JP2012175747A - Motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor which is controlled in a sensor-less state with winding configuration of unbalance V connection.SOLUTION: The V-connection motor whose phase voltages are unbalanced since inter-terminal impedance is unbalanced detects an inter-terminal voltage, a current Iy of a Y phase, and a current Iz of a Z phase, finds an induced voltage component of winding by calculating a voltage component of a self-inductance, a voltage component of mutual inductance, and a voltage drop component due to winding resistance, and detects a rotor rotational position θre from the induced voltage component to control the voltage and current.

Description

  The present invention relates to a motor including a control circuit mounted on an automobile, a truck, or the like. Also, it can be applied to industrial equipment, home appliances and the like.

Three-phase AC voltage and three-phase AC current motors are widely used in automobile applications, industrial applications, home appliance applications, and the like. In order to meet the demands for cost reduction, size reduction, and high reliability of motor systems, motors such as so-called sensorless speed control and sensorless position control that do not use an encoder have been studied and commercialized.
FIG. 30 shows an example of a conventional motor configuration for sensorless control (see Patent Documents 1 and 2). 2E is a DC voltage source, 451 and 452 are transistors for supplying a U-phase current Iu, 453 and 454 are transistors for supplying a V-phase current Iv, and 455 and 456 are transistors for supplying a W-phase current Iw. Reference numerals 457, 458, 459, 45A, 45B, and 45C denote diodes connected in antiparallel to the transistors. 45D is a U-phase winding of the motor, 45E is a V-phase winding, and 45F is a W-phase winding. 45N is a connection point when the three-phase winding is Y-connected, and is a neutral point in terms of potential.

45H is a low-pass filter for detecting the terminal voltage of the U-phase winding 45D. When controlling the voltage and current of the motor by performing pulse width modulation PWM using a transistor, it is necessary to remove harmonic components superimposed on the terminal voltage, and the low-pass filter 45H is used. Similarly, 45J is a low-pass filter for detecting the terminal voltage of the V-phase winding 45E. Similarly, 45K is a low-pass filter for detecting the terminal voltage of the W-phase winding 45F. These low-pass filters 45H, 45J, and 45K detect the fundamental wave voltage components of the three-phase terminal voltages. The outputs of these low-pass filters 45H, 45J, and 45K are output to the control unit 45L, and rotor rotational position information is detected to control the three-phase AC voltage and three-phase AC current of the motor.
An example of a motor according to the present invention is a motor disclosed in Patent Document 3. This is a motor having two loop-shaped windings, and there is a motor with three-phase AC unbalanced windings.

Japanese Patent Laid-Open No. 7-115789 (FIG. 4) International Publication No. 96/05650 pamphlet (Figure 1) Japanese Patent No. 4007339 (FIG. 1)

Since the method shown in FIG. 30 uses a low-pass filter, there is a delay in response. Accordingly, there is a problem in applications that require rapid acceleration / deceleration because a high-speed response in time is required.
In addition, when the rotor is stopped or rotating at a low speed, the induced voltage of each winding is small and it is difficult to detect the rotor rotational position θre. Therefore, there are aspects that are not suitable for sensorless control at low speed. If it is difficult to detect the position at low speed, the three-phase current is gradually increased from the low speed to the medium speed until the sensorless position can be detected. In general, a method of starting in synchronous operation is used.

  As another method, there is a method that can detect the rotor rotational position θre at a high speed response speed from low speed rotation to high speed rotation, which is called an extended induced voltage method. Calculation is required, a microcomputer having a certain level of processing capability is required, and there are problems such as cost and size of the control circuit unit. In addition, since the position detection method uses the fact that the inductance value varies depending on the rotor rotation direction, in the case of a surface magnet type rotor in which permanent magnets are uniformly arranged on the rotor surface, even if the extended induced voltage method is used, the rotation speed is low. It is difficult to detect the rotor position.

There is also a so-called 120 ° energization brushless motor driving method.
The 120 ° energization method is a method of rotating the motor by energizing two of the three U, V, and W phases and sequentially changing the energization phase. A unique sensorless position detection method in this driving method is also used. There is a method of detecting the phase at which the neutral point 45N becomes zero volts by utilizing the fact that the current is not applied to one of the three wires and the harmonic voltage of the non-energized phase is small. This sensorless position detection method has a simple configuration and can be a low-cost motor system.
However, this method has a problem that when a winding inductance is large, a time width of a so-called spike voltage generated at the time of phase current switching is widened, and a temporal detection margin for sensorless position detection is lowered. Further, as a matter of course, it cannot be applied to driving methods such as a 150 ° energization method, a 180 ° energization method, and a sine wave energization method. Therefore, there are problems such as the limitation of noise reduction.

In the sensorless control of a motor having three-phase unbalanced windings shown in the present invention, there has been no attempt related to a motor with such unbalanced windings so far, as far as the inventors know, there is no known technique. . In addition, since the winding is unbalanced, various sensorless position detection methods based on the premise that the conventional three-phase winding is balanced have various problems in the unbalanced winding.
The present invention has been made based on the above circumstances, and an object of the present invention is to provide a motor that performs sensorless control in an unbalanced V-connection winding configuration.

(Invention according to Claim 1)
The invention according to claim 1 is a three-phase AC motor, wherein a terminal or lead wire that is an input of the motor is an X terminal, a Y terminal, and a Z terminal, and the U phase is disposed between the X terminal and the Y terminal. A winding WU, a W-phase winding WW arranged between the Z terminal and the X terminal, voltage detection means DVut for detecting a U-phase voltage Vu of the U-phase winding WU, and the U-phase winding WU Current detecting means DIy for detecting the current Iy energized in the current, current detecting means DIz for detecting the current Iz energized in the W-phase winding WW, and calculating means for calculating the induced voltage component Vur of the U-phase winding WU CVur and position detecting means POSu for detecting the rotational position θre of the rotor based on the output Vur of the calculating means CVur, and using the induced voltage component Vur of the U-phase winding WU, the rotational position θre of the rotor is detected. Detect and control information It is the structure of the motor which performs.
According to this configuration, even if the internal impedances of the windings of the three-phase motor are different, the induced voltage component of each winding can be detected accurately, and the motor can be controlled without a sensor.

According to a second aspect of the present invention, in the first aspect, the calculation means CVur calculates and controls the induced voltage component Vur of the U-phase winding WU using the resistance value Ru of the U-phase winding WU. It is the composition.
According to this configuration, since the voltage drop due to the resistance of the winding is also calculated, it is possible to provide a motor that can be controlled more accurately without a sensor, particularly in a small motor having a large ratio of the voltage drop due to the winding resistance.

The invention according to claim 3 is a three-phase AC motor, wherein a terminal or lead wire which is an input of the motor is an X terminal, a Y terminal and a Z terminal, and is arranged between the X terminal and the Y terminal. A winding WU, a W-phase winding WW disposed between the Z terminal and the X terminal, voltage detection means DVu for detecting a U-phase voltage Vu of the U-phase winding WU, and the U-phase winding WU Current detection means DIy for detecting the current Iy energized in the current, voltage detection means DVw for detecting the W-phase voltage Vw of the W-phase winding WW, and current detection for detecting the current Iz energized in the W-phase winding WW Means DIz, calculation means CVur for calculating the induced voltage component Vur of the U-phase winding WU, calculation means CVwr for calculating the induced voltage component Vwr of the W-phase winding WW, and output Vur of the calculation means CVur Based on the rotational position of the rotor θre Position detecting means POSu for detecting and position detecting means POSw for detecting the rotational position θre of the rotor based on the output Vwr of the calculating means CVwr, and the induced voltage component Vur of the U-phase winding WU and the W-phase winding This is a configuration of a motor that detects and controls information on the rotational position θre of the rotor using the induced voltage component Vwr of the line WW.
According to this configuration, since control can be performed without using a two-phase or three-phase induced voltage component, a motor capable of improving accuracy and responsiveness can be obtained.

According to a fourth aspect of the present invention, in the third aspect, the calculating means CVur calculates an induced voltage component Vur of the U-phase winding WU using the resistance value Ru of the U-phase winding WU, and the calculating means CVwr is a configuration of a motor that uses the resistance value Rw of the W-phase winding WW to calculate and control the induced voltage component Vwr of the W-phase winding WW.
According to this configuration, since the voltage drop due to the winding resistance is also calculated in claim 3, the motor can be controlled more accurately without a sensor, particularly in a small motor having a large ratio of the voltage drop due to the winding resistance. Can do.

According to a fifth aspect of the present invention, in the third aspect, an induced voltage component Vvr of the V phase is obtained from information related to the U-phase winding WU and information related to the Z-phase winding WZ, and the induced voltage component Vvr is used. This is a configuration of a motor that detects and controls information on the rotational position θre of the rotor.
According to this configuration, since control can be performed without using a two-phase or three-phase induced voltage component, a motor capable of improving accuracy and responsiveness can be obtained.

The invention according to claim 6 detects the current component energized to the motor in claim 1 or claim 3 using the resistance value of the bonding wire or lead terminal of the semiconductor element including the power element such as MOSFET, It is the structure of the motor to control.
According to this configuration, the function of the shunt resistor used for current detection can be configured by using a bonding wire or the like, so that the motor can be reduced in size and cost.

A seventh aspect of the present invention is the method according to the first or third aspect, wherein the temperature of the motor winding WAA is measured or estimated, and the current Iaa is supplied to the motor winding WAA having the resistance value Raa at a certain temperature. The resistance voltage drop component VaaR generated in this way is calculated and controlled.
According to this configuration, since the temperature change of the voltage drop caused by the current passing through the motor winding can be taken into consideration, the motor with improved detection accuracy in sensorless position detection can be obtained.

According to an eighth aspect of the present invention, voltage detection means DVv for Y-connecting the U-phase winding WU, the V-phase winding WV, and the W-phase winding WW to detect the V-phase voltage Vv of the V-phase winding WV; Current detecting means DIv for detecting the current Iv of the V-phase winding WV, calculating means CVvr2 for calculating the induced voltage component Vvr of the V-phase winding WV, and the rotational position of the rotor based on the output Vvr of the calculating means CVvr2. position detecting means POSv for detecting θre, detecting information on the rotational position θre of the rotor using the induced voltage component Vvr of the V-phase winding WV, and the voltage and current of the U-phase, V-phase, and W-phase It is the structure of the motor which controls.
According to this configuration, in a three-phase AC motor in which three windings are Y-connected, a motor capable of detecting a phase voltage and detecting a sensorless position can be obtained.

In the invention according to claim 9, the U-phase winding WU, the V-phase winding WV, and the W-phase winding WW are Y-connected, and both ends of the U-phase winding WU and the W-phase winding WW connected in series are connected. Voltage detecting means DVuw2 for detecting the inter-terminal voltage Vuw, current detecting means DIv for detecting the current Iv of the V phase winding WV, current detecting means DIw for detecting the current Iw of the W phase winding WW, U phase The calculation means CVuwr2 for calculating the difference Vuwr between the induced voltage component Vur of the winding WU and the induced voltage component Vwr of the W-phase winding WW, and the position for detecting the rotational position θre of the rotor based on the output Vuwr of the calculation means CVuwr2. Detecting means POSuw2, and detecting information on the rotational position θre of the rotor using the induced voltage component Vuwr of the U-phase winding WU and the W-phase winding WW, and detecting U-phase, V-phase, and W-phase voltages. And the motor configuration that controls the current. The
According to this configuration, in a three-phase AC motor in which three windings are Y-connected, a motor capable of detecting a sensorless position by detecting a voltage between terminals can be obtained.

According to a tenth aspect of the present invention, in any one of the first, third, eighth, and ninth aspects, the conduction angle width of the positive current or the negative current of each phase is 145 in electrical angle. The configuration of the motor is in the range of from ° to 180 °.
According to this configuration, the voltage and current conduction angle width of each phase is set to various values of 145 ° or more, so that the voltage and current waveforms can be made closer to a sine wave, harmonics can be reduced, and simple sensorless A motor capable of low noise operation in position detection can be obtained.

  According to an eleventh aspect of the present invention, there is provided a motor according to any one of the first, third, eighth, and ninth aspects, wherein the waveform shape of the current of each phase is substantially sinusoidal current control. It is a configuration. According to this configuration, it is possible to obtain a motor that can perform low-noise operation in simple sensorless position detection by performing motor operation with a sine wave current and voltage.

It is a longitudinal cross-sectional view of the motor made into the object of this invention. It is the figure which developed the circumferential direction shape of the magnet of the rotor surface in the shape of a straight line. FIG. 2 is a diagram in which a circumferential shape of a surface where each phase magnetic pole of the stator of FIG. 1 faces a rotor is linearly developed. It is the example which deform | transformed each phase magnetic pole shape of the stator of FIG. It is the example which deform | transformed each phase magnetic pole shape of the stator of FIG. (A) The front view which shows the vertical shape of the coil of FIG. 1, (b) The side view which shows the horizontal shape of the coil of FIG. It is the figure which developed the shape of the circumference direction of the coil of each phase of Drawing 1 in the shape of a straight line. FIG. 8 is a developed view of a coil shape in which two coils arranged in the same slot among the coils shown in FIG. 7 are integrated into one. FIG. 5 is a diagram in which three-phase currents Iu, Iv, Iw, and the like are added with reference to three-phase voltage vectors Vu, Vv, Vw for a three-phase delta-connected motor. It is a figure which shows the inverter which supplies the coil | winding used as V connection and a three-phase electric current with the motor structure shown in FIG. 1, FIG. It is a figure which shows the example of the relationship between the voltage vector of the motor structure shown in FIG. 1, FIG. 8, a current vector, and a torque. It is a figure which shows the equivalent circuit of the coil | winding made into the V connection shown in FIG. It is a figure which shows the structure which detects rotor rotational position (theta) re from the coil | winding of V connection. It is a figure which shows the relationship which performs area | region determination of rotor rotational position (theta) re from the induced voltage component of 3 phases. It is the simulation result which performs 120 degree electricity supply with the structure shown in FIG.1, FIG.8, FIG.13. It is a figure which shows the outline | summary of the speed control system containing the structure of FIG. 1, FIG. It is a figure which shows the example of (a) adder-subtracter and (b) differentiator as an example of utilization of the operational amplifier which can comprise the element shown in FIG. It is a figure which shows the example of control which performs speed control from starting of a motor. It is a figure which shows the bonding wire etc. which are used for the cross section and internal connection of a semiconductor integrated circuit element. It is a figure which shows the structural example which measures the resistance value of a motor winding, and the resistance value of shunt resistance with a constant current circuit. This is a configuration example in which sensorless position detection is performed by detecting the phase voltage of the Y connection of the three-phase motor. It is a longitudinal cross-sectional view of the motor of 3 phase alternating current, 4 poles, and concentrated winding structure. It is a cross-sectional view of the motor shown in FIG. It is a figure which shows the relationship of the phase voltage of a 3-phase motor of Y connection, a phase current, and the voltage between terminals. This is an equivalent circuit of a Y-connected three-phase motor. This is a configuration example in which the voltage between the terminals of the Y connection of the three-phase motor is detected to detect the sensorless position. It is the simulation result which performs 150 degree electricity supply with the structure shown in FIG.1, FIG.8, FIG.13. It is the simulation result which performs 180 degree electricity supply with the structure shown in FIG.1, FIG.8, FIG.13. It is the simulation result which performs sinusoidal current control by the structure shown in FIG.1, FIG.8, FIG.13. It is an example of composition of conventional sensorless position detection.

  The best mode for carrying out the present invention will be described in detail with reference to the following examples.

Example 1
An example of a motor having three-phase unbalanced windings according to the present invention is the motor shown in Patent Document 3, which includes two loop windings. However, sensorless control of a motor having three-phase unbalanced windings has not been known so far, as far as the inventors know, because there has been no attempt regarding such a motor with unbalanced windings.
Therefore, the present invention proposes a simple and low-cost motor system including a control circuit. In addition, quietness is important in applications such as various fans used in places close to daily life, and an extremely quiet motor configuration is also proposed.

FIG. 1 to FIG. 11 show a configuration example of a motor provided with a three-phase unbalanced winding, which is an object of the present invention. FIG. 1 is an example of a longitudinal sectional view showing a schematic configuration thereof. Q11 is the rotor shaft, Q12 is the N pole permanent magnet and S pole permanent magnet attached to the rotor surface, Q13 is the U phase stator pole, Q14 is the V phase stator pole, Q15 is the W phase stator pole, and Q1A is the stator magnetic path. The back yoke portion, Q16 is an annular U-phase winding in the circumferential direction, Q17 and Q18 are V-phase windings, Q19 is a W-phase winding, Q1B is a motor case, and Q1C is a bearing.
FIG. 2 is a diagram in which the surface shape in the circumferential direction of the permanent magnet Q12 is developed in a straight line. The circumferential direction is shown as a horizontal direction on the paper surface, and a mechanical angle is added. Q21 is an N-pole permanent magnet, Q22 is an S-pole permanent magnet, and is an example of an 8-pole rotor.
FIG. 3 is a diagram in which the circumferential shape of the stator magnetic poles of the U, V, and W phases facing the permanent magnet of the rotor shown in FIG. 1 is linearly developed. The U-phase stator magnetic pole Q13, the V-phase stator magnetic pole Q14, and the W-phase stator magnetic pole Q15 are disposed with a mechanical phase difference of 30 ° and an electrical angle of 120 °.

The shape of the stator magnetic pole of each phase facing the permanent magnet of the rotor can be variously modified. For example, a rectangular shape as shown in FIG. Q31 is a U-phase stator pole, Q32 is a V-phase stator pole, and Q33 is a W-phase stator pole. A skew can be added to each stator magnetic pole shape of FIG.
Moreover, as shown in FIG. 5, the shape of the stator magnetic pole of each phase can be a combination of a trapezoid and a rhombus. Q41 is a U-phase stator pole, Q42 is a V-phase stator pole, and Q43 is a W-phase stator pole. The area of each phase stator pole shape is the same, and the relative phase difference is 120 ° in electrical angle. In this case, the value that changes with the rotor rotation angle θre of the magnetic flux passing through each stator magnetic pole becomes closer to a sine wave shape compared to the rectangular shape in FIG. 4, and torque ripple is reduced. There is.

6A and 6B are annular windings of each phase shown in FIG. 1, wherein FIG. 6A is a front view and FIG. 6B is a side view. Q16 is an annular winding, U is one end of a U-phase winding, and N is the other end.
FIG. 7 is a diagram in which the circumferential shape of each of the annular windings shown in FIGS. 1 and 6 is linearly developed.
Here, the windings Q16 and Q17 shown in FIG. 1 are windings wound in parallel in the same slot, and can be integrated into one annular winding. Specifically, the negative U-phase winding Q16 and the positive V-phase winding Q17 in FIG. 7 can be equivalently replaced with the winding Q71 in FIG. However, the current to be supplied to winding Q71 needs to be supplied by adding a current obtained by adding the current to be supplied to U-phase winding Q16 and V-phase winding Q17.

At this time, since the current values flowing in the corresponding slots in FIGS. 7 and 8 are the same, they are electromagnetically equivalent. It is advantageous that the windings can be simplified if they are integrated as shown in FIG. Further, since the phase difference between the negative U-phase current (−Iu) energized to the U-phase winding Q16 and the positive V-phase current Iv energized to the V-phase winding Q17 is 60 ° in terms of electrical angle, to the winding Q71. The current effective value of the sum (-Iu + Iv) of those energized is 0.866 times the current effective value before integration, and becomes 0.75 because it is squared in terms of the Joule heat of the winding, and 25% Heat generation is reduced.
Similarly, the windings Q18 and Q19 in FIG. 7 can be replaced with the winding Q72 in FIG. 8, and can be simplified. In the case of the winding shown in FIG. 8, the motor shown in FIG. 1 is a three-phase AC motor having two windings.

FIG. 10 shows an example of connection with a three-phase AC inverter. (-Iu + Iv) is energized to one end 45E of winding Q71, (-Iv + Iw) is energized to one end 45F of winding Q72, and (-Iw + Iu) is energized to connection point 45G between winding Q71 and winding Q72. When the phase differences of the three-phase currents Iu, Iv, and Iw are 120 ° and sine waves having the same amplitude, (−Iu + Iv), (−Iv + Iw), and (−Iw + Iu) have a phase difference of 120 °. Sine waves with the same amplitude. Here, reference numerals 451, 452, 453, 454, 455, and 456 denote transistors constituting a three-phase inverter. Reference numerals 457, 458, 459, 45A, 45B, and 45C denote diodes connected in antiparallel to the transistors.
As described above, since the motor as shown in FIGS. 1 and 8 has a simple configuration in which the winding has an annular shape, it is easy to manufacture the winding, and an improvement in the winding space factor can be expected. And compared with the motor with the conventional coil end, the length of a rotor axial direction can be shortened and it has the characteristics which can be reduced in size.

Next, in order to explain the connection relationship between the windings Q71 and Q72 of the motor shown in FIG. 1 and the driving method by the inverter, the relationship between the voltage and current of a general three-phase delta connection is shown in FIG. Reference numeral 601 denotes a U-phase voltage vector Vu generated in the U-phase winding, and supplies a U-phase current Iu. Reference numeral 602 denotes a V-phase voltage vector Vv generated in the V-phase winding, and energizes the V-phase current Iv. Reference numeral 603 denotes a W-phase voltage vector Vw generated in the W-phase winding, and energizes the W-phase current Iw. The following currents are applied to each connection point of the delta connection by the inverter.
Ix = Iu−Iw (1)
Iy = Iv−Iu (2)
Iz = Iw−Iv (3)

FIG. 10 is a diagram showing a configuration in which voltage and current are applied to the U-phase winding Q71 and W-phase winding Q72 of the motor shown in FIGS. 1 and 8 by a three-phase inverter. The inverter has the same configuration as in FIG. 45G is an X terminal, 45E is a Y terminal, and 45F is a Z terminal. The winding Q71 is connected between the X terminal 45G and the Y terminal 45E. The winding Q72 is connected between the Z terminal 45F and the X terminal 45G. An X-phase current Ix = Iu-Iw is applied to the X terminal 45G, a Y-phase current Iy = Iv-Iu is applied to the Y terminal 45E, and a Z-phase current Iz = Iw-Iv is applied to the Z terminal 45F. Energize. Since the motor shown in FIGS. 1 and 8 has a configuration in which the V-phase winding is omitted, as shown in comparison with FIGS. 9 and 10, the V-phase current Iv is the U-phase winding Q71 and the W-phase winding Q72. Will be energized in series. Since Vv = −Vu−Vw, the V-phase current Iv in FIG. 10 has the same function in principle as the V-phase current Iv in FIG. 9.
As described above, the motor shown in FIG. 1 can form a so-called V-connection with the two windings Q71 and Q72. Although there are two unbalanced windings of three phases, in principle, a three-phase AC motor can be configured.

  FIG. 11 shows the currents Ix, Iy, Iz and torque Ta of each phase synthesized with the voltages Vu, Vv, Vw of each phase shown in FIGS. 1, 8, 10 and the currents Iu, Iv, Iw of each phase. It is a vector diagram which shows Tb. Here, the voltage vector Vu and the current vector Iu are indicated by the same arrow. Similarly, Vv and Iv, and Vw and Iw are indicated by the same arrows. In addition, winding resistance and winding inductance are ignored. The torque Ta in FIG. 11 is a torque generated by the winding Q71 shown in FIG. 10, and is obtained as a product of the current (Iy = Iv−Iu) of the equation (2) supplied to the voltage (−Vu). The torque Tb in FIG. 11 is the torque generated by the winding Q72 shown in FIG. 10, and is obtained as a product of the current Iz = Iw−Iv in the equation (3) supplied to the voltage Vw. The torques Ta and Tb are orthogonal in vector, and their sum is constant. Therefore, even if the rotor rotates, the total torque becomes a constant value.

  The electromagnetic relationship of the unbalanced three-phase AC motor using two windings has been described above. Since it can be constituted by two loop-shaped windings, the winding space factor can be remarkably improved particularly in a small motor, and the efficiency can be improved. Since there is no coil end, the length in the rotor axial direction can be greatly shortened, and miniaturization is possible. In small motors such as those used in automobile accessories, the magnetic circuit of the stator can be easily manufactured by punching and bending electromagnetic steel sheets and drawing. Moreover, it is technically easy to use an inexpensive ferrite magnet for the rotor permanent magnet by utilizing the shape flexibility of the stator magnetic pole. Therefore, cost reduction can be realized because the parts configuration is simple and the number of parts is small. It can be expected as a small motor for mass production in the future. However, a sensorless position detection technique for a motor having such a configuration has not been established. A sensorless position detection technique suitable for these motors is described below.

An equivalent circuit of the U-phase winding Q71 and the W-phase winding Q72 shown in FIGS. 8, 10, and 11 is shown in FIG. Vur is an induced voltage component of the U-phase winding, and Vwr is an induced voltage component of the W-phase winding. R is a winding resistance, Ls is a self-inductance, and Lm is a mutual inductance. A current of Iy = Iv−Iu is applied to the Y-phase terminal. A current of Iz = Iw−Iv is applied to the Z-phase terminal. The U-phase winding voltage is Vu, and the W-phase winding voltage is Vw.
In particular, when the motor shown in FIG. 1 is a surface magnet type rotor, the following voltage equation is obtained.
Vu = Vur−Iy · R−Ls · (dIy / dt)
-Lm · (dIz / dt) (4)
Vw = Vwr + Iz.R + Ls. (DIz / dt)
+ Lm · (dIy / dt) (5)

Since this motor is an unbalanced three-phase AC motor driven by two windings, it has a specific voltage equation. It is also possible to express equivalent contents in different formats by changing the definitions of each voltage, each current, and the like.
When the induced voltage components Vur and Vwr of both phases are obtained, the following equation is obtained.
Vur = Vu + Iy.R + Ls. (DIy / dt)
+ Lm · (dIz / dt) (6)
Vwr = Vw-Iz.R-Ls. (DIz / dt)
-Lm · (dIy / dt) (7)
By detecting the values Vu, Vw, Iy, and Iz of the control variables, the induced voltage components Vur and Vwr can be obtained. The rotational position θre at the electrical angle of the rotor can be obtained from these induced voltage components.

FIG. 13 is a diagram showing an example of the configuration and method of sensorless position detection of the three-phase AC motor shown in equations (6) and (7). NB1 is a shunt resistor for detecting the Y-phase current Iy. NB2 is a shunt resistor for detecting the Z-phase current Iz. These shunt resistors NB1 and NB2 are usually used in the vicinity of a control circuit such as an inverter, not near the windings. 351 is an X terminal, 352 is a Y terminal, and 354 is a Z terminal. 353 is the other end of the shunt resistor NB1 for detecting the Y-phase current, and 355 is the other end of the shunt resistor NB2 for detecting the Z-phase current.
NB3 is a means for detecting the U-phase voltage Vu, and its output is a U-phase voltage detection value Vus. NB4 is a means for detecting the W-phase voltage Vw, and its output is a W-phase voltage detection value Vws. NB5 is a means for detecting the Y-phase current Iy, and its output is a Y-phase current detection value Iys. NB6 is a detection means for the Z-phase current Iz, and its output is a Z-phase current detection value Izs. NB7 is a differentiator and obtains a differential value (dIy / dt) of the Y-phase current detection value Iys. NB8 is a differentiator and obtains a differential value (dIz / dt) of the Z-phase current detection value Izs.

  NB9 is an arithmetic unit for calculating the induced voltage Vur of the U phase, and performs the calculation shown in the equation (6), that is, the proportional calculation with the motor parameters R, Ls, Lm, and addition / subtraction. Specifically, it is as shown in the equation (6), and is obtained by multiplying the U-phase voltage detection value Vus and the Y-phase current detection value Iys by the resistance value R (Iy · R), and the differential value of the Y-phase current detection value Iys. A value Ls · (dIy / dt) multiplied by the self-inductance Ls and a value Lm · (dIz / dt) obtained by multiplying the differential value of the Z-phase current detection value Izs by the mutual inductance Lm are added. The output NBH of the arithmetic unit NB9 is a U-phase induced voltage component Vur.

  NBA is an arithmetic unit for calculating the induced voltage Vur of the W phase, and performs the calculation shown in the equation (7), that is, the proportional calculation with the motor parameters R, Ls, and Lm, and addition / subtraction. Specifically, it is as shown in Equation (7), and a value (−Iz · R) obtained by multiplying the negative value (−Izs) of the W phase voltage detection value Vws and the Z phase current detection value by the resistance value R, and the Z phase A value Ls · (−dIz / dt) obtained by multiplying the differential value of the negative value (−Izs) of the current detection value by the self-inductance Ls, and the mutual inductance of the differential value of the negative value (−Iys) of the negative value of the Y-phase current detection value A value Lm · (−dIy / dt) multiplied by Lm is added. An output NBJ of the arithmetic unit NBA is a W-phase induced voltage component Vwr.

  NBB is a filter that removes harmonic components such as noise. This is not necessary from a theoretical point of view for detecting the induced voltage of each phase winding. The outputs are three-phase induced voltage components Vur, Vvr, and Vwr of U, V, and W phases. Since NBB uses two-phase AC voltages Vur and Vwr of the balanced three-phase AC voltage as input, V-phase induced voltage component Vur can also be calculated and output as (−Vur−Vwr). . Examples of these three-phase induced voltage components are shown in FIG. The horizontal axis of FIG. 14 is the rotor rotational position θre indicated by an electrical angle.

  NBC is a comparator that compares the positive and negative of the three-phase induced voltage components Vur, Vvr, and Vwr and outputs NBD, NBE, and NBF, which are converted into logic signals as indicated by Pu, Pv, and Pw in FIG. To do. From these logic signals Pu, Pv, Pw, it is possible to recognize the regions A1, A2, A3, A4, A5, A6 every 60 ° of the rotor rotational position θre as indicated by Puvw. Furthermore, a finer region determination can be made from the three-phase induced voltage components Vur, Vvr, and Vwr. Alternatively, more detailed detection of the rotor rotational position θre can be performed relatively easily by calculation of a known trigonometric function.

  FIG. 15 is an example of simulation results of voltage and current of each part when the motor is controlled by the so-called 120 ° energization method in the configuration of FIG. The horizontal axis represents the rotor rotational position θre indicated by an electrical angle. The potentials of 45G, 45E, and 45F when the negative side of the DC voltage source 2E in FIG. 10 is 0 volts are Vx, Vy, and Vz in FIG. As a result, the voltage applied to the U-phase winding Q71 and the voltage applied to the W-phase winding Q72 are Vu and Vw in FIG. Iy = Iv−Iu and Iz = Iw−Iv are a Y-phase current and a Z-phase current.

  The voltage component of the self-inductance Ls of the U-phase winding expressed by the equation (6) is (Ls · dIy / dt), and the voltage component of the mutual inductance is (Lm · dIz / dt). The voltage component of the self-inductance Ls of the W-phase winding shown in the equation (7) is (Ls · dIz / dt), and the voltage component of the mutual inductance is (Lm · dIy / dt). The three-phase induced voltage components calculated from these voltages and currents based on the equations (6) and (7) are Vur, Vvr, and Vwr in FIG. Vvr is obtained as (−Vur−Vwr). As described above, as shown in the simulation results, it is possible to detect the induced voltage components Vur, Vvr, and Vwr having a three-phase sine wave shape from the voltage signal and current signal having a complicated shape.

FIG. 16 is a diagram showing an overview of the entire motor control system that performs rotation speed control. The example of FIG. 16 is not a system that strictly controls the voltage and current of a three-phase AC motor, but an example in which a low-cost motor system is configured with simple control using a relatively small motor.
NC9 indicates a motor to be controlled. U-phase winding Q71, W-phase winding Q72, shunt resistor NB1 for detecting the Y-phase current, and shunt resistor NB2 for detecting the Z-phase current are the same as in FIG. The other part of FIG. 13 performing detection and calculation is the sensorless position detection means NCB. NCE is current information, and NCC is position information such as the rotor rotational position θre. NCD is a speed detection means, and its output ωre is a rotation speed signal of the rotor.
ωrc is a speed command, and an adder / subtractor NC1 obtains a difference from the rotor rotational speed ωre and outputs it to the current control means NC3. The voltage control means NC5 receives the current amplitude command NC4, which is the output of the current control means NC3, and the position information NCC, and outputs a U-phase voltage command NC6 and a W-phase voltage command NC7.

The position information NCC is each signal of FIG. 14 and the like, and based on these information, as shown by Vx, Vy, and Vz of FIG. 15, the rotor rotational position information to which a voltage is to be applied to each terminal of the motor. The timing to be applied and the section to be applied are controlled.
NC8 is a power converter including a power transistor, and controls the voltage and current of the motor. The current information NCE, which is one of NC8, limits the current when an excessive current flows to the motor winding, and protects the power transistor and the motor winding overcurrent. Especially in the control of small motors for automobile auxiliary machinery, the battery power supply voltage is a low voltage of about 12 volts, so it becomes a low-voltage high-current motor compared to the 200-volt motor control, and the control method for overcurrent protection is different. Sometimes.

Next, an example of a specific method for realizing each detection unit and each calculation unit illustrated in FIG. 13 will be described. FIG. 17 shows an example of operational amplifiers, and the operation of FIG. 13 can be configured using these operational amplifiers. 17A shows an adder / subtracter, IN1 is one of the input signals and its potential is V1, IN2 is one of the input signals and its potential is V2, VSG is common potential VC, and RR1 is resistance. Assuming that the resistance value is RV1, the resistance value is RV2, the resistance value is RV2, and OUT1 is the output potential VO, the relationship between them is as follows.
(VO−VC) = {(V1−VC) − (V2−VC)} × RV2 / RV1 (8)
= (V1-V2) x RV2 / RV1 (9)

Further, if the common potential VC is zero volts, the following equation is obtained.
VO = (V1-V2) * RV2 / RV1 (10)
This equation (10) is an addition / subtraction amplifier that performs addition / subtraction (V1-V2) and amplification (RV2 / RV1). Therefore, it can be used for the detecting means NB3, NB4, NB5, NB6, etc. Moreover, (a) of FIG. 17 can also be made into multi-input by adding input resistance RR1 in parallel. Since the arithmetic units NB9 and NBA are 4-input adder / subtracters, they can be constructed by applying FIG.

Since the filter NBB is a low-pass filter, for example, it can be configured by attaching a capacitor in parallel to the resistor RR2 of FIG. The comparator NBC can be realized by making the resistor RR2 have a large resistance value.
17B is a differentiator, IN3 is an input signal whose potential is V3, CC1 is a capacitor and its value is CV1, RR4 is a resistor and its resistance value is RV4, and OUT2 is an output. When the potential is VO, the relationship between them is as follows.
(VO-VC) =-CV1 * RV4 * d (V3-VC) / dt (11)
Further, if the common potential VC is zero volts, a differentiator of the following equation is obtained.
VO = −CV1 × RV4 × d (V3) / dt (12)

Therefore, it can be applied to the differentiators NB7 and NB8. As described above, each circuit in FIG. 13 can be configured using an operational amplifier.
Each component in FIG. 13 can also be configured with an operational amplifier and a digital logic circuit. Alternatively, the analog voltage signal can be converted into a digital signal by an AD converter and configured by a digital logic circuit. Alternatively, the analog voltage signal can be converted into a digital signal by an AD converter and controlled and configured by software using a microcomputer. In this way, various hardware can be selected as the hardware for realizing each function shown in FIG.

  As shown in the example of FIG. 16, it was shown that speed control can be performed without attaching an encoder for detecting the rotor rotational position to the motor NC9. However, the rotor is not rotating at the start, and the phase induced voltage components Vur, Vvr, Vwr are described above, and the rotor rotational position θre cannot be detected by the method of FIG. In the case of this method, at a certain rotational speed or less, each phase current is forcibly energized to start using the synchronous characteristics of the synchronous motor. Although it is difficult to use in servo motor applications that are often used near a rotation speed of zero, for example, applications such as fans start with a specific special method, and most of the operation time is efficient with sensorless control The motor can be driven.

FIG. 18 is a flowchart showing an example of an operation sequence for a fan or the like.
The motor operation is started at START, and it is determined whether or not “positioning to the starting position” is completed in 421. If “positioning to the starting position” is not completed, “positioning to the starting position” in 422 is performed. Execute. The positioning to the starting position is, for example, an operation in which a specific current is applied to each phase current and the rotor is positioned to the synchronous position.
After the “positioning to the starting position” 422 is executed, the process proceeds to 423 starting. If “positioning to the activation position” is completed in 421, the process proceeds to activation of 423.

In the activation of 423, it is determined whether or not it is in the “activation start” state. If it is in the “start-up” state, a start-up operation 424 is performed. In the starting operation, for example, the frequency of the inverter is gradually increased from a state where the current is stationary at the current for positioning to the starting position, and acceleration is performed using the synchronous torque of the motor so as to increase the rotational speed. If it is not in the “start-up” state at 423 but is already rotating at a certain rotational speed, the routine proceeds to the next 425.
At 425, it is determined whether or not the rotational speed θre of the rotor can be detected by each of the phase induced voltage components Vur, Vvr, and Vwr, which is equal to or higher than the predetermined rotational speed Nmin. If the rotor rotational position is not detected or if the rotational speed is less than or equal to the predetermined rotational speed Nmin, the process returns to 421 and the starting operation is continued. If it is equal to or higher than the predetermined rotation speed Nmin, the process proceeds to 426.

At 426, sensorless position detection is performed, and speed control as shown in FIG. 16 is performed. That is, the rotational speed ωre of the rotor is controlled according to the speed command ωrc. FIG. 18 shows an example of an operation sequence for an application such as a fan, and this speed control is continued until a rotation end command is received.
In 427, “end of rotation” is determined. If it is not “end of rotation”, the process returns to 421 to continue the speed control. If there is a command for "end of rotation", the process proceeds to 428, the current of each phase of the motor is cut off, and the process ends.

  When rapid deceleration is required, speed control can be performed so that negative torque is generated. Further, when rapid deceleration is required even at the predetermined rotational speed Nmin or less, as with acceleration at the time of start-up, forced deceleration can be applied and rapid deceleration can be performed by synchronous torque. The compulsory current is a method in which the three-phase current of the inverter output in FIG. 10 is energized at a synchronous rotation speed with a certain amplitude, the frequency of the current is reduced, the synchronous torque is generated, and the motor speed is controlled. It is. This forced speed control can be used at the time of starting and stopping where sensorless position detection is not possible. However, since the power factor at that time is low, the motor efficiency is low. The method of performing the rotational speed control by generating the synchronous torque by this forcible current is a method generally used.

  As shown in FIGS. 13 and 15, the sensorless position detection of the motor shown in FIGS. 1 and 10 can be performed. The voltage and current of the motor can be controlled using the area signals A1, A2, A3, A4, A5, A6 and the like. In the sensorless position detection described above, the three-phase induced voltage components Vur, Vvr, and Vwr are continuously and accurately detected even when the power transistor shown in FIG. 10 performs on / off control of the voltage by pulse width modulation PWM. It is possible to detect. Therefore, as will be shown later, a so-called 120 ° energization method motor control of a three-phase AC motor, a 150 ° energization method motor control, a 180 ° energization method motor control, a three-phase sinusoidal current drive motor control, etc. It can be applied to various systems.

Next, the invention of claim 1 will be described.
In FIG. 13 and the description thereof, a method of detecting the rotational position information of the rotor by detecting the U-phase induced voltage Vur and the W-phase induced voltage Vwr is shown. This is so-called sensorless position detection without using a position detector such as an encoder. There are various needs for sensorless position detection, such as applications that require high position detection resolution, applications where the response speed of sensorless position detection is important, applications where cost is a priority, and applications where reliability is required. . Here, in the rotational speed control of a fan or the like, it is necessary to increase or decrease the rotational speed, but it is less necessary to perform rapid acceleration / deceleration, and there are many such applications. In such a case, the speed can be sufficiently controlled even by single-phase voltage detection using only the U-phase induced voltage Vur.

In the case of detecting only the U-phase induced voltage Vur, the W-phase NB4 and NBA are unnecessary in the detection circuit of FIG. 13, and the W-phase portion of NBB and NBC can be simplified. Further, downsizing and cost reduction are possible.
In addition, since the winding resistance is designed to be small in a high efficiency motor, the winding resistance R becomes a small value and can be ignored in the calculation of sensorless position detection. In such a case, the calculation of the voltage drop (Iy · R) of the winding resistance can be omitted in the calculation of the U-phase induced voltage of the arithmetic unit NB9.

Next, the invention of claim 2 will be described.
In a small motor, for example, a motor having a motor efficiency of about 50% to 80%, the voltage drop (Iy · R) of the winding resistance R becomes large. In this case, the U-phase induced voltage Vur can be detected more accurately by calculating the U-phase induced voltage by obtaining the voltage drop (Iy · R) of the winding resistance. A more accurate rotor rotational position can be detected.

Next, the invention of Claims 3-5 is demonstrated.
When the sensorless position detection response speed is required to some extent and the position detection resolution is also required to some extent, the two-phase sensorless position detection or the three-phase sensorless position detection shown in FIG. Yes. If the U-phase induced voltage Vur and the W-phase induced voltage Vwr can be detected, the V-phase induced voltage can be obtained as Vvr = −Vur−Vwr, so that the three-phase induced voltage can be detected. In addition, since the winding resistance is designed to be small in a high efficiency motor, the winding resistance R becomes a small value and can be ignored in the calculation of sensorless position detection.

In a small motor, for example, a motor having a motor efficiency of about 50% to 80%, the voltage drop (Iy · R) of the winding resistance R becomes large. In that case, more accurate sensorless position detection can be performed by calculating the voltage drop of the winding resistance of each phase and calculating the induced voltage of each phase of the three phases. Therefore, the acceleration / deceleration operation can be performed at a higher speed.
Note that, from the values of the phase induced voltage components Vur, Vvr, and Vwr shown in FIG. 14, as shown by Puvw, the range of electrical angle 360 ° is changed to regions A1, A2, A3, A4, A5 for each electrical angle 60 °, Although region detection can be performed separately for A6, position detection with high resolution is also possible. As is well known, logically and mathematically, position detection with infinite resolution is possible from the values of Vur, Vvr, and Vwr. In practice, sensorless position detection with finite resolution is caused by current and voltage detection errors, motor imperfections, noise, and the like.

Next, the invention of claim 6 will be described.
A method of using the resistance value of the bonding wire or lead terminal of the integrated element LSI for the drive circuit as the shunt resistor for current detection will be described with reference to FIG. The drive circuit of a small motor is highly integrated, and the control circuit and the power transistor are all integrated on a single semiconductor chip. In that case, a printed circuit board that is directly wired from the semiconductor element to the motor and used conventionally may be omitted. In such a usage, the magnitude of the shunt resistor and the amount of heat generated become a problem for current detection.
In FIG. 19, NE5 indicates an integrated circuit including a power transistor for controlling a motor current such as a MOSFET. NE3 is a semiconductor chip, NE4 is a bonding wire, and NE2 is a lead terminal for electrical connection to the outside of the integrated circuit NE5. NE1 is a package of resin or the like.

Here, since the motor current is supplied through the bonding wire NE4 and the lead terminal NE2, these can be used as a shunt resistor for detecting the current value of the motor. Specifically, for example, the bonding wire NE4 or the lead terminal NE2 can be used instead of the shunt resistor NB1 of FIG.
Characteristics required as a shunt resistor include heat dissipation characteristics, resistance value accuracy, and resistance temperature change characteristics. Regarding the heat dissipation characteristics, since the normal resistance value is designed to be sufficiently small, there is no thermal problem. Conversely, there is a problem that the detection voltage is small, but this can be solved by providing a differential amplifier in the vicinity thereof. As for the resistance value accuracy, there is a method of allowing the variation or individually measuring the resistance value. With respect to the temperature change characteristic of the resistance value, it is possible to measure the change of the resistance value or perform temperature compensation by measuring the temperature in the vicinity. Note that the function of the bonding wire NE4 is an electrical connection and can be replaced with another electrical connection body.

Next, the invention of claim 7 will be described.
Consider the voltage drop due to the motor winding current. As shown in FIG. 13, the detected current values Iy and Iz are used to calculate voltage drops (Iy · R) and (Iz · R) due to motor winding current. A copper wire is usually used for the motor winding, but since the temperature coefficient of copper is about 0.4% / ° C., the resistance value changes by 40% with a temperature change of 100 ° C. In particular, in a small motor of 100 W or less, the voltage drop component of the winding resistance is large, and in order to improve the accuracy of sensorless position detection in the configuration of FIG. 13, it is necessary to improve the accuracy of the resistance value of the motor winding. FIG. 20 shows an example of measuring the resistance value of the motor winding. NL1 is a motor winding, NL2 is a shunt resistor for current detection, and Ia is a motor current.

As an example, let us consider an application in which the motor is not continuously used but is sometimes stopped. That is, there is an application where there is a timing when the motor current Ia becomes zero. At such timing, the value of the winding resistance (Vss / Iss) is measured by operating the transistor NL3 and the low current circuit NL4, energizing the current Iss, and measuring the voltage Vss across the motor winding. Can do. At the same time, similarly, the resistance value of the shunt resistor NL2 can be measured. Note that VM is a positive power supply voltage, and VL is a negative power supply voltage.
Thus, the voltage drops (Iy · R) and (Iz · R) due to the motor winding current can be accurately calculated.

Normally, the voltage component resulting from the inductances of the equations (6) and (7) is less affected by the motor temperature. Conversely, the winding temperature can be measured and estimated from the change in the resistance value of the winding, and can be used for detecting and protecting the motor abnormality.
As another method for reducing the influence of temperature, even when the motor is used continuously, the resistance value of the motor can be measured. For example, the motor current Ia is set to zero for several milliseconds while the motor is rotating. Then, the current Iss is varied during the short time, and the winding voltage between them is measured. At this time, an induced voltage component showing a relatively gradual time change can be removed by a plurality of current values of Iss. Even if the motor current Ia is cut off for a very short time, there is no problem in many applications.

  The motor current value can also be detected using a current mirror circuit of a MOSFET that is a power element. The variation in the detected current value and the temperature change at that time can be increased in accuracy by measuring the variation in the sensor unit and correcting the temperature characteristic of the sensor unit. Further, since the induced voltage component of the winding is proportional to the rotational speed, the rotational speed of the rotor can be detected. Even in that case, detection can be performed with correction in consideration of the temperature characteristics of the permanent magnet. This method is particularly effective in mass production of small motors, where the control circuit unit and power conversion unit are highly integrated, miniaturized, and low cost on a single chip, so that no external shunt resistor is required. Current detection method.

Next, the invention of claim 8 will be described.
FIG. 21 shows a configuration example of sensorless position detection of a three-phase AC motor provided with balanced three-phase windings. A three-phase winding is an example of Y-connection. NBK is a U-phase winding of the three-phase AC motor, NBL is a V-phase winding, and NBM is a W-phase winding. NBN is a U-phase terminal, the potential of the U-phase terminal is Vuu, the voltage applied to the U-phase winding NBK is Vu, and the current Iu is energized. Reference numeral 352 denotes a V-phase terminal, the potential of the V-phase terminal is Vvv, the voltage applied to the V-phase winding NBL is Vv, and the current Iv is energized. Reference numeral 354 denotes a W-phase terminal. The potential of the W-phase terminal is Vww, the voltage applied to the W-phase winding NBM is Vw, and the current Iw is energized.

A specific example of a Y-connected three-phase AC motor can be applied to a motor having a configuration in which a motor having an annular winding as shown in FIG. It can also be applied to concentrated winding three-phase AC motors widely used in small motors.
22 is a longitudinal sectional view of a concentrated winding three-phase AC motor, FIG. 23 is a transverse sectional view of the motor shown in FIG. 22, and is an example of a four-pole motor.
In FIG. 22, 511 is a rotor output shaft, 519 is a permanent magnet on the rotor surface, and 512 is a back yoke of the rotor. Reference numeral 514 denotes a stator core, and 515 denotes a coil end portion of the stator winding. Reference numeral 516 denotes a motor case, and 513 denotes a bearing.

  FIG. 23 which is a cross-sectional view of the three-phase AC motor is a cross-sectional view taken along a section AA-AA in FIG. 22 which is a longitudinal cross-sectional view. TBU1 and TBU2 are U-phase stator magnetic poles, and WBU1 and WBU2 are connected in series with U-phase concentrated windings. TBV1 and TBV2 are V-phase stator magnetic poles, and WBV1 and WBV2 are connected in series with a V-phase concentrated winding. TBW1 and TBW2 are W-phase stator poles, and WBW1 and WBW2 are connected in series with W-phase concentrated windings. The three-phase windings of these stators are Y-connected as indicated by NBK, NBL and NBM in FIG.

Next, voltage equations of these Y-connected three-phase AC motors will be described. In particular, when the motor shown in FIG. 21 is a surface magnet type rotor, the following voltage equation is obtained.
Vu = Vur + Iu.R + Ls. (DIu / dt)
−Lm · (dIv / dt) −Lm · (dIw / dt) (13)
Vv = Vvr + Iv.R + Ls. (DIv / dt)
−Lm · (dIu / dt) −Lm · (dIw / dt) (14)
Vw = Vwr + Iw.R + Ls. (DIw / dt)
−Lm · (dIu / dt) −Lm · (dIv / dt) (15)
Here, the resistance value of each phase winding is R, the self-inductance of each phase winding is Ls, the mutual inductance of each phase winding is Lm, the induced voltage component of the U phase winding is Vur, and the induction of the V phase winding is The voltage component is Vvr, and the induced voltage component of the W-phase winding is Vwr. The values of the mutual inductances Lm in the equations (13), (14), and (15) are generally different values, but they are almost the same particularly in the case of a surface magnet type rotor. Can be treated as a value.

Further, when the voltage of the U-phase terminal NBN with respect to the W-phase terminal 354 is Vuw, the voltage of the V-phase terminal 353 with respect to the U-phase terminal NBN is Vvu, and the voltage of the W-phase terminal 354 with respect to the V-phase terminal 353 is Vwv, Become.
Vuw = Vu−Vw (16)
Vvu = Vv−Vu (17)
Vwv = Vw−Vv (18)
In addition, each phase of the three-phase motor is not limited to the sine wave voltage and the sine wave current, and has a relationship represented by the following expression.
Iu + Iv + Iw = 0 (19)
Vuw + Vvu + Vwv = 0 (20)

The equations (13), (14), and (15) are modified, and the following equation is obtained by substituting the equation (19).
Vur = Vu-Iu.R-Ls. (DIu / dt)
+ Lm · (dIv / dt) + Lm · (dIw / dt)
= Vu-Iu.R- (Ls + Lm). (DIu / dt) (21)
Vvr = Vv-Iv.R- (Ls + Lm). (DIv / dt) (22)
Vwr = Vw-Iw.R- (Ls + Lm). (DIw / dt) (23)
In the sensorless position detection of FIG. 21, the induced voltage component Vvr of the V-phase winding and the induced voltage component Vwr of the W-phase winding are obtained according to the equations (22) and (23), and then the induced voltage component of the U-phase winding. Vur is estimated and calculated by the following equation, and the rotor rotational position is detected from the three-phase induced voltage components. Vur + Vvr + Vwr = 0 (24)

  NB3 in FIG. 21 is a V-phase voltage detection means, which has the same configuration and operation as in FIG. 13, and detects the V-phase voltage Vv from the potentials at both ends of the V-phase winding NBL. NB4 is a W-phase voltage detecting means for detecting the W-phase voltage Vw from the potentials at both ends of the W-phase winding NBM. NB5 is a V-phase current detection means, and detects the V-phase current Iv from the potential across the shunt resistor NB1. NB6 is a W-phase current detection unit that detects the W-phase current Iw from the potentials at both ends of the shunt resistor NB2. NB7 is a differentiator and obtains a differential value (dIv / dt) of the V-phase current detection value Ivs. NB8 is a differentiator and obtains a differential value (dIw / dt) of the W-phase current detection value Iws. The configurations of NB3, NB4, NB5, NB6, NB7, and NB8 shown in FIGS. 13 and 21 have the same function.

  NBQ in FIG. 21 is an arithmetic unit for calculating the V-phase induced voltage Vvr, and performs the calculation shown in the equation (22), that is, the proportional calculation and addition / subtraction with the motor parameters R, Ls, and Lm. Specifically, it is as shown in Equation (22), and a value (−Iv · R) obtained by multiplying the negative value (−Ivs) of the V-phase voltage detection value Vvs and the V-phase current detection value by the resistance value R, V-phase A value Ls · (−dIv / dt) obtained by multiplying the differential value of the negative value (−Ivs) of the current detection value by the self-inductance Ls, and a mutual inductance of the differential value of the negative value (−Ivs) of the V-phase current detection value A value Lm · (−dIv / dt) multiplied by Lm is added. The output NBS of the calculator NBQ is a V-phase induced voltage component Vvr.

  NBR in FIG. 21 is an arithmetic unit that calculates the induced voltage Vwr of the W phase, and performs the calculation shown in the equation (23), that is, the proportional calculation and addition / subtraction with the motor parameters R, Ls, and Lm. Specifically, it is as the equation (23), and a value (−Iw · R) obtained by multiplying the negative value (−Iws) of the W phase voltage detection value Vws and the W phase current detection value by the resistance value R, W phase A value Ls · (−dIw / dt) obtained by multiplying the differential value of the negative value (−Iws) of the current detection value by the self-inductance Ls, and the mutual inductance of the differential value of the negative value (−Iws) of the W phase current detection value A value Lm · (−dIw / dt) multiplied by Lm is added. An output NBT of the arithmetic unit NBA is a W-phase induced voltage component Vwr.

The functions of the filter NBB and the comparator NBC in FIG. 21 are the same as those in FIG. These outputs NBD, NBE and NBF are logic signals as indicated by Pu, Pv and Pw in FIG. As in the case of FIG. 13, the rotational position of the rotor is detected.
In FIG. 21 and the description thereof, a method for detecting the rotational position information of the rotor by detecting the V-phase induced voltage Vvr and the W-phase induced voltage Vwr is shown. This is so-called sensorless position detection without using a position detector such as an encoder. There are various needs for sensorless position detection, such as applications that require high position detection resolution, applications where the response speed of sensorless position detection is important, applications where cost is a priority, and applications where reliability is required. .

Here, in the rotational speed control of a fan or the like, it is necessary to increase or decrease the rotational speed, but it is less necessary to perform rapid acceleration / deceleration, and there are many such applications. In such a case, the speed can be sufficiently controlled even by single-phase voltage detection using only the V-phase induced voltage Vvr.
When detecting only the V-phase induced voltage Vvr, the NB4, NB6, NB8, and NBR for the W phase are unnecessary in the detection circuit of FIG. 21, and the W-phase portion of the NBB and NBC can be simplified. . Further, downsizing and cost reduction are possible.
In addition, since the winding resistance is designed to be small in a high efficiency motor, the winding resistance R becomes a small value and can be ignored in the calculation of sensorless position detection. In such a case, the calculation of the voltage drop (Iv · R) of the winding resistance can be omitted in the calculation of the U-phase induced voltage of the arithmetic unit NBQ.

Next, another configuration example of sensorless position detection of a three-phase AC motor having a balanced Y-connected three-phase winding will be described with reference to FIG.
In the case of FIG. 26, the rotor rotational position is detected without detecting the potential of the neutral point NBP of the Y connection. Usually, the motor and the motor control circuit are often arranged separately, and the voltage between the terminals of the motor can be easily detected on the control circuit side. However, in order to detect the potential of the neutral point NBP, it is necessary to add one wiring from the motor to the control device for the detection, which is a burden in terms of cost and physical increase. As a countermeasure, FIG. 26 shows a method of detecting the rotor rotation position by detecting the voltage between the terminals of the Y connection without using the potential of the neutral point NBP.

The vector diagram of FIG. 24 shows the relationship between terminal voltages Vuw, Vvu, Vwv, phase voltages Vu, Vv, Vw and phase currents Iu, Iv, Iw of a three-phase AC motor having a Y-connected three-phase winding. Resistance value of U-phase winding WU, self-inductance Ls, mutual inductance Lm, U-phase induced voltage Vur, resistance value of V-phase winding WV, self-inductance Ls, mutual inductance Lm, V-phase induced voltage Vvr, and FIG. 25 shows an equivalent circuit such as the resistance value of the W-phase winding WW, the self-inductance Ls, the mutual inductance Lm, and the W-phase induced voltage Vwr.
The induced voltage components Vuwr, Vvur, Vwvr between the respective phases in FIG.
Vuwr = Vur-Vwr (25)
Vvur = Vvr−Vur (26)
Vwvr = Vwr−Vvr (27)

As a method for detecting the rotational position of the rotor, there are a method for detecting the induced voltage components Vuwr, Vvur, Vwvr between the phases and a method for detecting the induced voltage components Vur, Vvr, Vwr of each phase. Both methods will be described later. Both groups have a phase difference of 30 °, but can be easily corrected. The relationship between each variable and each parameter is the relationship shown in the equations (13) to (24).
The three-phase terminal voltages Vuw, Vvu, and Vwv are in the relationship shown in FIGS. 24 and 25, and the expressions (13), (14), and (15) are substituted into the expressions (16), (17), and (18). However, when deformed, the following equation is obtained.

Vuw = Vur + Iu.R + Ls. (DIu / dt)
−Lm · (dIv / dt) −Lm · (dIw / dt)
− (Vwr + Iw · R + Ls · (dIw / dt)
−Lm · (dIu / dt) −Lm · (dIv / dt)
= Vur-Vwr + (Iu-Iw) .R
+ (Ls + Lm). (D (Iu-Iw) / dt) (28)
Vvu = Vvr−Vur + (Iv−Iu) · R
+ (Ls + Lm). (D (Iv-Iu) / dt) (29)
Vwv = Vwr−Vvr + (Iw−Iv) · R
+ (Ls + Lm). (D (Iw−Iv) / dt) (30)

The induced voltage components Vuwr, Vvur, Vwvr between the three-phase lines are expressed by the following equations based on the equations (25), (26), (27) and (28), (29), (30).
Vuwr = Vuw− (Iu−Iw) · R
− (Ls + Lm) · (d (Iu−Iw) / dt) (31)
Vvur = Vvu− (Iv−Iu) · R
− (Ls + Lm) · (d (Iv−Iu) / dt) (32)
Vwvr = Vwv− (Iw−Iv) · R
− (Ls + Lm) · (d (Iw−Iv) / dt) (33)

In addition, the induced voltage components Vur, Vvr, and Vwr of each phase winding are expressed by the following equations from the equations (25), (26), and (27).
Vur = (Vuwr−Vvur) / 3 (34)
Vvr = (Vvur−Vwvr) / 3 (35)
Vwr = (Vwvr−Vuwr) / 3 (36)
Here, assuming that the three-phase induced voltages are balanced, the following equation is obtained.
Vur + Vvr + Vwr = 0 (37)
Vuwr + Vvur + Vwvr = 0 (38)

Next, the invention of claim 9 will be described.
In this method, the induced voltage component Vuwr of the correlation between the U phase and the W phase is detected to detect the rotational position θre of the rotor. According to the equation (31), the induced voltage component Vuwr can be obtained with the configuration of FIG.
NB3 in FIG. 26 is voltage detection means for detecting a terminal voltage Vuw indicated by 443 of the terminal NBN of the U-phase winding NBK with respect to the terminal 354 of the W-phase winding NBM. NB5 in FIG. 26 is a V-phase current detection unit, and detects the V-phase current Iv from the potential across the shunt resistor NB1. NB6 is a W-phase current detection unit that detects the W-phase current Iw from the potentials at both ends of the shunt resistor NB2.

An arithmetic unit 442 calculates an output (Iu−Iw) indicated by 444 from Iv and Iw as inputs. Reference numeral 446 denotes an output (Iv-Iu). NB7 is a differentiator and outputs a differential value (d (Iu-Iw) / dt) of the current value (Iu-Iw).
NBQ in FIG. 26 is an arithmetic unit and calculates according to the equation (31) in order to obtain the induced voltage component Vuwr of the correlation between the U phase and the W phase. That is, proportional calculation and addition / subtraction with motor parameters R, Ls, and Lm are performed. The output 449 is an induced voltage component Vuwr of the correlation between the U phase and the W phase, and the harmonic noise is removed by the filter NBB and compared by the comparator NBC to obtain the logic signal NBD. Since the logic signal NBD has a phase (U−W) with respect to Pu in FIG. 14, the phase is advanced by 30 ° in electrical angle.

  With the above description, single-phase sensorless position detection can be performed. Such a single-phase sensorless position detection can be applied to an application such as a fan that requires less rapid acceleration / deceleration and relatively less load fluctuation. Fewer detection circuits and lower costs. However, in applications that require rapid acceleration / deceleration control of the motor, applications with large load fluctuations, or applications that require high-accuracy speed control, three-phase sensorless position detection as shown in FIG. 14 is required. .

The remaining detection means, calculation means, etc. in FIG. 26 will be described. NB4 is a voltage detection means for detecting the inter-terminal voltage Vvu indicated by 352 of the terminal NBN of the V-phase winding NBL with respect to the terminal NBN of the U-phase winding NBK. NB8 is a differentiator and outputs a differential value (d (Iv-Iu) / dt) of the current value (Iv-Iu). NBR is an arithmetic unit, which calculates according to the equation (32) in order to obtain the induced voltage component Vvur of the correlation between the V phase and the U phase. That is, proportional calculation and addition / subtraction with motor parameters R, Ls, and Lm are performed. The output 44A is an induced voltage component Vuwr of the correlation between the V phase and the U phase, the harmonic noise is removed by the filter NBB, and the result is compared by the comparator NBC to obtain the logic signal NBE. Since the logic signal NBE has a phase of (V-U) with respect to Pv in FIG. 14, the phase is advanced by 30 ° in electrical angle.
At this time, the logical signal NBF can be obtained for the induced voltage component Vuwr of the correlation between the W phase and the V phase simultaneously from the relationship of the equation (38). For Pw in FIG. The phase is advanced by 30 ° in electrical angle.

  As described above, three-phase sensorless position detection as shown in FIG. 14 can be realized by the configuration of FIG. In principle, three-phase position detection can increase the position detection resolution to infinity, so applications that require rapid motor acceleration / deceleration control, applications with large load fluctuations, or high-accuracy speed control can be used. It is also possible to meet the required applications. Although FIG. 26 shows a method for obtaining the interphase voltage, it is also possible to detect the phase voltage from the relationship of the equations (34), (35), and (36), and (13), (14), ( Sensorless position detection based on phase voltage detection is also possible, such as using equation (15). And it is also possible to modify the structure of each detection means and each calculation means of FIG.

Next, the invention of claim 10 will be described.
Here, in the motor and its control device shown in FIGS. 1, 8, 10, and 13, an example of simulation for controlling the voltage of each phase of the three phases with an electric angle of approximately 150 ° in electrical angle is shown in FIG. Shown in It is an example in the case of steady rotation and steady load torque. Electric potentials Vx, Vy, and Vz in FIG. 27 are inverter output potentials when the output voltage of the DC voltage source 2E is 0 volts and 12 volts. Vu in FIG. 27 is a voltage Vu = (Vx−Vy) applied to the U-phase winding of Q71. Vw in FIG. 27 is a voltage Vw = (Vz−Vx) applied to the W-phase winding of Q72. In the energization section of each phase, pulse width modulation PWM is performed and controlled.

In FIG. 27, Iy and Iz are a Y-phase current and a Z-phase current. Ls · dIy / dt, Lm · dIz / dt, Ls · dIz / dt, and Lm · dIy / dt are respective calculated values. Vur, Vvr, and Vwr are three-phase dielectric pressure components, and are obtained as the output of the filter NBB in FIG. The applied potentials Vx, Vy, Vz are voltages controlled by turning on / off the power transistor, but the detected three-phase dielectric pressure components Vur, Vvr, Vwr are almost sinusoidal voltages, It can be seen that the dielectric pressure component is detected.
Next, FIG. 28 is similar to FIG. 27, but is an example of simulation in which the voltage of each phase of the three phases is controlled with an electrical angle of approximately 180 ° in terms of electrical angle. It can be visually recognized that the waveforms of the currents Iy and Iz in FIG. 28 are different from those in FIG. 27 in their harmonic components. In either motor control method, it is understood that the three-phase dielectric pressure components Vur, Vvr, and Vwr are substantially sinusoidal voltages and are accurately detected.

Next, the invention of claim 11 will be explained.
Here, FIG. 29 is a simulation similar to FIG. 27 and FIG. 28, but the applied potentials Vx, Vy, and Vz give a sinusoidal voltage by pulse width modulation PWM, and energize the sinusoidal currents Iy and Iz. It is an example. When each figure is compared, each voltage waveform and each current waveform are different. However, it is understood that the detected three-phase dielectric pressure components Vur, Vvr, and Vwr are substantially sinusoidal voltages and are accurately detected.
In many applications, such as various fans used near the place of life, it is often required to be extremely quiet. In general, it is known that the voltage and current of a three-phase motor can be made quiet by converting it into a sine wave. The sensorless position detection method of the present invention can be applied to sine wave control of a motor or control close to a sine wave.

As a conventional sensorless position detection method, there is a sensorless position detection method that can be applied only in a specific motor control method such as a 120 ° energization method. In this respect, the sensorless position detection method of the present invention is different from the sensorless position detection method. Different. Specifically, the sensorless position detection method of the present invention shown in FIG. 13 includes motor control by the so-called 120 ° energization method shown in FIG. 15, motor control by the so-called 150 ° energization method shown in FIG. In the motor control by the so-called 180 ° energization method shown in FIG. 28 and the motor control by the so-called sinusoidal voltage / current energization method shown in FIG. 29, the three-phase dielectric pressure components Vur, Vvr, and Vwr are almost sinusoidal. It was confirmed that the wave voltage was detected accurately. The sensorless position detection of the present invention can also be applied to various motor voltage control methods and current control methods.
In addition, in the sensorless position detection method of the Y-connected three-phase motor shown in FIGS. 21 and 26, similarly, the induced voltage component of each phase can be accurately obtained in various motor voltage control methods and current control methods. Sensorless position detection and motor control can be realized.

  The present invention has been described above. The motor can be applied to various motors. For example, the present invention can be applied to an outer rotor motor, an axial gap type motor, a linear motor, a combined motor, and the like. Application to multi-pole, multi-phase, two-phase motors, etc. is also possible. In particular, in the case of a surface magnet type brushless motor in which a ferrite magnet is arranged on the rotor surface, the relative permeability of the ferrite magnet is close to that of air, and the fluctuation of the mutual inductance Lm of each phase is small. Will improve. In the area of small motors, surface magnet type rotors of ferrite magnets and surface magnet type motors of rare earth magnets are widely used.

Various detection means and calculation means shown in the embodiments of the present invention can be used. For example, although an example of a shunt resistor has been shown as a current detection means, a current detection means utilizing a Hall element, a current detection means utilizing a magnetoresistive element, a current detection utilizing a voltage drop of a power conversion element such as a power transistor Means and the like can also be used. Current detection using the effect of the current mirror of the power transistor is also possible. The winding voltage detection means can also be applied to an insulated voltage detection means.
In particular, each voltage of the motor has voltage information in the calculation unit of the control device because the control device determines whether the power transistor is on or off. Therefore, the voltage measurement of the motor winding is not performed, and the voltage command information to the motor can be used as voltage detection means instead of the voltage detector.

Each detection means and each calculation means have some realization means. As one method, there is a method of detecting with an analog voltage using an operational amplifier. In addition, an analog voltage can be converted into a digital signal by an AD converter and calculated by digital calculation. For example, a field programmable gate array FPGA is widely used. A microcomputer can also be used. These systems can be mixed. The realization method can be selected depending on the cost, reliability, production quantity, convenience of peripheral circuits, and the like.
Various elements such as MOSFET, IGBT, SJFET, and SiC can be used for the power transistor. Various modifications can be made to the form of the inverter. In particular, in applications where a small motor has a large production quantity, so-called one-chip production in which the control circuit and the power conversion unit are manufactured on one chip is also progressing. Various elements and forms can be used. As for motor control, not only speed control but also position control, torque control, and the like are possible.

The motor controlled using the sensorless position detection method of the present invention can have a relatively simple configuration, low cost, and specification characteristics that can be used even at high temperatures. Due to the recent high integration technology, it is possible to reduce the cost of each detection means and calculation means. When mass-producing a small motor, it can be integrated on a single semiconductor chip including each detection means, calculation means, and power element. In addition, a simple configuration that does not use a microcomputer can be used. As a result, cost reduction, downsizing, and high reliability can be realized.
Using a sensorless position detection technique based on dq axis control of a so-called rotor coordinate system using a conventional microcomputer, the actual motor current and voltage are different from those controlled by a fixed coordinate system. When the dq axis control of the rotor coordinate system is used, a microcomputer is often used because the calculation is necessary, and there are restrictions in terms of cost, temperature use environment, and the like.
Sufficient performance has been confirmed for sensorless position detection performance and motor control performance. As a result, it can be used for various applications such as automobiles, home appliances, and industrial use.

Ix X phase current Iy Y phase current Iz Z phase current Vu U phase voltage Vv V phase voltage Vw W phase voltage Q71 U phase winding Q72 W phase winding NB1 Shunt resistance NB2 Shunt resistance 351 X terminal 352 Y terminal 354 Z terminal NB3 Voltage detection means NB4 Voltage detection means NB5 Current detection means NB6 Current detection means NB7 Differentiator NB8 Differentiator NB9 Operator NBA Operator NBB Filter NBC Comparator NBH U-phase induced voltage component NBJ W-phase induced voltage component NBD E-phase logic signal NBD V phase logic signal NBF W phase logic signal

Claims (11)

In a three-phase AC motor, the terminal or lead wire that is the motor input is the X terminal, Y terminal, Z terminal,
A U-phase winding WU disposed between the X terminal and the Y terminal;
A W-phase winding WW disposed between the Z terminal and the X terminal;
Voltage detection means DVut for detecting the U-phase voltage Vu of the U-phase winding WU;
Current detection means DIy for detecting a current Iy energized to the U-phase winding WU;
Current detection means DIz for detecting a current Iz energizing the W-phase winding WW;
Calculation means CVur for calculating an induced voltage component Vur of the U-phase winding WU;
Position detecting means POSu for detecting the rotational position θre of the rotor based on the output Vur of the calculating means CVur;
A motor characterized by detecting and controlling information on a rotational position θre of the rotor using an induced voltage component Vur of the U-phase winding WU. 2. The motor according to claim 1, wherein the calculation unit CVur calculates and controls an induced voltage component Vur of the U-phase winding WU using the resistance value Ru of the U-phase winding WU. In a three-phase AC motor, the terminal or lead wire that is the motor input is the X terminal, Y terminal, Z terminal,
A U-phase winding WU disposed between the X terminal and the Y terminal;
A W-phase winding WW disposed between the Z terminal and the X terminal;
Voltage detection means DVu for detecting the U-phase voltage Vu of the U-phase winding WU;
Current detection means DIy for detecting a current Iy energized to the U-phase winding WU;
Voltage detection means DVw for detecting the W-phase voltage Vw of the W-phase winding WW;
Current detection means DIz for detecting a current Iz energizing the W-phase winding WW;
Calculation means CVur for calculating an induced voltage component Vur of the U-phase winding WU;
Calculation means CVwr for calculating an induced voltage component Vwr of the W-phase winding WW;
Position detecting means POSu for detecting the rotational position θre of the rotor based on the output Vur of the calculating means CVur;
Position detecting means POSw for detecting the rotational position θre of the rotor based on the output Vwr of the calculating means CVwr;
A motor characterized by detecting and controlling information on the rotational position θre of the rotor using the induced voltage component Vur of the U-phase winding WU and the induced voltage component Vwr of the W-phase winding WW. In the motor according to claim 3, the calculation means CVur also uses the resistance value Ru of the U-phase winding WU to calculate the induced voltage component Vur of the U-phase winding WU,
The calculation means CVwr uses the resistance value Rw of the W-phase winding WW to calculate and control the induced voltage component Vwr of the W-phase winding WW. 4. The motor according to claim 3, wherein an induced voltage component Vvr of V phase is obtained from information relating to the U phase winding WU and information relating to the Z phase winding WZ, and the rotational position θre of the rotor is obtained using the induced voltage component Vvr. A motor characterized by detecting and controlling the information. The motor according to claim 1 or 3, wherein a current component energized to the motor is detected and controlled using a resistance value of a bonding wire or a lead terminal of a semiconductor element including a power element such as a MOSFET. . 4. A resistance voltage drop component generated by measuring or estimating the temperature of the motor winding WAA and applying the current Iaa to the motor winding WAA having the resistance value Raa at a certain temperature in the motor according to claim 1 or 3. A motor characterized by calculating and controlling VaaR. U-phase winding WU, V-phase winding WV and W-phase winding WW are Y-connected,
Voltage detection means DVv for detecting the V-phase voltage Vv of the V-phase winding WV;
Current detection means DIv for detecting the current Iv of the V-phase winding WV;
Calculation means CVvr2 for calculating the induced voltage component Vvr of the V-phase winding WV;
Position detecting means POSv for detecting the rotational position θre of the rotor based on the output Vvr of the calculating means CVvr2,
A motor characterized in that information on the rotational position θre of the rotor is detected using the induced voltage component Vvr of the V-phase winding WV, and the voltage and current of the U-phase, V-phase, and W-phase are controlled. U-phase winding WU, V-phase winding WV and W-phase winding WW are Y-connected,
Voltage detection means DVuw2 for detecting a voltage Vuw between terminals of both ends of the U-phase winding WU and the W-phase winding WW connected in series;
Current detection means DIv for detecting the current Iv of the V-phase winding WV;
Current detection means DIw for detecting the current Iw of the W-phase winding WW;
Calculation means CVuwr2 for calculating a difference Vuwr between the induced voltage component Vur of the U-phase winding WU and the induced voltage component Vwr of the W-phase winding WW;
Position detecting means POSuw2 for detecting the rotational position θre of the rotor based on the output Vuwr of the calculating means CVuwr2,
Information on the rotational position θre of the rotor is detected using the induced voltage component Vuwr of the U-phase winding WU and W-phase winding WW, and the voltage and current of the U-phase, V-phase, and W-phase are controlled. Characteristic motor. The motor according to any one of claims 1, 3, 8, and 9, wherein the conduction width of the positive current or the negative current of each phase is in the range of 145 ° to 180 ° in electrical angle. motor. The motor according to any one of claims 1, 3, 8, and 9, wherein the waveform shape of the current of each phase is roughly sinusoidal current control.

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