CN101483403A - Control system for multiphase electric rotating machine - Google Patents

Abstract

A control system controls a multiphase rotating machine by a 120 DEG energization process and a PWM process. In the 120 DEG energization process, respective ones of switching elements of a high side arm and switching elements of a low side arm of a power conversion circuit are turned on. In the PWM process, the switching elements of the power conversion circuit turn on/off so that two phases that are connected to the switching elements that are in the on-state are alternately rendered conductive to the high potential side input terminal and the low potential side input terminal of the power conversion circuit.

Description

The control system that is used for polyphase rotating machine

Technical field

The present invention relates to a kind of control system that is used for polyphase rotating machine, this control system applies voltage by the switch element of electrical power for operation translation circuit to polyphase rotating machine.

Background technology

At a kind of classical control system that is used for multiphase motor, for example in JP-9-312993A, by 120 ° of electrifying methods (system) when threephase motor applies square waveform voltage, the pulse duration of modulated square wave shape voltage.In this system, carry out pulse width modulation (PWM) constantly synchronously with the conversion of the switching that is used to apply square waveform voltage.This has suppressed the noise when the switch element of carrying out pulse width modulation is switched.

When carrying out the PWM processing in the above described manner, the neutral point potential and the pulse width modulation of brushless motor change synchronously.On the other hand, adjacent because the neutral point of motor generally is arranged to by insulator with conductor, so neutral point potential is passed through capacitor grounding of equal valuely.In this case, when neutral point potential and pulse width modulation changed synchronously, electric current flowed the conductor side by insulator from neutral point, and this electric current may become noise.

The classical control system that is used for polyphase rotating machine at another kind, when driving threephase motor with no approach sensor, when changing phase place, carry out twice galvanization, thereby obtain the initial value of the anglec of rotation, thus the fixing anglec of rotation from a specific phase to another phase.Even the rotor anglec of rotation before galvanization begins because make it arrive the final anglec of rotation by twice galvanization control anglec of rotation like this is set to become uncontrollable angle near electrical angle 180 ° (dead points) with respect to the final anglec of rotation, also the anglec of rotation of motor can be controlled to the final anglec of rotation.That is, when beginning the galvanization rotor anglec of rotation before, can not change rotor the anglec of rotation is controlled to the final anglec of rotation by galvanization near the dead point.Yet galvanization is performed twice, the anglec of rotation of motor can be controlled to the final anglec of rotation thus.

In twice galvanization, for example JP 3244800 (US 5396159) has proposed a technology, corresponding galvanization number of times wherein is set, the satisfied f1 that concerns of the natural frequency of the frequency f 1 (1/2 * (processing time)) that making wins handles, second frequency f of handling 2 (1/2 * (processing time)) and motor〉F0〉f2.As a result, when motor start-up, can be rotated in the forward motor safely.

The motor that is energized converges to the required convergence time of given angle with the anglec of rotation and depends on the inertia of motor and the frictional force between rotor and the bearing.That is convergence time becomes big along with inertia or frictional force diminishes and elongated.Therefore, when based on the natural frequency in the above-mentioned example being set the time of first galvanization, according to the difference of motor, the anglec of rotation of the time started of second galvanization point might become the uncontrollable angle near the dead point.In this case, normal actuating motor.

Be used for the classical control system of polyphase rotating machine at another kind, the induced voltage that occurs in the terminal voltage of the stator winding by detecting no any rotor position detector (for example Hall element) comes the detection rotor position.For example, when driving the three-phase brushless DC motors, come the detection position signal based on the comparative result of open phase terminal voltage and reference voltage by 120 ° of electrifying methods.In this case, in order to control the electric current that flows through in the voltage that is applied to motor and the motor, carry out pulse width modulation control or Current limited Control.

When under PWM control or the Current limited Control with the "on" position of stator winding when dissengaged positions (off-state) becomes on-state (on-state), ringing (ringing) (cyclic fluctuation) can take place in the terminal voltage.When ringing occurring in the terminal voltage, phase shift (over time) takes place in by the position signalling that relatively terminal voltage and reference voltage provide, cause that rotation is inhomogeneous, noise or homophase (step-out phase) not.

Therefore, JP 3308680 proposes and will latch in the terminal voltage in the decline moment of pwm signal from the on-state to the dissengaged positions and the compare result signal of reference voltage.Therefore, position signalling can be provided and the influence of the ringing that can not be subjected to taking place in the terminal voltage.Yet, must add latch circuit as new functional circuit to microcomputer that uses so far or logical circuit always, perhaps regulate the latch circuit of one of resource as assembling in the microcomputer, make it become the realization above-mentioned purpose from realizing another predetermined purpose.As a result, circuit is complicated.

Summary of the invention

Therefore first purpose of the present invention provides a kind of control system that is used for polyphase rotating machine, and it can suitably suppress the generation of noise by the switch element at electrical power for operation translation circuit when polyphase rotating machine applies voltage.

Second purpose of the present invention provides a kind of control system that is used for electric rotating machine, and its anglec of rotation to electric rotating machine is carried out Position Control, makes it arrive final angle by intermediate angle, suitably starts electric rotating machine thus.

The 3rd purpose of the present invention provides a kind of control system that is used for polyphase rotating machine, and it is detection position signal and can not make system configuration complicated accurately.

According to the first aspect that is used to realize first purpose,, control this control unit by power transformation circuit with a plurality of switch elements for polyphase rotating machine provides control unit.Control unit is operated described switch element, so as alternately conversion make respectively described first with described high potential side input terminal conducting and make described second with the state of described low potential side input terminal conducting and make respectively described first with described low potential side input terminal conducting and make described second with the state of described high potential side input terminal conducting.Control unit is modulated the pulse duration of the square waveform voltage that is applied to electric rotating machine thus.

Perhaps, control unit is operated described power transformation circuit all the other being divided into mutually first mutually and second mutually, and alternately make described first phase with described second with described high potential side input terminal and the conducting of described low potential side input terminal.

According to the second aspect that is used to realize second purpose, control unit is repeatedly carried out the process that mutually flow into another phase of electric current from electric rotating machine that allow, change a described phase and another at least one in mutually simultaneously, control to final angle by intermediate angle with the anglec of rotation with electric rotating machine.Control unit is determined the initial value of the anglec of rotation when starting electric rotating machine according to final angle thus.Beginning the required time up to described last process after beginning near the last process of last process in described a plurality of process is set to be longer than the very first time, during the described very first time, suppose that the desired value of the anglec of rotation that caused by the last process near described last process is consistent with the described anglec of rotation amplitude of fluctuation with respect to angular spacing between the uncontrollable angle at final angle and described electric rotating machine that described last process causes.

Perhaps, under the condition of convergence of the anglec of rotation section desired value that in the actual anglec of rotation converges to by described a plurality of processes, causes, described process is transformed into described last process near the last process of last process.Change in the anglec of rotation that is caused by the last process near described last process decays when the change of the described anglec of rotation drops within the zone, satisfy the described condition of convergence, wherein, the desired value of the described anglec of rotation that causes with the last process near described last process of described zone is center and more close than the uncontrollable angle of described last process.

According to the third aspect that is used to realize the 3rd purpose, control unit produces shielded signal, the pwm signal of the switch element that is used for power transformation circuit when on-state becomes dissengaged positions or before make described shielded signal effective, and after dissengaged positions becomes on-state, made it invalid after given time of delay in the past at described pwm signal.Control unit produces the signal of communication of logic under the consistent condition of the next predetermined logic rules (regular logic) of the rotation of the described electric rotating machine of logical AND of the comparison signal of corresponding phase, the logic of the described comparison signal terminal voltage of electric rotating machine and the result of reference voltage is as a comparison exported.Power transformation circuit based on described pwm signal and described signal of communication to described stator winding electrifying.

Perhaps, described power converter replaces the energising that pwm signal is controlled electric rotating machine with current controling signal.Use shielded signal to come shielding ratio result.

Description of drawings

By the following detailed description of being done with reference to the accompanying drawings, above-mentioned and other purposes, feature and advantage of the present invention will become more obvious.In the accompanying drawings:

Fig. 1 is the circuit diagram of the system of first embodiment of the invention;

Fig. 2 is the sequential chart that shows according to the switch control operation of first embodiment;

Fig. 3 A and 3B are the circuit diagram that shows the advantage of handling according to the PWM of first embodiment;

Fig. 4 A is the sequential chart that shows the analog result of handling according to the PWM of first embodiment to 4D;

Fig. 5 A is the sequential chart that shows the analog result that the PWM of comparative example handles to 5D;

Fig. 6 A is the sequential chart that shows the analog result that the PWM in the modification example of the foregoing description handles to 6D;

Fig. 7 A is to show the sequential chart that the example of 130 ° of galvanizations is carried out the analog result of conventional PWM processing to 7D;

Fig. 8 shows the system circuit diagram of second embodiment of the invention;

Fig. 9 is the sequential chart that shows the problem in the position fixing process;

Figure 10 A and 10B are the sequential chart that shows according to the station-keeping mode of second embodiment;

Figure 11 is the flow chart that shows according to the process flow that is used to regulate for first positioning time of second embodiment;

Figure 12 shows the flow chart according to the position fixing process flow process of second embodiment;

Figure 13 shows the flow chart according to the position fixing process flow process of the 3rd embodiment;

Figure 14 shows the flow chart according to the position fixing process flow process of the 4th embodiment;

Figure 15 A and 15B are the sequential chart that shows according to the mode of first positioning time of adjusting of the modification example of corresponding second to the 4th embodiment;

Figure 16 shows the circuit diagram of fifth embodiment of the invention;

Figure 17 is the oscillogram that is applied to U phase, V phase and W signal mutually that shows according to the 5th embodiment;

Figure 18 is the oscillogram that shows according to pwm signal, shielded signal and the terminal voltage of the open phase of the 5th embodiment;

Figure 19 is the form of generation order that shows the logic rules of comparison signal Cu, Cv and Cw;

Figure 20 shows the circuit diagram of sixth embodiment of the invention;

Figure 21 is the oscillogram that is applied to U phase, V phase and W signal mutually that shows according to the 6th embodiment;

Figure 22 is the oscillogram that shows according to pwm signal, shielded signal and the terminal voltage of the open phase of the 6th embodiment;

Figure 23 shows the circuit diagram of seventh embodiment of the invention;

Figure 24 shows the circuit diagram of eighth embodiment of the invention;

Figure 25 is the oscillogram that is applied to U phase, V phase and W signal mutually that shows according to the 8th embodiment;

Figure 26 shows the circuit diagram of ninth embodiment of the invention; And

Figure 27 is the circuit diagram that shows according to the current control signal generator circuit of tenth embodiment of the invention.

Embodiment

To describe the present invention in detail with reference to each embodiment, the control system that adopts electric rotating machine in each embodiment is as the control system that is used for vehicle-mounted brushless motor.

(first embodiment)

At first with reference to figure 1, brushless motor 2 be one with the threephase motor of permanent magnet as rotor, be used as the actuator of the petrolift of on-vehicle internal combustion engine.The three-phase of brushless motor 2 (U phase, V phase, W phase) links to each other with power transformation circuit 3 such as inverter, and inverter is a kind of power converter from the direct current to the alternating current.Power transformation circuit 3 is the three-phase power translation circuit, the voltage of battery 12 1 sides suitably is applied to the three-phase of brushless motor 2.Particularly, power transformation circuit 3 has the circuit of being connected in parallel, and it comprises switch element SW1, SW2, and switch element SW3, SW4 and switch element SW5, SW6 are so that make each and the positive electrode side or the negative electrode side conducting of battery 12 in the three-phase.The U that the tie point of switch element SW1 with switch element SW2 that be connected in series is connected to brushless motor 2 mutually.The V that the tie point of switch element SW3 with switch element SW4 that be connected in series is connected to brushless motor 2 mutually.In addition, the W that the tie point of switch element SW5 with switch element SW6 that be connected in series is connected to brushless motor 2 mutually.Respectively switch element SW1 is parallel-connected to sustained diode 1 to D6 to SW6.

Each switch element SW1, SW3 and the SW5 of the high potential side of series circuit (high side) arm are formed by the p channel mosfet.Each switch element SW2, SW4 and the SW6 of low potential side (downside) arm are formed by the n channel mosfet.Sustained diode 1 to D6 is the parasitic diode of MOS field-effect transistor.

Provide electronic control unit 20 to control brushless motor 2 and electrical power for operation translation circuit 3.In this example, carry out switch control by 120 ° of electrifying methods or process basically.Carry out this processing based on following principle: the moment of utilizing the moment that produces induced voltage among terminal voltage Vu, the Vv of the corresponding phase of brushless motor 2 and the Vw to detect induced voltage to arrive the neutral point voltage (reference voltage Vr) of brushless motor 2 (zero passage constantly).By resistive element RU, RV and RW corresponding terminal voltage Vu, Vv and the Vw mutually of brushless motor 2 carried out dividing potential drop reference voltage Vr is provided.Particularly, carry out filtering by 27 pairs of voltages that divided of filter.Zero passage is directed to constantly the counter-rotating moment of the output of comparator 21,22 and 23, comparator is with terminal voltage Vu, Vv and the Vw and the reference voltage Vr comparison of corresponding phase.The moment that postpones given electrical angle (for example 30 °) from zero passage constantly (adjusting constantly), diverter switch element SW1 is to the operation of SW6.Control unit 20 comprises zero cross detection circuit 20a, and can be configured to logical circuit, maybe can be configured to comprise the program-con-trolled computer of the memory of CPU and storage control program.

In Fig. 2, (a1) show in 120 ° of galvanizations switch element SW1 to the conversion of the switched of SW6 to (f1).Particularly, (a1) show the conversion of the working signal of switch element SW1, (b1) show the conversion of the working signal of switch element SW3, (c1) show the conversion of the working signal of switch element SW5, (d1) show the conversion of the working signal of switch element SW2, (e1) show the conversion of the working signal of switch element SW4, (f1) show the conversion of the working signal of switch element SW6.

As shown in the figure, revolve during turn around (360 °) at brushless motor 2, each switch element SW1 connects the time that is equal to each other to SW6.Particularly, because respectively at interval 120 ° connect high side arm switch element SW1, SW3 and SW5 successively, so corresponding turn-on time of Duan Buhui crossover each other of these switch elements SW1, SW3 and SW5.Similarly, because respectively at interval 120 ° connect downside arm switch element SW2, SW4 and SW6 successively, so also crossover each other not of corresponding turn-on time of section of these switch elements SW2, SW4 and SW6.

In above control unit 20, when the electric current that flows in the brushless motor 2 surpassed current limit value, the connection by alteration switch element repeatedly and cut off and carry out PWM control was with the electric current (energising amount) that flows in the restriction brushless motor 2.Similarly, when torque that will limit brushless motor 2 and rotary speed, carry out PWM control.By carrying out PWM control, compare the energising amount that has reduced brushless motor 2 with 120 ° of galvanizations, thereby can limit electric current or restriction rotary speed.In Fig. 2, (a2) show in the PWM control switch element SW1 to the switching mode of SW6 to (f2).In Fig. 2, (a2) correspond respectively to (a1) to (f1) to (f2).

As shown in the figure, alternately make the two-phase that is connected to the switch element of connecting by 120 ° of galvanizations and the high potential side input terminal (positive electrode of battery 12) and low potential side input terminal (negative electrode of the battery 12) conducting of power transformation circuit 1.In corresponding two-phase, alternately connect switch element SW1, the SW3 of high side arm and switch element SW2, SW4 and the SW6 of SW5 and low side arm, this moment, one of this two-phase was positioned at high side arm side and another is positioned at downside arm side mutually.As a result, suppressed the change of the neutral point potential of brushless motor 2.To aforesaid operations be described with reference to figure 3 hereinafter.

Fig. 3 A illustration following situation: connect the switch element SW1 of the mutually high side arm of U and the V switch element SW4 of low side arm mutually with 120 ° of electrifying methods under PWM control with identical on off state.In this case, the terminal voltage Vu of U phase becomes the voltage VB (being the value than the amount of pressure drop between the source drain of the about high switch element SW1 of voltage VB more precisely) of battery 12.In this example, a remaining phase, promptly W is phase-changed into high impedance status, because the switch element SW5 and the SW6 of high side arm and low side arm are cut off.For this reason, when ignoring the influencing of induced voltage, the neutral point voltage of brushless motor 2 becomes approximately " VB/2 ".

Fig. 3 B shows under PWM control from the situation of the state transformation on off state of Fig. 3 A.Because electric current has flowed into the U phase before switching, so even also can produce electromotive force by the inductor components of brushless motor 2 after switching, this electromotive force allows the electric current of same direction to flow.Therefore, electric current hangs down the switch element SW2 inflow U phase of side arm mutually from the U of new connection.In this case, there is not electric current to flow into and switch SW 2 diode connected in parallel D2, because the amount of pressure drop between the source electrode of switch element SW2 and the drain electrode is less than the amount of pressure drop of diode D2.On the other hand, under the state of Fig. 3 A, because electric current flows out mutually from V, so even also can produce electromotive force by the Inductive component of brushless motor 2 after switching, this electromotive force allows the electric current of same direction to flow.Therefore, electric current flows into the switch element SW3 of the mutually high side arm of V of new connection mutually from the V of brushless motor 2.In this case, the reason that does not have electric current to flow into the diode D3 that is connected in parallel with switch SW 3 be because switch element SW3 source electrode and drain between amount of pressure drop less than the amount of pressure drop of diode D2.

Under the state shown in Fig. 3 B, the terminal voltage Vu of U phase becomes earth potential GND (more precisely, be than amount of pressure drop between low source electrode that is approximately switch element SW4 of earth potential GND and the drain electrode value).The terminal voltage Vv of V phase becomes the voltage VB (being the value than the amount of pressure drop between the source drain of the about high switch element SW1 of voltage VB more precisely) of battery 12.Then, a remaining phase, promptly W is phase-changed into high impedance status, because the switch element SW5 and the SW6 of high side arm and low side arm are cut off.For this reason, when ignoring induced voltage and influence, the neutral point voltage of brushless motor 2 becomes approximately " VB/2 ".That is the neutral point voltage before and after the switching of Fig. 3 A and 3B is almost constant.For this reason, can suitably suppress to carry out the PWM processing when neutral point voltage changes.

Fig. 4 A shows the result that PWM handles to 4D.Particularly, Fig. 4 A shows the conversion of terminal voltage in this case, and Fig. 4 B shows the conversion of phase current, and Fig. 4 C shows the conversion of neutral point voltage, and Fig. 4 D shows the conversion of voltage spectroscopy.

Shown in Fig. 4 C, neutral point voltage only changes basically reposefully according to induced voltage.Therefore, neutral point voltage can easily detect as the zero passage moment with reference to voltage Vr.More specifically, time constant fully little filter 27 is only used in Fig. 1, thus can stable reference voltage Vr.Therefore, can dispose zero cross detection circuit 20a simply.In addition, shown in Fig. 4 D, also noise level is remained on low-level.Therefore, can suitably avoid under PWM control AC electric current to flow into the incident of adjacent conductor, and can suitably suppress or avoid common-mode noise by the neutral point and the insulator of brushless motor 2.

On the contrary, Fig. 5 A shows the situation of the comparative example that switches on or off the switch element that is in on-state in 120 ° of galvanizations to 5D.Fig. 5 A corresponds respectively to Fig. 4 A to 4D to 5D.

Shown in Fig. 5 C, neutral point voltage alters a great deal in this case.Therefore, complicated in order to detect zero passage constantly, make the process that detects the zero passage moment, for example make the process of during following the variation in voltage of switching manipulation, forbidding zero passage moment testing process complicated.In addition, shown in Fig. 5 D, it is big that noise becomes.Therefore, when carrying out PWM control, the AC electric current flows into adjacent conductor by the neutral point N and the insulator of brushless motor 2 under PWM control, and common-mode noise takes place in vehicle.

According to present embodiment, realized following advantage.

(1) alternately make first mutually with second with high potential side input terminal and the conducting of low potential side input terminal, to carry out PWM control, wherein, first is conducting to the high potential side input terminal (positive electrode side of battery 12) of power transformation circuit 3 during 120 ° of galvanizations, second is conducting to low potential side input terminal (negative electrode side of battery 12) mutually.As a result, can suppress the PWM control generation of noise down rightly.

(2) adopted a kind of no sensing system, it is according to zero passage blanking time constantly, calculate become reference voltage Vr from the induced voltage of brushless motor 2 zero passage constantly after up to because 120 ° of required times in the change moment that galvanizations cause the switch element operating state.In this case, when neutral point voltage changes greatly, must when changing, shielding detect zero passage constantly.Yet above problem can not take place in the PWM control according to present embodiment.Therefore, can drive brushless motor 2 by simple procedure by no sensing system.

(3) adopted 120 ° of galvanizations, wherein the angle of dividing brushless motor 2 revs by all phase averages to be providing angular spacing, and applies square waveform voltage to brushless motor 2, so as not to each mutually in crossover each other.As a result, can stablize neutral point voltage more rightly.

(4) adopted switch element SW1 to SW6, wherein pair of terminal (source electrode and drain electrode) allows electric current to flow along both direction.As a result, because electric current flows along the direction opposite with direction of current flow in 120 ° of galvanizations under the PWM control in the SW6 at switch element SW1, can reduce power loss so compare with the situation that electric current flows in the D6 at diode D1.

(modification of first embodiment)

Can as described below first embodiment be made amendment.

The system that applies square waveform voltage to brushless motor 2 is not limited to 120 ° of galvanizations.For example, can adopt 130 ° of galvanizations, wherein locate to connect the respective switch element SW1 of corresponding phase to SW6 at each 130 °.In this case, in each arm, exist the switch element SW1, the SW3 that connect a plurality of phases simultaneously and the crossover phase of SW5 (switch element SW2, SW4, SW6), even carry out PWM control by the illustrative process of above embodiment, neutral point potential can not keep constant to the situation shown in the 6D by image pattern 6A like that.Yet,, also observed and reduced anti noise even in this case.

Fig. 6 A shows based on the situation of carrying out PWM control corresponding to Fig. 4 A to the galvanization of 4D to 6D.Also reduced noise in this case rightly even be appreciated that from Fig. 6 D.On the contrary, Fig. 7 A shows the situation of carrying out conventional PWM control based on 130 ° of electrifying methods to 7D.In this example, Fig. 7 A to 7D corresponding to Fig. 6 A to 6D.As shown in the figure, compare to the situation shown in the 6D with Fig. 6 A, noise has increased.For relatively, in the example shown in the 6D, interim at Fig. 6 A at crossover, alternately make the phase of connecting high side arm and connect hang down side arm with high potential side input terminal and the conducting of low potential side input terminal.

The energising control of not carrying out PWM when control is not limited to 120 ° of energising controls or 130 ° of energising controls, but can be to be narrower than the control system at 120 ° of energising angles or energising angular width in 130 ° control system.In this case, preferably this system is the control system of " 120 ° ± 30 ° " for the energising angle.The square waveform voltage that is applied to brushless motor 2 is preferably the voltage of " 120 ° ± 30 ° ".

First embodiment and modification illustration thereof carry out the situation of pulse width modulation in the whole time period that applies square waveform voltage, but be not limited to this configuration.For example, in order to carry out instantaneous torque control, can only carry out pulse width modulation in the end portion of square waveform voltage.

Can be by the microcomputer process, rather than be compared to each other by comparator 21,22 and 23 couples of terminal voltage Vu, Vv, Vw and reference voltage Vr.

Reference voltage Vr can be corresponding to " 1/2 " of the voltage of the neutral point voltage of brushless motor 2 or supply voltage rather than dummy neutral voltage.

The induced voltage detection anglec of rotation by brushless motor 2 is not limited to detect zero passage constantly based on induced voltage." 1/2 " of the induced voltage that occurs in for example, can the terminal voltage with brushless motor 2 and the voltage of battery 12 compares.For example, disclosed in JP 11-18478A, can detect the moment that given electrical angle is provided constantly except that zero passage based on induced voltage.Even in this case, also can utilize mode of the present invention easily to carry out no transducer and handle, this can suppress the variation of the neutral point voltage and the dummy neutral voltage of brushless motor 2.

Present embodiment is not limited to obtain the rotary angle information of brushless motor 2 and based on the no sensing system of rotary angle information console switch element SW1 to SW6 based on induced voltage.For example, even when the anglec of rotation test section that provides such as Hall element, using present embodiment also is effective to reducing to handle the noise that causes by PWM.

Switch element SW1, the SW3 of high side arm and SW5 can be formed by n channel MOS field-effect transistor.

Allow the switch element of electric current two-way flow to be not limited to the MOS field-effect transistor.For example, switch element can be a mis field effect transistor.And switch element is not limited to field-effect transistor.

Switch element SW1 is not limited to the element that its pair of terminal (drain electrode and source electrode) allows the electric current two-way flow to SW6, and can be insulated gate bipolar transistor (IGBT) for example.

The power supply that links to each other with brushless motor 2 is not limited to battery 12, and can be to produce the basic galvanic general power supply that is, the direct current that this direct current for example comes the rectifier of power generator or AC power to produce.

Brushless motor 2 is not limited to the actuator of onboard fuel pump, and can be the motor that for example is used for vehicle-mounted cooling fan.In addition, brushless motor 2 can be household electrical appliance, as the motor of refrigerator or dishwasher.

Electric rotating machine is not limited to the three-phase brushless DC motor, and can be other multiphase motors.

(second embodiment)

In second embodiment shown in Fig. 8, construct power transformation circuit 3 with mode identical in first embodiment, and control unit 20 is by electrical power for operation translation circuit 3 control brushless DC motors 2.In this example, carry out switch control by 120 ° of electrifying methods basically.Particularly, utilize the moment that occurs induced voltage among terminal voltage Vu, the Vv of the corresponding phase of brushless motor 2 and the Vw to detect the moment (zero passage constantly) of the neutral point voltage (reference voltage Vr) that induced voltage becomes brushless motor 2.Suppose corresponding terminal voltage Vu, Vv and the Vw mutually of brushless motor 2 to be carried out dividing potential drop reference voltage Vr is provided by resistive element RU, RV and RW.Suppose that zero passage is the counter-rotating moment of the output of comparator 21,22 and 23 constantly, comparator is with terminal voltage Vu, Vv and the Vw and the reference voltage Vr comparison of corresponding phase.The moment that postpones given electrical angle (for example 30 °) from zero passage constantly (adjusting constantly), change the operation of switch element SW1 to SW6.

When surpassing current limit value, carries out in the electric current that flows the electric current (energising amount) of PWM control to flow in the restriction brushless motor 2 in brushless motor 2.Even in as 120 ° the time period that allows the making operation phase,, allowing making operation to connect switch element SW1 to SW6 by 120 ° of electrifying methods in the phase also by forbidding that when electric current surpasses current limit value making operation carries out PWM control.Control unit 20 can be formed by logical circuit, perhaps can by comprise CPU and wherein the program-con-trolled computer of the memory of storage control program etc. form.

The induced voltage of brushless motor 2 generates along with the rotation of brushless motor 2.Therefore, when the induced voltage based on brushless motor 2 obtains the anglec of rotation, drive in the no sensing system of brushless motor 2, such problem has appearred, that is, at the initial value how anglec of rotation is provided when the extremely low state of the rotary speed of brushless motor 2 starts brushless motor 2.Therefore, when brushless motor 2 starts, in covert, carry out galvanization, thus rotor is controlled to ad-hoc location (angle) from specific phase to another phase.In this way, by twice galvanization the anglec of rotation is controlled to the final anglec of rotation (the second localizing objects angle).Therefore, even the rotor anglec of rotation before the beginning galvanization is that near uncontrollable angle (dead point) also can control to the anglec of rotation of brushless motor 2 the final anglec of rotation, at place, uncontrollable angle, can not change rotor according to the galvanization (second position fixing process) that is used for the anglec of rotation is controlled to the final anglec of rotation.

Yet in as the onboard fuel pump in the present embodiment, internal combustion engine can't start probably, unless just can't be the internal combustion engine fuel supplying because carry out position fixing process fast.Therefore, preferably carry out position fixing process as early as possible.From with upper angle, advise that first galvanization (first position fixing process) that stopped being used to locate also is transformed into second position fixing process before the rotor of brushless motor 2 stops.Yet, in this case,, target angle can't be controlled to the second localizing objects angle probably if the anglec of rotation is positioned near the dead point when first position fixing process is transformed into second position fixing process.In Fig. 9, (a) show the conversion of terminal voltage, (b) show the conversion of electrical angle, (c) show the conversion of rotary speed.

As shown in the figure, if the anglec of rotation of brushless motor 2 is near the dead point when first position fixing process is transformed into second position fixing process, then can't change rotary speed by second position fixing process.Therefore, in this case,, changed so startability is shoddy because must change the anglec of rotation by the start-up course behind the location.

Under above situation, regulated for first positioning time (the first required time T1) and second positioning time (the second required time T2) with the pattern shown in Figure 10 A and the 10B.Figure 10 A shows the pattern that is provided with of the first required time T1.As shown in the figure, when carrying out first position fixing process, the anglec of rotation (solid line) with brushless motor 2 in main damping and the vibration first localizing objects angle (double dot dash line) converges to the first localizing objects angle.In this example, the curve of being represented by a pair of dotted line is meant a pair of envelope curve, and this is the very big and minimizing a pair of curve that connects the anglec of rotation of first position fixing process execution.Can by a pair of envelope curve around the zone within do not have the going by of dead point in, when first position fixing process is transformed into second position fixing process, the first localizing objects angle is switched to the second localizing objects angle.Therefore, envelope curve is not comprised the time at dead point is called the first required time T1.

Figure 10 B shows the pattern that is provided with of the second required time T2.As shown in the figure, when carrying out second position fixing process, the anglec of rotation (solid line) with brushless motor 2 in main damping and the vibration second localizing objects angle (dash line) converges to the second localizing objects angle.In this example, in the drawings, the curve of being represented by a pair of dotted line is meant a pair of envelope curve, and this is the very big and minimizing a pair of curve that connects the anglec of rotation of second position fixing process execution.When a pair of envelope curve area surrounded becomes the zone (the second localizing objects zone) that can suitably carry out the start-up course of brushless motor 2, can start brushless motor 2 rightly.Under above situation, in the present embodiment, suppose the time of the envelope curve area surrounded and the second localizing objects area coincidence is called the second required time T2.

Second localizing objects zone preferable width is equal to or less than the adjacent anglec of rotation interval of the anglec of rotation, suppose when it is the center with the second localizing objects angle it for fixing, and proceed six kinds of step modes respectively from one of two any phases of brushless motor 2 to another phase.More preferably, in advance finish required time and the relation between the anglec of rotation as initial condition, the target area is arranged to finish up to starts the zone that the required time can be equal to or less than preset time by measuring to start up to brushless motor 2.

For relatively, the second required time T2 is arranged to longer than the first required time T1.

Figure 11 shows the process that is used to regulate the first required time T1 according to present embodiment.Before the control unit 20 products loading of brushless motor 2, carry out this process.

In above-mentioned a series of processing, at first in S10, prepare a plurality of brushless DC motors 2 with object technology index.In this example, preferably reflect the individual difference that product allows.That is preferred product comprises upper limit change product and the lower limit change product for rotor inertia.In ensuing S12, on the corresponding brushless DC motor 2 of preparation like this, carry out first position fixing process.As a result, the anglec of rotation of brushless motor 2 is attenuated and at the first localizing objects angle ambient vibration.In ensuing S14, the anglec of rotation decay of monitoring brushless motor 2.In ensuing S16, in being marked as the corresponding brushless DC motor 2 of " i ", the calculating amplitude of fluctuation becomes and is lower than the time T i of higher limit Amax.In this example, this higher limit Amax is the dead point of second position fixing process and the anglec of rotation between the first localizing objects angle.The time T i that this process is calculated corresponding to the first required time T1 shown in Figure 10 A at corresponding brushless DC motor 2.

In ensuing S18, the time T j that supposes specific brushless DC motor 2 (being labeled as " j ") is the first required time T1.In this example, time T j preferably is near the maximum among the time T i that calculates among the S16.

As shown in figure 12, carry out start-up course, thereby the first required time T1 and the second required time T2 are set according to the brushless motor 2 of present embodiment.For example, carry out this process with period demand repeatedly by control unit 20.

In this series of processes, at first in S20, carry out energising mutually to carry out first position fixing process to another from specific phase.Then, during the first required time T1 (being "Yes" among the S22), in S24, carry out second position fixing process in the past.In this example, the absolute difference between the first localizing objects angle and the second localizing objects angle is set to be lower than 180 °.This setting is based on the dead point of second position fixing process this fact of position for 180 ° at the distance second localizing objects angle.Then, during second T2 preset time (being "Yes" among the S26), in S28, start brushless motor 2 in the past.

As mentioned above, in the present embodiment, because be second position fixing process of carrying out after the T1 for first preset time in the past, so can suitably the anglec of rotation be controlled to the second localizing objects angle by second position fixing process.In addition, the anglec of rotation converges within the second localizing objects scope to be transformed into start-up course.As a result, although compare, can carry out startup rapidly with the brushless motor 2 normal situations that also after brushless motor 2 stops at the second localizing objects angle, start brushless motor 2 that start.

According to second embodiment, realized following advantage.

(1) make the time (the first required time T1) of carrying out first position fixing process be longer than the time that the angular spacing between the dead point of supposing the first localizing objects angle and second position fixing process overlaps with anglec of rotation amplitude of variation.As a result, can reliably target angle be controlled to the second localizing objects angle by second position fixing process.

(2) based on actual measurement this fact of damping degree of the anglec of rotation change when a plurality of brushless DC motors 2 being provided and carrying out first position fixing process be provided with first preset time T1.As a result, can suitably regulate first preset time T1.

(3) based on anglec of rotation amplitude of fluctuation become time T i less than the angular spacing between the dead point of the first localizing objects angle and second position fixing process be provided with first preset time T1.As a result, can more suitably be provided with first preset time T1.

(4) carry out position fixing process by twice galvanization.As a result, the minimum number process at final angle can be realized reliably target angle being controlled to, and the required time of brushless motor 2 that starts can be shortened as much as possible.

(5) the second required time T2 is arranged to length than the first required time T1.As a result, can suitably start brushless motor 2.

(6) the second required time T2 is set, makes the mobility scale of the anglec of rotation drop in the second localizing objects scope.As a result, can suitably carry out the start-up course of after second position fixing process, carrying out.

(the 3rd embodiment)

In the 3rd embodiment, for example, as shown in figure 13, carry out the start-up course of brushless motor 2 repeatedly with period demand by control unit 20.

In this series of processes, at first in S30, carry out first position fixing process.First position fixing process flows to all the other two-phases and target angle is controlled to the first localizing objects angle from a specific phase of brushless motor 2 by allowing electric current.According to above-mentioned electrifying method, be used to reduce brushless motor 2 is rotated the angle phase shift from the first localizing objects angle power because applied, can reduce the convergence time at the first localizing objects angle.Therefore, as among second embodiment, be shorter than the time (the first required time T1) of time adjusting execution first position fixing process of angular spacing between the first localizing objects angle and the second position fixing process dead point, and can make the first required time t1 be shorter than the first required time T1 based on anglec of rotation amplitude of fluctuation.

When the time of implementation of first position fixing process arrives the first required time t1, (be "Yes" among the S32), in S34, carry out second position fixing process.In this process, electric current flows to all the other two-phases target angle is controlled to the second localizing objects angle from a specific phase of brushless motor 2.First position fixing process and second position fixing process differ from one another on powered-on mode.Then, at the second required time t2 (＜the second required time T2) past tense (being "Yes" among the S36), in S38, start brushless motor 2.

According to the 3rd embodiment, except the advantage of second embodiment, also realized following advantage.

(7) carrying out first position fixing process switches on relative all the other two-phases from brushless motor 2.As a result, can reduce the convergence time at the first localizing objects angle.

(8) carrying out second position fixing process switches on relative all the other two-phases from brushless motor 2.As a result, can reduce the convergence time at the second localizing objects angle.

(the 4th embodiment)

In the 4th embodiment, for example, as shown in figure 14, carry out the start-up course of brushless motor 2 repeatedly with period demand by control unit 20.

In this series of processes, at first in S40, carry out first position fixing process.In first position fixing process according to present embodiment, after the galvanization shown in above second embodiment, connect all switch element SW1, SW3 of high side arm and all switch element SW2, SW4 and SW6 of SW5 or low side arm, make all short circuits mutually of brushless motor 2 thus.According to these all phase short circuit processes, the induced voltage that is caused by brushless motor 2 rotations makes electric current flow into brushless motor 2, and makes current attenuation by the influence such as the resistor in the current path.

Particularly, rotation can be decayed.As a result, can reduce the convergence time at the first localizing objects angle.Therefore, in the present embodiment, the time that is shorter than the angular spacing between the first localizing objects angle and the second position fixing process dead point based on anglec of rotation amplitude of fluctuation as among second embodiment is regulated the first required time TT1 that carries out first position fixing process, and can make the first required time TT1 be shorter than the first required time T1.

When the time of implementation of first position fixing process arrives the first required time TT1, (be "Yes" among the S42), in S44, carry out second position fixing process.Similarly, in this process, after the galvanization shown in above second embodiment, connect all switch element SW1, SW3 of high side arm and all switch element SW2, SW4 and SW6 of SW5 or low side arm, make all short circuits mutually of brushless motor 2 thus.Then, at the second required time t2 (＜the second required time T2) past tense (being "Yes" among the S46), in S48, start brushless motor 2.

According to the 4th embodiment, except above each advantage of second embodiment, also realized following advantage.

(9) this first position fixing process comprises two processes: from a specific phase of brushless motor 2 to another process of switching on mutually, and all phase short circuit processes.As a result, can reduce the convergence time at the first localizing objects angle.

(10) this second position fixing process comprises two processes: from a specific phase of brushless motor 2 to another process of switching on mutually, and all phase short circuit processes.As a result, can reduce the convergence time at the second localizing objects angle.

(modification of second to the 4th embodiment)

Can following modification and implement second to the 4th embodiment.

In the 4th embodiment, each in first position fixing process and second position fixing process all comprises all short circuit processes mutually.Yet, can in any of first and second position fixing process, provide all phase short circuit processes.In this case, preferably in the process of all phase short circuit processes not, required time is arranged to value among second embodiment.

Similarly, in first position fixing process or second position fixing process, can provide the time period of carrying out all phase short circuit processes to substitute on all required times and carry out galvanization according to the 3rd embodiment.In this case, preferably make the first required time T1 or the second required time T2 than short in a second embodiment.

In second to the 4th embodiment, in each brushless motor 2, all measure the time that the anglec of rotation amplitude of fluctuation that is caused by first position fixing process is lower than the angular spacing between the first position fixing process target angle and the second position fixing process dead point.To be set to the first required time T1 according to the particular measurement value (about peaked value) that the Distribution Statistics of those measured values is determined.Yet, for example, can minimum value add that the value of time gained of the one-period of change is set to the first required time T1.As a result, shown in Figure 15 A, can start the fastest brushless motor of convergence 2 rapidly, even, also can before the anglec of rotation is fixing, process be transformed into second position fixing process because do not arrive at the dead point as yet with respect to required time rapid convergence before one-period.

For example, can minimum value add that the value that 5ms obtains is set to the first required time T1.The result, shown in Figure 15 B, can start the fastest brushless motor of convergence 2 rapidly, even, also can before the anglec of rotation is fixing, process be transformed into second position fixing process because do not arrive at the dead point as yet at " 5ms " before rapid convergence with respect to the first required time T1.

The setting of the first required time T1 is not limited to the first required time T1 based on the value of the maximum of relevant Distribution Statistics or its minimum value.For example, in product, can determine the first required time T1 by add the half period of change or 2.5ms to the time lower than angular spacing with average characteristics (central characteristics).As a result, estimate all when first position fixing process is transformed into second position fixing process, can not produce the dead point at the brushless DC motor 2 of all batch processes.Because about one-period or about 5ms that can be set to change with respect to the conversion maximum setting of time of delay constantly of the time that is lower than angular spacing be so can start brushless motor 2 rapidly.

Brushless motor 2 is not limited to be installed on the actuator on the petrolift, and can be the actuator that for example cools off the fan of on-vehicle internal combustion engine fin.In addition, brushless motor 2 can be data recording equipment or the transcriber that is equipped in the onboard navigation system, that is, such as the motor that provides in the data recording equipment of the dish medium of DVD (digital versatile dish), CD-ROM (compact disc read-only memory) or hard disk or the transcriber.And electric rotating machine is not limited to motor, and can be power generator.In addition, fan is not limited to be installed on the fan in the vehicle.

Power supply is not limited to battery 12, and can be the power generator that for example rotation of on-vehicle internal combustion engine can be converted to electric energy.

(the 5th embodiment)

In the 5th embodiment, as shown in figure 16, control system is switched on to stator winding 2u, 2v and the 2w of three-phase brushless DC motor 2 successively by 120 ° of electrifying methods, guarantee one-phase open circuit (not energising) simultaneously, and come the position of detection rotor (not shown) based on the induced voltage that occurs among terminal voltage Vu, the Vv of open phase and the Vw, to carry out no sensor drive.

The power transformation circuit 3 that plays the energising partial action comprises switch element (MOSFET) SW1, SW3 and the SW5 that forms high side arm and forms switch element SW2, SW4 and the SW6 that hangs down side arm.Switch element SW1 is equipped with sustained diode 1 to D6 respectively to SW6.By diode 11 direct current supply line 10 of power transformation circuit 3 is connected to battery 12, and the direct current supply line 13 of power transformation circuit 3 is connected to ground 14. Power line 12 and 14 supply cell voltage VB.

Resistor 15,16 and 17 produces the dummy neutral voltages, and resistor 15,16 and an end of 17 are connected respectively to the lead-out terminal of power transformation circuit 3, and its other end connects together jointly and forms dummy neutral N '.In the excursion of the induced voltage that the amplitude level of dummy neutral voltage occurs in terminal voltage Vu, Vv and Vw and the change that is suitable for detecting induced voltage constantly.Between battery 12 and dummy neutral N ', connect pnp transistor npn npn 18.Form reference voltage generating circuit 19 by resistor 15,16,17, transistor 18 and control unit 20.

The reference voltage Vr (dummy neutral voltage or VB) of generation compares terminal voltage Vu, the Vv that comparator 21,22 and 23 will be directly produces from the lead-out terminal of power transformation circuit 3 and Vw and the dummy neutral N ', to export corresponding comparison signal Cu, Cv and Cw.Detection line from the lead-out terminal of power transformation circuit 3 to respective comparator 21,22 and 23 is serving as current detection section 24.When the output voltage to power transformation circuit 3 carried out dividing potential drop with test side voltage Vu, Vv and Vw, bleeder circuit served as current detection section 24.

Control unit 20 form by microcomputer and the execute store (not shown) in the control program stored produce part to produce part, shielded signal as pwm signal, reference voltage produces part (its part), control section and energising part (its part) work.To be supplied to the grid of switch element SW1 by driver 25 from the power on signal of control unit 20 outputs to SW6.

Figure 17 in (a) and (b) and (c), show respectively U mutually, V mutually and W reference voltage Vr (each is mutually public), terminal voltage Vu, Vv and Vw, comparison signal Cu, Cv and Cw and position signalling Pu, Pv and Pw mutually.Control unit 20 (for example) is carried out rotary speed control and is calculated and produce the pwm signal of duty ratio corresponding to output voltage amplitude.Pwm signal has on-state (H level) that supply voltage is applied to stator winding 2u, 2v and 2w and from the cut off the electricity supply dissengaged positions (L level) of voltage of stator winding 2u, 2v and 2w.

Make 30 ° of position signalling Pu, the Pv that will introduce and Pw displacements respectively as the control unit 20 of control section and energising part, producing signal of communication, and based on signal of communication in turn with 120 ° of low side arm energisings that come corresponding phase.Equally, control unit 20 based on by signal of communication is carried out with pwm signal " with " power on signal that produces of logical operation in turn at interval 120 ° drive corresponding high side arm mutually in the PWM mode.In 120 ° of electrifying methods, one of three-phase produces induced voltage for width is 60 ° a open phase in the terminal voltage of open phase.

Connect in the time period of (H level) at pwm signal, apply supply voltage VB-Vf (Vf is the forward voltage of diode 11) between the stator winding terminal of the switch element two-phase in office by high side arm and low side arm.On the other hand, cut off in the time period of (L level) at pwm signal, power supply is cut off, and electric current flows back to the stator winding of appointing two-phase by the switch element and the fly-wheel diode of low side arm.

When pwm signal when dissengaged positions (L level) becomes on-state (H level), ringing takes place in terminal voltage.Figure 18 shows the waveform of open phase pwm signal, shielded signal and terminal voltage.But, show the duration and the shielding time period of ringing in exaggerative mode for the influence identification more that makes ringing.When open phase terminal voltage of ringing of having superposeed on it was compared with actual dummy neutral voltage, although the open phase terminal voltage does not reach dummy neutral voltage, comparison signal also can overturn, and the detection of position signalling Pu, Pv and Pw is constantly for closing.And, pwm signal for the time period of cutting off in because current reflux, and the terminal voltage of open phase is fixed near the ground level, therefore can not detect the variation of induced voltage.

In these cases, shielded signal is come into force and is the H level in the time of origin section of the break time of pwm signal section and ringing, makes shielded signal invalid in the other times section, is the L level.More specifically, when pwm signal shielded signal when on-state becomes dissengaged positions is set to the H level, pwm signal after dissengaged positions becomes on-state, fully reduce ringing required time of delay Td in the past after, shielded signal is set to the L level.Occur to the ringing duration that ringing disappears based on ringing required Td time of delay is set, and for example can utilize the timer (not shown) to carry out to postpone operation from prior actual measurement.

Control unit 20 cuts off driving voltages (VB) to transistor 18 outputs in shielded signal is time period of L level, in shielded signal is time period of H level to transistor 18 output conducting driving voltages (voltage VB-Vf or lower).As a result, reference voltage generation part 19 produces and the reference voltage Vr of shielded signal timed delivery for repetition dummy neutral voltage and VB, as shown in figure 17.By carrying out the shielding process, the break time of pwm signal in the section and the reference voltage Vr in the time of origin section of ringing becomes voltage VB, it is higher than the ceiling voltage VB-Vf that terminal voltage Vu, Vv and Vw can take.As a result, in this time period, do not detect position signalling Pu, Pv and Pw.

By carrying out the shielding process, in the H level should keep constant time period half period originally as shown in figure 17, comparison signal Cu, Cv and Cw and shielded signal synchronously changed between H and L level.In order to tackle this phenomenon, control unit 20 is considered as logic rules with the level of unanimity, and rotates generation position signalling Pu, Pv and Pw under the consistent condition of next predetermined logic rules at the logical AND motor 2 of comparison signal Cu, Cv and Cw.

The order that produces the logic rules of comparison signal Cu, Cv and Cw when normal rotation has been shown among Figure 19.The order that produces when reverse rotation is opposite.For example, at the time t1 shown in Figure 17, comparison signal Cu, Cv, Cw become H, L, H from L, L, H respectively.Because this is from 1 to 2 rule variation in Figure 19, so control unit 20 becomes the H level with position signalling Pu from the L level.In the t2 moment after t1, because shielded signal is effective, comparison signal Cu, Cv, Cw become L, L, L from H, L, H respectively.Because these level are not logic rules, control unit 20 continues position signalling Pu is remained on the H level.As a result, provide position signalling Pu, Pv and the Pw that has eliminated the shielded signal influence.

As mentioned above, with terminal voltage Vu, Vv and Vw and reference voltage Vr with high-voltage level relatively, this high-voltage level has surpassed terminal voltage Vu, Vv and Vw at least in section and open PWM and voltage range that terminal voltage Vu, Vv in the time period of ringing before disappearing and Vw can the be provided break time of pwm signal.As a result, can prevent owing to the closing of timing (off) that ringing causes comparison signal Cu, Cv and Cw taken place.

When the logic of comparison signal Cu, Cv and Cw was not consistent with the next predetermined logic rules of the rotation of motor 2, control unit 20 did not carry out logical changes.As a result, control unit 20 has been eliminated the unnecessary level that takes place among comparison signal Cu, Cv that the shielding process followed and the Cw and has been changed, and correct position signalling Pu, Pv and Pw can be provided thus.Control unit 20 can come drive motor 2 with no approach sensor position-based signal Pu, Pv and Pw.

Can construct the reference voltage generation part 19 that produces reference voltage Vr simply by only increasing a transistor to conventional configurations.Therefore, reference voltage generation part 19 does not need to use the resource that provides in the microcomputer, and cost is low and be applied to conventional configurations easily.

(the 6th embodiment)

In the 6th embodiment, as shown in figure 20, reference voltage generation part 32 has npn transistor npn npn 34 between dummy neutral N ' and negative supply 33.Apply the voltage-Va that is lower than ground level to transistor 34.

Figure 21 is the oscillogram corresponding to Figure 17.20 pairs of low side arms of control unit carry out PWM and drive.When pwm signal when dissengaged positions (L level) becomes on-state (H level), as shown in figure 22, ringing takes place in terminal voltage.In this case, as at the 5th embodiment, being come into force at the time of origin section inner shield signal of the break time of pwm signal section and ringing is the H level, makes shielded signal invalid in the other times section, is the L level.

Control unit 20 in shielded signal is time period of L level to transistor 34 outputs cut off driving voltages (Va), in shielded signal is time period of H level to transistor 34 output conducting driving voltages (Va+Vf or higher).By carrying out the shielding process, the reference voltage Vr in the time of origin section of pwm signal section break time and ringing becomes voltage-Va, and it is lower than the minimum voltage 0V that terminal voltage Vu, Vv and Vw can take.As a result, in this time period, do not detect position signalling Pu, Pv and Pw.With with the 5th embodiment in identical mode eliminated the influence of the shielded signal that occurs among comparison signal Cu, Cv and the Cw.In this way, even in low side arm being carried out the present embodiment that PWM drives, also can realize with the 5th embodiment in same operation and advantage.

(the 7th embodiment)

In the 7th embodiment, as shown in figure 23, reference voltage generation part 19 adopt the branch pressure voltage of direct voltages but not dummy neutral voltage as the reference voltage Vr in shielding section ineffective time.The resistor 43 and 44 that the resistance that is connected in series between DC power line 10 and 13 is identical.The points of common connection of these resistors 43 and 44 is connected to inverting terminal of comparator 21,22 and 23 and the collector electrode of transistor 18.Other configurations are identical with the control system 1 described in the 5th embodiment, and realized identical operations and advantage.

(the 8th embodiment)

In the 8th embodiment, as shown in figure 24, reference voltage generation part 52 is configured to constantly export the dummy neutral voltages as reference voltage Vr to comparator 21,22 and 23.

Comparison signal Cu, Cv and the Cw of comparator 21,22 and 23 outputs are input to OR-gate 53,54 and 55 as masked segment respectively, with generation comparison signal Cu ', Cv ' and Cw ', between the shielded signal that they are and control unit 20 is exported " or " signal.Control unit 20 is considered as logic rules with the level of unanimity, and produces position signalling Pu, Pv and Pw under the consistent condition of the next predetermined logic rules of the rotation of the logical AND motor 2 of comparison signal Cu ', Cv ' and Cw '.

Figure 25 is an oscillogram, show by 120 ° of electrifying methods to high side arm carry out (a) U phase of PWM when driving, (b) V mutually and (c) W mutually.Reference voltage V is (VB-VF)/2.When pwm signal when dissengaged positions becomes on-state, ringing takes place in terminal voltage.As a result, exist because the situation that ringing causes the change of comparison signal Cu, Cv and Cw to be closed constantly.In this case, comprise pwm signal break time section and shielding section effective time of the time of origin section of ringing in, be in the H level by the level that forces comparison signal Cu, Cv and Cw and produce comparison signal Cu ', Cv ' and Cw '.

According to present embodiment, in section and after dissengaged positions becomes on-state, fully reduce ringing required time of delay the section, comparison signal Cu, Cv and the Cw conductively-closed break time of the pwm signal that can not detect induced voltage at pwm signal.As a result, provide and do not had the comparison signal of phase shift Cu ', Cv ' and Cw ' and position signalling Pu, Pv and Pw.Owing to can only form masked segment with three OR- gates 53,54 and 55, so present embodiment do not need to use the resource that provides in the microcomputer, and cost is low and be applied to conventional configurations easily.

Can be with three AND gates but not three " OR-gate 53,54 and 55 forms masked segment.In this case, comprise pwm signal break time section and shielding section effective time of the time of origin section of ringing in, be in the L level by the level that forces comparison signal Cu, Cv and Cw and produce comparison signal Cu ', Cv ' and Cw '.Control unit 20 is considered as logic rules with the level of unanimity, and produces position signalling Pu, Pv and Pw when the aforesaid logic rules of logical AND of comparison signal Cu ', Cv ' and Cw ' is consistent.

(the 9th embodiment)

In the 9th embodiment, as shown in figure 26, between the lead-out terminal of comparator 21,22 and 23 and ground 14, provide npn transistor npn npn 62,63 and 64, and provide shielded signal from the base stage of control unit 20 to transistor 62,63 and 64 as masked segment.

In this embodiment, as in the situation of utilizing AND gate among the 8th embodiment, comprise pwm signal break time section and shielding section effective time of the time of origin section of ringing in, be in the L level by the level that forces comparison signal Cu, Cv and Cw and produce comparison signal Cu ', Cv ' and Cw '.Therefore, realized with the 8th embodiment in identical operations and advantage.

(the tenth embodiment)

In the tenth embodiment, control system is configured to carry out Current limited Control but not PWM control.Current limited Control is used for connection/dissengaged positions of control switch element SW1, SW3 and SW5 (Figure 16), makes the electric current that flows among high side arm switch element SW1, SW3 and the SW5 be equal to or less than given limiting value respectively.

Therefore, as shown in figure 27, provide current control signal generator circuit 71 with connection/cut-out switch element SW1.Apply same structure to other switch elements SW3 and SW5.In the drawings, omitted the switch element SW2 of low side arm.The sensing n channel switches that between DC power line 10 and 13, is connected in series element 72, diode 73, npn transistor 74 and resistor 75.The grid of switch element SW1 and switch element 72 is connected with each other, and drain electrode is connected with each other.Operational amplifier 76 is imported the respective sources electrode potential and the driving transistors 74 of these switch elements SW1 and 72.The reference voltage Vi of the voltage of comparator 77 input resistors 75 and reference voltage generator circuit 78 outputs is with the output current control signal.

Operational amplifier 76 is controlled the source potential of switch element SW1 and 72 to such an extent that be equal to each other, thereby makes the reflection coefficient Nm of switch element SW1 and 72 keep constant.Connect diode 73, so that prevent reverse direction current flow.What flow in resistor 75 is the detection electric current of the 1/Nm of the electric current that flows among the switch element SW1.Comparator 77 is detecting the current controling signal of exporting the H level when electric current is equal to or higher than limiting current based on reference voltage Vi, and is detecting the current controling signal of exporting the L level when electric current is lower than limiting current based on reference voltage Vi.When current controling signal was the H level, control unit 20 cut off switch element SW1, connected switch element SW1 when current controling signal is the L level.

Similarly, in the present embodiment that carries out Current limited Control, when current controling signal when dissengaged positions (H level) becomes on-state (L level), ringing can take place in the terminal voltage.On the contrary, can adopt the configuration of the 5th to the 9th embodiment, and can prevent that the generation of position signalling Pu, Pv and Pw from phase shift taking place constantly.

(modification of the 5th to the tenth embodiment)

In the 7th to the tenth embodiment, can as the 6th embodiment, carry out PWM driving or current limliting driving to low side arm.

In the 5th to the tenth embodiment, in the time can detecting the neutral point N voltage of motor 2, the dividing potential drop that can substitute dummy neutral voltage or direct voltage with the neutral point voltage of reality produces reference voltage Vr.

Control unit 20 can make shielded signal effective before on-state becomes dissengaged positions at pwm signal or current controling signal.

Can replace pnp transistor 18 with the npn transistor.Can replace npn transistor 34 with the pnp transistor.And, can adopt switch element or switching circuit such as FET.

When high side arm and low side arm when on-state is transformed to dissengaged positions, flyback voltage appears in the terminal voltage of target phase.Because flyback voltage causes flase drop to be surveyed, preferably utilize another shielded signal to carry out the shielding process the section in order to prevent in the preset time that the change time point from position signalling Pu, Pv and Pw begins.

Brushless DC motor 2 is not limited to three-phase.

Claims (19)

1, a kind of control system that is used for polyphase rotating machine comprises:

Power transformation circuit (3), it comprises a plurality of switch elements (SW1 is to SW6), described power transformation circuit make described polyphase rotating machine first with the high potential side input terminal conducting of described power transformation circuit, and make second with the low potential side input terminal conducting of described power transformation circuit, to apply square waveform voltage to described polyphase rotating machine; And

Control unit (20), it is used to operate described switch element, so that alternately conversion between first state and second state, thereby modulate the pulse duration of described square waveform voltage, in described first state, make respectively described first with described high potential side input terminal conducting and make described second with the conducting of described low potential side input terminal, in described second state, make respectively described first with described low potential side input terminal conducting and make described second with the conducting of described high potential side input terminal.

2, the control system that is used for polyphase rotating machine according to claim 1 also comprises:

Detector (20a), it utilizes the induced voltage of described electric rotating machine to detect the anglec of rotation of described electric rotating machine.

3, the control system that is used for polyphase rotating machine according to claim 1, wherein:

During in rotary speed, torque and the electric current of the described polyphase rotating machine of restriction at least one, described control unit (20) is carried out pwm process, directly applies described square waveform voltage to described polyphase rotating machine when not asking to limit.

4, a kind of control system that is used for polyphase rotating machine comprises:

Power transformation circuit (3), it comprises a plurality of switch elements (SW1 is to SW6), described power transformation circuit make the specific phase of described polyphase rotating machine enter neither with the conducting of high potential side input terminal also not with the high impedance status of low potential side input terminal conducting, and with remaining be divided into mutually with the conducting of described high potential side input terminal mutually and with the phase of described low potential side input terminal conducting; And

Control unit (20), it is used to operate described power transformation circuit remaining being divided into mutually first mutually and second mutually, and alternately make described first phase with described second with described high potential side input terminal and the conducting of described low potential side input terminal.

5, according to each the described control system that is used for polyphase rotating machine in the claim 1 to 4, wherein:

Described power transformation circuit (3) comprising: with described polyphase rotating machine corresponding be connected to described high potential side input terminal high potential side switch element (SW1, SW3, SW5); The direction that is connected in parallel with described switch element and will points to described high potential side input terminal be defined as forward rectifying part (D1, D3, D5); With the corresponding low potential side switch element that is connected to described low potential side input terminal (SW2, SW4, SW6); And be connected in parallel with described switch element and the direction that will point to described high potential side switch element be defined as forward rectifying part (D2, D4, D6).

6, according to each the described control system that is used for polyphase rotating machine in the claim 1 to 4, wherein, described switch element allows the electric current two-way flow.

7, a kind of control system that is used for polyphase rotating machine comprises:

Power transformation circuit (3), it is connected to described electric rotating machine, so that be described electric rotating machine supply of current;

Control module (20); It is used for control and supplies induced current from described power transformation circuit to described electric rotating machine; Described control module is repeatedly carried out a process; This process allows electric current to flow into mutually another phase from of described electric rotating machine; Change simultaneously a described phase and control to final angle with the anglec of rotation with described electric rotating machine by intermediate angle with described another at least one in mutually; Described control module is determined the initial value of the anglec of rotation thus when starting described electric rotating machine according to described final angle

Wherein, beginning the required time up to described last process after beginning near the last process of last process in described a plurality of process is set to be longer than the very first time, during the described very first time, suppose that the desired value of the anglec of rotation that caused by the last process near described last process and the angular spacing with respect between the uncontrollable angle at final angle that is caused by described last process are consistent with the amplitude of the change of the described anglec of rotation of described electric rotating machine.

8, the control system that is used for polyphase rotating machine according to claim 7, wherein:

Described required time is arranged to equal the described very first time or than the one-period of short described change of the described very first time.

9, the control system that is used for polyphase rotating machine according to claim 7, wherein:

Described required time is arranged to equal the described very first time or than short 5ms of described very first time.

10, the control system that is used for polyphase rotating machine according to claim 7, wherein:

The actual measured value of the damping degree of the described change of the described anglec of rotation is provided with described required time during based on the last process carried out on a plurality of electric rotating machines near described last process.

11, the control system that is used for polyphase rotating machine according to claim 10, wherein:

The measured value that the amplitude of described change that described required time is set to the described anglec of rotation of described electric rotating machine is lower than the anglec of rotation desired value that caused by the last process near described last process and is caused by described last process with respect to time of the angular spacing between the uncontrollable angle at described final angle.

12, a kind of control system that is used for polyphase rotating machine comprises:

Control unit (20), described control unit (20) is repeatedly carried out a process, this process allows electric current to flow into another phase mutually from of described electric rotating machine, change a described phase and described another at least one in mutually simultaneously, control to final angle with the anglec of rotation by intermediate angle with described electric rotating machine, described control unit is determined the initial value of the anglec of rotation thus when starting described electric rotating machine according to described final angle

Wherein, under the actual anglec of rotation converges to the condition of convergence by the desired value of the anglec of rotation in described a plurality of processes, that caused by the last process near last process, described process is transformed into described last process, and

Wherein, change in the described anglec of rotation that is caused by the last process near described last process decays when the change of the described anglec of rotation drops within the zone, satisfy the described condition of convergence, wherein, described zone is center and more close than the uncontrollable angle of described last process with the desired value of the described anglec of rotation that caused by the last process near described last process.

13, according to each the described control system that is used for polyphase rotating machine in the claim 7 to 12, wherein:

Described a plurality of processes are carried out twice.

14, according to each the described control system that is used for polyphase rotating machine in the claim 7 to 12, also comprise:

Actuating section (20), it is used for starting described electric rotating machine after described last process,

Wherein, after described last process begins, be set to up to the time that the process that is caused by described actuating section begins longer than described required time.

15, according to each the described control system that is used for polyphase rotating machine in the claim 7 to 12, also comprise:

Actuating section (20), it is used for starting described electric rotating machine after described last process,

Wherein, after described last process begins, be set to equal or be longer than the following time up to the time that the process that is caused by described actuating section begins, at this time durations, the anglec of rotation of described electric rotating machine is that the interval of adjacent angular in the angle of fixing is consistent with the amplitude of the change of the described electric rotating machine of being followed by described last process under the full operation state of described power transformation circuit by hypothesis.

16, a kind of control system that is used for polyphase rotating machine, it is successively to the stator winding electrifying of the corresponding phase of described electric rotating machine, guarantees that simultaneously at least one opens a way mutually, and described control system comprises:

Part (20) takes place in pwm signal, and it is used to produce pwm signal, and described pwm signal is represented to apply the on-state of supply voltage and cut off the dissengaged positions of described supply voltage from described stator winding to described stator winding;

Part (20) takes place in shielded signal, its be used for when described pwm signal becomes described dissengaged positions from on-state or before make shielded signal effective, and after described dissengaged positions becomes described on-state, make described shielded signal invalid afterwards given time of delay (Td) in the past at described pwm signal;

Part (19) takes place in reference voltage, it is used for output reference voltage (Vr), the level of this reference voltage (Vr) be in the invalid time period of described shielded signal, within the excursion of the induced voltage that occurs on the terminal of the stator winding of described open phase, and output level exceeds the reference voltage outside the described shielded signal scope that the terminal voltage of described stator winding is taked in the effective time period;

Rating unit (21-23), it is used for the described reference voltage of the terminal voltage of the corresponding phase of described stator winding and the generation of described reference voltage generating unit branch is compared;

Control section (20), it is used for producing the signal of communication of logic under the condition of the next predetermined logic rules unanimity of the rotation of the described electric rotating machine of logical AND of the comparison signal of the corresponding phase of described rating unit output; And

Power transformation circuit (3), it is used for based on described pwm signal and described signal of communication described stator winding electrifying.

17, a kind of control system that is used for polyphase rotating machine, it is successively to the stator winding electrifying of the corresponding phase of described electric rotating machine, guarantees that simultaneously at least one opens a way mutually, and described control system comprises:

Part (20) takes place in current controling signal, it is used to produce current controling signal, make the electrorheological that flows in the stator winding of energising phase must be equal to or less than the prescribed limit value, this current controling signal is represented to apply the on-state of supply voltage and cut off the dissengaged positions of described supply voltage from described stator winding to described stator winding;

Part (20) takes place in shielded signal, its be used for described current controling signal when described on-state becomes described dissengaged positions or before make shielded signal effective, and after described dissengaged positions becomes described on-state, in the past make described shielded signal invalid afterwards given time of delay (Td) from described current controling signal;

Part (19) takes place in reference voltage, it is used for output reference voltage (Vr), the level of this reference voltage (Vr) be in the invalid time period of described shielded signal, within the excursion of the induced voltage that occurs on the terminal of the described stator winding of described open phase, and output level exceeds the reference voltage outside the scope that the terminal voltage of described stator winding in the effective time period of described shielded signal takes;

Rating unit (21-23), it is used for the reference voltage of the terminal voltage of the corresponding phase of described stator winding and the generation of described reference voltage generating unit branch is compared;

Control section (20), it is used for producing the signal of communication of logic under the condition of the next predetermined logic rules unanimity of the rotation of the described electric rotating machine of logical AND of the comparison signal of the corresponding phase of described rating unit output; And

Power transformation circuit (3), it is used for based on described current controling signal and described signal of communication described stator winding electrifying.

18, a kind of control system that is used for polyphase rotating machine, it is successively to the stator winding electrifying of the corresponding phase of described electric rotating machine, guarantees that simultaneously at least one opens a way mutually, and described control system comprises:

Part (20) takes place in pwm signal, and it is used to produce pwm signal, and this pwm signal is represented to apply the on-state of supply voltage and cut off the dissengaged positions of described supply voltage from described stator winding to described stator winding;

Part (19) takes place in reference voltage, and it is used for output reference voltage, and the level of this reference voltage is within the excursion of the induced voltage that occurs on the terminal of stator winding of described open phase;

Rating unit (21-23), it is used for the reference voltage of the terminal voltage of the corresponding phase of described stator winding and the generation of described reference voltage generation part is compared;

Part (20) takes place in shielded signal, its be used for when described pwm signal becomes described dissengaged positions from on-state or before make shielded signal effective, and after described dissengaged positions becomes described on-state, make described shielded signal invalid afterwards given time of delay (Td) in the past from described pwm signal;

Masked segment (53-55,62-64), it is used for according to the comparison signal of described shielded signal shielding by the corresponding phase of described rating unit output;

Control section (20), it is used for producing the signal of communication of logic under the condition of the ensuing predetermined logic rules unanimity of the rotation of the described electric rotating machine of logical AND of the comparison signal of described masked segment output; And

Power transformation circuit (3), it is used for based on described pwm signal and described signal of communication described stator winding electrifying.

19, a kind of control system that is used for polyphase rotating machine, it is successively to the stator winding electrifying of the corresponding phase of described electric rotating machine, guarantees that simultaneously at least one opens a way mutually, and described control system comprises:

Part (71) takes place in current controling signal, it is used to produce current controling signal, make the electrorheological that flows in the stator winding of energising phase must be equal to or less than the prescribed limit value, this current controling signal is represented to apply the on-state of supply voltage and cut off the dissengaged positions of described supply voltage from described stator winding to described stator winding;

Part (19) takes place in reference voltage, and it is used for output reference voltage, and the level of this reference voltage is within the excursion of the induced voltage that occurs on the terminal of stator winding of described open phase;

Rating unit (21-23), it is used for the reference voltage of the terminal voltage of the corresponding phase of described stator winding and the generation of described reference voltage generating unit branch is compared;

Part (20) takes place in shielded signal, its be used for described current controling signal when described on-state becomes described dissengaged positions or before make shielded signal effective, and after described dissengaged positions becomes described on-state, in the past make described shielded signal invalid afterwards given time of delay (Td) at described current controling signal;

Masked segment (53-55,62-64), it is used for according to the comparison signal of described shielded signal shielding by the corresponding phase of described rating unit output;

Control section (20), it is used for producing the signal of communication of logic under the condition of the next predetermined logic rules unanimity of the rotation of the described electric rotating machine of logical AND of the comparison signal of described masked segment output; And

Power transformation circuit (3), it is used for based on described current controling signal and described signal of communication described stator winding electrifying.

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