information relevant that the fixed time point can be set more accurately together with rotation speed change.
(the 19 embodiment)
Produce the induced voltage of brushless electric machine 2 in the time of brushless electric machine 2 rotations.For this reason, when brushless electric machine 2 that starting stops, can not carry out switching manipulation based on induced voltage.In order to tackle this problem, when brushless electric machine 2 startings, adopt the measure shown in Figure 64 A usually.By making electric current flow to the angle (electrical degree) that another appointment fixes rotor mutually mutually, just, carry out position fixing process from specifying.In the example shown in Figure 55, switch element SW1 on the high side arm and the switch element SW6 on the low side arm enter conducting state, thereby electric current flows to the W phase mutually from U, so that the rotor angle of brushless electric machine 2 is fixed.When passing through the angle of this process fixed rotor, making rotor angle reach stable may need for a long time.For this reason, the starting time of brushless electric machine 2 may prolong.
In the 19 embodiment, the process shown in the execution graph 64B.Just, the switch element on the two-phase of one of the high side arm of brushless electric machine 2 switch element of going up mutually and low side arm enters conducting state so that electric current (mutually/two-phase excitation) from the one phase flow to the two-phase.Thereby, the rotor angle of brushless electric machine 2 is fixed to predetermined angular.Figure 64 B shows the example of the situation of carrying out following process.Switch element SW1 on the high side arm and switch element SW4, the SW6 on the low side arm enter conducting state, thus electric current from U flow to mutually V mutually with W mutually.Like this, apply effect so that the rotor angle of brushless electric machine 2 departs from predetermined angular reduces; Therefore, can shorten and make rotor angle be stabilized to the time that predetermined angular spends.
Figure 65 A shows the mode of utilizing the position fixing process shown in Figure 64 A to stablize rotor angle, and Figure 65 B shows the mode of utilizing the position fixing process shown in Figure 64 B to stablize rotor angle.In these accompanying drawings, Iu, Iv, Iw represent phase current, and Im and Ip represent the phase current and the source current of motor respectively.According to the position fixing process in the present embodiment, shown in Figure 65 B, shortened making the stable time that is spent of rotor angle, and stopped very early and the relevant current fluctuation of rotor angle fluctuation.
Predetermined angular is set the figure shows predetermined angular and the relation between the starting time according to shown in Figure 66, carrying out.In this example, it is following angle that angle is defined as for 0 °, i.e. the angle that the supposition anglec of rotation is stabilized under the situation that the initial condition of switching manipulation continues during in brushless electric machine 2 startings.The figure shows about the electric current of supplying with brushless electric machine 2 not confined situation and in position fixing process about the starting time (time period) under the confined situation of electric current.
When predetermined angular is arranged on when postponing 150 ° angle to the scope of leading 30 ° backward angle forward, motor can successfully start.This is relevant with the relation shown in Figure 67, and Figure 67 shows the torque following brushless electric machine 2 starting and produced during the beginning switching manipulation and the relation between the predetermined angular.In this example, have on the occasion of torque refer to and make brushless electric machine 2 along the torque that is rotated in the forward.In the scope of leading side, produce the torque that makes brushless electric machine 2 reverse rotations.Therefore, brushless electric machine 2 is easy to reverse rotation.The output torque is in the angle place maximum that postpones 60 °.For this reason, the angle near postponing 60 ° can realize following aspect.Shown in Figure 66, can shorten the starting time especially, and whether limited irrelevant in position fixing process with the electric current that offers brushless electric machine 2.Therefore, in the present embodiment, predetermined angular is set to approach to postpone 60 ° angle.
Figure 68 shows the process that is used for starting brushless motor 2 in the present embodiment.Ignition switch (IG-ON) by conducting triggers this process, and utilizes Drive and Control Circuit 220 to carry out.
When the ignition switch conducting, carry out the position fixing process that encourages based on one phase/two-phase at S510.At S512, check and after position fixing process begins, whether passed through scheduled time Tdi.Scheduled time Tdi is set to equal or is longer than based on one phase/two-phase excitation supposition rotor angle and is stabilized to the time of predetermined angular, and short as much as possible.When scheduled time Tdi through out-of-date, stop position fixing process at S514.That is, stop high side arm one mutually and the conducting of the two-phase of low side arm operate, and these become the shutoff mode of operation mutually.At S516, brushless electric machine 2 startings.The process of S514 can be implemented as following process, promptly change to the process of the initial condition of the switching manipulation of following brushless electric machine 2 startings from the state of above-mentioned switching manipulation based on the excitation of one phase/two-phase.When the process of S516 was finished, these a series of processes stopped once.
According to the 19 embodiment, except the advantage (1) of the 15 embodiment to (4), also have following advantage.
(8) before brushless electric machine 2 startings, provide electric current one phase flow to two other phases, be fixed on predetermined angular with rotor angle with brushless electric machine 2 from brushless electric machine 2.Like this, can shorten making angle be stabilized to the time that predetermined angular spends, and can shorten the starting time of brushless electric machine 2 thus.
(9) predetermined angular is set to approach an angle, and the rotor stability value of the brushless electric machine 2 of hypothesis postpones 60 ° if this angle continues with respect to the initial condition of the switching manipulation of following brushless electric machine 2 starting.Like this, utilize first switching manipulation can produce the big torque that is rotated in the forward, and therefore can shorten the starting time.
(the 20 embodiment)
When carrying out above-mentioned position fixing process based on one phase/two-phase excitation, can not produce rotating torques by one phase/two-phase excitation of depending on the stop position of brushless electric machine 2 before beginning at position fixing process.More particularly, from Figure 67 obviously as can be seen, when predetermined angular and stop position depart from 180 ° mutually, can not produce rotating torques.Therefore, in this case, might can't carry out the location rightly by said process.
Therefore, in the 20 embodiment, encourage and finish position fixing process by carrying out twice one phase/two-phases.Figure 69 shows the process that is used for starting brushless motor 2 in the present embodiment.This process is triggered by the ignition switch of conducting, and is carried out by Drive and Control Circuit 220.
These a series of processes are carried out according to following manner.At S520, carry out interim position fixing process based on one phase/two-phase excitation.At this moment, the angle of rotor is fixed on the angle different with predetermined angular.(S522: be) stops interim position fixing process at S524 when passing through scheduled time Tdi.Subsequently, at S526, utilize one phase/two-phase excitation to carry out final position fixing process.That is, carry out this position fixing process so that rotor angle is stabilized to predetermined angular.At this moment, can as the 15 embodiment, predetermined angular be set.That is, this angle is set to approach following angle, and the stationary value of the rotor angle that obtains if the following angle here continues with respect to the initial condition of the switching manipulation of following brushless electric machine 2 starting postpones 60 °.This predetermined angular so is provided with, so that make differential seat angle between the fixing angle of rotor and the angle that rotor is fixed greater than 0 ° and less than 180 ° by above-mentioned interim position fixing process.Expectation is provided with so more, so that described differential seat angle is 60 ° substantially.When the time of final position fixing process equals scheduled time Tdi, stop this final position fixing process at S530.At S532, starting brushless motor 2.
According to said process, even when the rotor angle of brushless electric machine 2 and the difference between the predetermined angular are 180 °, also can realize following aspect.To control to the difference of predetermined angular by interim position fixing process, can make brushless electric machine 2 rotations less than 180 °.For this reason, necessarily can the rotor angle of brushless electric machine 2 be fixed on predetermined angular by final position fixing process.The rotor angle of the brushless electric machine 2 before the position fixing process is interim position fixing process can't produce the angle of rotating torques the time, and this angle is the angle that final position fixing process produces rotating torques.For this reason, rotor can be rotated to predetermined angular by final position fixing process.
By utilizing interim position fixing process to make fixing angle of rotor and the difference between the predetermined angular, can realize following aspect near 60 °.Can make the scheduled time Tdi of S528 be shorter than the scheduled time Tdi of the S512 among Figure 68.Reason is as follows.When final position fixing process began, the rotating torques that produces in the brushless electric machine 2 increased.As a result, will the fixing angle change of rotor be shortened to the required time of predetermined angular by interim position fixing process.
According to the 20 embodiment, except the advantage (8) and (9) of the 19 embodiment, also has following advantage.
(10) under the situation of fixed position variation, make the rotor angle of brushless electric machine 2 be fixed on predetermined angular by carrying out twice one phase/two-phases excitations.Like this, necessarily rotor angle can be fixed on predetermined angular, and with position fixing process before the rotor angle of brushless electric machine 2 irrelevant.
(the 21 embodiment)
In the 21 embodiment, shown in Figure 70, the ignition switch by conducting triggers the process that is used for starting brushless motor 2, and utilizes Drive and Control Circuit 220 to carry out.This series process is similar to the 19 embodiment (Figure 68), but is different from the 19 embodiment again at S540 and S542.
When S512 determines to have passed through scheduled time Tdis, carry out the short circuit process of all phases at S540.In this process, the whole conductings of switch element SW2, SW4, SW6 on switch element SW1, the SW3 on the high side arm, SW5 or the low side arm.When the full phase short circuit process of execution continues scheduled time Ts (S542: be), starting brushless motor 2.
According to full phase short circuit process, utilize the induced voltage of following brushless electric machine 2 rotations that the electric current of process brushless electric machine 2 is provided.The resistance of current path etc. makes this current attenuation.In other words, the energy of rotation of having decayed.For this reason, brushless electric machine 2 can stop at predetermined angular rapidly.It is the time of satisfying following condition that scheduled time Ts is arranged to: this time should be equal to or greater than vibration by the decay of full phase short circuit process so that the rotor angle of brushless electric machine 2 is stabilized to the time that predetermined angular and this motor stop substantially; And this time should be short as much as possible.
According to this process, needn't be stabilized to the time that predetermined angular spends according to the rotor angle of brushless electric machine 2 and determine scheduled time Tdis at S512.This scheduled time can be determined according to making rotor angle be converted to the required time of predetermined angular.For this reason, can make scheduled time Tdis be shorter than the scheduled time Tdi at the S512 place among Figure 68.
According to the 21 embodiment, except the advantage (8) and (9) of the 19 embodiment, also has following advantage.
(11) after the process based on one phase/two-phase excitation, all of brushless electric machine 2 are by short circuit.Like this, can further shorten rotor angle and be stabilized to the time that predetermined angular spends.
(the 22 embodiment)
Figure 71 shows the process that is used for starting brushless motor 2 among the 22 embodiment.Ignition switch by conducting triggers and is used for this process, and utilizes Drive and Control Circuit 220 to carry out this process.This process is similar to the 20 embodiment (Figure 69), but is different from the process of the 20 embodiment again at S544 and S546.
These a series of processes are carried out according to following manner.When carrying out following process, carry out full phase short circuit process (S544 and S546).When execution is used for one phase of interim position fixing process/two-phase excitation, carries out full phase short circuit process and continue scheduled time Tdis (S522: be).In addition, when execution is used for one phase of final position fixing process/two-phase excitation, carries out full phase short circuit process and continue scheduled time Tdis (S528: be).Like this, compare, shortened and located the required time with the 20 embodiment (Figure 69).
(the 23 embodiment)
The 23 embodiment is the distortion of the 20 embodiment (Figure 69).
In 120 ° of excitation controls, when supplying with the electric current of switch element SW1 to SW6 and be equal to or greater than predetermined value, execution PWM controls and limits this electric current.In the present embodiment, in position fixing process, when supplying with the electric current of switch element SW1 and be equal to or greater than predetermined value, also carry out PWM and control to SW6.
Figure 72 shows the process that is used for electric current restriction control among the 23 embodiment.This process is for example carried out with predetermined period repeatedly by Drive and Control Circuit 220.
At S550, check the process that whether positioning.When determining positioning process, determine at S552 whether switch element SW1, the SW3 on the high side arm, the magnitude of current Ih of SW5 are equal to or greater than threshold current Ith.This process is used for determining whether the magnitude of current Ih during the position fixing process is excessive.When definite magnitude of current Ih is equal to or greater than threshold current Ith, turn-off all switch element SW2, SW4, the SW6 that hangs down on the side arm at S554.When being defined as negating at S550 or S552, or when the process of S554 was finished, these a series of processes stopped once.
In this 23 embodiment, can limit electric current by the switch element that closes on the broken height side arm.Yet, in this case, whether be equal to or greater than predetermined value according to for example summation of the current value by the switch element on the low side arm, carry out the process of restriction electric current.
According to the 23 embodiment, except advantage (8) and (9), also has following advantage.
(12) when making the magnitude of current of supply brushless electric machine 2 be equal to or greater than scheduled current owing to one phase in the position fixing process/two-phase excitation, the restriction energizing quantity.Like this, can prevent that the power consumption in the position fixing process is excessive.In addition, it is too high to prevent that the excitation that is used to locate from operating the torque that is produced, and has shortened the stable time that is spent of the anglec of rotation.
(the 24 embodiment)
Figure 73 shows the relevant process of the starting process with starting brushless motor 2 among the 24 embodiment.This process is triggered by the ignition switch of conducting, and is carried out repeatedly with predetermined period by Drive and Control Circuit 220.
In this process, continue scheduled time Tv or when longer (S560: be), carry out following process when the time period that the voltage VB of battery 214 is equal to or greater than given voltage Vth.The various parameters that being used in the Drive and Control Circuit 220 controlled brushless electric machine 2 are initialised (S562), and the execution process (S564) relevant with the starting of brushless electric machine 2.That is, carry out the process shown in Figure 68.
Given voltage Vth is set to a value, and this value is to be added on the required voltage of Drive and Control Circuit 220 work and to obtain by being scheduled to nargin, so that Drive and Control Circuit 220 is stable.When the starting of forbidding brushless electric machine 2 until wherein the voltage of battery 214 be equal to or greater than the state continuance scheduled time Tv of given voltage Vth or when longer, can realize following aspect.Shown in Figure 74, when the voltage of battery 214 has been stablized, can starting brushless motor 2.
The initialized reason of carrying out S562 is as follows.Owing to be added in the voltage of Drive and Control Circuit 220 in case reduce, the reliability of the parameter of using in the Drive and Control Circuit 220 might reduce.
According to the 24 embodiment, except the advantage (8) and (9) of the 20 embodiment, also has following advantage.
(13) forbid brushless electric machine 2 startings, until the voltage of brushless electric machine 2 is equal to or greater than predetermined given voltage.Can prevent like this Drive and Control Circuit 220 fluctuation of service incident and prevent that the rotation status of brushless electric machine 2 is out of control etc.For this reason, the situation that can avoid brushless electric machine 2 to stop the rotation and carry out starting process subsequently once more.
(14) forbid brushless electric machine 2 startings, continued scheduled time Tv until the voltage of battery 214 is equal to or greater than the time period of given voltage.Like this, can be with the burning voltage actuating motor of battery 214.
The 15 to the 24 embodiment can be according to hereinafter described making amendment.
The modification of carrying out in the 23 embodiment to the 19 embodiment can be used among the 22 embodiment.The modification of carrying out in the 24 embodiment to the 19 embodiment can be used among the 15 to the 19 embodiment and among the 22 to the 23 embodiment.
Needn't be necessarily two other switch elements mutually on switch element and the low side arm by the phase on the high side arm of conducting so that electric current is carried out described position fixing process from one phase flow to other two-phase.For example, the switch element mutually of another on the switch element that it also can be by the two-phase on the high side arm of conducting and the low side arm is so that electric current flows to another from two-phase carries out mutually.If adopt for example four phase or more heterogeneous brushless electric machines 2, can carry out position fixing process according to following manner.The switch element conducting of the two-phase on the high side arm, in addition, the switch element conducting of the two-phase on the low side arm.
Predetermined angular be not limited to about the example of the foregoing description described those.In this case, predetermined angular need be arranged on from postponing 180 ° angle forward in the angular range of leading 30 ° backward angle.In order to utilize the initial switch operation to produce positive torque, need predetermined angular be set in the delay side with starting brushless motor 2.In addition, from reduce the starting time and with electric current limited irrelevant viewpoint whether, predetermined angular need be arranged on before 120 ° the angle of delay.
The technology that fixed time point is set needn't be following method: according to the time interval between the zero-crossing timing point that occurs, calculate from the zero-crossing timing point that occurs before being close to and put the required time to the fixed time occurring; And proofread and correct required computing time according to rotation speed change.For example, can use and defined the X-Y scheme that concerns between rotating speed, acceleration and the required time.In addition, utilize expression formula=Ni * t+ (1/2) * Ai * t * t of predetermined angular, can calculate required time t by predetermined angular, rotational speed N i and the acceleration A i that the zero-crossing timing that occurs was put in time period of the fixed time point that occurs.
Be used to extract the information relevant with rotation speed change and based on the technology that this information detects zero-crossing timing point and the fixed time point is set be not limited to about the foregoing description or its modification described those.For example, the value that obtains by following expression formula can be provided with counter in the value that zero-crossing timing point place occurs as the fixed time point: the currency of counter * (preceding value of the currency/counter of counter).The value that currency-K * (preceding value of the currency-counter of counter) obtained of counter can be provided with the value of counter as the fixed time point.That is, as long as use the testing result of three or more zero-crossing timing point to extract above-mentioned information and, just can adopt any technology according to this information setting fixed time point.
The structure of current detector 228 be not limited to about the example of the foregoing description described those.For example, it can be configured between the positive voltage of each switch element SW1, SW3, SW5 and battery 214, shunt resistor is set, and detect the electric current that offers them based on the falling quantity of voltages of this shunt resistor.
Brushless electric machine 2 needn't necessarily be mounted in the actuator in the petrolift, and can be the actuator that for example is used for the fan that the radiator to on-vehicle internal combustion engine cools off.In addition, brushless electric machine 2 can be arranged on the motor in data logger or the reproducer (be installed in auto-navigation system etc. in).That is, motor can be arranged on the data logger that is used for disk media or the motor of reproducer, and described disk media for example is DVD (Digital video disc), CD-ROM (read-only optical disc) and hard disk.Rotating machinery needn't be a motor, can also be generator.
Power supply needn't be a battery 214, also can be the generator that is set to the energy of rotation of on-vehicle internal combustion engine is changed into electric energy.
Claims (10)
1. rotating machinery drive unit that is used for rotating machinery (2) is characterized in that:
Step-out prediction module (7), it monitors the rotation status of described rotating machinery, thereby detects the sign that described rotating machinery is converted to desynchronizing state; And
Drive control module (4) when it detects described sign in described step-out prediction module, temporarily stops the driving of described rotating machinery so that described rotating machinery freedom of entry running status, and after carry out control restarting to drive described rotating machinery,
Wherein, described step-out prediction module (7) detects the speed of described rotating machinery, with the normal speed of described detected speed and described rotating machinery relatively, and the difference between described detected speed and described normal speed detect described sign when being equal to or greater than predetermined value
At described rotating machinery is under the situation of three-phase rotating machinery, described step-out prediction module (7) detects the time period that is equivalent to 60 ° of electrical degrees based on the zero-crossing timing point of the induced voltage of described rotating machinery, and the length of described detected time period compared with the time period that is equivalent to 60 ° of electrical degrees under normal speed, and
When the generation pattern of the output voltage of described each phase of rotating machinery and predetermined inconsistent time period of generation pattern were equal to or greater than predetermined value, described step-out prediction module (7) detected described sign.
2. rotating machinery drive unit as claimed in claim 1, wherein:
Described step-out prediction module (7) detects and offers the electric current of described rotating machinery, and detects described sign when the fluctuation in the described electric current is equal to or greater than predetermined value.
3. rotating machinery drive unit that is used for rotating machinery (2) is characterized in that:
Step-out prediction module (7), it monitors the rotation status of described rotating machinery, thereby detects the sign that described rotating machinery is converted to desynchronizing state; And
Drive control module (4) when it detects described sign in described step-out prediction module, temporarily stops the driving of described rotating machinery so that described rotating machinery freedom of entry running status, and after carry out control restarting to drive described rotating machinery,
Wherein, when the generation pattern of the output voltage of described each phase of rotating machinery and predetermined inconsistent time period of generation pattern were equal to or greater than predetermined value, described step-out prediction module (7) detected described sign.
4. rotating machinery drive unit as claimed in claim 3, wherein:
Described step-out prediction module (7) detects and offers the electric current of described rotating machinery, and detects described sign when the fluctuation in the described electric current is equal to or greater than predetermined value.
5. rotating machinery drive unit that is used for rotating machinery (2) is characterized in that:
Step-out prediction module (7), it monitors the rotation status of described rotating machinery, thereby detects the sign that described rotating machinery is converted to desynchronizing state; And
Drive control module (4) when it detects described sign in described step-out prediction module, temporarily stops the driving of described rotating machinery so that described rotating machinery freedom of entry running status, and after carry out control restarting to drive described rotating machinery,
Wherein, when the generation pattern of the output voltage of described each phase of rotating machinery and predetermined inconsistent time period of generation pattern are equal to or greater than predetermined value, described step-out prediction module (7) detects described sign, when described step-out prediction module (7) detects the generation pattern of each phase induced voltage, described step-out prediction module (7) is divided into three level with the induced voltage of described rotating machinery, and they are high level, low level, be arranged on the non-level of drive between described high level and the low level.
6. rotating machinery drive unit as claimed in claim 5, wherein:
Described step-out prediction module (7) detects and offers the electric current of described rotating machinery, and detects described sign when the fluctuation in the described electric current is equal to or greater than predetermined value.
7. rotating machinery driving method comprises:
Detect the induced voltage that produces in the winding of rotating machinery (2);
Estimate the rotor-position of described rotating machinery based on described detected induced voltage, thereby obtain to be used for the actuation duration point of described rotating machinery, it is characterized in that:
Monitoring (S4, the S5) rotation status of described rotating machinery, thus detect the sign that described rotating machinery is converted to desynchronizing state; And
When detecting described sign, temporarily stop to drive described rotating machinery (S6) so that described rotating machinery freedom of entry running status, and after, carry out control driving described rotating machinery again,
Wherein, described monitoring (S4, S5) by carrying out the comparison of method 1, carry out method 2 relatively or carry out method 3 relatively detect described sign: method 1 is compared the speed of detected described rotating machinery with the normal speed of described rotating machinery, the time period length that is equivalent to 60 ° of electrical degrees that method 2 will detect based on the zero-crossing timing point of the induced voltage of described rotating machinery was compared with the time period that is equivalent to 60 ° of electrical degrees under normal speed, and the generation pattern of the output voltage of method 3 more described each phase of rotating machinery and predetermined inconsistent time period of generation pattern are equal to or greater than predetermined value.
8. rotating machinery driving method as claimed in claim 7, wherein:
(S4, S5) detection offers the electric current of described rotating machinery, and detects described sign when the fluctuation in the described electric current is equal to or greater than predetermined value in described monitoring.
9. rotating machinery driving method comprises:
Detect the induced voltage that produces in the winding of rotating machinery (2);
Estimate the rotor-position of described rotating machinery based on described detected induced voltage, thereby obtain to be used for the actuation duration point of described rotating machinery, it is characterized in that:
Monitoring (S4, the S5) rotation status of described rotating machinery, thus detect the sign that described rotating machinery is converted to desynchronizing state; And
When detecting described sign, temporarily stop to drive described rotating machinery (S6), so that described rotating machinery freedom of entry running status, and after, carry out control to drive described rotating machinery again, when the generation pattern of the output voltage of described each phase of rotating machinery and predetermined inconsistent time period of generation pattern are equal to or greater than predetermined value, detect described sign
Wherein, step-out prediction module (7) detects the generation pattern of the induced voltage of described each phase of rotating machinery, and described induced voltage is divided into three level: high level, low level and be arranged on the non-level of drive between described high level and the low level.
10. rotating machinery driving method as claimed in claim 9, wherein:
(S4, S5) detection offers the electric current of described rotating machinery, and detects described sign when the fluctuation in the described electric current is equal to or greater than predetermined value in described monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410339412.8A CN104092415B (en) | 2006-11-30 | 2007-11-30 | Apparatus and method for driving rotating machinery |
Applications Claiming Priority (14)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP323947/2006 | 2006-11-30 | ||
| JP2006323947A JP2008141828A (en) | 2006-11-30 | 2006-11-30 | Motor driving device and motor driving method |
| JP329430/2006 | 2006-12-06 | ||
| JP2006329430A JP2008148379A (en) | 2006-12-06 | 2006-12-06 | Motor drive device and method for driving motor |
| JP2007025842 | 2007-02-05 | ||
| JP025841/2007 | 2007-02-05 | ||
| JP2007025841A JP2008193812A (en) | 2007-02-05 | 2007-02-05 | Controller of rotary machine |
| JP2007025840A JP5125130B2 (en) | 2007-02-05 | 2007-02-05 | Rotating machine control device |
| JP025842/2007 | 2007-02-05 | ||
| JP025840/2007 | 2007-02-05 | ||
| JP2007040958A JP5196802B2 (en) | 2007-02-21 | 2007-02-21 | Control device for rotating electrical machine |
| JP040958/2007 | 2007-02-21 | ||
| JP2007232989A JP5125339B2 (en) | 2007-02-05 | 2007-09-07 | Control device for multi-phase rotating machine |
| JP232989/2007 | 2007-09-07 |
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| CN2010101433045A Division CN101789736B (en) | 2006-11-30 | 2007-11-30 | Apparatus and method for driving rotary machine |
| CN201210124225.9A Division CN102710191B (en) | 2006-11-30 | 2007-11-30 | Device and method for driving rotary machine |
| CN201410339412.8A Division CN104092415B (en) | 2006-11-30 | 2007-11-30 | Apparatus and method for driving rotating machinery |
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| CN101192803B true CN101192803B (en) | 2011-05-04 |
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| CN2007101940743A Expired - Fee Related CN101192803B (en) | 2006-11-30 | 2007-11-30 | Device and method for driving rotary mechinery |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3331151B1 (en) * | 2015-07-27 | 2022-06-22 | Hitachi Industrial Equipment Systems Co., Ltd. | Power conversion device and power conversion device control method |
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| JP7206679B2 (en) | 2018-07-31 | 2023-01-18 | 株式会社アイシン | Drives for electric motors and electric pump devices |
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| CN110850850B (en) * | 2019-11-29 | 2021-04-09 | 安徽江淮汽车集团股份有限公司 | Off-line detection method, device and equipment for cooling water pump and storage medium |
| CN111537879B (en) * | 2020-05-13 | 2024-01-16 | 江苏首智新能源技术有限公司 | Synchronous motor out-of-step diagnosis method and system |
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| EP3331151B1 (en) * | 2015-07-27 | 2022-06-22 | Hitachi Industrial Equipment Systems Co., Ltd. | Power conversion device and power conversion device control method |
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| CN101192803A (en) | 2008-06-04 |
| JP2008141828A (en) | 2008-06-19 |
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