JP2020048328A - インバータ制御方法 - Google Patents
インバータ制御方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0009—Devices or circuits for detecting current in a converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/38—Means for preventing simultaneous conduction of switches
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
…(1)
…(2)
図9は、変形例1に係るモータ制御装置の構成を示すブロック図である。変形例1に係るモータ制御装置1aは、プリドライバ部40がドライバ20a〜20fとモータ端子電圧入力部41とにより構成され、制御部30は、PWM信号生成部17、DUTY変換部43、指令DUTY生成部11,21,31、指令DUTY補正部13,23,33、および、制御部全体の制御を司るCPU60等を備える。
図10は、変形例2に係るモータ制御装置の構成を示すブロック図である。変形例2に係るモータ制御装置1bは、プリドライバ部40がドライバ20a〜20fにより構成され、モータ端子電圧入力部41は独立した構成となっている。この場合、モータ端子電圧入力部41を、例えばディスクリート部品で構成する。
図11は、変形例3に係るモータ制御装置の構成を示すブロック図である。変形例3に係るモータ制御装置1cは、上記の変形例2と同様、プリドライバ部40がドライバ20a〜20fによって構成されるが、変形例2において独立の構成としたモータ端子電圧入力部41が制御部30に含まれる構成としたことを特徴とする。
2 ステアリングハンドル
3 回転軸
4 減速ギア
6 ピニオンギア
7 ラック軸
10 電動パワーステアリング装置
11,21,31 指令DUTY生成部
13,23,33 指令DUTY補正部
15 電動モータ
20a〜20f ドライバ(プリドライバ)
25 メモリ
27 電源リレー
30 制御部
40 プリドライバ部
41 モータ端子電圧入力部
43 DUTY変換部
50 インバータ回路(モータ駆動部)
60 CPU
BT 外部バッテリ
Claims (8)
- モータ駆動用のインバータ回路を制御するインバータ制御方法であって、
所定のパルス幅変調信号により駆動された前記モータの端子電圧を検出する工程と、
前記端子電圧をもとにモータ駆動時の実デューティ比を生成する工程と、
目標とするモータ駆動に対応する指令デューティ比と前記実デューティ比との差分を差分デューティ比として演算する工程と、
前記差分デューティ比をもとに前記指令デューティ比を補正する補正工程と、
前記補正により得た補正後指令デューティ比をもとに前記インバータ回路を制御するパルス幅変調信号を生成する工程と、
を備えることを特徴とするインバータ制御方法。 - 前記パルス幅変調信号はデッドタイムを持つ第1駆動信号と第2駆動信号からなり、該デッドタイムによる前記指令デューティ比の増減変動を前記差分デューティ比によって補償することを特徴とする請求項1に記載のインバータ制御方法。
- 前記補正工程は、前記インバータ回路と前記モータ間の電流方向が第1の方向にあるとき前記指令デューティ比に対して前記差分デューティ比を加算し、該電流方向が前記第1の方向とは逆の第2の方向にあるとき前記指令デューティ比より前記差分デューティ比を減算することを特徴とする請求項2に記載のインバータ制御方法。
- 前記第1の方向は前記実デューティ比が前記指令デューティ比よりも不足した状態に対応し、前記第2の方向は前記実デューティ比が前記指令デューティ比よりも超過した状態に対応していることを特徴とする請求項3に記載のインバータ制御方法。
- モータ駆動用のインバータ回路を有するモータ制御装置であって、
所定のパルス幅変調信号により駆動された前記モータの端子電圧を検出する手段と、
前記端子電圧をもとに、請求項1〜4のいずれかに記載のインバータ制御方法によって、前記インバータ回路を制御するパルス幅変調信号を生成する手段と、
前記生成されたパルス幅変調信号により前記モータを制御する手段と、
を備えることを特徴とするモータ制御装置。 - 前記モータは3相モータであり、各相ごとに前記指令デューティ比を補正してパルス幅変調信号を生成することを特徴とする請求項5に記載のモータ制御装置。
- 車両等の運転者のハンドル操作をアシストする電動パワーステアリング用モータ制御装置であって、
所定のパルス幅変調信号により駆動された前記モータの端子電圧を検出する手段と、
前記端子電圧をもとに、請求項1〜4のいずれかに記載のインバータ制御方法によって、前記インバータ回路を制御するパルス幅変調信号を生成する手段と、
前記生成されたパルス幅変調信号により前記モータを制御する手段と、
を備えることを特徴とする電動パワーステアリング用モータ制御装置。 - 請求項7に記載の電動パワーステアリング用モータ制御装置を備えたことを特徴とする電動パワーステアリングシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2018174938A JP2020048328A (ja) | 2018-09-19 | 2018-09-19 | インバータ制御方法 |
US16/551,769 US20200091854A1 (en) | 2018-09-19 | 2019-08-27 | Inverter control method |
CN201910875840.5A CN110932614A (zh) | 2018-09-19 | 2019-09-17 | 逆变控制方法、马达控制装置以及电动助力转向系统 |
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JP2018174938A JP2020048328A (ja) | 2018-09-19 | 2018-09-19 | インバータ制御方法 |
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JP2020048328A true JP2020048328A (ja) | 2020-03-26 |
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JP2018174938A Pending JP2020048328A (ja) | 2018-09-19 | 2018-09-19 | インバータ制御方法 |
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US (1) | US20200091854A1 (ja) |
JP (1) | JP2020048328A (ja) |
CN (1) | CN110932614A (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102021105778A1 (de) | 2020-03-18 | 2021-09-23 | Tdk Corporation | Hubsensormodul, struktur und verfahren zur montage eines hubsensormoduls |
Families Citing this family (5)
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JP6753837B2 (ja) * | 2017-12-18 | 2020-09-09 | 株式会社東芝 | インバータ装置、及びインバータ装置の放熱特性検出方法 |
KR102637909B1 (ko) * | 2019-01-23 | 2024-02-19 | 에이치엘만도 주식회사 | 전동식 파워 스티어링 시스템의 리던던시 회로 |
CN112104292B (zh) * | 2020-08-06 | 2022-07-22 | 深圳市杉川机器人有限公司 | 电机控制方法、装置、终端设备及存储介质 |
US11381157B1 (en) * | 2020-12-10 | 2022-07-05 | Industrial Technology Research Institute | Motor drive and method for reducing dead band of motor drive |
US11658599B1 (en) | 2021-12-13 | 2023-05-23 | Industrial Technology Research Institute | Voltage measurement device for pulse-width modulation signals, motor driving device and method thereof |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10164850A (ja) * | 1996-11-28 | 1998-06-19 | Okuma Mach Works Ltd | インバータの制御装置 |
JP2004201414A (ja) * | 2002-12-18 | 2004-07-15 | Toyoda Mach Works Ltd | モータ制御装置、モータ制御方法および電気式動力舵取装置 |
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JP5428325B2 (ja) * | 2008-08-25 | 2014-02-26 | 株式会社ジェイテクト | モータ制御装置および電動パワーステアリング装置 |
-
2018
- 2018-09-19 JP JP2018174938A patent/JP2020048328A/ja active Pending
-
2019
- 2019-08-27 US US16/551,769 patent/US20200091854A1/en not_active Abandoned
- 2019-09-17 CN CN201910875840.5A patent/CN110932614A/zh not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10164850A (ja) * | 1996-11-28 | 1998-06-19 | Okuma Mach Works Ltd | インバータの制御装置 |
JP2004201414A (ja) * | 2002-12-18 | 2004-07-15 | Toyoda Mach Works Ltd | モータ制御装置、モータ制御方法および電気式動力舵取装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021105778A1 (de) | 2020-03-18 | 2021-09-23 | Tdk Corporation | Hubsensormodul, struktur und verfahren zur montage eines hubsensormoduls |
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CN110932614A (zh) | 2020-03-27 |
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