JP2019122117A - Motor controller - Google Patents

Abstract

To reduce electric consumption required when positioning of a rotor is controlled.SOLUTION: A motor controller according to one embodiment includes: a first circuit, having a first switching element for switching between a driving state and a stop state of a motor, the motor having a rotor and a stator; and a second circuit, having a resistor and a second switching element for switching between connection and interruption of a conductive path for a current flowing through the resistor and in the motor; and a controller for controlling the switch between turning-on and turning-off of the first switching element and the second switching element. The controller executes control of positioning for fixing the rotor at a predetermined position by shifting the motor from the driving state to the stop state, switching between turning-on and turning-off of at least one of the first switching element and the second switching element, and executing conduction to the motor through the resistor.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a motor control device.

  Conventionally, as a technique for starting a brushless and sensorless motor having a rotor and a stator, the motor is energized to position the position of the rotor relative to the stator at a predetermined position suitable for starting the motor. The technology of starting the motor is known.

Unexamined-Japanese-Patent No. 2017-22867

  In the prior art as described above, it is desirable to reduce the power consumption required for positioning control for positioning the rotor.

  Therefore, one of the problems of the present invention is to provide a motor control device capable of reducing the consumption of the power required for the positioning control of the rotor.

  A motor control apparatus as an example of the present invention includes, for example, a first circuit that switches a driving state and a stopping state of a motor having a rotor and a stator by a plurality of first switching elements, and the plurality of first switching elements A second circuit including a resistor, and a second switching element for switching between connection and disconnection of an energization path of current flowing through the resistor and the motor, and on / off of the plurality of first switching elements and the second switching element A control unit that controls switching, the control unit switching on and off of at least one of the plurality of first switching elements and the second switching element after the motor shifts from the driving state to the stopping state; Position control to fix the position of the rotor at a predetermined position by energizing the motor via To.

  According to the motor control device described above, when the positioning control is performed, the motor is energized via the energization path provided with the resistance. As a result, the current flowing to the motor is limited by the amount of resistance, and as a result, it is possible to reduce the consumption of power required for positioning control.

  In the motor control device described above, for example, when performing the positioning control, the control unit changes the motor from the drive state to the stop state based on the energization state to the motor immediately before the motor shifts from the drive state to the stop state. The position of the rotor immediately after the transition is estimated, and based on the estimation result, at least one first switching element to switch on and off with the second switching element is determined. According to this configuration, when the positioning control is actually executed based on the positional relationship between the target position (predetermined position) and the estimation result regarding the position of the rotor immediately after the stop state, the movement amount of the rotor becomes Since it is possible to select and operate the switching object that is the smallest, power consumption required for positioning control can be further reduced.

  Further, in the motor control device described above, when performing positioning control, for example, the control unit acquires detection results of a detection unit that detects information related to vibrations applied to the motor, and based on the detection results, a plurality of The on and off of the first switching element and the second switching element are switched at a duty ratio according to the level of vibration. According to this configuration, the amount of energization (the amount of current) to the motor when positioning control is actually executed can be adjusted to the necessary minimum size according to the level of vibration applied to the motor. Power consumption required for positioning control can be further reduced.

  Also, a motor control device according to another example of the present invention includes, for example, a plurality of first switching elements, and energization of a motor having a rotor and a stator according to switching of the plurality of first switching elements. The control unit includes a first circuit that switches between a drive state and a stop state of the motor by switching connection and disconnection of the path, and a control unit that controls switching of the plurality of first switching elements on and off. After the motor transitions from the drive state to the stop state, the position of the rotor immediately after the motor transitions from the drive state to the stop state is estimated based on the energization state to the motor immediately before the motor transitions from the drive state to the stop state. Switching on / off at least a part of the plurality of first switching elements based on the estimation result to energize the motor By implementing executes positioning control for fixing the position of the rotor in a predetermined position.

  According to the motor control device described above, when the positioning control is actually executed based on the positional relationship between the target position (predetermined position) and the estimation result regarding the position of the rotor immediately after the stop state, Since it is possible to select and operate the switching target that minimizes the movement amount, it is possible to reduce the power consumption required for positioning control.

  Further, a motor control apparatus according to still another example of the present invention includes, for example, a plurality of first switching elements, and a motor having a rotor and a stator in response to switching of the plurality of first switching elements. The control unit includes: a first circuit that switches between a driving state and a stopping state of the motor by switching connection and disconnection of the conduction path; and a control unit that controls switching between on and off of the plurality of first switching elements, After the motor shifts from the drive state to the stop state, the detection result of the detection unit that detects information on the vibration applied to the motor is acquired, and on / off of at least a part of the plurality of first switching elements is acquired based on the detection result. , By switching at a duty ratio according to the level of vibration, and by energizing the motor, the position of the rotor is at a predetermined level. Executing a positioning control for fixing the.

  According to the above-described motor control device, the amount of energization (amount of current) to the motor when positioning control is actually executed can be adjusted to the necessary minimum size according to the level of vibration applied to the motor Since this can be done, it is possible to reduce the power consumption required for positioning control.

FIG. 1 is an exemplary schematic diagram showing a circuit configuration of a motor control device according to a first embodiment. FIG. 2 is an exemplary and schematic block diagram showing a functional configuration of a control unit of the motor control device according to the first embodiment. FIG. 3 is an exemplary and schematic diagram for describing an example of positioning control performed by the control unit of the motor control device according to the first embodiment. FIG. 4 is an exemplary and schematic flowchart showing processing executed by the control unit of the motor control device according to the first embodiment. FIG. 5 is an exemplary and schematic diagram showing a circuit configuration of the motor control device according to the second embodiment. FIG. 6 is an exemplary and schematic diagram showing a circuit configuration of a motor control device according to a third embodiment. FIG. 7 is an exemplary and schematic diagram showing a circuit configuration of a motor control device according to a modification.

  Hereinafter, embodiments will be described based on the drawings. The configurations of the embodiments described below, and the operations and results (effects) provided by the configurations are merely examples, and the present invention is not limited to the following description.

First Embodiment
FIG. 1 is an exemplary and schematic diagram showing a circuit configuration of the motor control device 100 according to the first embodiment.

  The motor control device 100 according to the first embodiment is a device for driving a motor 200 having a rotor and a stator (all not shown). In the first embodiment, the motor 200 is configured as, for example, a brushless and sensorless motor (pump motor) for driving a pump of a brake device of a vehicle. However, the technology of the first embodiment is such It is applicable also to motors other than a pump motor.

  As shown in FIG. 1, the motor control device 100 includes an inverter circuit 110 connected to the motor 200. The inverter circuit 110 is an example of the “first circuit”.

  The inverter circuit 110 is a power conversion circuit that converts DC power output from a DC power supply (not shown) into three-phase AC power and supplies the AC power to the motor 200. The inverter circuit 110 also includes three power conversion circuits 111 to 113 connected in parallel to each other.

  The power conversion circuits 111 to 113 respectively connect the motor 200 and the high potential side of the DC power supply (not shown) (in the upper arm) with the switching elements 111a to 113a in series with the switching elements 111a to 113a. It is connected and has switching elements 111b-113b (of lower arm) which connect motor 200 and the low electric potential side of direct-current power supply (not shown).

  The switching elements 111a and 111b of the power conversion circuit 111 are connected in series so as to be able to switch connection and disconnection of the first line L11 that constitutes an energization path to the motor 200. Similarly, switching elements 112 a and 112 b of power conversion circuit 112 are connected in series with one another so as to be able to switch between connection and disconnection of first line L 12 that constitutes another conduction path to motor 200. The switching elements 113a and 113b are connected in series with one another so as to be able to switch between connection and disconnection of the first line L13 that constitutes yet another conduction path to the motor 200.

  In the following, for the sake of simplicity, the first lines L11 to L13 are simply referred to as the first line L10 when it is not necessary to distinguish between them, and the switching elements 111a to 113a of the upper arms of the power conversion circuits 111 to 113 are used. It may be described only as the switching element 110a, and the switching elements 111b-113b of the lower arm of the power conversion circuits 111-113 may only be described as the switching element 110b. The switching elements 110a and 110b are examples of the "first switching element".

  Switching elements 110a and 110b are formed of, for example, FETs (field effect transistors). In the first embodiment, DC power output from a DC power supply (not shown) is converted into three-phase AC power by switching on and off of switching elements 110a and 110b appropriately according to, for example, PWM control. Electric power is supplied to the motor 200 via the first line L10.

  With such a configuration, the inverter circuit 110 drives the motor 200 by switching the connection and disconnection of the first line L10 that constitutes the current path to the motor 200 according to the switching of the switching elements 110a and 110b. Switch between state and stop state.

  Conventionally, as a technology for starting a brushless and sensorless motor such as the motor 200 according to the first embodiment, the motor is positioned to position the rotor relative to the stator at a predetermined position suitable for starting the motor. There is known a technique of starting a motor after current is supplied to the motor. In such techniques, it is desirable to reduce the power consumption required for positioning control to position the rotor.

  Therefore, in the first embodiment, by providing the current control circuit 120 and the control unit 130 as described below in the motor control device 100, the consumption of the power required for the positioning control of the rotor is reduced. The current limiting circuit 120 is an example of the “second circuit”.

  As shown in FIG. 1, the current limiting circuit 120 includes a resistor 121 and a switching element 122. The resistor 121 and the switching element 122 are connected in series with each other on a second line L20 that bypasses the first line L13 and is connected to the ground. The switching element 122 is an example of the “second switching element”.

  Switching element 122 is formed of, for example, an FET. Although the details will be described later, in the first embodiment, when the positioning control is performed, the switching element 122 of the current limiting circuit 120 is turned on together with the switching element 110a (except the switching element 113a) of the inverter circuit 110. Then, the motor 200 is energized via the current path including the second line L20. As a result, the current flowing to the motor 200 is limited by the amount of the resistor 121 provided on the second line L20, and as a result, it is possible to reduce the consumption of power required for positioning control.

  In the example shown in FIG. 1, the current limiting circuit 120 is connected to the first line L13, but in the first embodiment, even if the current limiting circuit 120 is connected to another first line L11 or L12. Good. In the first embodiment, two or more current limiting circuits 120 may be provided, and the two or more current limiting circuits 120 may be respectively connected to two or more of the first lines L11 to L13.

  Here, the switching of the switching elements 110a, 110b and 122 described above is controlled by the control unit 130 connected to the control terminals of the switching elements 110a, 110b and 122. The control unit 130 is configured, for example, as a microcomputer including hardware such as a processor and a memory. The control unit 130 causes the processor to execute predetermined software (control program) stored in the memory to generate a functional module group as shown in FIG. 2 below.

  FIG. 2 is an exemplary and schematic block diagram showing a functional configuration of the control unit 130 of the motor control device 100 according to the first embodiment.

  As shown in FIG. 2, the control unit 130 has an information acquisition unit 131, a switching control unit 132, a switching target selection unit 133, and a duty ratio determination unit 134 as a functional configuration. In the first embodiment, part or all of the functional module group shown in FIG. 2 may be realized by dedicated hardware (circuit).

  The information acquisition unit 131 is configured to be able to acquire various information required for control executed by the control unit 130. For example, the information acquisition unit 131 may include information indicating whether the motor 200 is in the driving state or in the stopping state, information indicating the energization state of the motor 200 (for example, the amount of current in each phase), or the vehicle. The detection result of the detection unit 300 including various state sensors provided is acquired. The state sensor that can be used in the first embodiment is, for example, a sensor that detects information (such as acceleration or speed of a vehicle) related to vibration applied to the motor 200.

  The switching control unit 132 switches the drive state and the stop state of the motor 200 by controlling switching of on / off of each of the switching elements 110 a, 110 b and 122 provided in the motor control device 100.

  For example, switching control unit 132 carries out energization of motor 200 by switching on / off of a plurality (six) of switching elements 110a and 110b provided in inverter circuit 110 by PWM control, and brings motor 200 into a driving state. . When the motor 200 is in a driving state, the switching element 122 of the current limiting circuit 120 is normally controlled to be off.

  Further, for example, switching control unit 132 stops energization of motor 200 by turning off all of the plurality of (six) switching elements 110 a and 110 b provided in inverter circuit 110, and stops motor 200 in the stopped state. . When the motor 200 is in the stop state, the switching element 122 of the current limiting circuit 120 is normally controlled to be off.

  As described above, normally, no energization is performed on the motor 200 in the stopped state. However, since the motor 200 used in the brake device as in the first embodiment is required to have high responsiveness, the motor 200 will be in the driven state before the motor 200 is actually driven. In addition, it is necessary to set (position) the positional relationship between the stator and the rotor (both not shown) included in the motor 200 to the positional relationship suitable for starting the motor 200.

  Therefore, in the first embodiment, the switching control unit 132 is configured of the plurality (six) of the switching elements 110a and 110b provided in the inverter circuit 110 after the motor 200 shifts from the drive state to the stop state (for example, immediately after). Switching on and off of at least one of them and the switching element 122 provided in the current limiting circuit 120 is switched. Thereby, the switching control unit 132 performs the energization of the motor 200 through at least a part of the first line L10 and the second line L20 while the motor 200 is in the stop state. Positioning control is performed to fix the position of the rotor (not shown) of the motor 200 at a predetermined position suitable for starting the motor 200.

  FIG. 3 is an exemplary schematic diagram for explaining an example of positioning control performed by the control unit 130 of the motor control device 100 according to the first embodiment.

  In the example shown in FIG. 3, the switching control unit 132 executes control to switch on both the switching element 111 a of the inverter circuit 110 and the switching element 122 of the current limiting circuit 120 as positioning control. At this time, the other switching elements 111b, 112a, 112b, 113a and 113b of the inverter circuit 110 are kept off. As a result, the motor 200 is energized (energized in some phases) through the first line L11 and the second line L20 (see the arrow C1 of the alternate long and short dash line), and as a result, the rotor of the motor 200 (Shown) is moved and fixed to a predetermined position suitable for starting the motor 200.

  The example shown in FIG. 3 is just an example of positioning control that can be executed in the first embodiment. Therefore, in the first embodiment, if the switching target to be turned on together with the switching element 122 of the current limiting circuit 120 in the positioning control is the switching element 110 a of the upper arm of the inverter circuit 110, other switching elements other than the switching element 111 a It may be

  However, in the example shown in FIG. 3, when the current limiting circuit 120 is connected between the switching element 113 a and the switching element 113 b and the switching element 113 a is turned on together with the switching element 122 of the current limiting circuit 120, the motor 200. The current will flow without going through. Therefore, in the example shown in FIG. 3, it is necessary to exclude the switching element 113 a as a switching target to be turned on together with the switching element 122 of the current limiting circuit 120.

  Here, which one of the switching elements 110a of the upper arm is to be turned on depends on which phase of the current flows in the motor 200. Therefore, until a predetermined position suitable for starting the motor 200 is reached It also affects the amount of movement of the rotor (not shown). Therefore, if the switching element 110a to be turned on in the positioning control can be appropriately selected, the moving amount of the rotor (not shown) can be further reduced, and the power consumption can be further reduced.

  Therefore, referring back to FIG. 2, the switching target selection unit 133 of the control unit 130 according to the first embodiment controls the motor 200 (for example, the amount of current in each phase) based on the information acquired by the information acquisition unit 131. Monitor). Then, the switching target selection unit 133 estimates the position of the rotor (not shown) immediately after the motor 200 shifts from the drive state to the stop state based on the energized state immediately before the motor 200 shifts from the drive state to the stop state. Then, based on the estimation result, the switching element 122 of the current limiting circuit 120 and the switching element 110a of the inverter circuit 110 that switches on and off are selected (decided) in positioning control.

  Then, the switching control unit 132 performs positioning control by turning on the switching element 110 a of the inverter circuit 110 selected by the switching target selection unit 133 together with the switching element 122 of the current limiting circuit 120. According to such a configuration, the positioning control is actually executed based on the positional relationship between the target position (predetermined position) and the estimation result regarding the position of the rotor (not shown) of the motor 200 immediately after the stop state. In this case, it is possible to select and operate the switching target in which the amount of movement of the rotor (not shown) is the smallest, thereby further reducing the power consumption required for positioning control.

  As described above, in the embodiment, the current limiting circuit 120 may be connected to two of the first lines L11 to L13. In this configuration, positioning control can be performed by a combination of any one of switching elements 111a, 112a and 113a and switching element 122 of current limiting circuit 120. Therefore, according to this configuration, the width for selecting the switching target which minimizes the moving amount of the rotor (not shown) of the motor 200 can be expanded with the addition of the minimum configuration.

  By the way, the amount of energization (the amount of current) to the motor 200 required for positioning control differs depending on the vibration applied to the motor 200. For example, when the vibration applied to motor 200 is relatively small, the amount of energization required to move the rotor (not shown) to a predetermined position suitable for starting motor 200 may be relatively small. When the applied vibration is relatively large, the amount of energization required to move the rotor (not shown) to the predetermined position needs to be relatively large.

  Therefore, the duty ratio determination unit 134 of the control unit 130 according to the first embodiment obtains the detection result of the detection unit 300 that detects information related to the vibration applied to the motor 200, and based on the detection result, determines the vibration level. Determine the corresponding duty ratio. For example, duty ratio determination unit 134 determines a duty ratio such that the on period is relatively short when the vibration level is relatively small, and the on period is relatively long when the vibration level is relatively large. Determine the duty ratio to be

  The switching control unit 132 switches on and off of the switching element 110 a of the inverter circuit 110 and the switching element 122 of the current limiting circuit 120 at the duty ratio determined by the duty ratio determining unit 134 when performing positioning control. According to such a configuration, the amount of energization (the amount of current) to the motor 200 when the positioning control is actually executed is adjusted to the necessary minimum size according to the level of the vibration applied to the motor 200. Can further reduce power consumption required for positioning control.

  In the first embodiment, the technique for determining (selecting) the switching target based on the state of energization of the motor 200 and the technique for determining (setting) the duty ratio according to the vibration applied to the motor 200 are appropriately selected. It is a possible technology. Therefore, in the first embodiment, even if these techniques are not introduced, if the current limit circuit 120 is provided, the result (effect) of reduction of the consumption of the power required in the positioning control is obtained. Be

  Based on the above configuration, when the motor 200 shifts from the drive state to the stop state, the control unit 130 according to the first embodiment executes the process according to the flowchart shown in FIG.

  FIG. 4 is an exemplary and schematic flowchart showing processing executed by the control unit 130 of the motor control device 100 according to the first embodiment. The process flow shown in FIG. 4 is executed, for example, immediately after the motor 200 shifts from the drive state to the stop state.

  In the process flow shown in FIG. 4, first, in step S401, the control unit 130 (information acquisition unit 131) acquires the energization state of the motor 200 immediately before the motor 200 shifts from the drive state to the stop state.

  Then, in step S402, the control unit 130 (switching object selection unit 133) turns on the switching element 122 of the current limiting circuit 120 in positioning control to be performed later based on the information (energized state) acquired in step S401. The switching element 110a of the inverter circuit 110 to be used is determined (selected). In step S402, as described above, a switching target is selected in which the amount of movement of the rotor (not shown) is minimized when the positioning control is actually performed.

  Then, in step S403, the control unit 130 (information acquisition unit 131) acquires the detection result of the detection unit 300 provided in the vehicle, that is, information related to the vibration applied to the motor 200.

  Then, in step S404, the control unit 130 (duty ratio determination unit 134) determines the duty ratio according to the level of the vibration applied to the motor 200 based on the information acquired in step S403.

  Then, in step S405, the control unit 130 (switching control unit 132) determines on / off of the switching element 122 of the current limiting circuit 120 and the switching element 110a of the inverter circuit 110 selected in step S402 in step S404. By switching at the above duty ratio, positioning control is performed to move the rotor (not shown) of the motor 200 to a predetermined position suitable for starting the motor 200. Then, the process ends.

  As described above, the motor control device 100 according to the first embodiment includes the resistor 121 and the switching circuit connected in series with each other on the second line L20 bypassing the first line L10 that constitutes the current path to the motor 200. A current limiting circuit 120 that includes an element 122 and switches connection / disconnection of the second line L20 according to switching on / off of the switching element 122, switching elements 110a and 110b of the inverter circuit 110, and switching elements of the current limiting circuit 120 And a control unit 130 that controls switching between on and off of the switch 122. Then, after the motor 200 shifts from the drive state to the stop state, the control unit 130 switches on and off of at least one of the switching elements 110a and 110b of the inverter circuit 110 and the switching element 122 of the current limiting circuit 120. By performing energization to the motor 200 via at least a part of the one line L10 and the second line L20, positioning control is performed to fix the position of the rotor (not shown) of the motor 200 at a predetermined position.

  According to the configuration as described above, when the positioning control is executed, the motor 200 is energized via the energization path including the second line L20. As a result, the current flowing to the motor 200 is limited by the amount of the resistor 121 provided on the second line L20, and as a result, it is possible to reduce the consumption of power required for positioning control.

  In the first embodiment, when the control unit 130 executes positioning control, the motor 200 is driven from the drive state based on the energization state to the motor 200 immediately before the motor 200 shifts from the drive state to the stop state. The position of the rotor (not shown) immediately after shifting to the stop state is estimated, and based on the estimation result, the switching element 122 of the current limiting circuit 120 and the switching element 110a of the inverter circuit 110 that switches on and off are determined (selected). According to such a configuration, the positioning control is actually executed based on the positional relationship between the target position (predetermined position) and the estimation result regarding the position of the rotor (not shown) of the motor 200 immediately after the stop state. In this case, it is possible to select and operate the switching target in which the amount of movement of the rotor (not shown) is the smallest, thereby further reducing the power consumption required for positioning control.

  Furthermore, if it is possible to select and operate the switching target with the smallest movement amount of the rotor (not shown), the rotor (not shown) is moved to the predetermined position more quickly, and the next motor 200 can be started more quickly. It can be equipped. Therefore, according to this configuration, it is possible to improve the responsiveness of motor 200 even when, for example, the period until the drive state of motor 200 starts next is relatively short.

  Further, in the first embodiment, the control unit 130 acquires the detection result of the detection unit 300 that detects information related to the vibration applied to the motor 200 when performing positioning control, and based on the detection result, the inverter circuit The switching elements 110a and 110b of 110 and the switching element 122 of the current limiting circuit 120 are switched on and off at a duty ratio corresponding to the level of vibration. According to such a configuration, the amount of energization (the amount of current) to the motor 200 when the positioning control is actually executed is adjusted to the necessary minimum size according to the level of the vibration applied to the motor 200. Can further reduce power consumption required for positioning control.

Second Embodiment
In the first embodiment described above, on the premise that the current limiting circuit 120 is provided, a configuration is obtained in which the result (effect) of reducing the consumption of the power required in the positioning control is obtained. However, as the second embodiment, a configuration may be considered in which the result (effect) of reducing the consumption of the power required for the positioning control is obtained without providing the current limiting circuit 120.

  FIG. 5 is an exemplary and schematic diagram showing a circuit configuration of the motor control device 500 according to the second embodiment. In the following, portions of the motor control device 500 according to the second embodiment that are different from the motor control device 100 (see FIG. 1) according to the first embodiment will be mainly described.

  As shown in FIG. 5, the motor control device 500 according to the second embodiment includes the inverter circuit 110 similar to that of the first embodiment, but the current limiting circuit 120 according to the first embodiment (FIG. There is no corresponding configuration. In the second embodiment, the switching of the switching elements 110 a and 110 b of the inverter circuit 110 is controlled by the control unit 530.

  Here, when the motor 200 shifts from the drive state to the stop state, the control unit 530 according to the second embodiment appropriately switches on and off of the switching elements 110 a and 110 b of the inverter circuit 110 to energize the motor 200. The position control is performed to move and fix the position of the rotor (not shown) of the motor 200 to a predetermined position suitable for starting the motor 200.

  More specifically, the control unit 530 according to the second embodiment transmits the motor 200 to the motor 200 immediately before the motor 200 shifts from the drive state to the stop state after (or immediately after) the motor 200 shifts from the drive state to the stop state. Based on the energized state, the position of the rotor (not shown) of the motor 200 immediately after the motor 200 shifts from the driven state to the stopped state is estimated. Then, based on the estimation result, control unit 530 switches on / off of at least a part of switching elements 110a and 110b of inverter circuit 110 to energize motor 200 via at least a part of first line L10. To execute positioning control.

  According to the configuration as described above, the positioning control is actually performed based on the positional relationship between the target position (predetermined position) and the estimation result regarding the position of the rotor (not shown) of the motor 200 immediately after the stop state. Since it is possible to select and operate the switching target in which the amount of movement of the rotor (not shown) is minimized when it is executed, it is possible to reduce the power consumption required for positioning control.

  Furthermore, if it is possible to select and operate the switching target with the smallest movement amount of the rotor (not shown), the rotor (not shown) is moved to the predetermined position more quickly, and the next motor 200 can be started more quickly. It can be equipped. Therefore, according to this configuration, it is possible to improve the responsiveness of motor 200 even when, for example, the period until the drive state of motor 200 starts next is relatively short.

Third Embodiment
Furthermore, as a configuration capable of obtaining a result (effect) of reduction of power consumption necessary for positioning control without providing the current limiting circuit 120, in addition to the second embodiment described above, The third embodiment as described in FIG.

  FIG. 6 is an exemplary and schematic diagram showing a circuit configuration of a motor control device 600 according to the third embodiment. Hereinafter, portions of the motor control device 600 according to the third embodiment that are different from the motor control device 100 (see FIG. 1) according to the first embodiment will be mainly described.

  As shown in FIG. 6, the motor control device 600 according to the third embodiment includes the inverter circuit 110 similar to that of the first embodiment, but the current limiting circuit 120 according to the first embodiment (FIG. There is no corresponding configuration. In the third embodiment, the switching of the switching elements 110 a and 110 b of the inverter circuit 110 is controlled by the control unit 630.

  Here, when the motor 200 shifts from the drive state to the stop state, the control unit 630 according to the third embodiment appropriately switches on and off of the switching elements 110 a and 110 b of the inverter circuit 110 to energize the motor 200. The position control is performed to move and fix the position of the rotor (not shown) of the motor 200 to a predetermined position suitable for starting the motor 200.

  More specifically, the control unit 630 according to the third embodiment detects the detection result of the detection unit 300 that detects information related to vibration applied to the motor 200 after the motor 200 shifts from the drive state to the stop state (immediately after) get. Then, based on the detection result, the control unit 630 switches on / off of at least a part of the switching elements 110a and 110b of the inverter circuit 110 at a duty ratio according to the level of the vibration to perform at least one of the first line L10. The positioning control is performed by energizing the motor via the unit.

  According to the configuration as described above, the amount of energization (amount of current) to motor 200 when positioning control is actually executed is adjusted to the necessary minimum size according to the level of vibration applied to motor 200. As a result, power consumption required for positioning control can be reduced.

<Modification>
In the first embodiment described above, the current limiting circuit 120 (see FIG. 1 or the like) includes the resistor 121 and the switching element 122 connected in series with each other on the second line L20 that bypasses the first line L13 and is connected to ground. By the reference), the effect (result) of reduction of the consumption of the electric power required at the time of positioning control is acquired. However, an effect (result) equivalent to this can also be obtained by the current limiting circuit 120a according to the modification as described below.

  FIG. 7 is an exemplary and schematic diagram showing a circuit configuration of a motor control device 100a according to a modification. In the following, portions of the motor control device 100a according to the modification that are different from the motor control device 100 (see FIG. 1) according to the first embodiment will be mainly described.

  As shown in FIG. 7, the motor control device 100 a according to the modification has a current limiting circuit 120 a having a circuit configuration different from that of the current limiting circuit 120 (see FIG. 1 etc.) according to the first embodiment described above. There is. The current limiting circuit 120a includes a resistor 121a and a switching element 122a. The resistor 121a and the switching element 122a bypass the first line L13 and connect to the high potential side of the DC power supply (not shown). They are connected in series with each other on the second line L20a.

  Here, the control unit 130a according to the modification is at least one of the switching element 122a of the current limiting circuit 120a and the switching element 110b of the lower arm of the inverter circuit 110 after the motor 200 shifts from the drive state to the stop state. (However, the switching element 113b is excluded) and both are switched on. Thereby, the motor 200 is energized via the second line L20a and at least a part of the first line L10, and the position of the rotor (not shown) of the motor 200 is a predetermined position suitable for starting the motor 200. Positioning control is performed to move and fix the position.

  For example, in the example shown in FIG. 7, the switching element 122a of the current limiting circuit 120a and the switching element 111b of the inverter circuit 110 are both turned on, whereby the second line L20a and the first lines L13 and L11 are separated. An energization path to the included motor 200 is configured (see an arrow C2 indicated by an alternate long and short dash line), and energization is performed via the energization path, whereby positioning control is performed. As a result, the current flowing to the motor 200 is limited by the amount of the resistor 121a provided on the second line L20a, and as a result, it is possible to reduce the power consumption required for positioning control.

  The example shown in FIG. 7 is merely an example of positioning control that can be executed in the modification. Therefore, in the modification, the switching target turned on together with the switching element 122 of the current limiting circuit 120a in the positioning control is a switching element other than the switching element 111b if it is the switching element 110b in the lower arm of the inverter circuit 110. May be

  However, in the example shown in FIG. 7, when the current limiting circuit 120a is connected between the switching element 113a and the switching element 113b and the switching element 113b is turned on together with the switching element 122a of the current limiting circuit 120a, the motor 200 is turned on. The current will flow without going through. Therefore, in the example shown in FIG. 7, it is necessary to exclude the switching element 113b as a switching target to be turned on together with the switching element 122a of the current limiting circuit 120a.

  Further, in the modification, the current limiting circuit 120a may be connected to the other first line L11 or L12, or two or more current limiting circuits 120a may be connected to two or more of the first lines L11 to L13, respectively. It may be connected as in the first embodiment described above. Here, in the configuration in which the current limiting circuit 120a is connected to two of the first lines L11 to L13, any one of the switching elements 111b, 112b and 113b, and the switching element 122a of the current limiting circuit 120a Positioning control can be implemented by the combination of Therefore, according to this configuration, the width for selecting the switching target which minimizes the moving amount of the rotor (not shown) of the motor 200 can be expanded with the addition of the minimum configuration.

  While some embodiments and modifications of the present invention have been described above, the above-described embodiments are merely examples and are not intended to limit the scope of the invention. The novel embodiments and modifications described above can be implemented in various forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. The above-described embodiments and modifications are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

100, 100a, 500, 600 ... motor control device 110 ... inverter circuit (first circuit)
110a, 110b, 111a, 111b, 112a, 112b, 113a, 113b ... switching elements (first switching elements)
120, 120a ... current limiting circuit (second circuit)
121, 121a ... resistance 122, 122a ... switching element (second switching element)
130, 130a, 530, 630 ... control unit 200 ... motor 300 ... detection unit L10, L11, L12, L13 ... first line L20, L20a ... second line

Claims (5)

A first circuit that includes a plurality of first switching elements, and switches the driving state and the stopping state of the motor having the rotor and the stator by the plurality of first switching elements;
A second circuit that includes a resistor, and a second switching element that switches between connection and disconnection of an energization path of current flowing through the resistor and the motor;
A control unit that controls switching between on and off of the plurality of first switching elements and the second switching element;
Equipped with
The control unit switches on and off of at least one of the plurality of first switching elements and the second switching element after the motor shifts from the drive state to the stop state, and the control unit performs the resistance switching via the resistor. By performing energization to a motor, positioning control is performed to fix the position of the rotor at a predetermined position.
Motor controller. When the control unit executes the positioning control, the motor changes from the drive state to the stop state based on the energization state to the motor immediately before the motor shifts from the drive state to the stop state. The position of the rotor immediately after the transition is estimated, and based on the estimation result, at least one first switching element to switch on and off with the second switching element is determined.
The motor control device according to claim 1. The control unit, when executing the positioning control, acquires a detection result of a detection unit that detects information related to vibration applied to the motor, and based on the detection result, the plurality of first switching elements and the first 2 switching on / off of the switching element at a duty ratio according to the level of the vibration,
The motor control device according to claim 1. The drive state and stop of the motor by switching connection and disconnection of the current path to the motor having the rotor and the stator according to switching of the plurality of first switching elements including on and off of the plurality of first switching elements. A first circuit that switches between states;
A control unit that controls switching on and off of the plurality of first switching elements;
Equipped with
The control unit is configured to drive the motor based on an energization state of the motor immediately before the motor shifts from the drive state to the stop state after the motor shifts from the drive state to the stop state. The position of the rotor immediately after shifting from the state to the stopped state is estimated, and on / off of at least a part of the plurality of first switching elements is switched based on the estimation result to energize the motor. Execute positioning control to fix the position of the rotor at a predetermined position,
Motor controller. The drive state and stop of the motor by switching connection and disconnection of the current path to the motor having the rotor and the stator according to switching of the plurality of first switching elements including on and off of the plurality of first switching elements. A first circuit that switches between states;
A control unit that controls switching on and off of the plurality of first switching elements;
Equipped with
The control unit acquires detection results of a detection unit that detects information related to vibration applied to the motor after the motor shifts from the drive state to the stop state, and based on the detection results, the plurality of 1 Positioning control is performed to fix the position of the rotor at a predetermined position by switching on and off at least a part of the switching element at a duty ratio according to the level of the vibration and performing energization to the motor Do,
Motor controller.

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