CN111869097A

CN111869097A - Drive device, electric vehicle, and control method for drive device

Info

Publication number: CN111869097A
Application number: CN201880091322.8A
Authority: CN
Inventors: 目黑一由希; 井之口雄大
Original assignee: Shindengen Electric Manufacturing Co Ltd
Current assignee: Shindengen Electric Manufacturing Co Ltd
Priority date: 2018-03-28
Filing date: 2018-03-28
Publication date: 2020-10-30
Anticipated expiration: 2038-03-28
Also published as: WO2019186760A1; JP7135069B2; TW201945242A; JPWO2019186760A1; TWI743462B; CN111869097B

Abstract

The control part carries out drive control of the motor through a trapezoidal current waveform, and the drive control comprises: switching control of on/off of the first switch is performed by a first-phase high-side PWM signal adjusted to be increased in a stepwise manner to a preset set duty ratio, and to maintain the set duty ratio after the increase, and to adjust the duty ratio to be decreased in a stepwise manner from the set duty ratio after the maintenance; switching on/off of the third switch is controlled by adjusting a second-phase high-end PWM signal of the duty ratio; and on/off of the fifth switch is controlled by switching the third phase high-side PWM signal with the duty ratio adjusted, and the stepwise increase to and decrease from the set duty ratio are performed according to a set period set to be longer than pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal.

Description

Drive device, electric vehicle, and control method for drive device

Technical Field

The invention relates to a drive device, an electric vehicle, and a control method of the drive device.

Background

Conventionally, electric two-wheeled vehicles using a battery as a power source and a three-phase motor (hereinafter, simply referred to as a motor) as a power source have been widely known.

In such an electric two-wheeled vehicle, in order to drive the motor, the energization of the coils of the respective phases of the motor from the battery is controlled by a three-phase full bridge circuit (i.e., an inverter circuit) including a high-side switch and a low-side switch for each phase.

When the energization control is performed, the switch is PWM-controlled by a set duty ratio, and the driving of the motor is controlled by a current waveform corresponding to the duty ratio.

In order to prevent a ripple from occurring in the current waveform during PWM control, a trapezoidal current waveform having a smooth rise and fall is generated by slowly increasing or decreasing the duty ratio.

However, when the time point of the PWM control is determined by the fixed carrier period of the triangular wave, if the duty ratio is continuously increased or decreased for each carrier period in order to generate the trapezoidal current waveform, there is a problem that the processing load of the PWM control becomes excessively large.

Further, japanese patent laying-open No. 8-331885 discloses a technique for making a three-phase ac current into a substantially trapezoidal shape. However, the technique disclosed in japanese patent application laid-open No. 8-331885 is not related at all to the reduction of the processing load of PWM control for generating a trapezoidal wave, and is not related at all to the present invention.

Accordingly, an object of the present invention is to provide a driving device, an electric vehicle, and a method for controlling a driving device, which can reduce a processing load of PWM control for generating a trapezoidal current waveform.

Disclosure of Invention

A driving device according to an aspect of the present invention includes:

a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor;

a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal;

a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor;

a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal;

a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor;

a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal; and

a control section that controls driving of the motor by controlling the first to sixth switches,

Wherein the control section performs drive control of the motor by a trapezoidal current waveform,

the drive control includes:

performing switching control of on/off of the first switch by a first-phase high-side PWM signal adjusted to be increased in stages to a preset set duty ratio, maintaining the set duty ratio after the increase, and adjusting the duty ratio to be decreased in stages from the set duty ratio after the maintenance; switching and controlling the on/off of the third switch through the second-phase high-end PWM signal with the adjusted duty ratio; and on/off of the fifth switch is controlled by the third phase high-side PWM signal of the adjusted duty ratio,

the stepwise increase to and decrease from the set duty ratio is performed according to a set period set to be longer than pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal.

In the case of the drive device described above,

the control part

The duty ratio in each of a plurality of pulse periods included in the same setting period is controlled to be constant.

In the case of the drive device described above,

switching control of on/off of the first switch by the duty-adjusted first-phase high-side PWM signal is performed simultaneously with switching control of on/off of the second switch complementarily with respect to the first switch by the duty-adjusted first-phase low-side PWM signal between the first-phase high-side PWM signal and the first-phase high-side PWM signal, thereby forming a dead time in which the second switch is not simultaneously turned on with the first switch,

switching control of on/off of the third switch by the duty-adjusted second-phase high-side PWM signal is performed simultaneously with switching control of on/off of the fourth switch by the duty-adjusted second-phase low-side PWM signal complementarily with respect to the third switch between the second-phase high-side PWM signal and the second-phase high-side PWM signal, thereby forming a dead time that does not turn on the fourth switch simultaneously with the third switch,

the switching control of the on/off of the fifth switch by the duty-adjusted third high-side PWM signal is performed simultaneously with the switching control of the on/off of the sixth switch by the duty-adjusted third low-side PWM signal complementarily with respect to the fifth switch between the third high-side PWM signal and the third high-side PWM signal, thereby forming a dead time that does not turn on the sixth switch and the fifth switch simultaneously.

In the case of the drive device described above,

further comprising: a rotational speed detecting section for detecting a rotational speed of a rotor of the motor,

the set duty ratio is set based on a detection speed of the rotational speed detection unit and a user operation amount for controlling rotation of the motor.

In the case of the drive device described above,

when in: in a first case where the detection speed is equal to or higher than a first reference speed set in advance, and is slower than a second reference speed set in advance, and the set duty ratio is lower than a first reference duty ratio set in advance,

the control unit performs the drive control.

In the case of the drive device described above,

when in: a second case where the detection speed is equal to or higher than the first reference speed, is slower than the second reference speed, and the set duty ratio is equal to or higher than the first reference duty ratio, and is lower than a second reference duty ratio set in advance, or the detection speed is equal to or higher than the second reference speed, and is slower than a third reference speed set in advance, and the set duty ratio is lower than the second reference duty ratio,

the control part

Switching on/off of the second switch complementarily with respect to the first switch by a first-phase low-side PWM signal whose duty ratio is adjusted between the first-phase high-side PWM signal and the first-phase high-side PWM signal while switching on/off of the first switch by the first-phase high-side PWM signal of the set duty ratio, thereby forming a dead time in which the second switch is not simultaneously turned on with the first switch,

Performing complementary switching control of on/off of the fourth switch with respect to the third switch by the second-phase low-side PWM signal whose duty ratio is adjusted between the third switch and the second-phase high-side PWM signal while switching on/off of the third switch by the second-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time in which the fourth switch and the third switch are not simultaneously turned on,

and a control unit configured to control switching of on/off of the sixth switch in a complementary manner with respect to the fifth switch by a third-phase low-side PWM signal whose duty ratio is adjusted between the third-phase high-side PWM signal and the fifth switch while switching on/off of the fifth switch by the third-phase high-side PWM signal whose duty ratio is set, so that a dead time is formed in which the sixth switch and the fifth switch are not simultaneously turned on.

In the case of the drive device described above,

when in: the control unit may be configured to control the detection speed to be equal to or higher than the first reference speed, to be slower than the third reference speed, and to control the set duty ratio to be equal to or higher than the second reference duty ratio or to control the detection speed to be equal to or higher than the third reference speed

On/off of the first switch is controlled by a first-phase high-side PWM signal of the set duty ratio while the second switch is turned off,

on/off of the third switch is switch-controlled by a second-phase high-side PWM signal of the set duty ratio while the fourth switch is turned off,

and switching and controlling the fifth switch to be turned on/off by a third high-side PWM signal with the set duty ratio while turning off the sixth switch.

In the case of the drive device described above,

when in the first to third cases,

the control part

180 DEG conduction is performed in which a phase current flows in a conduction period corresponding to an electrical angle of 180 deg.

In the case of the drive device described above,

when in: in a fourth case where the detection speed is slower than the first reference speed and the set duty ratio is lower than a third reference duty ratio set in advance,

the control part

In the case of the drive device described above,

when in: in a fifth case where the detection speed is slower than the first reference speed and the set duty ratio is equal to or greater than the third reference duty ratio,

the control part

In the case of the drive device described above,

in the fourth and fifth cases,

the control part

The current is applied at 120 DEG with the phase current flowing in the current applying period corresponding to 120 DEG of the electrical angle.

An electric vehicle according to an aspect of the present invention includes a motor and a drive device, and is characterized in that:

wherein, the drive arrangement includes:

a first switch, one end of which is connected with a power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor;

the drive control includes:

In the electric-powered vehicle, the vehicle is,

the set duty ratio is set based on the speed detected by the rotational speed detecting unit and the accelerator operation amount of the user.

In the electric-powered vehicle, the vehicle is,

the control part

Setting torques corresponding to the detected speed and the accelerator operation amount on the basis of a torque map indicating a correspondence relationship among the rotational speed of the rotor, the accelerator operation amount, and the torque of the motor,

the duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio according to a duty ratio map indicating a correspondence relationship among the rotational speed of the rotor, the torque, and the duty ratio.

A method for controlling a driving device according to an aspect of the present invention includes: a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor; a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal; a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor; a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal; a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor; and a sixth switch, one end of which is connected to the third output terminal and the other end of which is connected to the ground terminal, characterized in that:

Drive control of the motor is performed by a trapezoidal current waveform by controlling the first to sixth switches,

the drive control includes:

Effects of the invention

A driving device according to an aspect of the present invention includes: a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor; a second switch, one end of which is connected to the first output terminal and the other end of which is connected to the ground terminal; a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor; a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal; a fifth switch, one end of which is connected with the power supply terminal and the other end of which is connected with a third output terminal leading to a third phase coil of the motor; a sixth switch, one end of which is connected to the third output terminal and the other end of which is connected to the ground terminal; and a control unit that controls driving of the motor by controlling the first to sixth switches, wherein the control unit performs driving control of the motor by a trapezoidal current waveform, the driving control including: switching control of on/off of the first switch is performed by a first-phase high-side PWM signal adjusted to be increased in a stepwise manner to a preset set duty ratio, and to maintain the set duty ratio after the increase, and to adjust the duty ratio to be decreased in a stepwise manner from the set duty ratio after the maintenance; switching on/off of the third switch is controlled by adjusting a second-phase high-end PWM signal of the duty ratio; and on/off of the fifth switch is controlled by switching the third phase high-side PWM signal with the duty ratio adjusted, and the stepwise increase to and decrease from the set duty ratio are performed according to a set period set to be longer than pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal.

According to the present invention, the duty ratio for generating the trapezoidal current waveform is increased and decreased for a set period longer than the pulse period of the PWM signal, so that it is not necessary to increase and decrease the duty ratio for each pulse period.

Therefore, according to the present invention, the processing load of the PWM control for generating the trapezoidal current waveform can be reduced.

Drawings

Fig. 1 is a schematic view of an electric motorcycle 100 according to a first embodiment.

Fig. 2 is a schematic view of the electric motorcycle 100 according to the first embodiment, showing the power conversion unit 30 and the motor 3.

Fig. 3 is a schematic view of the magnet and the angle sensor 4 provided on the rotor of the motor 3 in the electric motorcycle 100 according to the first embodiment.

Fig. 4 is a schematic diagram showing a relationship between a rotor angle and an output of the angle sensor 4 in the electric motorcycle 100 according to the first embodiment.

Fig. 5 is a timing chart showing the 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

Fig. 6 is a timing chart showing the duty ratio in the 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

Fig. 7 is a timing chart showing duty control in 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

Fig. 8 is a flowchart illustrating a control method of the electric motorcycle 100 according to the second embodiment.

Fig. 9 is an explanatory diagram for explaining a step of detecting the rotation speed of the rotor and a step of setting the duty ratio in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 10 is a graph showing an example of a torque map for performing a duty ratio setting process in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 11 is a graph showing an example of a duty ratio map for performing a duty ratio setting process in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 12A is a graph showing an energization control method according to the rotation speed of the rotor and the target torque in the electric motorcycle 100 according to the second embodiment.

Fig. 12B is a graph showing the energization control method according to the rotational speed and the set duty ratio of the rotor in the control method of the electric motorcycle 100 according to the second embodiment.

Fig. 13 is a timing chart showing the 120 ° upper and lower rectangular wave PWM control in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 14 is a timing chart showing the dead time in the 120 ° upper and lower rectangular wave PWM control in the control method of the electric motorcycle 100 according to the second embodiment.

Fig. 15 is a timing chart showing the 120 ° upper rectangular wave PWM control in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 16 is a timing chart showing the 180 ° upper and lower rectangular wave PWM control in the method of controlling the electric motorcycle 100 according to the second embodiment.

Fig. 17 is a timing chart showing the energization of the upper rectangular wave PWM180 ° in the control method of the electric motorcycle 100 according to the second embodiment.

Detailed Description

Hereinafter, embodiments related to the present invention will be described with reference to the accompanying drawings. The embodiments described below do not limit the present invention. In the drawings referred to in the embodiments, the same reference numerals or the like are added to the same portions or portions having the same functions, and the overlapping description thereof is omitted.

(first embodiment)

First, an electric motorcycle 100 according to a first embodiment as an example of an electric vehicle will be described with reference to fig. 1.

The electric motorcycle 100 is an electric motorcycle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. Specifically, the electric motorcycle 100 is a clutch-less electric motorcycle in which a motor and a wheel are mechanically connected without a clutch.

As shown in fig. 1, the electric motorcycle 100 includes: an electric vehicle control device 1 as an example of a drive device, a battery 2, a motor 3, an angle sensor 4 as an example of a rotational speed detection unit, an accelerator position sensor 5, an instrument 7, and a wheel 8.

Next, each component of the electric motorcycle 100 will be described in detail.

The electric vehicle control device 1 is a device that controls the electric motorcycle 100, and includes: a control unit 10, a memory unit 20, and a power conversion unit 30. The electric vehicle Control device 1 may be configured as an ecu (electronic Control unit) that controls the entire electric two-wheeled vehicle 100. Next, each constituent element of the electric vehicle control device 1 will be described in detail.

The control unit 10 receives information from various devices connected to the electric vehicle control device 1, and controls the driving of the motor 3 through the power conversion unit 30. The detailed information of the control unit 10 will be described later.

The storage unit 20 stores: information used by the control unit 10 and a program for the control unit 10 to operate. The storage unit 20 may be, for example, a nonvolatile semiconductor memory, but is not limited thereto.

The power conversion unit 30 converts dc power of the battery 2 into ac power and supplies the ac power to the motor 3. As shown in fig. 2, the power conversion unit 30 is constituted by an inverter circuit, specifically, a three-phase full bridge circuit.

A full-bridge circuit having: the first semiconductor switch Q1 as an example of a first switch, the second semiconductor switch Q2 as an example of a second switch, the third semiconductor switch Q3 as an example of a third switch, the fourth semiconductor switch Q4 as an example of a fourth switch, the fifth semiconductor switch Q5 as an example of a fifth switch, and the sixth semiconductor switch Q6 as an example of a sixth switch.

The first semiconductor switch Q1 has one end connected to the power supply terminal 30a to which the positive electrode of the battery 2 is connected, and the other end connected to the first output terminal 3a leading to the U-phase coil 31U of the motor 3 as an example of the first-phase coil.

The second semiconductor switch Q2 has one end connected to the first output terminal 3a and the other end connected to the ground terminal 30b to which the negative electrode of the battery 2 is connected.

The third semiconductor switch Q3 has one end connected to the power supply terminal 30a and the other end connected to the second output terminal 3b leading to the V-phase coil 31V of the motor 3 serving as an example of the second-phase coil.

The fourth semiconductor switch Q4 has one end connected to the second output terminal 3b and the other end connected to the ground terminal 30 b.

The fifth semiconductor switch Q5 has one end connected to the power supply terminal 30a and the other end connected to the third output terminal 3c leading to the W-phase coil 31W of the motor 3 serving as an example of the third-phase coil.

The sixth semiconductor switch Q6 has one end connected to the third output terminal 3c and the other end connected to the ground terminal 30 b.

Control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control section 10. A smoothing capacitor C is provided between the power supply terminal 30a and the ground terminal 30 b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs or the like.

The battery 2 can be charged and discharged. Specifically, the battery 2 supplies dc power to the power conversion unit 30 when discharging. When the battery 2 is charged with ac power supplied from an external power supply such as a commercial power supply, the ac power supplied from the power supply is charged with dc power converted by a charger not shown. In addition, when the battery 2 is charged with the ac power output by the motor 3 in accordance with the rotation of the wheel 8, the ac power output by the motor 3 is charged with the converted dc voltage by the power conversion device 100.

The battery 2 includes a Battery Management Unit (BMU). The battery management unit transmits information about the voltage and the state (charging rate, etc.) of the battery 2 to the control section 10.

The number of the batteries 2 is not limited to one, and may be plural. The battery 2 is, for example, a lithium ion battery, but may be another type of battery. The battery 2 may be formed of different types of batteries (e.g., a lithium ion battery and a lead battery).

The motor 3 outputs torque for driving the wheels 8 by electric power supplied from the battery 2. Alternatively, the motor 3 outputs electric power as the wheels 8 rotate. The motor 3 is a three-phase motor having U, V and W three-

phase coils

31u, 31v, and 31W.

The motor 3 is driven by the ac power supplied from the power conversion unit 30, and outputs torque for driving the wheels 8. The torque is controlled by the control section 10 outputting PWM signals having the energization time point and the duty ratio calculated based on the target torque to the semiconductor switches Q1 to Q6 of the power conversion section 30. That is, the torque is controlled by the control unit 10 controlling the power supplied from the battery 2 to the motor 3.

The motor 3 is mechanically connected with the wheel 8, and rotates the wheel 8 to a required direction through torque. In the present embodiment, the motor 3 is mechanically connected to the wheels 8 without a clutch. The type of the motor 3 is not particularly limited.

The angle sensor 4 detects a rotation angle of the rotor of the motor 3 in order to detect a rotation speed of the motor 3. As shown in fig. 3, magnets (sensor magnets) having N poles and S poles are alternately attached to the outer peripheral surface of the rotor 3r of the motor 3. The angle sensor 4 is configured by, for example, a hall element, and detects a change in magnetic field accompanying rotation of the motor 3. The magnet may be disposed inside a flywheel (not shown).

As shown in fig. 3, the angle sensor 4 includes: a U phase angle sensor 4U, a V phase angle sensor 4V, and a W phase angle sensor 4W. In the present embodiment, the phase U angle sensor 4U and the phase V angle sensor 4V are arranged to form an angle of 30 ° with respect to the rotor of the motor 3. Similarly, the V phase angle sensor 4V and the W phase angle sensor 4W are arranged to form an angle of 30 ° with respect to the rotor of the motor 3.

As shown in fig. 4, the phase U angle sensor 4U, the phase V angle sensor 4V, and the phase W angle sensor 4W output phase pulse signals (i.e., detection signals of the rotation angle) corresponding to the rotor angle (angular position).

As shown in fig. 4, a number (motor stage number) indicating a motor stage (motor stage) is assigned for each predetermined rotor angle. The motor stage indicates the angular position of the rotor 3r of the motor 3, and in the present embodiment,

motor stage numbers

1, 2, 3, 4, 5, and 6 are assigned for every 60 ° electrical angle. The motor stage is defined by a combination of levels (H level or L level) of the output signals of the U phase angle degree sensor 4U, the V phase angle degree sensor 4V, and the W phase angle degree sensor 4W. For example, the motor stage number 1 is (U-phase, V-phase, W-phase) ═ H, L, H, and the motor stage number 2 is (U-phase, V-phase, W-phase) ═ H, L.

The accelerator position sensor 5 detects an accelerator operation amount set by an accelerator operation of a user, and transmits the detected accelerator operation amount as an electric signal to the control unit 10. The accelerator operation amount is, for example, a throttle opening degree. The accelerator operation amount is increased when the user wants to accelerate.

The device 7 is a display (for example, a liquid crystal panel) provided in the electric motorcycle 100, and displays various information. Specifically, the instrument 7 shows: the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, the traveling distance, and the like. In the present embodiment, the device 7 is provided on a steering wheel (not shown) of the electric motorcycle 100.

Next, the control unit 10 of the electric vehicle control device 1 will be described in detail.

The control section 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6. The control unit 10 controls driving of the motor 3 by a trapezoidal current waveform.

The drive control of the motor 3 by the trapezoidal current waveform includes: the on/off of the first semiconductor switch Q1 is switching-controlled by a U-phase high-side PWM signal (i.e., a first-phase high-side PWM signal) adjusted to increase in stages from a zero duty ratio (i.e., an off state) to a preset set duty ratio, maintain the set duty ratio after the increase, and decrease in stages from the set duty ratio to the zero duty ratio after the maintenance.

The drive control of the motor 3 by the trapezoidal current waveform includes: the on/off of the third semiconductor switch Q3 is switching-controlled by the V-phase high-side PWM signal (i.e., the second-phase high-side PWM signal) that adjusts the duty ratio.

The drive control of the motor 3 by the trapezoidal current waveform includes: the on/off of the fifth semiconductor switch Q5 is switching-controlled by the W-phase high-side PWM signal (i.e., the third-phase high-side PWM signal) that adjusts the duty ratio.

In the adjustment of the duty ratio, the stepwise increase to and the stepwise decrease from the set duty ratio are performed at a set period that is set to be longer than a pulse period of the U-phase high-side PWM signal, the V-phase high-side PWM signal, and the W-phase high-side PWM signal.

That is, the control unit 10 controls the duty ratio to be constant for each of a plurality of pulse periods included in the same setting period.

The switching control of the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal adjusting the duty ratio is performed simultaneously with the complementary switching control of the on/off of the second semiconductor switch Q2 with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal (i.e., the first-phase low-side PWM signal). The U-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal whose duty ratio is adjusted, thereby forming a dead time that does not turn on the second semiconductor switch Q2 and the first semiconductor switch Q1 at the same time.

The switching control of the on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal adjusting the duty ratio is performed simultaneously with the complementary switching control of the on/off of the fourth semiconductor switch Q4 with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal (i.e., the second-phase low-side PWM signal). The V-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal whose duty ratio is adjusted, thereby forming a dead time that does not turn on the fourth semiconductor switch Q4 and the third semiconductor switch Q3 at the same time.

The switching control of the on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal adjusting the duty ratio is performed simultaneously with the complementary switching control of the on/off of the sixth semiconductor switch Q6 with respect to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal (i.e., the third-phase low-side PWM signal). The W-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal whose duty ratio is adjusted, thereby forming a dead time in which the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 are not simultaneously turned on.

The control unit 10 functions as a rotation speed detection unit together with the angle sensor 4, and detects the rotation speed of the rotor based on a detection signal of the angle sensor 4. As an example, as shown in fig. 4, the control unit 10 calculates the rotation speed of the rotor based on the time t from the fall of the output of the V-phase rotor angle sensor to the rise of the output of the U-phase rotor angle sensor.

The set duty ratio is set based on the rotation speed of the rotor (hereinafter referred to as a detection speed) detected by the control unit 10 (rotation speed detection unit) and the accelerator operation amount (user operation amount) for controlling the rotation of the motor 3. Specifically, the control unit 10 sets a target torque corresponding to the detected speed and the accelerator operation amount based on a torque map indicating a correspondence relationship between the rotation speed of the rotor 3r, the accelerator operation amount, and the torque of the motor 3. The control unit 10 sets the duty ratio corresponding to the detected speed and the set target torque as a set duty ratio based on a duty ratio map indicating the correspondence relationship between the rotational speed of the rotor, the target torque, and the duty ratio.

The control unit 10 periodically sets the first to sixth energization periods, which are continuous and correspond to an electrical angle of 60 °, based on the detected angle of the angle sensor 4.

The drive control of the motor 3 by the trapezoidal current waveform includes: in the first to fourth power cycles, the on/off of the first semiconductor switch Q1 is switched by the U-phase high-side PWM signal, while the on/off of the second semiconductor switch Q2 is switch-controlled by the U-phase low-side PWM signal.

The drive control of the motor 3 by the trapezoidal current waveform includes: in the third to sixth power-on periods, while the on/off of the third semiconductor switch Q3 is switched by the V-phase high-side PWM signal, the on/off of the fourth semiconductor switch Q4 is switch-controlled by the V-phase low-side PWM signal.

The drive control of the motor 3 by the trapezoidal current waveform includes: in the fifth and sixth power-on periods and the first and second power-on periods immediately after the sixth power-on period, the on/off of the fifth semiconductor switch Q5 is switched by the W-phase high-side PWM signal, and the on/off of the sixth semiconductor switch Q6 is switch-controlled by the W-phase low-side PWM signal.

By this control, as the drive control of the motor 3 by the trapezoidal current waveform, 180 ° energization in which a phase current flows in an energization period corresponding to an electrical angle of 180 ° is performed.

The adjustment duty ratio of the U-phase high-side PWM signal is increased in stages to the set duty ratio in the first energization period, is maintained at the set duty ratio in the second and third energization periods, and is decreased in stages from the set duty ratio in the fourth energization period.

The adjustment duty of the V-phase high-side PWM signal is increased in a stepwise manner to the set duty in the third energization period, is maintained at the set duty in the fourth and fifth energization periods, and is decreased in a stepwise manner from the set duty in the sixth energization period.

The adjustment duty of the W-phase high-side PWM signal is increased in stages to the set duty in the fifth energization period, is maintained at the set duty in the sixth energization period and the first energization period thereafter, and is decreased in stages from the set duty in the second energization period thereafter.

(control method of electric motorcycle 100)

Next, a control method of the electric motorcycle 100 according to the first embodiment will be described as an example of a control method of the driving device.

180 DEG upper and lower trapezoidal wave PWM control

As shown in fig. 5, the control unit 10 performs 180 ° upper and lower trapezoidal wave PWM control as drive control of the motor 3 by a trapezoidal current waveform.

The 180 ° up-down trapezoidal wave PWM control is 180 ° conduction generating a substantially trapezoidal current waveform, and is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in fig. 5, in the 180 ° upper and lower trapezoidal wave PWM control, in the consecutive No. 6 to No. 3 power-on stages (i.e., the first to fourth power-on periods), on/off of the first semiconductor switch Q1 is switching-controlled by the U-phase high-side PWM signal adjusting the duty ratio. Specifically, the on/off of the first semiconductor switch Q1 is controlled to be switched by the U-phase high-side PWM signal having a duty ratio that increases stepwise to the set duty ratio in the No. 6 energization stage, is maintained at the set duty ratio in the No. 1 and No. 2 energization stages, and decreases stepwise from the set duty ratio in the No. 3 energization stage.

Further, as shown in fig. 5, in the 180 ° upper and lower trapezoidal wave PWM control, in the consecutive No. 6 to No. 3 power-on stages, the on/off of the second semiconductor switch Q2 is complementarily switching-controlled with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal, thereby forming a dead time in which the second semiconductor switch Q2 is not simultaneously turned on with the first semiconductor switch Q1.

In addition, in the 180 ° upper and lower trapezoidal wave PWM control, in the consecutive No. 2 to No. 5 power-on stages (i.e., the third to sixth power-on periods), on/off of the third semiconductor switch Q3 is switching-controlled by the V-phase high-end PWM signal adjusting the duty ratio. Specifically, the on/off of the third semiconductor switch Q3 is controlled to be switched by the V-phase high-side PWM signal having a duty ratio that increases stepwise to the set duty ratio in the No. 2 conducting stage, is maintained at the set duty ratio in the No. 3 and No. 4 conducting stages, and decreases stepwise from the set duty ratio in the No. 5 conducting stage.

In addition, in the 180 ° upper and lower trapezoidal wave PWM control, in the consecutive No. 2 to No. 5 power-on stages, the on/off of the fourth semiconductor switch Q4 is complementarily switching-controlled with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal, thereby forming a dead time in which the fourth semiconductor switch Q4 and the third semiconductor switch Q3 are not simultaneously turned on.

In addition, in the 180 ° upper and lower trapezoidal wave PWM control, in the consecutive No. 4 to No. 1 conduction stages (i.e., the fifth and sixth conduction periods and the first and second conduction periods thereafter), on/off of the fifth semiconductor switch Q5 is switching-controlled by the W-phase high-side PWM signal whose duty ratio is adjusted. Specifically, the on/off of the fifth semiconductor switch Q5 is controlled to be switched by the W-phase high-side PWM signal having a duty ratio that increases stepwise to the set duty ratio in the No. 4 energization stage, is maintained at the set duty ratio in the No. 5 and No. 6 energization stages, and decreases stepwise from the set duty ratio in the No. 1 energization stage.

In addition, in the 180 ° upper and lower trapezoidal wave PWM control, in the successive No. 4 to No. 1 conduction stages, the on/off of the sixth semiconductor switch Q6 is complementarily switching-controlled with respect to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal, so that a dead time is formed in which the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 are not simultaneously turned on.

In fig. 5, a current waveform superimposed on the PWM signal is shown in order to facilitate understanding of the correspondence between the rise and fall of the trapezoidal wave and the current-carrying level. Fig. 5 shows the UV interphase voltage, the VW interphase voltage, and the WU interphase voltage corresponding to each current-carrying stage.

As shown in fig. 6 in which the dotted line frame portion in fig. 5 is enlarged, the PWM signal is generated for each carrier cycle of the triangular wave based on the triangular wave generated by the control unit 10. In the No. 6 power-on stage in which the U-phase trapezoidal wave rises, the duty ratio of the U-phase PWM signal increases in stages with the elapsed time. Although not shown, in the No. 3 power-on stage in which the U-phase trapezoidal wave falls, the duty ratio of the U-phase PWM signal decreases in stages with the passage of time.

Specifically, as shown in fig. 7, the controller 10 sets the period T1 of the increase and decrease of the duty ratio in the rising period and the falling period of the trapezoidal wave to be longer than the carrier period T2 of the PWM signal in the triangular wave.

According to the 180 ° upper and lower trapezoidal wave PWM control, the ripple can be suppressed by gradually increasing and decreasing the current waveform. Further, by performing the stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio at a set period set to be longer than the pulse period of the U-phase high-side PWM signal, the V-phase high-side PWM signal, and the W-phase high-side PWM signal, the processing load of the PWM control for generating the trapezoidal current waveform can be reduced.

As described above, in the electric motorcycle 100 according to the first embodiment, the control unit 10 performs the drive control of the motor 3 by the trapezoidal current waveform. Drive control includes: the on/off of the first switch (first semiconductor switch Q1) is controlled to be switched by a first-phase high-side PWM signal (U-phase high-side PWM signal) adjusted to be increased in a stepwise manner to a preset set duty ratio, to be maintained at the set duty ratio after the increase, and to be decreased in a stepwise manner from the set duty ratio after the maintenance. Further, the drive control includes: the third switch (the third semiconductor switch Q3) is on/off switching-controlled by the second-phase high-side PWM signal (the V-phase high-side PWM signal) whose duty ratio is adjusted. Further, the drive control includes: on/off of the fifth switch (the fifth semiconductor switch Q5) is switching-controlled by the third-phase high-side PWM signal (the W-phase high-side PWM signal) whose duty ratio is adjusted. The stepwise increase and decrease to and from the set duty ratio are performed in accordance with a set period that is set to be longer than pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal.

According to this configuration, since it is not necessary to increase or decrease the duty ratio for each pulse period, the processing load of the PWM control for generating the trapezoidal current waveform can be reduced.

(second embodiment)

Next, a second embodiment in which the power transmission method is selected according to the traveling state will be described.

In a second embodiment, when: when the detected speed of the rotor 3r is equal to or higher than a first reference speed set in advance, is slower than a second reference speed set in advance, and has a set duty ratio lower than a first reference duty ratio set in advance, the control unit 10 controls the driving of the motor 3 by a trapezoidal current waveform.

The details of the drive control of the motor 3 by the trapezoidal current waveform are as described in the first embodiment.

Further, when in: the control unit 10 performs the following control in a second case where the detection speed is equal to or higher than the first reference speed, is slower than the second reference speed, has the set duty ratio equal to or higher than the first reference duty ratio, and is lower than the preset second reference duty ratio, or has the detection speed equal to or higher than the second reference speed, and is slower than the preset third reference speed, and has the set duty ratio lower than the second reference duty ratio.

In the second case, the control unit 10 switches the first semiconductor switch Q1 on/off by the U-phase high-side PWM signal with the set duty ratio, and controls the second semiconductor switch Q2 to switch on/off complementarily with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal. The U-phase low-side PWM signal in the second case is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time that does not turn on the second semiconductor switch Q2 and the first semiconductor switch Q1 at the same time.

In the second case, the control unit 10 switches the third semiconductor switch Q3 on/off by the V-phase high-side PWM signal with the duty ratio set, and controls the fourth semiconductor switch Q4 to switch on/off complementarily with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal. The V-phase low-side PWM signal in the second case is a PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time that does not turn on the fourth semiconductor switch Q4 and the third semiconductor switch Q3 at the same time. In the second case, the control unit 10 switches the fifth semiconductor switch Q5 on/off by the W-phase high-side PWM signal having the set duty ratio, and controls the sixth semiconductor switch Q6 to switch on/off complementarily to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal. The W-phase low-side PWM signal in the second case is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase low-side PWM signal, thereby forming a dead time that does not turn on the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 at the same time.

Specifically, in the second case, the control unit 10 performs switching control of on/off of the second semiconductor switch Q2 by the U-phase low-side PWM signal while switching on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal in the first to third power-on periods.

Further, when in the second case, the control section 10 performs switching control of on/off of the fourth semiconductor switch Q4 by the V-phase low-side PWM signal while switching on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal in the third to fifth power-on periods.

In the second case, the control unit 10 controls the switching of the on/off of the sixth semiconductor switch Q6 by the W-phase low-side PWM signal while switching the on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal in the fifth and sixth conduction periods and the first conduction period immediately after the sixth conduction period.

By the control in this second case, 180 ° energization is performed.

Further, when in: in the third case where the detection speed is equal to or higher than the first reference speed, is slower than the third reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio or the detection speed is equal to or higher than the third reference speed, the control unit 10 performs the following control.

In the third case, the controller 10 controls the first semiconductor switch Q1 to be switched on/off by a U-phase high-side PWM signal having a set duty ratio while turning off the second semiconductor switch Q2.

In the third case, the controller 10 controls the third semiconductor switch Q3 to be switched on/off by the V-phase high-side PWM signal having the set duty ratio while turning off the fourth semiconductor switch Q4.

In the third case, the controller 10 controls the on/off of the fifth semiconductor switch Q5 to be switched by the W-phase high-side PWM signal having the set duty ratio while turning off the sixth semiconductor switch Q6.

Specifically, in the third case, the controller 10 controls the switching on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal while turning off the second semiconductor switch Q2 in the first to third energization periods.

In the third case, the controller 10 controls the third semiconductor switch Q3 to be switched on/off by the V-phase high-side PWM signal while turning off the fourth semiconductor switch Q4 in the third to fifth power-on periods.

In the third case, the controller 10 controls the fifth semiconductor switch Q5 to be switched on/off by the W-phase high-side PWM signal while turning off the sixth semiconductor switch Q6 in the fifth and sixth conduction periods and the first conduction period immediately after the sixth conduction period.

By the control in this third case, 180 ° energization is performed.

Further, when in: in a fourth case where the detection speed is slower than the first reference speed and the set duty ratio is lower than a third reference duty ratio set in advance, the control unit 10 performs the following control.

In the fourth case, the control unit 10 switches the first semiconductor switch Q1 on/off by the U-phase high-side PWM signal with the set duty ratio, and controls the second semiconductor switch Q2 to switch on/off complementarily with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal. The U-phase low-side PWM signal in the fourth case is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time that does not turn on the second semiconductor switch Q2 and the first semiconductor switch Q1 at the same time.

In the fourth case, the control unit 10 switches the third semiconductor switch Q3 on/off by the V-phase high-side PWM signal having the set duty ratio, and controls the fourth semiconductor switch Q4 to switch on/off complementarily with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal. The V-phase low-side PWM signal in the fourth case is a PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time that does not turn on the fourth semiconductor switch Q4 and the third semiconductor switch Q3 at the same time.

In the fourth case, the control unit 10 switches the fifth semiconductor switch Q5 on/off by the W-phase high-side PWM signal having the set duty ratio, and controls the sixth semiconductor switch Q6 to switch on/off complementarily to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal. The W-phase low-side PWM signal in the fourth case is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal whose duty ratio is set, thereby forming a dead time in which the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 are not simultaneously turned on.

Specifically, in the fourth case, the controller 10 controls the switching of the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal in the second and third conduction periods while switching the on/off of the second semiconductor switch Q2 by the U-phase low-side PWM signal in the first to fourth conduction periods.

In the fourth case, the controller 10 controls the switching of the on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal in the fourth and fifth conduction periods while switching the on/off of the fourth semiconductor switch Q4 by the V-phase low-side PWM signal in the third to sixth conduction periods.

In the fourth case, the control unit 10 controls the switching of the on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal in the sixth energization period and the first energization period thereafter, while switching the on/off of the sixth semiconductor switch Q6 by the W-phase low-side PWM signal in the fifth and sixth energization periods and the first and second energization periods immediately after the sixth energization period.

By the control in this fourth case, the 120 ° energization in which the phase current is passed in the energization period equivalent to the electrical angle of 120 ° is performed.

Further, when in: in a fifth case where the detection speed is slower than the first reference speed and the set duty ratio is equal to or higher than the third reference duty ratio, the control unit 10 controls the first semiconductor switch Q1 to be switched on/off by the U-phase high-side PWM signal having the set duty ratio while turning off the second semiconductor switch Q2.

In the fifth case, the controller 10 controls the third semiconductor switch Q3 to be switched on/off by the V-phase high-side PWM signal having the set duty ratio while turning off the fourth semiconductor switch Q4.

In the fifth case, the controller 10 controls the fifth semiconductor switch Q5 to be switched on/off by the W-phase high-side PWM signal having the set duty ratio while turning off the sixth semiconductor switch Q6.

Specifically, in the fifth case, the controller 10 controls the switching on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal in the second and third energization periods while turning off the second semiconductor switch Q2 in the first to fourth energization periods.

In the fifth case, the controller 10 controls the third semiconductor switch Q3 to be switched on/off by the V-phase high-side PWM signal in the fourth and fifth conduction periods while turning off the fourth semiconductor switch Q4 in the third to sixth conduction periods.

In the fifth case, the controller 10 controls the switching on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal in the sixth energization period and the first energization period thereafter, while turning off the sixth semiconductor switch Q6 in the fifth and sixth energization periods and the first and second energization periods immediately after the sixth energization period.

By the control in this fifth case, the 120 ° energization is performed.

(control method of electric motorcycle 100)

Next, a method of controlling the electric motorcycle 100 according to the second embodiment will be described with reference to a flowchart of fig. 8. Wherein the flow chart of fig. 8 will be repeated as necessary.

First, the control unit 10 detects the accelerator operation amount based on the detection signal of the accelerator position sensor 5 (step S1).

Further, the control unit 10 detects the rotation speed of the rotor based on the detection signal of the angle sensor 4 (step S2).

After detecting the accelerator operation amount and the rotational speed of the rotor, the control unit 10 sets a target torque based on the detected accelerator operation amount and the rotational speed of the rotor (that is, also referred to as a detection speed) (step S3).

Specifically, as shown in fig. 9, the control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotational speed of the rotor with reference to the torque map.

The torque diagram is shown in fig. 10, which illustrates: a correspondence relationship between a rotation speed of the rotor, an accelerator operation amount, and a target torque. The torque map is stored in the storage unit 20 in a state that the control unit 10 can read the torque map.

After setting the target torque, as shown in fig. 8, the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4).

Specifically, as shown in fig. 9, the control unit 10 sets the duty ratio by obtaining the duty ratio corresponding to the detected speed and the target torque with reference to the duty ratio map. The duty cycle diagram is shown in fig. 11, which illustrates: the correspondence between the rotational speed of the rotor, the target torque, and the duty ratio. The duty ratio map is stored in the storage unit 20 in a state where the control unit 10 can read the duty ratio map.

After the duty ratio is set, as shown in fig. 8, the control unit 10 determines whether or not the detected speed is equal to or higher than a first reference speed set in advance (step S5).

When the detected speed is lower than the first reference speed (No in step S5), the control unit 10 determines whether or not the set duty is equal to or higher than a preset third reference duty (step S6).

Rectangular wave PWM control at upper and lower 120 deg. sections

When the set duty ratio is smaller than the third reference duty ratio (No in step S6), the controller 10 performs 120 ° upper and lower rectangular wave PWM control as the energization pattern of the first region R1 (i.e., the fourth case) shown in fig. 12A and 12B (step S11).

The 120 ° upper and lower rectangular wave PWM control is 120 ° conduction generating a substantially rectangular current waveform, and is accompanied by PWM control to both the upper-stage, i.e., high-side semiconductor switches Q1, Q3, and Q5, and the lower-stage, i.e., low-side semiconductor switches Q2, Q4, and Q6.

As shown in fig. 13, in the 120 ° upper and lower rectangular wave PWM control, the on/off switching control of the first semiconductor switch Q1 is performed by the U-phase high-side PWM signal in which the duty ratio is set in the consecutive energization stages (i.e., the second and third energization periods) of No. 1 and No. 2 among the energization stages (i.e., the energization periods) of No. 1 to No. 6 each having the electrical angle of 60 ° which are periodically set in accordance with the motor stages of No. 1 to No. 6.

In addition, in the 120 ° upper and lower rectangular wave PWM control, in the consecutive No. 6 to No. 3 conduction stages (i.e., the first to fourth conduction periods), the on/off of the second semiconductor switch Q2 is complementarily switching-controlled with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal, thereby forming a dead time.

Here, since the first semiconductor switch Q1 is turned off in the current-carrying stages No. 6 and No. 3, strictly speaking, the on/off of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1 in the current-carrying stages No. 1 and No. 2 in the consecutive current-carrying stages No. 6 to No. 3.

In addition, since the high-side semiconductor switch Q1 is turned on when corresponding to a high level (high level) signal, and the low-side semiconductor switch Q2 is turned on when corresponding to a low level (low level) signal, the high-side PWM signal is illustrated as "high Active" and the low-side PWM signal is illustrated as "Lo Active" in fig. 13.

As shown in fig. 14 in which the portion of the broken-line frame in fig. 13 is enlarged, the duty ratio between the U-phase low-side PWM signal and the U-phase high-side PWM signal is adjusted to form the dead time Dt in which the second semiconductor switch Q2 and the first semiconductor switch Q1 are not simultaneously turned on.

In addition, as shown in fig. 13, in the 120 ° upper and lower rectangular wave PWM control, the on/off of the third semiconductor switch Q3 is controlled to be switched by the V-phase high-side PWM signal having a set duty ratio in the consecutive No. 3 and No. 4 conduction stages (i.e., the fourth and fifth conduction periods).

In addition, in the 120 ° upper and lower rectangular wave PWM control, in the consecutive No. 2 to No. 5 power-on stages (i.e., the third to sixth power-on periods), the on/off of the fourth semiconductor switch Q4 is complementarily switching-controlled with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal and the V-phase low-side PWM signal, thereby forming the dead time.

In the 120 ° upper and lower rectangular wave PWM control, the on/off of the fifth semiconductor switch Q5 is controlled to be switched by the W-phase high-side PWM signal having the set duty ratio in the successive No. 5 and No. 6 conduction stages (i.e., the sixth conduction period and the first conduction period thereafter).

In the 120 ° upper and lower rectangular wave PWM control, the conduction/turn-off of the sixth semiconductor switch Q6 is complementarily switching-controlled with respect to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase low-side PWM signal in the consecutive No. 4 to No. 1 conduction stages (i.e., the fifth and sixth conduction periods and the first and second conduction periods thereafter), thereby forming the dead time.

In the power-on stages other than No. 1 and No. 2, the first semiconductor switch Q1 is turned off. In the power-on stages other than nos. 6 to 3, the second semiconductor switch Q2 is turned off. In the power-on stages other than No. 3 and No. 4, the third semiconductor switch Q3 is turned off. In the power-on stages other than nos. 2 to 5, the fourth semiconductor switch Q4 is turned off. In the power-on stages other than nos. 5 and 6, the fifth semiconductor switch Q5 is turned off. In the power-on stages other than No. 4 to No. 1, the sixth semiconductor switch Q6 is turned off.

The current-carrying stage has a deviation from the motor stage by an angular amount set in accordance with the target torque and the motor rotation speed.

According to the above 120 ° upper and lower rectangular wave PWM control, the start-up characteristic can be improved by conducting the current of 120 ° when the rotor 3r rotates low. Further, the low-side switches Q2, Q4, and Q6 are PWM-controlled so as to form a dead time with the high-side switches Q1, Q3, and Q5, thereby preventing a through current.

120 degree upper rectangular wave PWM control

As shown in fig. 8, when the set duty ratio is equal to or higher than the third reference duty ratio (step S6: Yes), the control unit 10 performs 120 ° upper rectangular wave PWM control as the energization pattern of the second region R2 (i.e., the fifth case) shown in fig. 12A and 12B (step S12). In the illustration of fig. 12B, although the third reference duty ratio coincides with the second reference duty ratio, the third reference duty ratio may not coincide with the second reference duty ratio.

The 120 ° upper-stage rectangular wave PWM control is 120 ° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control to only the high-side semiconductor switches Q1, Q3, Q5.

As shown in fig. 15, in the 120 ° upper rectangular wave PWM control, the first semiconductor switch Q1 is on/off controlled by the U-phase high-side PWM signal having a set duty ratio in the successive energization stages No. 1 and No. 2 (i.e., the second and third energization periods).

Further, in the 120 ° upper-stage rectangular wave PWM control, the second semiconductor switch Q2 is subjected to the continuous off control in the consecutive No. 6 to No. 3 energization stages (i.e., the first to fourth energization periods).

In the 120 ° upper rectangular wave PWM control, the third semiconductor switch Q3 is on/off controlled by the V-phase high-side PWM signal having a set duty ratio at the consecutive No. 3 and No. 4 power-on stages (i.e., the fourth and fifth power-on periods).

Further, in the 120 ° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is subjected to the continuous off control in the consecutive No. 2 to No. 5 energization stages (i.e., the third to sixth energization periods).

In the 120 ° upper rectangular wave PWM control, the on/off of the fifth semiconductor switch Q5 is controlled to be switched by the W-phase high-side PWM signal having the set duty ratio in the successive energization stages No. 5 and No. 6 (i.e., the sixth energization period and the first energization period thereafter).

Further, in the 120 ° upper rectangular wave PWM control, the sixth semiconductor switch Q6 is subjected to the continuous off control in the power-on stages No. 4 to No. 1 in succession (i.e., the fifth and sixth power-on periods and the first and second power-on periods thereafter).

According to the above 120 ° upper-stage rectangular wave PWM control, when the duty ratio is set, by turning off the low-side switches Q2, Q4, Q6 and PWM-controlling only the high-side switches Q1, Q3, Q5, it is not necessary to adjust the duty ratios of the respective PWM signals so that dead time is formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

In this way, since the duty ratio of the high-side PWM signal can be sufficiently increased, it is possible to output as large a torque as possible while using the maximum charge voltage of the battery 2.

180 DEG upper and lower trapezoidal wave PWM control

As shown in FIG. 8, when the detected speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether the detected speed is equal to or higher than the second reference speed (step S7).

When the detected speed is lower than the second reference speed (No in step S7), the control unit 10 determines whether the set duty ratio is equal to or higher than the first reference duty ratio (step S8).

When the set duty ratio is smaller than the first reference duty ratio (No in step S8), the controller 10 performs 180 ° vertical trapezoidal wave PWM control as the energization pattern of the third region R3 (i.e., the first case) shown in fig. 12A and 12B (step S13).

Waveforms in the 180 ° upper and lower trapezoidal wave PWM control are as shown in fig. 5 to 7 in the first embodiment. According to the 180 ° upper and lower stage trapezoidal wave PWM control, the ripple can be suppressed by gradually increasing and decreasing the current waveform.

Rectangular wave PWM control at 180 deg. upper and lower sections

As shown in FIG. 8, when the detected speed is equal to or higher than the second reference speed (step S7: Yes), the control unit 10 determines whether the detected speed is equal to or higher than the third reference speed (step S9).

When the detected speed is lower than the third reference speed (No in step S9) or the set duty ratio is equal to or higher than the first reference duty ratio (Yes in step S8), the control unit 10 determines whether or not the set duty ratio is equal to or higher than the second reference duty ratio (step S10).

When the set duty ratio is smaller than the second reference duty ratio (No in step S10), the controller 10 performs 180 ° upper and lower rectangular wave PWM control as the energization pattern of the fourth region R4 (i.e., the second case) shown in fig. 12A and 12B (step S14).

The 180 ° up-down rectangular wave PWM control is 180 ° conduction generating a substantially rectangular current waveform, and is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in fig. 16, in the 180 ° upper and lower rectangular wave PWM control, in the consecutive No. 1 to No. 3 conduction stages (i.e., the first to third conduction periods), on/off of the first semiconductor switch Q1 is switching-controlled by the U-phase high-side PWM signal in which the duty ratio is set.

In addition, in the 180 ° upper and lower rectangular wave PWM control, in the consecutive No. 1 to No. 3 conduction stages, the conduction/turn-off of the second semiconductor switch Q2 is complementarily switching-controlled with respect to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal and the U-phase low-side PWM signal, thereby forming the dead time.

In addition, in the 180 ° upper and lower rectangular wave PWM control, in the consecutive No. 3 to No. 5 power-on stages (i.e., the third to fifth power-on periods), on/off of the third semiconductor switch Q3 is switching-controlled by the V-phase high-side PWM signal in which the duty ratio is set.

In addition, in the 180 ° upper and lower rectangular wave PWM control, in the consecutive No. 3 to No. 5 power-on stages, the on/off of the fourth semiconductor switch Q4 is complementarily switching-controlled with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal and the V-phase low-side PWM signal, thereby forming a dead time.

In addition, in the 180 ° upper and lower rectangular wave PWM control, in the consecutive No. 5 to No. 1 conduction stages (i.e., the fifth and sixth conduction periods and the first conduction period thereafter), on/off of the fifth semiconductor switch Q5 is switching-controlled by the W-phase high-side PWM signal in which the duty ratio is set.

In addition, in the 180 ° upper and lower rectangular wave PWM control, in the successive No. 5 to No. 1 conducting stages, the on/off of the sixth semiconductor switch Q6 is complementarily switching-controlled with respect to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase low-side PWM signal, thereby forming the dead time.

According to the 180 ° upper and lower rectangular wave PWM control, when the rotor 3r is rotated at a high speed, the 180 ° energization increases the utilization rate of the power supply voltage and sufficiently obtains a large torque, thereby appropriately applying the torque to the rotor 3r rotated at a high speed. Further, the low-side switches Q2, Q4, and Q6 are PWM-controlled so as to form a dead time with the high-side switches Q1, Q3, and Q5, thereby preventing a through current. 180 DEG upper rectangular wave PWM control

As shown in fig. 8, when the detected speed is equal to or higher than the third reference speed (step S9: Yes), or the set duty ratio is equal to or higher than the second reference duty ratio (step S10: Yes), the control unit 10 performs 180 ° upper rectangular wave PWM control as the energization pattern of the fifth region R5 (i.e., the third case) shown in fig. 12A and 12B (step S15).

The 180 ° upper-stage rectangular wave PWM control is 180 ° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control to only the high-side semiconductor switches Q1, Q3, Q5.

As shown in fig. 17, in the 180 ° upper rectangular wave PWM control, in the consecutive No. 1 to No. 3 conduction stages (i.e., the first to third conduction periods), the on/off switching control of the first semiconductor switch Q1 is performed by the U-phase high-side PWM signal in which the duty ratio is set.

Further, in the 180 ° upper-stage rectangular wave PWM control, the second semiconductor switch Q2 is subjected to the continuous off control in the continuous No. 1 to No. 3 energization stages.

In addition, in the 180 ° upper rectangular wave PWM control, the on/off switching control of the third semiconductor switch Q3 is performed by the V-phase high-side PWM signal in which the duty ratio is set in the consecutive No. 3 to No. 5 power-on stages (i.e., the third to fifth power-on periods).

Further, in the 180 ° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is subjected to the continuous off control in the continuous No. 3 to No. 5 energization stages.

In addition, in the 180 ° upper rectangular wave PWM control, in the consecutive No. 5 to No. 1 conducting stages (i.e., the fifth and sixth conducting periods and the first conducting period thereafter), the on/off switching control of the fifth semiconductor switch Q5 is performed by the W-phase high-side PWM signal in which the duty ratio is set.

Further, in the 180 ° upper-stage rectangular wave PWM control, the sixth semiconductor switch Q6 is subjected to the continuous off control in the continuous No. 5 to No. 1 energization stages.

According to the above 180 ° upper rectangular wave PWM control, as in the case of the 120 ° upper rectangular wave PWM control, when the duty ratio is set, by turning off the low-side switches Q2, Q4, Q6 and PWM-controlling only the high-side switches Q1, Q3, Q5, it is not necessary to adjust the duty ratios of the respective PWM signals so that dead time is formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

According to the second embodiment, since an appropriate PWM control can be selected according to the detected speed and the set duty ratio, a large torque can be output as much as possible while effectively utilizing the charging voltage of the battery 2.

At least a part of the electric vehicle control device 1 described in the above embodiment may be configured by hardware or software. When the software is configured, a program for realizing at least a part of the functions of electric vehicle control device 1 may be stored in a storage medium such as a flexible disk or a CD-ROM, and may be read and executed by a computer. The storage medium is not limited to a removable magnetic disk, optical disk, or the like, and may be a fixed storage medium such as a hard disk device or a memory.

Further, the program that realizes at least a part of the functions of the electric vehicle control device 1 may be distributed via a communication line (including wireless communication) such as the internet. The program may be further distributed in an encrypted, modulated, and compressed state via a limited line such as the internet and a wireless line, or stored in a storage medium.

Based on the above description, although a person skilled in the art may conceive of additional effects and various modifications of the present invention, the present invention is not limited to the above-described embodiments. The constituent elements according to the different embodiments may be appropriately combined. Various additions, modifications, and partial deletions can be made without departing from the scope of the concept and spirit of the present invention as defined in the claims and derived from equivalent objects thereof.

Description of the symbols

1 electric vehicle control device

3 electric machine

10 control part

Claims

1. A drive device, comprising:

the drive control includes:

2. The drive device according to claim 1, characterized in that:

wherein the control part

The duty ratios of a plurality of pulse periods included in the same setting period are controlled to be constant.

3. The drive device according to claim 1, characterized in that:

wherein switching control of ON/OFF of the first switch by the duty-adjusted first-phase high-side PWM signal is performed simultaneously with switching control of ON/OFF of the second switch complementarily with respect to the first switch by the duty-adjusted first-phase low-side PWM signal between the first-phase high-side PWM signal and the first-phase high-side PWM signal, thereby forming a dead time in which the second switch is not simultaneously turned on with the first switch,

4. The drive device according to claim 1, further comprising:

a rotational speed detecting section for detecting a rotational speed of a rotor of the motor,

5. The drive device according to claim 4, characterized in that:

the control unit performs the drive control.

6. The drive device according to claim 5, characterized in that:

the control part

7. The drive device according to claim 6, characterized in that:

when in: a third case where the detection speed is equal to or higher than the first reference speed, is slower than the third reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio, or the detection speed is equal to or higher than the third reference speed,

the control part

8. The drive device according to claim 7, characterized in that:

when in the first to third cases,

the control part

9. The drive device according to claim 8, characterized in that:

the control part

10. The drive device according to claim 4, characterized in that:

the control part

11. The drive device according to claim 10, characterized in that:

in the fourth and fifth cases,

the control part

12. An electric vehicle including a motor and a drive device, characterized in that:

the driving device includes:

wherein the control unit performs drive control of the motor by a trapezoidal current waveform, the drive control including:

13. The electric vehicle of claim 12, further comprising:

14. The electric vehicle according to claim 13, characterized in that:

wherein the control part

15. A control method of a driving apparatus, the driving apparatus comprising: a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor; a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal; a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor; a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal; a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor; and a sixth switch, one end of which is connected to the third output terminal and the other end of which is connected to the ground terminal, characterized in that:

the drive control includes: