CN105846734B - Control device for three-phase rotating electrical machine - Google Patents
Control device for three-phase rotating electrical machine Download PDFInfo
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- CN105846734B CN105846734B CN201610081237.6A CN201610081237A CN105846734B CN 105846734 B CN105846734 B CN 105846734B CN 201610081237 A CN201610081237 A CN 201610081237A CN 105846734 B CN105846734 B CN 105846734B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
Abstract
The invention provides a control device for a three-phase rotating electrical machine, which can properly realize the reduction of the tolerance of the rotation fluctuation and the guarantee of the overlapping amount at the same time. The control device performs 120 ° energization in the 1 st mode, and executes sensorless control based on zero-crossing timing of the induced voltage (e $) that is monitored during the monitoring period of the induced voltage (e $ ($ u, v, w)). In the 2 nd mode, 130-140 DEG conduction is performed, and sensorless control is executed according to the zero crossing timing of the induction voltage (e $) monitored during the monitoring period of the induction voltage (e $ ($ u, v, w)). In the 2 nd mode, when the absolute value of the rotational angular acceleration is equal to or greater than the threshold value, the control device shifts to the 1 st mode.
Description
The entire contents of Japanese patent application No. 2015-020054 (application date: 2015, 2, 4) are incorporated herein by reference, including the specification, the drawings of the specification, and the abstract of the specification.
Technical Field
The present invention relates to a control device for a three-phase rotating electrical machine that controls a control amount of the three-phase rotating electrical machine by operating an inverter.
Background
For example, in japanese patent laid-open No. 2010-252406, a sensorless processing device is proposed that performs rectangular wave conduction in a region where the rotation speed of a three-phase rotary electric machine is low, with an overlap amount that enables detection of induced voltages from terminal voltages, and increases the overlap amount in a region where the rotation speed is high. Here, when the overlap amount is increased, the induced voltage cannot be detected from the terminal voltage. Therefore, in this device, in a region where the rotation speed is high, the timing of the on operation of the switching element of the U-phase upper arm is delayed, thereby reducing the amount of overlap to detect the induced voltage.
However, in the above case, the frequency of position detection by induced voltage is once every 360 ° in the region where the rotation speed is high, and is lower than the frequency of position detection, that is, once every 60 ° in the region where the rotation speed is low. Further, if the frequency of position detection is low, the resistance to rotation fluctuation may be reduced, and the stability of control may be reduced.
Disclosure of Invention
An object of the present invention is to provide a control device for a three-phase rotating electrical machine, which can simultaneously suppress a decrease in tolerance to rotation fluctuation and secure an overlap amount.
One aspect of the present invention relates to a control device for a three-phase rotating electrical machine, which controls a control amount of the three-phase rotating electrical machine by operating an inverter, the control device including a no-rotation angle sensor processing circuit and a switching processing circuit, wherein the inverter includes 3 pairs of switching elements, one switching element of each pair of switching elements opens and closes between a high-voltage-side voltage source terminal of a direct-current voltage source and a winding terminal of the three-phase rotating electrical machine, the other switching element of each pair of switching elements opens and closes between a low-voltage-side voltage source terminal of the direct-current voltage source and a winding terminal of the three-phase rotating electrical machine, and the no-rotation angle sensor processing circuit performs processing of, before on operations of each of the high-voltage-side and low-voltage-side pairs of switching elements connected to the winding terminals of the 3 winding terminals of the three-phase rotating electrical machine, detecting a timing at which a phase of an induced voltage of the three-phase rotary electric machine appearing at a winding terminal connected to the switching element that is an object of the on operation becomes a predetermined phase, thereby acquiring rotation angle information of the three-phase rotary electric machine, the switching processing circuit switching between a 1 st mode in which an overlap amount is set to 0 or more, and a 2 nd mode in which the overlap amount is longer than an amount in the 1 st mode, the overlap amount being a length of a portion in which energization angle regions of all 3 switching elements that are simultaneously in an on state when one switching element is simultaneously in the on state, overlap with each other, the switching processing circuit in the 2 nd mode in a case where an absolute value of an electrical angular acceleration of the three-phase rotary electric machine is a threshold value or more, switching from the 2 nd mode to the 1 st mode.
In the above configuration, prior to the turning-on operation of each of the pair of switching elements on the high voltage side and the low voltage side connected to each of the 3 winding terminals of the three-phase rotating electrical machine, the following processing is performed: the timing at which the above-described predetermined phase is reached is detected to be used as the rotation angle information. Therefore, the detection opportunity of the timing of the predetermined phase is 6 times in one cycle of the electrical angle, and therefore the detection frequency of the predetermined phase can be sufficiently secured.
However, the overlap amount in the 2 nd mode is longer than that in the 1 st mode, so in the case where the absolute value of the rotation angular acceleration becomes large, there is a fear that a predetermined phase cannot be detected easily. That is, for example, if the subsequent rotation speed is increased from the rotation speed between the timings of the last 2 predetermined phases, the predetermined phase appears before the induced voltage can be detected from the voltage of the winding terminal connected to the switching element to be turned on, and as a result, the predetermined phase may not be detected. Then, if the predetermined phase cannot be detected, the controllability is degraded. Therefore, it is considered that the resistance to the rotation fluctuation is reduced in the 2 nd mode as compared with the 1 st mode. In this regard, in the above configuration, when the absolute value of the rotational angular acceleration is equal to or greater than the threshold value, by switching from the 2 nd mode to the 1 st mode, it is possible to appropriately achieve both suppression of a decrease in tolerance to rotational fluctuation and securing of the overlap amount.
Another aspect of the present invention is the control device for a three-phase rotating electrical machine according to the above aspect, further including: a setting processing circuit that sets, in the 2 nd mode, an on operation timing of the switching element to be the target, which is predicted from a result of detection of a plurality of past times of a timing that becomes the predetermined phase, as an end point of a monitoring period that is a detection period of the induced voltage; and a monitoring processing circuit that monitors the induced voltage during the monitoring period, wherein the switching processing circuit switches from the 2 nd mode to the 1 st mode when the absolute value of the electrical angular acceleration is equal to or greater than a threshold value when the predetermined phase cannot be detected during the monitoring period.
When the end point of the monitoring period is set as described above, the monitoring period is set before the predicted on operation timing, and therefore, when the absolute value of the rotational angular acceleration is small, it can be considered that the timing at which the predetermined phase is obtained is included in the monitoring period. Therefore, when the predetermined phase cannot be detected during the monitoring period, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
In still another aspect of the present invention, the control device for a three-phase rotating electrical machine according to the above aspect further includes a speed calculation processing circuit that calculates a speed equivalent value, which is one of a rotation speed of the three-phase rotating electrical machine and a time difference between the detected predetermined phases, based on the detected time difference between the predetermined phases, and the switching processing circuit switches from the 2 nd mode to the 1 st mode, when a change speed of the speed equivalent value calculated by the speed calculation processing circuit is a predetermined value or more, assuming that an absolute value of the electrical angular acceleration is a threshold value or more.
In the case of the above configuration, since a predetermined phase is generated for each 60 °, a speed equivalent value can be calculated from a time difference between predetermined phases. Since the change speed of the speed equivalent value corresponds to the rotation angular acceleration, it is determined whether or not the absolute value of the rotation angular acceleration is equal to or greater than a threshold value. In particular, by using the change speed of the speed equivalent value, it is possible to determine whether or not the predetermined phase of the induced voltage cannot be detected by monitoring the voltage of the winding terminal in the initial stage when the mode 2 is set. In this case, the possibility that the predetermined phase cannot be detected can be reduced.
In still another aspect of the present invention, the control device for a three-phase rotating electrical machine according to the above aspect further includes a current detection processing circuit that detects a current flowing through the three-phase rotating electrical machine, and the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of the electrical angular acceleration is equal to or greater than a threshold value when a variation in a detected value of the current detected by the current detection processing circuit is equal to or greater than the threshold value.
The current flowing through the three-phase rotating electrical machine has a correlation with the torque of the three-phase rotating electrical machine. Therefore, when the amount of fluctuation of the detected value of the current is large, the amount of fluctuation of the torque is considered to be large, and further, the rotational angular acceleration may be considered to be large. In view of this, in the above configuration, when the amount of change in the detected value of the current is equal to or greater than the threshold value, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
In still another aspect of the present invention, in the control device for a three-phase rotating electrical machine according to the above aspect, the switching processing circuit switches from the 2 nd mode to the 1 st mode, when a variation amount of a detection value of the input voltage of the inverter is equal to or larger than a threshold value, assuming that an absolute value of the electrical angular acceleration is equal to or larger than the threshold value.
When the input voltage is high, the voltage applied to the winding terminals of the three-phase rotating electrical machine by the inverter becomes higher than when the input voltage is low. Therefore, the rotational speed of the three-phase rotating electrical machine increases when the input voltage is high, as compared with when the input voltage is low. Therefore, when the amount of fluctuation of the detected value of the input voltage is large, the amount of fluctuation of the rotational speed of the three-phase rotating electrical machine becomes large. In view of this, in the above configuration, it is determined whether or not the absolute value of the electrical angular acceleration is equal to or greater than a threshold value, based on the detected value of the input voltage. In particular, since the fluctuation of the input voltage causes the rotational angular acceleration to change, it is possible to quickly switch to the 1 st mode even in a situation where the predetermined phase may not be detected in the 2 nd mode by using the detected value of the input voltage.
Still another aspect of the present invention is a control device for a three-phase rotating electrical machine according to the above aspect, further including: a current detection processing circuit that detects a current flowing through the three-phase rotating electrical machine; and a current feedback processing circuit that feedback-controls the detected current to a current command value, wherein the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of a difference between a detected value of the current detected by the current detection processing circuit and the current command value is equal to or greater than a threshold value, the absolute value of the electrical angular acceleration being equal to or greater than the threshold value.
When the absolute value of the difference between the detected value of the current and the current command value is equal to or greater than the threshold value, the current feedback processing circuit performs control to reduce the difference, and therefore the amount of current fluctuation increases. Then, if the amount of fluctuation of the current becomes large, the amount of fluctuation of the torque of the three-phase rotating electrical machine becomes large, and therefore the absolute value of the rotational angular acceleration becomes high. In view of this, in the above configuration, when the absolute value of the difference between the detected value of the current and the current command value is equal to or greater than the threshold value, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
In still another aspect of the present invention, the control device for a three-phase rotating electrical machine according to the above aspect further includes a current detection processing circuit that detects a current flowing through the three-phase rotating electrical machine, and the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of the current detected by the current detection processing circuit is equal to or greater than a threshold value, the switching processing circuit setting the absolute value of the electrical angular acceleration to be equal to or greater than the threshold value.
It is considered that there is a range assumed for the absolute value of the current flowing through the three-phase rotating electrical machine, depending on the assumed range of the torque applied to the rotating shaft of the three-phase rotating electrical machine. Therefore, when the absolute value of the current flowing through the three-phase rotating electrical machine is excessively large, it is considered that the rotation state of the three-phase rotating electrical machine greatly deviates from the stable rotation state, and the rotation angular acceleration increases. In view of this, in the above configuration, when the absolute value of the current is equal to or greater than the threshold, it is determined that the absolute value of the electrical angular acceleration is equal to or greater than the threshold.
Still another aspect of the present invention is a control device for a three-phase rotating electrical machine according to the above aspect, further including: a speed calculation processing circuit that calculates a speed equivalent value that is any one of a rotational speed of the three-phase rotating electrical machine and a time difference between the detected predetermined phases, based on the detected time difference between the predetermined phases; and a speed feedback processing circuit that feedback-controls the calculated speed equivalent value to a speed command value, wherein the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of a difference between the speed equivalent value and the speed command value is equal to or greater than a threshold value, assuming that the absolute value of the electrical angular acceleration is equal to or greater than the threshold value.
It is considered that, when the absolute value of the difference between the speed equivalent value and the speed command value is equal to or greater than the threshold value, the speed feedback processing circuit performs control so as to reduce the difference, and therefore the absolute value of the rotational angular acceleration increases. In view of this, in the above configuration, when the absolute value of the difference between the speed equivalent value and the speed command value is equal to or greater than the threshold value, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
Still another aspect of the present invention is the control device of a three-phase rotating electrical machine according to the above aspect, further including a speed calculation processing circuit that calculates a speed equivalent value, which is one of a rotation speed of the three-phase rotating electrical machine and a time difference between the detected predetermined phases, based on the detected time difference between the predetermined phases, wherein the switching processing circuit switches from the 2 nd mode to the 1 st mode when the speed equivalent value is equal to or less than a predetermined speed.
When the rotation speed of the three-phase rotating electrical machine is excessively low, the rotation state of the three-phase rotating electrical machine tends to be unstable. In view of this, in the above configuration, when the speed equivalent value is equal to or less than the predetermined speed, the mode is switched to the 1 st mode, so that the possibility that the predetermined phase can be detected is increased, and the unstable rotation state is suppressed.
Still another aspect of the present invention provides the control device for a three-phase rotating electrical machine according to the above aspect, further including a start processing circuit that starts the three-phase rotating electrical machine by operating the inverter without detecting the predetermined phase, wherein the switching processing circuit selects the 1 st mode for a predetermined period after completion of processing by the start processing circuit.
Immediately after the completion of the processing by the start processing circuit, the rotation speed tends to be unstable. In view of this, in the above configuration, by selecting the 1 st mode for the entire predetermined period after completion, the possibility that the predetermined phase can be detected is increased in a situation where the rotation speed is unstable, and the unstable rotation state is suppressed.
Drawings
The above features and advantages and further features and advantages of the present invention will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings, in which like reference numerals are used to refer to like parts, and in which,
fig. 1 is a system configuration diagram of embodiment 1.
Line a and line B in fig. 2 are timing charts showing the 1 st mode and the 2 nd mode of the present embodiment.
Fig. 3 is a timing chart showing transition of the operation amount by the current feedback control according to the present embodiment.
Fig. 4 is a time chart showing the relationship of the overlap amount to the torque ripple.
Fig. 5 is a diagram showing a relationship of the overlap amount to torque fluctuations.
Fig. 6 is a flowchart showing the steps of the motor driving process according to the above embodiment.
Fig. 7 is a flowchart showing the procedure of the rotational speed calculation process according to the present embodiment.
Fig. 8 is a flowchart showing the procedure of the mode switching process of the present embodiment.
Fig. 9 is a system configuration diagram of embodiment 2.
Fig. 10 is a timing chart showing transition of the operation amount by the speed feedback control according to the present embodiment.
Fig. 11 is a flowchart showing the procedure of the mode switching process of the present embodiment.
Detailed Description
Hereinafter, embodiment 1 of a control device for a three-phase rotating electrical machine according to the present invention will be described with reference to the drawings.
Fig. 1 shows a system configuration of the present embodiment. The motor 10 shown in fig. 1 is a Surface Permanent Magnet Synchronous Motor (SPMSM). The motor 10 is obtained by Y-coupling 3 stator coils to each other. The electric motor 10 is built in an oil pump 12 that discharges oil to a CVT (continuously variable transmission) 14 provided in a drive system of the vehicle. A battery (dc voltage source) 16 is connected to the motor 10 via an inverter INV. The inverter INV is a circuit that opens and closes between the voltage source terminals on the high voltage side and the low voltage side of the battery 16 and each of the 3 winding terminals of the motor 10. The winding terminal is a terminal of the stator coil, and is a portion for connecting an external component of the motor 10 to the stator coil.
In fig. 1, in the symbols of the switching elements (MOS field effect transistors) constituting the inverter INV, subscripts "u, v, and w" are given to elements connected to each of the 3 winding terminals of the motor 10, subscripts "p" are given to the upper arm, and subscript "n" is given to the lower arm. In the following, subscripts "u, v, and w" are collectively referred to as "$", and subscripts "p and n" are collectively referred to as "#". That is, the inverter INV is configured as a series connection body including a switching element S $ p for switching between the high-voltage-side voltage source terminal of the battery 16 and the winding terminal of the motor 10, and a switching element S $ n for switching between the low-voltage-side voltage source terminal of the battery 16 and the winding terminal of the motor 10. Further, a diode D $ # is connected in reverse parallel to each of these switching elements S $ #.
A voltage sensor 18 is provided between a pair of input terminals of the inverter INV connected to a high-voltage-side voltage source terminal and a low-voltage-side voltage source terminal of the battery 16, and an input voltage Vdc of the inverter INV is detected by the voltage sensor 18. Further, a shunt resistor 20 is provided between the low-voltage-side input terminal of the inverter INV and the low-voltage-side voltage source terminal of the battery 16 (a low-voltage-side dc bus). Then, the voltage drop across the shunt resistor 20 is detected by the voltage sensor 22. The voltage sensor 22 detects the current I flowing through the dc bus by detecting a voltage drop.
The control device 30 includes a phase detection circuit 32 and a control circuit 34. Here, when an induced voltage appears in the terminal voltage V $ of the motor 10, the phase detection circuit 32 detects a predetermined phase of the induced voltage. In the present embodiment, the predetermined phase is set to a phase in which the sign of the induced voltage appearing at each winding terminal is inverted. In other words, the phase of the zero-cross point at which the induced voltage is generated is assumed. As the configuration of the phase detection circuit 32, a known technique may be applied. Specifically, for example, a configuration may be adopted in which the timing of inversion of the magnitude of the voltage at the neutral point and the terminal voltage V $ is detected as zero crossing timing, or a configuration in which the timing of inversion of the magnitude of the input voltage 1/2 of the inverter INV and the terminal voltage V $ is detected as zero crossing timing. A circuit for performing current feedback processing described later is incorporated in control device 30 in fig. 1.
The control circuit 34 includes a Central Processing Unit (CPU) and a storage device, and controls the amount of control of the motor 10 by operating the inverter INV by the CPU executing a program stored in the storage device. That is, inverter INV is operated by outputting operation signal g $ # to switching element S $ # of inverter INV. When the operation signal g $ # is output, the control circuit 34 may be provided with a driver circuit, and a signal from the CPU may be output to the inverter INV through the driver circuit.
Fig. 2 shows a switching operation model of the inverter INV of the present embodiment. In fig. 2, the angle region in which the switching element S $ # is described indicates a region in which the on operation of the switching element S $ # is permitted (on operation permission region). Here, the switching element S $ p of the upper arm is always on between the on operation permission regions. On the other hand, the switching element S $ n of the lower arm is turned on/off between the on operation permission regions. Here, the duty ratio (time ratio) of the on operation time of switching element S $ # to one period of the on/off operation is an operation amount when current I, which is a control amount of motor 10, is feedback-controlled to current command value I input from the outside to control device 30.
Fig. 3 illustrates a duty ratio (time ratio) when the current feedback control is performed. Graph a of fig. 3 is illustrated in comparison with graph B of fig. 3 in the case where input voltage Vdc is the same, with the duty ratio in the case where current command value I is large and small. As shown in the figure, since the current I can be increased by increasing the duty ratio, when the current command value I is large, the duty ratio tends to be large.
As shown in fig. 2, the control circuit 34 drives the motor 10 by providing a period for which current flows to 2 of the stator coils connected to 3 winding terminals of the motor 10. Here, the 2 stator coils to be energized are defined as angular regions in which a resultant vector of magnetic fluxes generated by energizing the stator coils is equal in width on the leading angle side and the lagging angle side with respect to a direction perpendicular to the magnetic poles as a center. In the present embodiment, the angular range is set to an angular range of 120 ° in the 1 st mode shown in the diagram a of fig. 2, and a predetermined angular range of 130 to 140 ° in the 2 nd mode shown in the diagram B of fig. 2.
The on operation of the switching element S $ # in the 1 st mode and the 2 nd mode is performed as follows. As shown in fig. 2, an induced voltage e $appearsat the winding terminal where both the switching element S $ p in the upper arm and the switching element S $ n in the lower arm are in the off state. The control circuit 34 includes a monitoring processing circuit for monitoring the induced voltage. The control circuit 34 sets a monitoring period, which is a detection period of the induced voltage, for each winding terminal of the motor 10 in accordance with a period in which both are in an off state, and turns on the switching element S $ # using a zero crossing time of the induced voltage e $ detected by the phase detection circuit 32 as the rotation angle information during the monitoring period. In fig. 2, the zero crossing timing is indicated by a broken line.
The control circuit 34 further includes a setting processing circuit for setting the on operation timing of the switching element. Specifically, first, a predetermined angular width before and after the next zero-crossing timing when the rotation speed of the motor 10 is constant is predicted from the time difference between the pair of past zero-crossing timings, and the predicted period is set as the monitoring period. Here, the predetermined angular amplitude is 30 ° in the 1 st mode. Next, during the monitoring period, the zero crossing timing is detected, the time from the current zero crossing timing to the rotation of the motor 10 by the predetermined angular width is calculated from the time difference between the zero crossing timing and the immediately preceding zero crossing timing, and the on operation timing is set so that the switching element S $ # is operated to be turned on when the time elapses. Incidentally, according to such setting, the end point of the monitoring period becomes the on operation timing of the switching element S $ # predicted from the time difference between the above-described past pair of zero-crossing timings. Therefore, in the present embodiment, in the 1 st mode, when the zero crossing timing cannot be detected during the monitoring period, the switching element S $ # is turned on at the end of the monitoring period.
As shown in the line graph B of fig. 2, in the 2 nd mode, the length of the energization angle region in which either one of the switching element S $ p of the upper arm and the switching element S $ n of the lower arm is in the on state, that is, the overlap amount is set to be larger than 0 at all 3 winding terminals of the motor 10. The 2 nd mode is set with a view to reducing torque fluctuations of the electric motor 10 and suppressing gear rattling sound and vibration of the oil pump 12. The relationship of the overlap amount to the torque ripple is shown in fig. 4.
A curve fa shown in fig. 4 shows a torque waveform in the 1 st mode with an overlap amount of 0, and curves fb, fc show torque waveforms at overlap amounts of 5 ° and 10 °, respectively. In fig. 5, the torque ripple is quantified as a ripple amount, and a reduction ratio of the torque ripple to the overlap amount is found to be 0. In fig. 5, the torque ripple is quantified as a ratio of the maximum value with respect to the average value of the torque with respect to the absolute value of the difference between the average value and the instantaneous value.
As shown in fig. 4 and 5, the torque ripple can be reduced by increasing the overlap amount. Therefore, in the 2 nd mode, the overlap amount capable of effectively reducing the torque fluctuation while ensuring the monitoring period is set.
However, as is also apparent from a comparison of the line graph a of fig. 2 with the line graph B of fig. 2, an increase in the amount of overlap leads to a shortening of the monitoring period. When the monitoring period is shortened, the resistance to the rotational fluctuation is lowered. That is, as described above, in the present embodiment, the monitoring period is set to a period before and after the zero crossing timing predicted from the past zero crossing timing, and therefore, if the rotation fluctuation occurs, the actual zero crossing timing is likely to deviate from the monitoring period.
Therefore, in the present embodiment, when the absolute value of the rotational angular acceleration of the motor 10 becomes large, there is a possibility that the mode is switched from the 2 nd mode to the 1 st mode when the zero crossing cannot be detected during the monitoring period. This point will be described in detail below.
Fig. 6 shows a procedure of a driving process of the motor 10 according to the present embodiment. In the control circuit 34, this process is repeatedly executed at a predetermined cycle, for example. In the series of processes shown in fig. 6, the control circuit 34 first determines whether or not an operation command for the motor 10 is issued (S10). When determining that the operation command has been issued (S10: YES), the control circuit 34 executes a process for starting the motor 10 (S12). Here, when the rotation speed of the motor 10 is low, the absolute value of the induced voltage e $ is small, and therefore the sensorless process based on the induced voltage e $ is not performed, and the switching element S $ # is operated at a predetermined frequency by the switching pattern shown in the diagram a of fig. 2. Next, the control circuit 34 determines whether or not the zero crossing timing of the induced voltage e $ can be detected (S14). This process is for determining whether or not the sensorless process based on the induced voltage e $ can be executed. Here, it is sufficient if the absolute value of the induced voltage e $ reaches a predetermined value or more during the monitoring period and inversion of the sign is detected.
If the zero crossing timing can be detected (S14: YES), the control circuit 34 executes the sensorless processing in the 1 st mode in accordance with the zero crossing timing (S16). Here, the 1 st mode is selected because it is considered that the variation of the rotation speed is large immediately after the completion of the startup processing. That is, before the process proceeds to step S16, since the rotation angle of the motor 10 is not grasped and the switching operation is performed by the switching pattern shown in the diagram a of fig. 2, the torque generated by the motor 10 is insufficient, and the rotation speed is lower than that in the case where the process of step S16 is stably performed. Therefore, it is considered that the process proceeds to step S16, whereby the rotation speed of the motor 10 is increased.
Thereafter, the control circuit 34 determines whether the rotation speed is stable (S18). Then, when determining that the rotation speed is stable (S18: YES), the control circuit 34 executes the sensorless processing in the 2 nd mode based on the zero crossing timing (S20).
When a negative determination is made in step S10 or when the process of step S20 is completed, the control circuit 34 once ends the process shown in fig. 6. As described above, the control circuit 34 executes the process of calculating the time difference between a pair of zero crossing timings at the time of the sensorless process based on the zero crossing timing. In particular, in the present embodiment, a process of calculating the rotation speed (electrical angular velocity) ω of the motor 10 is performed.
Fig. 7 shows the procedure of the calculation process of the rotation speed ω. This process is repeatedly executed by the control circuit 34, for example, at a predetermined cycle in the execution of the sensorless process based on the zero-crossing timing.
In the series of processing, the control circuit 34 first determines whether or not the zero crossing timing is detected (S30). When the zero-crossing timing is detected (S30: YES), the control circuit 34 calculates the time difference DeltaT between the current zero-crossing timing and the previous zero-crossing timing (S32). Then, the control circuit 34 calculates the rotation speed ω from the time difference Δ T (S34).
Further, when the process of step S34 is completed or when a negative determination is made in step S30, the control circuit 34 once ends the series of processes shown in fig. 7. Fig. 8 shows a procedure of a switching process between mode 1 and mode 2 of the present embodiment. This process is repeatedly executed by the control circuit 34, for example, at a predetermined cycle.
In the series of processes shown in fig. 8, the control circuit 34 first determines whether or not the sensorless process based on the zero crossing timing is executed (S40). Then, when the control circuit 34 makes an affirmative determination in step S40, it determines whether or not the logical sum of the following conditions is true (S42). This process is used to determine whether to shift to mode 1.
(a) The condition at zero crossing cannot be detected during the monitoring period. As described above, the monitoring period is set to a predetermined angular width with the zero-crossing timing predicted from the time difference between the past zero-crossing timings interposed therebetween. Here, in the case where the absolute value of the rotation angular acceleration is small, it can be considered that the zero-crossing timing is included in the monitoring period. Therefore, when the zero crossing cannot be detected during the monitoring period, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
(b) The rotation speed ω is equal to or lower than the predetermined speed ω th. This condition is provided in view of the tendency that the rotation state of the motor 10 becomes unstable when the rotation speed of the motor 10 is excessively low. In this case, by shifting to the 1 st mode, the possibility of detecting the zero crossing timing is increased, and the unstable rotation state is suppressed.
(c) The change speed Δ ω (detected value of the rotational angular acceleration) of the rotational speed ω is equal to or higher than the threshold value Δ ω th.
(d) The fluctuation amount Δ I of the current I is equal to or greater than the threshold value Δ Ith 1. The current I flowing through the motor 10 has a correlation with the torque of the motor 10. Therefore, when the variation Δ I of the current I is large, it is considered that the variation of the torque is large, and further, the rotation angular acceleration may be large. Here, the fluctuation amount Δ I is an absolute value of a difference between a minimum value and a maximum value of the current I in a predetermined period.
(e) The variation Δ Vdc of the input voltage Vdc is equal to or greater than the threshold value Δ Vth. When the input voltage Vdc is high, the voltage applied to the winding terminals of the motor 10 by the inverter INV becomes larger than when the input voltage Vdc is low. Therefore, when the input voltage Vdc is high, the rotation speed of the motor 10 is increased as compared with the low input voltage Vdc. Therefore, when the variation Δ Vdc of the input voltage Vdc is large, the variation of the rotation speed becomes large. In view of this, when the input voltage Vdc is equal to or greater than the threshold value Δ Vth, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
(f) The absolute value of the difference between the current I and the current command value I is equal to or greater than a threshold value Δ Ith 2. When the absolute value of the difference between the current I and the current command value I is equal to or greater than the threshold value Δ Ith2, the current feedback control is performed to reduce the difference, and therefore, the amount of current fluctuation is considered to be large. Further, if the amount of current fluctuation is large, the amount of torque fluctuation of the motor 10 is large, and therefore the absolute value of the rotational angular acceleration is highly likely to be large. In view of this, when the absolute value of the difference between the current I and the current command value I is equal to or greater than the threshold value Δ Ith2, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
(g) The current I is equal to or greater than the threshold Ith. From the assumed range of the torque applied to the rotating shaft of the motor 10, it is considered that there is also a range assumed for the current I flowing through the motor 10. Therefore, when the current I flowing through the motor 10 is excessively large, it is considered that the rotation state of the motor 10 is greatly deviated from the stable rotation state, and the rotation angular acceleration is increased. In view of this, when the current I is equal to or greater than the threshold Ith, it is determined that the absolute value of the electrical angular acceleration is equal to or greater than the threshold.
If the control circuit 34 determines that the logical sum is true (S42: YES), it executes the sensorless process in the 1 st mode (S44). Here, when the sensorless processing in the 2 nd mode is executed at the present time, the mode is shifted to the 1 st mode. In contrast, when the sensorless processing according to the 1 st mode is executed at the present time, the sensorless processing according to the 1 st mode is continued as it is. On the other hand, when the control circuit 34 determines that the logical sum is false (S42: NO), it executes the sensorless processing in the 2 nd mode (S46). Here, when the sensorless processing according to the 1 st mode is executed at the present time, the mode is shifted to the 2 nd mode. In contrast, when the sensorless processing in the 2 nd mode is executed at the present time, the sensorless processing in the 2 nd mode is continued as it is.
Further, when a negative determination is made in step S40 or when the processing of steps S44 and S46 is completed, the control circuit 34 temporarily ends the series of processing.
Next, the operation of the present embodiment will be described.
The control circuit 34 starts the motor 10 in the step shown in fig. 6 in accordance with the operation command of the motor 10, and executes the sensorless processing according to the 2 nd mode. Thereafter, the control circuit 34 determines whether the logical sum is true through the processing of step S42 of fig. 8. Then, the control circuit 34 shifts to the sensorless processing based on the 1 st mode in a case where the logical sum is true. Accordingly, in a situation where it is difficult to detect the zero crossing timing during the monitoring period, such as when the absolute value of the rotational angular acceleration of the motor 10 is equal to or greater than the threshold value, the mode is shifted from the 2 nd mode to the 1 st mode. Since the monitoring period is longer in the 1 st mode than in the 2 nd mode, the possibility that the zero crossing timing can be detected is higher than in the case where the 2 nd mode is continued.
According to the present embodiment described above, the following effects can be obtained.
(1) When the absolute value of the rotational angular acceleration is equal to or greater than the threshold value in the 2 nd mode, the mode shifts to the 1 st mode. Thus, compared to the case where the mode 2 is continued, the possibility that the zero crossing timing can be detected is increased, and therefore, it is possible to appropriately achieve both suppression of the reduction in the tolerance to the rotation fluctuation and securing of the overlap amount.
(2) In the starting process of the motor 10, the switching element S $ # is operated by the same switching pattern as that of the 1 st mode. Thus, the monitoring period can be extended compared to the case where the switching element S $ # is operated by the same switching pattern as in the 2 nd mode, and the transition to the sensorless processing based on the zero crossing timing can be speedily performed.
Hereinafter, embodiment 2 will be described mainly focusing on differences from embodiment 1 with reference to the drawings.
In the present embodiment, the control circuit 34 feedback-controls the rotation speed ω to the command value (speed command value ω) thereof, not the current I to the current command value I. Fig. 9 shows a system configuration of the present embodiment. In fig. 9, the same reference numerals are assigned to the components corresponding to those shown in fig. 1 for convenience of description. A processing circuit for performing velocity feedback control is incorporated in control device 30 in fig. 9.
As shown in fig. 9, in the present embodiment, a speed command value ω is externally input to control device 30. Then, in the control circuit 34, the duty ratio of the switching element S $ n of the lower arm is operated to feedback-control the rotational speed ω, which is a control amount of the motor 10, to the speed command value ω. Accordingly, when the input voltage Vdc is of the same magnitude, the torque is required more when the speed command value ω shown in graph a of fig. 10 is large than when the speed command value ω shown in graph B of fig. 10 is small, and therefore the duty ratio tends to be set to a large value.
Fig. 11 shows a procedure of a switching process between mode 1 and mode 2 of the present embodiment. This process is repeatedly executed by the control circuit 34, for example, at a predetermined cycle. Note that, in fig. 11, the same step numbers are assigned to the processes corresponding to those shown in fig. 8 for convenience of description.
As shown in fig. 11, the control circuit 34 determines whether or not the logical sum of the conditions (a) to (e) and (g) and the condition (h) is true in step S42a instead of performing the determination in step S42.
(h) The condition is that the absolute value of the difference between the rotational speed ω and the speed command value ω is equal to or greater than the threshold value Δ ω th 2. When the absolute value of the difference between the rotational speed ω and the speed command value ω is equal to or greater than the threshold value, the absolute value of the rotational angular acceleration can be considered to be increased because the feedback control is performed so as to reduce the difference. In view of this, when the absolute value of the difference between the rotational speed ω and the speed command value ω is equal to or greater than the threshold value, it is determined that the absolute value of the rotational angular acceleration is equal to or greater than the threshold value.
In addition, at least 1 of the matters of the above embodiment may be modified as follows. In the following description, a representative correspondence relationship between each item described in the summary of the invention and the above-described embodiments is described, but the description is not limited to the embodiments of each item.
In the 1 st mode, the on operation permission region of the switching element S $ # of the upper arm or the lower arm is not limited to 120 °. For example, the period of 118 ° may be included in which only 1 switching element connected to 1 winding terminal out of 3 winding terminals of the motor 10 is in the on operation permission region. In addition, the overlap amount is not limited to 0.
In short, the overlap amount may be smaller than that of the 2 nd mode.
In the 2 nd mode, the on operation permission region of the switching element S $ # of the upper arm or the lower arm is not limited to 130 to 140 °. For example, it may be set to be larger than 140 °.
Further, if the overlap amount of the 2 nd mode is longer than that of the 1 st mode, it may be lower than 130 °.
Regarding the switching between the 1 st mode and the 2 nd mode, for example, when an affirmative determination is made in step S42 in fig. 8, the mode may be switched from the 2 nd mode to the 1 st mode, and the mode may be switched to the 1 st mode by continuing the state in which the negative determination is made for a predetermined time. For example, in step S42, hysteresis may be provided by making the values used for the determinations of (b) to (g) described above regarding the conditions for shifting from mode 1 to mode 2 different from those used for shifting to mode 1. Specifically, for example, the predetermined speed ω th in the above (b) may be set to a value larger than that at the time of shifting to the 1 st mode.
The rotation angle sensorless processing circuit is not limited to a circuit that monitors the voltage V $ of the winding terminal connected to the switching element S $ # subject to the on operation to detect the zero crossing, and turns on the switching element S $ # subject to the on operation based on the detected zero crossing. For example, the switching element Swp to be an object of the on operation after the switching element Sun may be turned on in accordance with the zero crossing of the induced voltage eu detected before the on operation of the switching element Sun.
The on operation permission region is not limited to an angular region in which the direction of the magnetic field generated by the current flowing through the stator coil and the direction of the magnetic pole are orthogonal to each other and have a predetermined angular width equal to each other before and after the timing. For example, in the high rotation region, a process of forming a lead angle by a predetermined amount with respect to the angle region may be performed. However, in this case, it is preferable to set the 1 st mode in order to increase the possibility of detecting the zero cross point.
The feedback control amount is not limited to any one of the current I and the rotation speed ω. For example, both of them may be used.
The operation amount for controlling the current I and the rotational speed ω as the control amount is not limited to the duty ratio of the switching element S $ n in the lower arm. For example, the duty ratio of the switching element S $ p of the upper branch may be used. However, the duty ratio is not limited to be variable.
The switching processing circuit (S42, S42a) in the processing of step S42 in fig. 8 is not limited to determining whether or not the logical sum of all the conditions (a) to (g) is true, and may determine whether or not at least 1 condition is satisfied. That is, for example, the processing of determining whether or not the logical sum of the conditions (a) and (c) is true may be performed, and for example, the processing of determining whether or not the condition (c) is satisfied may be performed.
In the processing in step S42a in fig. 11, it is not limited to determining whether or not the logical sum of all the conditions (a) to (e), (g), and (h) is true, and it may be determined whether or not at least 1 condition is satisfied. That is, for example, the processing of determining whether or not the logical sum of the conditions (a) and (c) is true may be performed, and for example, the processing of determining whether or not the condition (c) is satisfied may be performed.
For example, if the non-rotation angle sensor processing circuit uses both the current I and the rotation speed ω as feedback control amounts, it may be determined whether or not the logical sum of the conditions (f) and (h) is true.
The speed calculation processing circuit (fig. 7) calculates the rotational speed ω as the speed equivalent value in fig. 7, but is not limited thereto. For example, the time difference Δ T itself may be calculated as a speed equivalent value.
In the above-described embodiment, the current detection processing circuit samples the detection value of the voltage sensor 22 that detects the voltage drop across the shunt resistor 20, and performs the current detection processing (processing performed by the current detection processing circuit) by the control circuit 34, but the present invention is not limited thereto. For example, a process of sampling the potentials at both ends of the shunt resistor 20 and a process of calculating the current I from the values of the pair of sampled potentials may be performed as the current detection process.
The shunt resistor is not limited to the dc bus provided on the low voltage side, and may be, for example, a dc bus provided on the high voltage side. For example, each branch may be provided with a shunt resistor. For example, it may be provided between the voltage source terminal on the low voltage side of the battery 16 and each of the switching elements Sun, Svn, Swn, or may be provided on the high voltage side of the battery 16.
With regard to the start processing circuit (S12), in the above-described embodiment, the processing by the start processing circuit is ended in a case where the zero cross point can be detected, but the present invention is not limited thereto. For example, the time may be set to a time when a predetermined length of time has elapsed.
The ratio of the on operation permission region in one period of the switch model is not limited to be set to be the same as that of the 1 st mode. For example, the ratio may be made lower than that. Thereby, the zero-crossing point can be detected earlier.
In addition, the time interval of one cycle of the switch pattern is not limited to be fixed, and may be, for example, shortened slowly. In the above embodiment, the predetermined period during which the mode is shifted to the 2 nd mode after the completion of the processing by the start processing circuit is set to a period until the rotation speed ω is stabilized, but the present invention is not limited thereto. For example, a predetermined length of time may be set.
Regarding the three-phase rotating electrical machine, the transmission to which the oil is discharged from the oil pump 12 incorporated in the electric motor 10 is not limited to the CVT14, and may be a stepped transmission, for example. The discharge destination of the oil from the oil pump 12 is not limited to the transmission, and may be, for example, an internal combustion engine.
The three-phase rotating electrical machine is not limited to SPMSM, and may be an Interior Permanent Magnet Synchronous Motor (IPMSM), for example. The three-phase rotating electrical machine is not limited to a three-phase motor, and may be, for example, a three-phase generator. Further, the 3 stator coils are not limited to Y-connection, and Δ -connection may be performed, for example.
In the above-described embodiment, the control circuit 34 includes a CPU and a storage device for a program to be executed by the CPU, and the processes of fig. 6 to 8 and 11 are realized by the CPU executing the program. For example, at least a part of the processing in fig. 6 to 8 and 11 may be hardware processing such as an ASIC (application specific integrated circuit). In other words, a computer that executes at least a part of the processing in fig. 6 to 8 and 11 may be dedicated hardware instead of hardware that executes software processing.
The dc voltage source connected to each winding terminal of the motor 10 via the inverter INV is not limited to the battery 16, and may be, for example, a capacitor or the like.
Claims (10)
1. A control device for a three-phase rotating electrical machine, which controls the control amount of the three-phase rotating electrical machine by operating an inverter, includes a rotation angle sensorless processing circuit and a switching processing circuit, wherein,
the inverter is provided with 3 pairs of switching elements, one switching element of each pair of switching elements performs switching between each voltage supply terminal on the high voltage side of the direct current voltage source and each winding terminal of the three-phase rotating electric machine, the other switching element of each pair of switching elements performs switching between each voltage supply terminal on the low voltage side of the direct current voltage source and each winding terminal of the three-phase rotating electric machine,
the non-rotation angle sensor processing circuit performs processing for acquiring rotation angle information of the three-phase rotating electrical machine by detecting, before an on operation of each of a pair of switching elements on the high voltage side and the low voltage side connected to each of 3 winding terminals of the three-phase rotating electrical machine, a timing at which a phase of an induced voltage of the three-phase rotating electrical machine appearing at a winding terminal connected to the switching element that is an object of the on operation becomes a predetermined phase,
the switching processing circuit switches between a 1 st mode in which an overlap amount is set to 0 or more and a 2 nd mode in which the overlap amount is longer than that in the 1 st mode, the overlap amount being a length of a portion where energization angle regions of three switching elements simultaneously in an on state overlap with each other when all 3 switching elements are simultaneously in the on state for each of the switching elements,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of an electrical angular acceleration of the three-phase rotating electrical machine is equal to or greater than a threshold value in the 2 nd mode.
2. The control device of the three-phase rotary electric machine according to claim 1,
further comprising: a setting processing circuit that sets, in the 2 nd mode, an on operation timing of the switching element to be the target, which is predicted from a result of detection of a plurality of past times of a timing that becomes the predetermined phase, as an end point of a monitoring period that is a detection period of the induced voltage; and
a monitoring processing circuit that monitors the induced voltage during the monitoring period,
when the predetermined phase cannot be detected during the monitoring period, the switching processing circuit switches from the 2 nd mode to the 1 st mode, assuming that the absolute value of the electrical angular acceleration is equal to or greater than a threshold value.
3. The control device of the three-phase rotary electric machine according to claim 1,
further comprising a speed calculation processing circuit that calculates a speed equivalent value that is either one of a rotation speed of the three-phase rotating electrical machine and a detected time difference between the predetermined phases, based on the detected time difference between the predetermined phases,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the change speed of the speed equivalent value calculated by the speed calculation processing circuit is equal to or greater than a predetermined value, and the absolute value of the electrical angular acceleration is equal to or greater than a threshold value.
4. The control device of the three-phase rotary electric machine according to claim 1,
further comprising a current detection processing circuit that detects a current flowing in the three-phase rotating electrical machine,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the absolute value of the electrical angular acceleration is equal to or greater than a threshold value when the amount of change in the detected value of the current detected by the current detection processing circuit is equal to or greater than the threshold value.
5. The control device of the three-phase rotary electric machine according to claim 1,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when an absolute value of the electrical angular acceleration is equal to or greater than a threshold value when a variation of a detected value of the input voltage of the inverter is equal to or greater than the threshold value.
6. The control device of the three-phase rotary electric machine according to claim 1,
further comprising: a current detection processing circuit that detects a current flowing through the three-phase rotating electrical machine; and
a current feedback processing circuit that feedback-controls the detected current to a current command value,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the absolute value of the difference between the detected value of the current detected by the current detection processing circuit and the current command value is equal to or greater than a threshold value, and the absolute value of the electrical angular acceleration is equal to or greater than the threshold value.
7. The control device of the three-phase rotary electric machine according to claim 1,
further comprising a current detection processing circuit that detects a current flowing in the three-phase rotating electrical machine,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the absolute value of the electric current detected by the current detection processing circuit is equal to or greater than a threshold value, and the absolute value of the electric angular acceleration is equal to or greater than a threshold value.
8. The control device of the three-phase rotary electric machine according to claim 1,
further comprising: a speed calculation processing circuit that calculates a speed equivalent value that is any one of a rotational speed of the three-phase rotating electrical machine and a time difference between the detected predetermined phases, based on the detected time difference between the predetermined phases; and
a speed feedback processing circuit for feedback-controlling the calculated speed equivalent value to a speed command value,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the absolute value of the difference between the speed equivalent value and the speed command value is equal to or greater than a threshold value, and the absolute value of the electrical angular acceleration is equal to or greater than a threshold value.
9. The control device of the three-phase rotary electric machine according to claim 1,
further comprising a speed calculation processing circuit that calculates a speed equivalent value that is any one of a rotation speed of the three-phase rotary electric machine and a detected time difference between the predetermined phases, based on the detected time difference between the predetermined phases,
the switching processing circuit switches from the 2 nd mode to the 1 st mode when the speed equivalent value is equal to or less than a predetermined speed.
10. The control device of the three-phase rotary electric machine according to any one of claims 1 to 9,
further comprising a start processing circuit that starts the three-phase rotating electrical machine not based on the detection of the predetermined phase but by operating the inverter,
the switching processing circuit selects the 1 st mode for a predetermined period after the processing by the start processing circuit is completed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-020054 | 2015-02-04 | ||
| JP2015020054A JP6451361B2 (en) | 2015-02-04 | 2015-02-04 | Control device for three-phase rotating electric machine |
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| Publication Number | Publication Date |
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| CN105846734A CN105846734A (en) | 2016-08-10 |
| CN105846734B true CN105846734B (en) | 2020-08-28 |
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| CN201610081237.6A Expired - Fee Related CN105846734B (en) | 2015-02-04 | 2016-02-04 | Control device for three-phase rotating electrical machine |
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| CN107101607B (en) * | 2017-06-15 | 2019-04-09 | 新疆金风科技股份有限公司 | Motor rotation angle measurement device and method |
| JP6935349B2 (en) * | 2018-03-02 | 2021-09-15 | 株式会社東芝 | Motor drive |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001045789A (en) * | 1999-08-04 | 2001-02-16 | Sharp Corp | Motor-control device |
| CN1754303A (en) * | 2003-03-17 | 2006-03-29 | 松下电器产业株式会社 | Driving method and driver of DC brushless motor |
| US20070152624A1 (en) * | 2005-12-29 | 2007-07-05 | Samsung Electronics Co., Ltd. | Motor system, control method thereof, and compressor using the same |
| CN103201943A (en) * | 2010-10-21 | 2013-07-10 | 松下电器产业株式会社 | Inverter control device, electric compressor, and electric device |
-
2015
- 2015-02-04 JP JP2015020054A patent/JP6451361B2/en not_active Expired - Fee Related
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001045789A (en) * | 1999-08-04 | 2001-02-16 | Sharp Corp | Motor-control device |
| CN1754303A (en) * | 2003-03-17 | 2006-03-29 | 松下电器产业株式会社 | Driving method and driver of DC brushless motor |
| US20070152624A1 (en) * | 2005-12-29 | 2007-07-05 | Samsung Electronics Co., Ltd. | Motor system, control method thereof, and compressor using the same |
| CN103201943A (en) * | 2010-10-21 | 2013-07-10 | 松下电器产业株式会社 | Inverter control device, electric compressor, and electric device |
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| CN105846734A (en) | 2016-08-10 |
| JP6451361B2 (en) | 2019-01-16 |
| JP2016144357A (en) | 2016-08-08 |
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