JP2005192335A - Inverter and motor control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect a motor current accurately by detecting a current on the DC side through one shunt resistor in an inverter for driving a motor. <P>SOLUTION: A switch circuit 101 comprises a bridge circuit for phase U to phase W. A DC power supply 111 is connected to the input side of the switch circuit 101 and a motor 112 is connected to the output side thereof. A shunt resistor R is provided on the input side of the switch circuit 101 and combined currents of phase U to phase W flow through the shunt resistor R. A current detection circuit 10 detects the motor current by utilizing the shunt resistor R upon elapsing a predetermined time after on/off switching timing of a switching element constituting the switch circuit 101. A control circuit 11 creates a PWM signal for controlling the switch circuit 101 on the basis of a detected motor current. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an inverter device and a motor control method, and more particularly, to an inverter device for supplying power to a motor and a method for controlling a three-phase synchronous motor.

An inverter device that converts the output of a DC power source into AC and supplies it to a load is widely used for various applications.
FIG. 16A is a diagram illustrating a basic configuration of an example of an existing inverter device. Here, it is assumed that the load connected to the inverter device is a three-phase motor (for example, a DC brushless motor). The rotation speed of the motor is controlled by position sensorless control (sine wave vector control).

  The switch circuit 101 is connected to a DC power supply 111 and includes a U-phase bridge circuit, a V-phase bridge circuit, and a W-phase bridge circuit. Each bridge circuit includes a set of switch elements connected in series with each other. The output of each bridge circuit is connected to the motor 112.

  The control circuit 102 controls each switch element of the switch circuit 101 so that the motor 112 is driven at a designated rotational speed. Here, in the position sensorless control, the rotation of the motor is controlled without directly detecting the motor current. For this reason, in this inverter device, shunt resistors Ru to Rw are provided for the respective bridge circuits. The shunt resistors Ru to Rw are used to monitor the U-phase current, V-phase current, and W-phase current, and the motor 112 is controlled while estimating the motor position from these current values. .

  However, in the inverter device shown in FIG. 16A, since the shunt resistor is provided for each phase, the manufacturing cost increases and the circuit size increases. Therefore, in recent years, as shown in FIG. 16B, a single shunt resistor R is provided for the switch circuit 101, and the current flowing through the DC side of the inverter device is detected using the shunt resistor R. A method for estimating a U-phase current, a V-phase current, and a W-phase current from the detected current value has been proposed (for example, Patent Documents 1 and 2).

  FIG. 17 is a diagram for explaining the operation of the inverter device shown in FIG. Here, the state of the lower arm switch element of the U-phase to W-phase bridge circuit and the current flowing through the shunt resistor R are depicted. Note that the upper arm switch element and the lower arm switch element of each bridge circuit are alternately driven so as not to be turned on simultaneously.

  In FIG. 17, for example, when the U-phase lower arm switch element is in the ON state and the V-phase and W-phase lower arm switch elements are in the OFF state (in this case, the U-phase upper arm switch element is off). And the current flowing through the shunt resistor R corresponds to a U-phase motor current. Further, when the U-phase and V-phase lower arm switch elements are in the ON state and the W-phase lower arm switch element is in the OFF state (in this case, the U-phase and V-phase upper arm switch elements are in the OFF state. And the W-phase upper arm switch element is in the ON state), and the current flowing through the shunt resistor R corresponds to the W-phase motor current.

  As described above, during the operation period shown in FIG. 17, the U-phase and W-phase motor currents can be detected based on the current flowing through the shunt resistor R. That is, this inverter device detects the voltage across the shunt resistor R twice per unit time, and detects the motor current for two phases of the three phases. Further, based on the motor currents for the two phases (in the example shown in FIG. 17, the motor currents in the U phase and the W phase), the remaining phase motor currents (in the example shown in FIG. 17, the V phase motor currents). Is estimated. The control circuit 102 controls the motor 112 while estimating the motor position based on the motor current of each phase detected or estimated as described above.

As a technique related to the present invention, Patent Document 3 discloses an invention for adjusting the detection timing of a motor current. However, the technique described in Patent Document 3 directly detects the motor current on the output side of the inverter device.
JP 2002-95263 A (FIGS. 1, 7, and 8, paragraphs 0028 and 0050 to 0057) Japanese Patent Laid-Open No. 10-201288 (FIG. 1) Japanese Patent Laid-Open No. 11-55983 (FIG. 1, abstract)

  In the inverter device shown in FIG. 16B, as described above, the voltage across the shunt resistor R is detected twice per unit time. At this time, the voltage value across the shunt resistor R is usually converted into digital data by an A / D converter and given to the microcomputer (control circuit 102). Therefore, in order to detect the voltage across the shunt resistor R, the voltage value needs to be held for a certain period of time.

  However, depending on the timing of the control signal (PWM signal) for controlling each switch element of the switch circuit 101, a sufficient time for detecting the voltage across the shunt resistor R may not be secured. In the example shown in FIG. 17, a sufficient time for detecting the W-phase motor current is not secured.

  As described above, in the conventional inverter device that drives the motor while detecting or estimating the motor current by detecting the current on the DC side with one shunt resistor, the current may not be detected accurately. As a result, the motor may not be accurately controlled.

Further, when detecting a DC side current using a shunt resistor, a voltage (hereinafter simply referred to as “recovery voltage”) generated by a recovery current at the time of switching on / off of the switch element becomes noise. . For this reason, the current may not be detected accurately.
An object of the present invention is to accurately detect a load current by detecting a direct current on a single shunt resistor in an inverter device that generates a three-phase alternating current. Another object of the present invention is to enable accurate control of a motor using the inverter device.

  An inverter device of the present invention is a device that converts the output of a DC power source into a three-phase AC, and includes a switch circuit connected to the DC power source and including a plurality of switch elements, and between the DC power source and the switch circuit. A current sensor provided; current detection means for detecting a load current using the current sensor; and a control signal for ON / OFF control of the plurality of switch elements based on the load current obtained by the current detection means The control means which produces | generates. The current detection means detects a current value after a predetermined time has elapsed from the on / off switching timing of the switch element.

  In the inverter device, a recovery voltage is generated immediately after the switching timing of the switch element. During the period in which the recovery voltage exists, the current value detected by the current sensor includes noise. Therefore, the influence of the recovery voltage is eliminated by detecting the current value after a predetermined time has elapsed from the ON / OFF switching timing of the switch element.

  In the inverter device, the current detection means includes a sample hold circuit that holds a value obtained from the current sensor when the predetermined time has elapsed from or after the switch element on / off switching timing. May be configured. Alternatively, it may be configured to include a sample and hold circuit that starts sampling of the value obtained from the current sensor when the predetermined time has elapsed from the on / off switching timing of the switch element. In these inverter devices, the influence of the recovery voltage can be reliably avoided by setting the time required until the recovery voltage is sufficiently reduced after the recovery voltage is generated as the timer value counted by the timer. Further, the current detection means may read the held value after the sample hold circuit holds the value obtained from the current sensor.

  In the inverter device, the control means should detect a load current from the three phases based on a modulation rate defining a modulation signal for generating the three-phase alternating current and a phase of the modulation signal. You may make it have a selection means to select a phase. In this case, the load current can always be reliably detected.

  The motor control method of the present invention is a method of controlling a three-phase motor using an inverter device including a switch circuit, and uses the one shunt resistor provided between a DC power supply and the switch circuit. A detection step for detecting a motor current of two phases of the three phases, and a generation step for generating a control signal for controlling the switch circuit based on the detected motor current. In the detection step, a current value after a predetermined time has elapsed from the on / off switching timing of the switch elements constituting the switch circuit is detected. Also in this method, the influence of the recovery voltage can be avoided similarly to the operation of the inverter device described above.

According to the present invention, the influence of the recovery voltage that occurs immediately after the switching element is turned on / off can be eliminated, so that the load current can be accurately detected.
Further, since the motor current can be accurately detected in the motor control, the desired rotation speed can be obtained accurately.

  FIG. 1 is a configuration diagram of an inverter device 1 according to an embodiment of the present invention. Here, the basic configuration of the inverter device 1 is the same as that of the conventional inverter device shown in FIG. 16B, and includes a switch circuit 101, a shunt resistor R as a current sensor, a current detection circuit 10, and a control circuit 11. . However, the control circuit 11 is different from the control circuit 102 provided in the conventional inverter device. Further, the current detection circuit 10 includes the characteristic elements of the present invention, and therefore is described independently of the control circuit 11.

The load connected to the inverter device 1 is assumed to be a motor (for example, a three-phase DC brushless motor) 112. The rotation speed of the motor 112 is controlled by position sensorless control (sine wave vector control).
The switch circuit 101 is connected to a DC power supply 111 and includes a U-phase bridge circuit, a V-phase bridge circuit, and a W-phase bridge circuit. Each bridge circuit includes a set of switch elements connected in series with each other. That is, the U-phase bridge circuit includes an upper arm switch element 31H and a lower arm switch element 31L. Similarly, the V-phase bridge circuit includes an upper arm switch element 32H and a lower arm switch element 32L, and the W-phase bridge circuit includes an upper arm switch element 33H and a lower arm switch element 33L. The output of each bridge circuit is connected to the motor 112.

  The current detection circuit 10 detects a motor current (U-phase current, V-phase current, or W-phase current) based on the voltage across the shunt resistor R. Then, the control circuit 11 generates a PWM signal for controlling the switch circuit 101 based on the motor current detected by the current detection circuit 10.

FIG. 2 is a diagram for explaining current detection in the inverter device 1. Note that the switch elements 31H, 31L, 32H, 32L, 33H, and 33L constituting the switch circuit 101 are controlled by the control circuit 11, respectively.
In the example shown in FIG. 2A, the upper arm switch element 31H is in an on state, and the upper arm switch elements 32H and 33H are in an off state (at this time, the lower arm switch element 31L is in an off state, and The lower arm switch elements 32L and 33L are on). In this case, current flows through the following path. DC power supply 111 → upper arm switch element 31H → U phase coil of motor 112 → V phase / W phase coil of motor 112 → lower arm switch elements 32L, 33L → shunt resistor R → DC power supply 111. Therefore, the current flowing through shunt resistor R corresponds to U-phase current Iu of motor 112. That is, the U-phase current Iu can be detected from the voltage across the shunt resistor R.

  In the example shown in FIG. 2B, the upper arm switch elements 31H and 32H are in an on state and the upper arm switch element 33H is in an off state (at this time, the lower arm switch elements 31L and 32L are in an off state. And the lower arm switch element 33L is in an ON state). In this case, current flows through the following path. DC power supply 111 → upper arm switch elements 31H, 32H → U phase / V phase coil of motor 112 → W phase coil of motor 112 → lower arm switch element 33L → shunt resistor R → DC power supply 111. Therefore, the current flowing through shunt resistor R corresponds to W-phase current Iw of motor 112. That is, the W-phase current Iw can be detected from the voltage across the shunt resistor R.

  The direction from the switch circuit 101 to the motor 112 is called “positive”, and the direction from the motor 112 to the switch circuit 101 is called “negative”. For example, in the example shown in FIG. 2A, “+ Iu” is detected from the voltage across the shunt resistor R. In the example shown in FIG. 2B, “−Iw” is detected from the voltage across the shunt resistor R.

Thus, when the state of the switch circuit 101 is determined, the “phase (U phase, V phase, W phase)” of the motor current that can be detected based on the current flowing through the shunt resistor R is uniquely determined. FIG. 3 shows the relationship between the state of the switch circuit 101 and the “phase” of the detectable motor current.
FIG. 4 is a diagram illustrating a configuration of the control circuit 11. The control circuit 11 is realized by, for example, a CPU that executes a program described in advance, a memory used by the CPU, and the like.

  The current detection circuit 10 provided between the shunt resistor R and the control circuit 11 includes an A / D converter, and takes in the voltage across the shunt resistor R as digital data. The current detection circuit 10 includes the table shown in FIG. 3, and captures the voltage value across the shunt resistor R as a phase motor current corresponding to the output of the PWM signal generation unit 18. At this time, the current detection circuit 10 detects two of the U-phase current, the V-phase current, and the W-phase current for each carrier cycle. However, the current detection circuit 10 detects only the motor current of the phase selected by the phase selection unit 20.

  The current estimation unit 12 estimates the motor current of the other phase based on the motor current for two phases detected by the current detection circuit 10. For example, when a U-phase current and a V-phase current are detected by the current detection circuit 10, the current estimation unit 12 estimates a W-phase current based on those current values. Here, a technique for estimating the remaining one-phase motor current from the two-phase current value of the three-phase motor current is well known, and the description thereof is omitted here.

  The rotation speed estimation unit 13 estimates the rotation speed of the motor 112 based on the three-phase motor current obtained by the current estimation unit 12. A technique for estimating the rotational speed of the motor based on the motor current is known. The error calculator 14 obtains an error between the rotational speed command value given from the outside and the rotational speed estimated by the rotational speed estimator 13. The rotation speed command value is given by the user, for example. The modulation rate control unit 15 determines a modulation rate, which is information defining a modulation signal described later, based on the error obtained by the error calculation unit 14.

  The carrier signal generation unit 16 generates a carrier signal (reference periodic signal) for switching each switch element of the switch circuit 101. Here, the carrier signal is a periodic signal having a predetermined constant frequency, for example, a signal in which a waveform for one period is formed from a period in which the voltage value increases linearly and a period in which the voltage value decreases linearly. (In this case, it is often called "triangular wave signal").

  The modulation signal generation unit 17 generates a modulation signal that specifies the duty of the PWM signal supplied to the switch circuit 101. Here, the modulation signal includes a U-phase modulation signal, a V-phase modulation signal, and a W-phase modulation signal. The U-phase modulation signal, the V-phase modulation signal, and the W-phase modulation signal are not particularly limited. For example, the U-phase modulation signal, the V-phase modulation signal, and the W-phase modulation signal are realized by sine waves whose phases are shifted by 120 degrees.

  The PWM signal generation unit 18 generates a PWM signal for controlling each switch element constituting the switch circuit 101 based on the carrier signal and the modulation signal. Here, for example, the PWM signal for controlling the upper arm switch element 31H of the U-phase bridge circuit is generated from the carrier signal and the U-phase modulation signal. The PWM signal for controlling the lower arm switch element 31L of the U-phase bridge circuit is generated by inverting the logic of the PWM signal for controlling the upper arm switch element 31H. The generation of the PWM signal is the same for the V phase and the W phase. Note that dead times are provided in order to prevent a set of switch elements constituting each bridge circuit from being turned on simultaneously. The drive unit 19 generates a drive signal for driving each switch element included in the switch circuit 101 based on each PWM signal.

  Based on the modulation rate of the modulation signal and the phase of the modulation signal, the phase selection unit 20 selects two phases from which the motor current should be detected from the U phase, the V phase, and the W phase, and detects the result of the current detection. The circuit 10 is notified. Then, the current detection circuit 10 determines whether or not to take in a current value obtained by using the shunt resistor R according to the notification. For example, it is assumed that the phase selection unit 20 has selected “U phase” and “V phase” as phases for detecting the motor current. In this case, when the current detection circuit 10 receives a signal indicating the timing for detecting the U-phase current or the V-phase current from the PWM signal generation unit 18, the current detection circuit 10 sets the voltage value across the shunt resistor R to “U-phase current” or Captured as “V-phase current”. However, when a signal instructing the timing for detecting the W current is received from the PWM signal generation unit 18, the voltage value across the shunt resistor R is not captured. That is, currents other than the phase selected by the phase selector 20 are not detected.

Note that the control circuit 11 configured as described above generates a PWM signal so that the error obtained by the error calculation unit 14 becomes zero. As a result, the rotational speed of the motor 112 matches the command value.
FIG. 5 is a diagram for explaining the operation of the PWM signal generation unit 18. Here, the U-phase modulation signal, the V-phase modulation signal, and the W-phase modulation signal are realized by sine waves whose phases are shifted from each other by 120 degrees.

  The PWM signal generator 18 compares the levels of the carrier signal and each modulation signal at predetermined time intervals. Here, each PWM signal represents “L” when the level of the carrier signal is higher than the level of the corresponding modulation signal, and “H” when the level of the carrier signal is lower than the level of the corresponding modulation signal. ". However, each PWM signal represents “H” when the level of the carrier signal is higher than the level of the corresponding modulation signal, and represents “L” when the level of the carrier signal is lower than the level of the corresponding modulation signal. You may do it.

FIG. 6 is a diagram for explaining the modulation rate and phase of the modulation signal. Here, a waveform is shown when the modulation rate of the modulation signal shown in FIG. 5 changes.
As described above, the modulation rate of the modulation signal is determined by the modulation rate control unit 15 based on, for example, the error between the command value of the motor rotation speed and the estimated value of the motor rotation speed. As an example, when the estimated value of the motor rotational speed is lower than the command value, the modulation rate is increased by a predetermined value from the current value. On the contrary, when the estimated value of the motor rotational speed is higher than the command value, the modulation rate is made smaller by a predetermined value than the current value. Then, by repeating this process every predetermined time, an appropriate modulation rate for making the motor rotation speed coincide with the command value can be obtained.

  The modulation signal generation unit 17 generates a modulation signal corresponding to the modulation rate. In this embodiment, the modulation rate specifies the amplitude of a sine wave generated as a modulation signal. For example, in the example shown in FIG. 6, a larger modulation rate is given compared to the example shown in FIG. 5, and as a result, a modulated signal having a larger amplitude is generated. The carrier signal has a fixed frequency and waveform. The frequency of the carrier signal is generally much higher than that of the modulation signal.

  When the amplitude of the modulation signal is changed by changing the modulation rate as described above, the PWM signal of each phase is also changed accordingly. For example, in FIGS. 5 and 6, the corresponding PWM signals have different duties from each other. When the PWM signal of each phase changes, the state of each switch element constituting the switch circuit 101 changes accordingly, so that the detectable current phase (U-phase current, V-phase current) as shown in FIG. , W-phase current) will also be different. Therefore, the modulation rate control unit 15 notifies the phase selection unit 20 of the modulation rate determined based on the error.

  Further, when generating the modulation signal, the modulation signal generation unit 17 notifies the phase selection unit 20 of information indicating the phase of the modulation signal. Here, the modulation signal of the above-described embodiment is represented by a mathematical expression describing a sine wave. Then, the modulation signal generation unit 17 outputs the digital data of the phase and the corresponding amplitude value every predetermined time based on the mathematical formula. That is, the modulation signal is expressed by this data string. Then, the phase selection unit 20 recognizes the current phase of the modulation signal based on the information notified from the modulation signal generation unit 17. Specifically, for example, as illustrated in FIG. 6, the phase selection unit 20 divides a modulation signal for one period into 12 phase regions 0 to 11, and determines which phase the current phase of the modulation signal is. Detect if it belongs to a region.

The phase selection unit 20 selects a phase for detecting the motor current using the shunt resistor R based on the notified modulation factor and phase of the modulation signal. Here, the “phase where the motor current should be detected” refers to a phase in which any one of the six states shown in FIG. 3 continues for a predetermined time or longer in each carrier cycle. And the phase selection part 20 selects the phase which should detect a motor current based on the following two determination results, for example.
Judgment criterion 1: Whether the modulation rate of the modulation signal is larger than a predetermined threshold value Judgment criterion 2: Which of the phase regions 0 to 11 the current phase of the modulation signal belongs to and current detection The circuit 10 detects the phase motor current corresponding to the PWM signal and the phase motor current selected by the phase selection unit 20. Note that a method for selecting a phase will be described in an example described later.

  FIG. 7 is a block diagram of the current detection circuit 10. In FIG. 7, the voltage across the shunt resistor R is applied to the U-phase sample-and-hold circuit 41, the V-phase sample-and-hold circuit 42, and the W-phase sample-and-hold circuit 43, respectively. Here, the voltage across the shunt resistor R may be supplied to the sample and hold circuits 41 to 43 after being amplified by an amplifier (not shown).

  The decoder 44 is provided with the phase information notified from the phase selector 20 and the switch control signal (corresponding to the above-described PWM signal or part thereof) generated by the PWM signal generator 18. Here, the switch control signal indicates the on / off state of each switch element constituting the switch circuit 101. Further, the decoder 44 includes a table shown in FIG. Then, the decoder 44 recognizes the phase in which the current should be detected based on the supplied switch control signal, sends a hold instruction to the corresponding sample hold circuits 41 to 43, and further converts to the A / D conversion units 46 to 48. Send. For example, when the switch control signal indicates the second state from the top of the table shown in FIG. 3, the decoder 44 gives a hold instruction to the W-phase sample / hold circuit 43, and then the A / D conversion unit 48 is given a conversion instruction. As a result, the voltage across the shunt resistor R is taken in by the W-phase sample-and-hold circuit 43 as “W-phase motor current Iw”, numerically converted by the A / D converter 48 and notified to the current estimator 12.

  However, the decoder 44 refers to the phase information notified from the phase selection unit 20 when generating the hold instruction. That is, the decoder 44 generates a hold instruction only when the “phase for which current is to be detected” obtained based on the switch control signal is the “phase” notified by the phase information. For example, if “U phase, V phase” is selected by the phase selection unit 20, even if “W phase” is obtained based on the switch control signal, no hold instruction is generated. This is to avoid the problems mentioned with reference to FIG. In other words, it is possible to perform current detection only for the phase for which sufficient time can be obtained for current detection without performing current detection for the phase for which sufficient time for current detection cannot be obtained. To do.

  In addition, the current detection circuit 10 includes a timer 45. The timer value of the timer 45 corresponds to the time required for the recovery voltage generated by switching on / off of the switch elements constituting the switch circuit 101 to become sufficiently small. As an example, the timer value is set to about 3 microseconds. The

  Here, the operation of the decoder 44 will be described with reference to FIG. In this example, it is assumed that “+ V phase” and “−W phase” are selected by the phase selection unit 20 as phases for detecting the motor current. At time T1, it is assumed that the switch control signal for controlling the lower arm switch element 32L of the V phase has changed from “H (on)” to “L (off)”. At this time, the switch control signal for controlling the U-phase lower arm switch element 31L is “L”, and the switch control signal for controlling the W-phase lower arm switch element 33L is “H”. And

  When detecting that the switch control signal has changed at time T1, the decoder 44 refers to the table shown in FIG. 3, and recognizes that “−Iw” should be detected from the voltage across the shunt resistor R after time T1. . In addition, the decoder 44 recognizes that the “−W phase” is selected by the phase selection unit 20. Then, the decoder 44 starts the timer 45 and waits for the timer to expire.

  When the timer 45 expires at time T2 (or when a predetermined time elapses from time T1), the decoder 44 generates a hold signal instructing to take in the voltage value across the shunt resistor R and uses it as a W-phase sample. This is given to the hold circuit 43. Here, the hold signal is not particularly limited, but is generated as a signal for realizing, for example, the following instructions.

1. 1. Capture the voltage value across the shunt resistor R when the timer 45 expires. 2. The voltage value across the shunt resistor R is taken in at the time when the switch control signal changes next (time T3 in FIG. 8). 3. When the sample hold circuits 41 to 43 are of the peak hold type, the voltage value at both ends of the shunt resistor R in the period from the expiration of the timer 45 to the time T3 is sampled and the peak value is captured. 4. A hold signal is output when the voltage fluctuation of the carrier signal reaches a predetermined value from the on / off switching time. 5. The timer 45 is started by a signal received from the drive unit 19 instead of from the decoder 44, and then any one of the above 1 to 3 is executed. Even if it is a signal for other uses, if it is a signal that can realize the operation equivalent to the above 1 to 4, it is used. Thereby, the current detection circuit 10 is a switch element that constitutes the switch circuit 101. It is possible to accurately detect the motor current of each phase without being affected by the recovery voltage at the on / off time. Moreover, since the timing of current detection is adjusted using the timer 45, the influence of the turn-on delay of the switch element itself constituting the drive unit 19 or the switch circuit 101 can be eliminated.

  If the switch control signal changes before the timer 45 expires, the motor current cannot be accurately detected. However, the inverter device according to the embodiment includes the phase selection unit 20 so that any one of the six states shown in FIG. 3 continues for a certain time or more in each carrier cycle as a phase for detecting a current. The correct phase is selected. Therefore, in the inverter device of the embodiment, basically, when the timer 45 is started in response to a change in the switch control signal at a certain timing, the change next to the switch control signal is performed before the timer 45 expires. Will never happen. That is, the motor current can always be accurately detected without being affected by the recovery voltage.

  9-10 is a figure which shows the modulation signal produced | generated in the inverter apparatus of an Example. Here, in FIGS. 9A, 9B, 10A, and 10B, the modulation rates are “1.0”, “0.8”, “0.5”, “0”, respectively. .2 "shows the waveform of the modulation signal for one period.

  In the examples shown in FIGS. 5 to 6, the modulation signal is a sine wave. However, the modulation signal of this embodiment is generated by a method called “two-phase modulation”. In the two-phase modulation, the phase of the modulation signal in one cycle (corresponding to the electrical angle of the motor) is equally divided into six, and one predetermined modulation signal is fixed to “0” or “1” in each phase region. . For example, in the example shown in FIGS. 9 to 10, in the region where the phase is 30 degrees to 90 degrees, the W-phase modulation signal is fixed to “1”, and the U-phase modulation signal and the V-phase modulation signal are each “0”. It changes between ~ "1". Further, for example, in the region where the phase is 90 degrees to 150 degrees, the V-phase modulation signal is fixed to “0”, and the U-phase modulation signal and the W-phase modulation signal change between “0” to “1”, respectively. doing.

  Note that during a period in which a certain modulation signal is fixed to “0”, the duty of the PWM signal generated based on the modulation signal and the carrier signal is 0 percent. Further, during a period in which a certain modulation signal is fixed to “1”, the duty of the PWM signal generated based on the modulation signal and the carrier signal is 100%. In other words, the number of times of switching in the switch circuit 101 decreases during these periods. Therefore, in the two-phase modulation method, the switching loss is reduced and the power consumption can be reduced.

  FIGS. 11 to 13 show the relationship between the modulation rate of the modulation signal shown in FIGS. 9 to 10 and the detectable motor current. Here, FIG. 11, FIG. 12, and FIG. 13 show the relationships when the modulation rates are “1.0”, “0.6”, and “0.2”, respectively. In addition, in FIGS. 11 to 13, states in the “phase region 6” illustrated in FIG. 14 are illustrated. Note that the phase region 0 to the phase region 11 shown in FIG. 14 are obtained by dividing the modulation signal for one period by 30 degrees. Further, in this embodiment, the phases of the U-phase PWM signal, the V-phase PWM signal, and the W-phase PWM signal generated by the carrier signal and the modulation signal of each phase are shifted from each other by 120 degrees.

  In the phase region 6 shown in FIG. 14, the U-phase modulation signal is fixed to “1”. Accordingly, during this period, as shown in FIGS. 11 to 13, the duty of the PWM-U (upper) signal (PWM signal for controlling the upper arm switch element 31H) is 0 percent. On the other hand, the duty of the PWM-U (lower) signal (PWM signal for controlling the lower arm switch element 31L) is 100%. That is, during this period, the upper arm switch element 31H is always in the off state, and the lower arm switch element 31L is always in the on state.

  PWM-V (upper) signal (PWM signal for controlling upper arm switch element 32H), PWM-V (lower) signal (PWM signal for controlling lower arm switch element 32L), PWM-W (upper) The duty of the signal (PWM signal for controlling the upper arm switch element 33H) and the PWM-W (lower) signal (PWM signal for controlling the lower arm switch element 33L) depend on the corresponding modulation signal, respectively. Change from moment to moment. Further, the duty of these PWM signals depends on the modulation rate of the modulation signal.

Each switch element 31H, 31L, 32H, 32L, 33H, 33L constituting the switch circuit 101 is controlled by these PWM signals. When the states of these six switch elements are determined, the motor current that can be detected using the shunt resistor R is uniquely determined as shown in FIG. For example, at time A in FIG. 11, the states of the switch elements that constitute the switch circuit 101 are as follows.
U phase upper arm switch element 31H: off U phase lower arm switch element 31L: on W phase upper arm switch element 33H: on W phase lower arm switch element 33L: off V phase upper arm switch element 32H: on V phase lower arm switch Element 32L: OFF In this case, the motor current that can be detected using the shunt resistor R is “−Iu”.

For example, at time B in FIG. 11, the states of the switch elements constituting the switch circuit 101 are as follows.
U phase upper arm switch element 31H: off U phase lower arm switch element 31L: on W phase upper arm switch element 33H: on W phase lower arm switch element 33L: off V phase upper arm switch element 32H: off V phase lower arm switch Element 32L: ON In this case, the motor current that can be detected using the shunt resistor R is “+ Iw”. In FIGS. 11 to 13, periods in which motor currents (U-phase current, V-phase current, and W-phase current) of each phase can be detected are indicated by an H level.

  When the modulation rate of the modulation signal is high in the phase region 6, as shown in FIG. 11, U-phase and V-phase motor currents (−Iu, + Iw) within each carrier period over the entire period in the region. Can be detected. On the other hand, when the modulation rate is low, as shown in FIG. 13, V-phase and W-phase motor currents (+ Iv, + Iw) can be detected within each carrier period over the entire period in the region. . When the modulation rate is an intermediate level, as shown in FIG. 12, U-phase, V-phase, and W-phase motor currents (−Iu, + Iv, + Iw) can be detected in each carrier cycle. Note that “current can be detected” means that a period during which a current of a predetermined phase in the three-phase alternating current can be detected based on the current on the direct current side within a certain period of time (for example, the shunt resistance R). This means that the voltage value at both ends is longer than the operation time of the A / D converter for converting the digital value into digital data.

  Therefore, if the phase (or phase region) of the modulation signal and the modulation rate of the modulation signal are notified, the phase selection unit 20 can reliably detect the motor current using the shunt resistor R in any carrier cycle. “Phase (U phase, V phase, W phase)” can be selected. That is, if current detection is performed based on this method, the motor current for two phases of the three-phase alternating current can always be reliably detected.

  Thus, in the above-described embodiment, when the modulation rate of the modulation signal is large in the phase region 6 shown in FIG. 14, “−Iu” and “+ Iw” are selected as the motor currents to be detected, and the modulation signal When the modulation rate is small, “+ Iv” and “+ Iw” are selected. Similarly, in other phase regions, a detectable phase can be obtained in advance according to the modulation rate of the modulation signal. FIG. 15 shows the result of obtaining the current detectable phase for each phase region.

  Note that the table shown in FIG. 15 may be stored in the phase selection unit 20, for example. This table also includes information for instructing sampling start timing. When the phase selection unit 20 receives the modulation rate determined by the modulation rate control unit 15 and the switch control signal generated by the PWM signal generation unit 18, the table shown in FIG. Take out from. Then, the current detection circuit 10 is notified of the phase information thus selected.

  In this embodiment, the thresholds for determining the modulation rate of the modulation signal are, for example, “0.6” and “0.7”. Here, the reason for setting the two threshold values is to give hysteresis to the phase selection operation. For example, if the modulation rate is smaller than 0.6 during the period in which the phase of the modulation signal belongs to “phase region 3”, the phase selection unit 20 sets “−Iu” and “−Iu” as detectable phase currents. Select “-Iw”. On the other hand, if the modulation rate is greater than 0.7 during this period, “+ Iv” and “−Iw” are selected as detectable phase currents.

In any phase region, the current detection circuit 10 starts sampling after a predetermined time (in this example, 3 microseconds) has elapsed from the timing at which the switch elements constituting the switch circuit 101 are turned on or turned off.
Furthermore, in the inverter device of the embodiment, as described above, the phase of the motor current that can be detected is determined based on the phase of the modulation signal and the modulation rate. Therefore, in FIG. 4, when the phase selection unit 20 receives information indicating the modulation rate of the modulation signal from the modulation rate control unit 15 and receives information indicating the phase of the modulation signal from the modulation signal generation unit 17, the phase selection unit 20 illustrated in FIG. The phase is selected with reference to the table, and the result is notified to the current detection circuit 10. Then, the current detection circuit 10 detects the motor current for two phases notified from the U-phase to W-phase motor currents, and the current estimation unit 12 determines the rest based on the motor currents for these two phases. Estimate the phase motor current.

Note that the phase of the modulation signal corresponds to the electrical angle of the motor. That is, in the inverter device of the embodiment, the phase of the motor current that can be detected is determined based on the electrical angle of the motor to be driven and the modulation rate of the modulation signal.
By the way, as shown in FIG. 3, if the states of all the switch elements constituting the switch circuit 101 are recognized, the phase capable of detecting the motor current can be uniquely specified. However, the time for which the state of the switch circuit 101 controlled by the PWM signal is held is often shorter than the time sufficient for detecting the current (for example, the operation time of the A / D converter). For this reason, in the conventional inverter device, when the motor current cannot be detected in a certain carrier cycle, the current motor current is estimated from the motor current detected in the previous carrier cycle, or the duty of the PWM signal is forced. Measures such as change were taken. Therefore, when the motor control is performed based on the motor current value thus obtained, the rotational stability may be impaired.

  On the other hand, in the inverter device of the present invention, since the motor current can always be reliably and accurately detected in each carrier cycle, the PWM signal generated based on the modulation signal can be used as it is. The position estimation and rotation control are accurate. Further, it is not affected by the recovery voltage.

It is a block diagram of the inverter apparatus of embodiment of this invention. It is a figure explaining the electric current detection in an inverter apparatus. It is a figure which shows the relationship between the state of a switch circuit, and the detected motor current. It is a figure which shows the structure of a control circuit. It is a figure explaining operation | movement of a PWM signal generation part. It is a figure explaining the modulation factor and phase of a modulation signal. It is a block diagram of a current detection circuit. It is a timing diagram for demonstrating operation | movement of a current detection circuit. It is FIG. (1) which shows the modulation signal produced | generated in the inverter apparatus of an Example. It is FIG. (2) which shows the modulation signal produced | generated in the inverter apparatus of an Example. It is an example (the 1) which shows the relationship between the modulation rate of a modulation signal, and the detectable motor current. It is an example (the 2) which shows the relationship between the modulation rate of a modulation signal, and the detectable motor current. It is an example (the 3) which shows the relationship between the modulation rate of a modulation signal, and the detectable motor current. It is a figure explaining the phase of a modulation signal. It is a figure which shows the relationship between the phase of a modulation signal, a modulation factor, and the detectable motor current. (A) And (b) is a figure which shows the basic composition of an example of the existing inverter apparatus. It is a figure explaining operation | movement of the inverter apparatus shown in FIG.16 (b).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Inverter apparatus 10 Current detection circuit 11 Control circuit 12 Current estimation part 13 Rotation speed estimation part 14 Error calculation part 15 Modulation rate control part 16 Carrier signal generation part 17 Modulation signal generation part 18 PWM signal generation part 19 Drive part 20 Phase selection part 31H, 31L, 32H, 32L, 33H, 33L Switch element 41 U-phase sample and hold circuit 42 V-phase sample and hold circuit 43 W-phase sample and hold circuit 44 decoder 45 timer 46 U-phase A / D converter 47 V-phase A / D conversion unit 48 W-phase A / D conversion unit 101 Switch circuit 111 DC power supply 112 Motor

Claims (6)

An inverter device that converts the output of a DC power source into a three-phase AC,
A switch circuit connected to the DC power source and including a plurality of switch elements;
A current sensor provided between the DC power supply and the switch circuit;
Current detection means for detecting a load current using the current sensor;
Control means for generating a control signal for on / off control of the plurality of switch elements based on a load current obtained by the current detection means;
With
The inverter device characterized in that the current detection means detects a current value after a predetermined time has elapsed from the ON / OFF switching timing of the switch element. The current detection means includes a sample hold circuit for holding a value obtained from the current sensor when the predetermined time has elapsed from or after the switch element on / off switching timing. The inverter device described in 1. The current detection means includes a sample hold circuit that starts sampling of a value obtained from the current sensor when the predetermined time has elapsed from the ON / OFF switching timing of the switch element. The inverter device described. 4. The inverter device according to claim 2, wherein the current detection unit reads the held value after the sample hold circuit holds a value obtained from the current sensor. 5. The control means is a selection means for selecting two phases from which the load current is to be detected based on the modulation rate defining the modulation signal for generating the three-phase alternating current and the phase of the modulation signal. The inverter device according to claim 1, comprising: A method of controlling a three-phase motor using an inverter device including a switch circuit,
A detection step of detecting a motor current of two phases of the three phases using one shunt resistor provided between a DC power supply and the switch circuit;
A generation step of generating a control signal for controlling the switch circuit based on the detected motor current, wherein a predetermined time has elapsed from the on / off switching timing of the switch elements constituting the switch circuit in the detection step A motor control method characterized by detecting a subsequent current value.

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