JP3406995B2 - Chopping energization control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chopping energization control device, and can be used for controlling the energization of a load such as an electric motor.

[0002]

2. Description of the Related Art When controlling the level of a current flowing through a load such as an electric coil, generally, the load is connected to a DC power supply via a switching element such as a transistor, and the current flowing through the load is controlled by a resistor or the like. To detect. Then, a predetermined reference current value is compared with the detected current value in a binary manner. When the reference current value> the detection current value, the switching element is turned on. When the reference current value ≦ the detection current value, the switching element is turned on. Control is performed to turn off the element.
As a result, the switching element repeatedly turns on and off, so that the average value of the current flowing through the load is controlled to a value (close value) corresponding to the reference current value.

[0003]

In the above-described chopping energization control device, for example, when the reference current value is switched from 0 to Iref at the start of energization, the switching element is first turned on and flows to the load. The current gradually increases at a gradient determined by the characteristics (time constant) of the drive circuit and the load. And the current flowing through the load is I
After reaching ref, the switching element is repeatedly turned off → on → off → on →... so that the maximum value of the current is controlled to be substantially equal to Iref. Further, when the reference current value is switched from Iref to 0 when the energization ends, the switching element is turned off, and the current flowing through the load gradually decreases at a gradient determined by the characteristics (time constant) of the drive circuit and the load. It becomes 0. In other words, the rising characteristics of the load current when the energization starts and the falling characteristics of the load current when the energization ends are fixed, and cannot be precisely controlled.

For example, when driving a switched reluctance motor (hereinafter, referred to as an SR motor), when each pole of the rotor is at a specific rotational position, current is supplied to each pole of the stator. Since it switches on / off,
The magnitude of the magnetic attraction applied to the rotor changes rapidly.
Therefore, relatively large mechanical vibrations occur in the rotor and the stator. This vibration produces noise.

Further, in order to maintain the current flowing through the electric coil of the SR motor at a required value, the current is chopped in a short cycle during the energization period. However, when the change in the current level during chopping is fast, the magnetic attraction force also fluctuates rapidly, which causes vibration and loud noise. In order to suppress this noise, if the circuit is designed so that the change in the current level during chopping is slowed down, when a fast change in the current is required, for example, when the energized phase of the coil is switched, the actual The change in the current cannot follow the target value, and the rotational driving torque of the motor decreases.

For example, when an SR motor is used as a driving source of an electric vehicle, a large driving torque is required to improve acceleration performance, and a quiet driving is required as in the case of running at a constant speed. Sometimes it is important.

[0007] Not only SR motors, but also when driving general motors or solenoids, load is required to generate necessary driving torque, smooth operation, and reduce noise. It is important to adjust the rise and fall characteristics of the current.

Accordingly, it is a main object of the present invention to provide a chopping energization control device capable of precisely adjusting the rising and falling characteristics of a load current.

[0009]

According to a first aspect of the present invention, there is provided a chopping energization control device which is interposed between one end of a load (1) and a first power supply line. A first switching means (18a); a second switching means (18b) interposed between the other end of the load and a second power supply line; a current for detecting a level of a current actually flowing through the load Detecting means (2, 3, 4); comparing the current reference level and the detected current level detected by the current detecting means in a binary manner, and outputting a binary signal corresponding to the comparison result to the first signal; A first control means (16) for applying to one or both of the switching means and the second switching means; and a pulse signal (S10) having a variable duty, and generating the pulse signal in the first state. Switching means and second Comprises; applied to either or both of the switching means, the second control means (11).

[0010] The chopping energization of the present invention according to claim 2.
The control device is configured to connect one end of the load (1) to the first power supply line.
First switching means (18a) interposed therebetween; before
The second power supply line is connected between the other end of the load and the second power supply line.
Second switching means (18b); actual flow to the load
Current detecting means (2, 3,
4); the reference level of the current and the current detection means have detected
The current level is compared with the detected current level in a binary manner.
A first switching unit outputs the divided binary signal (S71).
First control means (16) applied to (18a); and
Beauty, du - tee is generating a variable pulse signal (S10)
And the pulse signal is supplied to a second switching means (18b).
A second control means (11);

Further, in the invention according to claim 3, in the second aspect,
The control means includes means (68) for automatically changing the duty of the output pulse signal in response to a change in at least one of the operating speed of the load and the required torque.

Further, in the invention according to claim 4 , in the second aspect,
The control means includes a memory means (13b) for storing information defining the correlation between the operation speed and the required torque of the load and the duty of the pulse signal. Correspondingly, the duty of the output pulse signal is automatically changed (68).

The symbols shown in the parentheses indicate the reference numerals of the corresponding elements in the embodiments described later for reference, but each component of the present invention is a specific element in the embodiments. It is not limited to only.

[0014]

In the chopping energization control device according to the first and second aspects of the present invention, the load (1) has one end connected to the first power supply line via the first switching means (18a), and the other end. Is the second switching means (18b)
Connected to the second power supply line via the
If the switching means and the second switching means are simultaneously turned on, a current flows from the power supply to the load, and any one of the first switching means and the second switching means,
Alternatively, if both are turned off, the load current can be cut off. Current detection means (2, 3, 4) detects the level of the current actually flowing through the load. The first control means (16) compares the reference level of the current and the detected current level detected by the current detection means in a binary manner, and outputs the binary signal corresponding to the comparison result to the first signal. The voltage is applied to one (18a) of the switching means and the second switching means. The second control means (11) generates a pulse signal (S10) having a variable duty, and applies the pulse signal to the other (18b) of the first switching means and the second switching means.

For example, assuming that the switching means connected to the second control means (11) is on at the start of energization, when the reference level of the current is switched from 0 to Iref, first the first control means One of the switching means connected to (16) is turned on, and the current flowing to the load gradually increases from 0 at a gradient determined by the characteristics (time constant) of the drive circuit and the load. Then, after the current flowing to the load reaches Iref, the switching means repeats off → on → off → on →... So that the maximum value of the current is controlled to be substantially equal to Iref. Also,
When the reference current value is switched from Iref to 0 when the energization is finished, the switching means is turned off, and the current flowing through the load gradually decreases at a gradient determined by the characteristics (time constant) of the drive circuit and the load. It becomes 0. That is, the rising characteristics of the load current when the energization starts and the falling characteristics of the load current when the energization ends are fixed.

However, in the present invention, the second control means (1
Since the signal output by 1) is a pulse signal, even when one of the switching means connected to the first control means (16) is in the ON state (the rising period at the start of energization), the other switching means is OFF. Therefore, the rising curve of the load current changes as shown in FIG. 12 according to the duty of the signal output from the second control means (11). That is, the duty of the signal of the second control means (11).
By adjusting the tee, the rising waveform of the load current can be controlled.

In this type of apparatus, the case where the first switching means and the second switching means are simultaneously turned on to energize the load, and only one of the switching means is switched off. The change in the transient current flowing through the load differs between the case where both switching means are turned off. This will be described with reference to FIGS. As shown in FIG.
When both switching means 18a and 18b are turned off from the state where the current is flowing through the load 1a by turning on both the switches a and 18b, the current flowing by the energy stored in the load 1a becomes the diode D1, The current flows from the low potential line to the high potential line of the power supply through D2.
At this time, since the potential difference between the terminals of the load 1a is large,
Fast release of energy and fast decay of current. That is, the falling slope of the transient current curve is large.

On the other hand, as shown in FIG. 17, when one of the switching means 18a and 18b is turned on and only one of the switching means 18a is turned off from the state where the current flows through the load 1a, the other switching means 18b Remains ON, the current flowing due to the energy stored in the load 1a becomes equal to the diode D1, the load 1a,
It passes through the closed loop of the switching means 18b. At this time, since the potential difference between the terminals of the load 1a becomes small,
The release of energy is slow and the current decay rate is slow. That is, the falling slope of the transient current curve is small.

Therefore, even when one of the switching means connected to the first control means (16) is in the off state (falling time at the end of energization), the other switching means is turned on and off. Since the decay rate of the load current is different, the slope of the falling curve of the load current also changes according to the duty of the signal output from the second control means (11). That is, the duty of the signal of the second control means (11).
By adjusting the tee, the falling waveform of the load current can be controlled.

For example, as shown in FIG. 12, when energization is started, the rising curve of the energization waveform changes according to the difference in duty. That is, when the duty of the pulse signal (S10) output from the second control means is large, the current rises sharply, so that a large driving torque can be obtained. In addition, noise generated by vibration increases. Conversely, when the duty is small, the rise of the current becomes slow, so that the driving torque becomes small, but the operation becomes smooth instead,
Noise caused by vibration is also reduced. That is, in the present invention, the drive characteristics of the load can be easily changed by adjusting the duty of the pulse signal.
It should be noted that instead of giving a binary signal to one switching means and giving a pulse signal to the other switching means, an OR of the binary signal and the pulse signal may be taken and given to one or the other switching means. Good. or,
When performing regenerative braking, it may be applied to both switching means simultaneously.

In the invention according to claim 3 , the duty of the output pulse signal is automatically changed in accordance with at least one of the change in the operating speed of the load and the required torque. In other words, as the operation speed of the load increases, the energization time of the load decreases.However, the rise of the load current is shortened, thereby preventing the drive torque from lowering and realizing stable operation at high speed. I do. Also,
When the torque required for acceleration or the like is increased, the rise of the load current is accelerated accordingly, and the driving torque is increased, so that the acceleration response is improved. When the required torque is small as in the case of a constant speed operation, the rise of the load current is made gentle, so that the operation of the load becomes smooth and the generation of noise is prevented.

Further, in the invention according to claim 4 , the memory means holds information defining the correlation between the operating speed and required torque of the load and the duty of the pulse signal, so that the operation of the load is performed. The duty of the pulse signal can be changed appropriately and easily in response to changes in the speed and the required torque.

[0023]

FIG. 1 shows the configuration of an apparatus according to an embodiment. The device shown in FIG. 1 forms a main part of a drive unit of an electric vehicle. In this example, one SR motor 1 is provided as a drive source, and this SR motor 1 is a controller E.
Controlled by the CU. The controller ECU performs S based on information input from a shift lever, a brake switch, an accelerator switch, and an accelerator opening sensor.
The driving of the R motor 1 is controlled. Power is supplied from a battery.

FIG. 18 shows the basic configuration of the SR motor 1 and its driving principle. The SR motor 1 shown in FIG. 18 includes a stator S and a rotor R rotatably supported in an inner space thereof. The rotor R is formed by laminating a large number of thin iron plates, and has four pole parts Ra, Rb, R projecting outward at positions shifted by 90 degrees from each other on the outer periphery.
c and Rd are formed. The stator S is also formed by laminating a large number of thin iron plates, and has six poles S protruding inward at positions shifted from each other by 60 degrees on the inner circumference.
a, Sb, Sc, Sd, Se and Sf are formed. Although only a part is shown in FIG.
An electric coil CL is wound around each of the pole portions Sa, Sb, Sc, Sd, Se and Sf.

Here, the coil CL wound around the pole portions Sa, Sd of the stator S is in the first phase, the coil CL wound around the pole portions Sb, Se of the stator S is in the second phase, Extreme parts Sc, S
When the coil wound around f is defined as the third phase, the first phase and the second phase are determined as shown in FIG.
By sequentially energizing the phase-third phase coil CL,
The rotor R can be continuously driven to rotate clockwise. That is, since the energized pole of the stator S forms an electromagnet, the pole of the rotor R located near the electromagnet is attracted by the electromagnet and rotates. In order to continue the rotation, it is necessary to switch the energization of the coil as the rotor R rotates. Actually, in the case of this SR motor 1,
Each time the rotor R rotates by 30 degrees, the coil to be energized is set to the first
It is sufficient to switch the phase from the second phase to the third phase.

The description will be continued with reference to FIG. The SR motor 1 has three-phase coils 1a,
1b and 1c, and an angle sensor 1d for detecting the rotational position (angle) of the rotor R. Three-phase coils 1a, 1
b and 1c are respectively connected to drivers 18, 19 and 1A inside the controller ECU, and
The current sensors 2, 3 and 4 are installed on the signal line connecting the a and the driver 18, the signal line connecting the coil 1b and the driver 19, and the signal line connecting the coil 1c and the driver 1A, respectively. ing. These current sensors 2, 3 and 4 are provided with coils 1a, 1b and 1c, respectively.
And outputs a voltage proportional to the current actually flowing as a current signal S6. In this embodiment, TS2028N94E21 manufactured by Tamagawa Seiki is used as the angle sensor 1d. This angle sensor 1d is, as shown in FIG.
An 11-bit binary signal indicating the absolute value of the angle from 0 to 360 degrees is output. The minimum resolution of the detection angle is 0.35 degrees.

A CPU is provided inside the controller ECU.
(Microcomputer) 11, input interface 12, current map memory 13a, PWM map memory 1
3b, waveform map memory 13c, power supply circuit 14, current waveform generation circuit 15, addition circuit 16, direction detection circuit 5, D /
An A converter 6, a comparison circuit 7, an output determination circuit 17, drivers 18, 19 and 1A are provided. The controller ECU sequentially calculates the drive speed and drive torque of the SR motor 1 based on information input from a shift lever, a brake switch, an accelerator switch, and an accelerator opening sensor. Based on the result, SR motor 1
The current flowing through each of the coils 1a, 1b and 1c is controlled.

FIG. 2 shows a specific configuration of a part of the circuit shown in FIG.
Shown in FIG. 2 shows only a circuit for controlling the energization of the coil 1a of the SR motor 1, and in fact, the other coil 1b
, And similar circuits for controlling the energization of 1c, respectively.

Referring to FIG. 2, one end of the coil 1a is
The other end of the coil 1a is connected via a switching transistor (IGBT) 18b to a low potential line 18f of the power supply via a switching transistor (IGBT) 18a. Further, the emitter of the transistor 18a and the low potential line 18
The diode 18c is connected between the transistor 18f and the transistor 18d, and the diode 18d is connected between the emitter of the transistor 18d and the high potential line 18e. Therefore, if both the transistors 18a and 18b are turned on (conducting state), a current flows between the power supply lines 18e and 18f and the coil 1a, and if one or both of them are turned off (non-conducting state). , The energization of the coil 1a can be stopped.

The output judgment circuit 17 has two AND gates.
And a timing control circuit 17c. The output terminal of AND gate 17a is connected to the gate terminal of transistor 18b.
The output terminal of 7b is connected to the input of the timing control circuit 17c. The output of the timing control circuit 17c is
It is connected to the gate terminal of transistor 18a. The signals S10 and S5 are input to the input terminal of the AND gate 17a, and the signal S7 is input to the input terminal of the AND gate 17b.
1 and S5 are input. The signal S71 is a binary signal output from the analog comparator 7a of the comparison circuit 7. The signal S5 is a binary signal (on / off signal) output from the current waveform generation circuit 15.

The result of adding the vibration compensation value and the velocity compensation value to the reference current value S4 output from the current waveform generation circuit 15 by the addition circuit 16 is supplied to one input terminal of the analog comparator 7a. 6, the analog voltage Vr2 converted is applied, and to the other input terminal, the voltage (Vs6) of the signal S6 corresponding to the current detected by the current sensor 2 is applied. The analog comparator 7a outputs a result of comparing the voltages Vr2 and Vs6 as a binary signal S71.

When the signal S5 is at the high level H (energization ON), the on / off of the transistor 18a is controlled based on the binary signal S71 output from the analog comparator 7a. However, the relationship between ON / OFF of the binary signal S71 and ON / OFF of the transistor 18a is not one-to-one, and the timing is adjusted by the timing control circuit 17c.
This will be described in detail later. When the signal S5 is at the high level H (energization ON), the transistor 18b of the driver 18 is turned on / off according to the binary signal S10 input to the AND gate 17a. This binary signal S1
0 is a signal generated inside the CPU 11, the period of the signal is constant (15 KHz), and the duty is variable. The duty of the signal S10 is
Is changed as necessary by the processing of. Actually, C
The PU 11 refers to the table (see FIG. 13) stored in the PWM map memory 13b connected to the on-duty value based on the rotation speed (rpm) of the motor at that time and the required driving torque. And outputs a signal S10 having the duty of this value.

That is, in this embodiment, the transistor 18
a and 18b are control signals S8 independent of each other.
Since the on / off control is independently performed by 1 and S82, the energization control state of the driver 18 includes a state in which both the transistors 18a and 18b are on, a state in which both transistors are off, and a state in which one is on and the other is off. There are three states, states.

For example, assuming that the transistor 18b is on at the start of energization, the current reference level V
When r2 is switched from 0 to Iref, Vr2> Vs6, so that the transistor 18a is turned on first,
The current flowing through the load gradually increases from 0 at a gradient determined by the characteristics (time constant) of the drive circuit and the load. Then, after the current flowing to the load reaches Iref, the transistor 18a is repeatedly turned off → on → off → on →... So that the maximum value of the current is controlled to be substantially equal to Iref. When the energization is terminated, the reference current value is set to I
When ref is switched to 0, Vr2 <Vs6, so that the transistor 18a is turned off, and the current flowing to the load gradually decreases to 0 at a gradient determined by the characteristics (time constant) of the drive circuit and the load. .

However, actually, since the control signal S82 applied to the transistor 18b is a pulse signal, there is a period in which the transistor 18b is in an off state even during the rising period at the start of energization. The rising curve of the load current changes. That is, in accordance with the duty of the control signal S82 applied to the transistor 18b, FIG.
As shown in FIG. 2, the rising curve of the load current changes.
In addition, even during the falling period at the end of energization, the transistor 1
There is a period in which the transistor 8b is off and a period in which the transistor 18b is on, and the fall curve of the load current changes in accordance with the ratio between the periods.

A description will be given with reference to FIGS. As shown in FIG. 16, when the switching means 18a and 18b are both turned on and current is flowing through the load 1a, and both switching means 18a and 18b are turned off, the energy stored in the load 1a causes The flowing current flows from the low potential line of the power supply to the high potential line through the diodes D1 and D2. At this time,
Since the potential difference between the terminals of the load 1a is large, energy is released quickly and the current decay rate is fast. That is, the falling slope of the transient current curve is large.

On the other hand, as shown in FIG. 17, when the switching means 18a and 18b are both turned on and current is flowing through the load 1a and only one of the switching means 18a is turned off, the other switching means 18b Remains ON, the current flowing due to the energy stored in the load 1a becomes equal to the diode D1, the load 1a,
It passes through the closed loop of the switching means 18b. At this time, since the potential difference between the terminals of the load 1a becomes small,
The release of energy is slow and the current decay rate is slow. That is, the falling slope of the transient current curve is small.

That is, the rise and fall waveforms of the load current can be controlled by adjusting the duty of the control signal S82 applied to the transistor 18b.

The binary signal S7 output from the comparator 7a
In the case where the chopping control is performed according to FIG. 1, if the falling speed of the load current is relatively fast, the fluctuation width (amplitude) of the current is large as shown in FIG. 16, and if the falling speed of the current is relatively slow, as shown in FIG. As shown in (1), the fluctuation range of the current becomes small.
By reducing the fluctuation range of the current, in the case of the SR motor, vibration and noise generated during rotation can be significantly reduced.

However, if the falling speed of the current is slow, the delay of the current following the target value is likely to occur when the target value (reference level) in the chopping control is changed. The level of the current flowing through the motor needs to be changed according to a change in the driving torque. In particular, when driving the SR motor, it is necessary to switch between energization and non-energization of each coil according to the position of the pole of the rotor. In this case, the rotation torque is significantly reduced.

In this embodiment, the signal S10 is determined based on the rotational speed (rpm) of the motor and the required driving torque.
Automatically adjusts the duty of the motor,
Alternatively, when a large drive torque is required, the rise of energization becomes fast, and a delay in following the current with respect to a change in the target value is prevented. When the rotation speed is low or a large driving torque is not required, the rise of the load current,
Since the speed of change such as falling is slow, generation of vibration and noise is suppressed. Although it is difficult to finely adjust the waveform of the current reference level (Vr2) in a short period of time, it is easy to adjust the duty of the signal S10.

According to the comparison result of the comparator 7a, the transistor 18a normally repeats on / off with a short period. However, if the signal S71 output from the comparator 7a is directly applied to the transistor 18a, the on / off of the transistor 18a is turned on. The off cycle is determined by the characteristics of the current-carrying circuit, the impedance of the motor coil, and the like, and is also affected by environmental changes such as temperature and humidity. In that case, the on / off frequency of the transistor 18a may be abnormally high. However, when the frequency at which the energization is turned on / off increases, the loss in the transistor 18a increases and the heat generation also increases. Conversely, if the frequency at which energization is turned on / off is lower than the upper limit of the human audible frequency, mechanical vibrations caused by current switching will be heard by humans as noise. Therefore,
The on / off frequency of the transistor 18a is set to a frequency slightly higher than the upper limit of a general human audio frequency (for example, 1
5 KHz).

In order to control the on / off frequency of the transistor 18a, the control shown in FIG. This control will be described. That is, using a synchronization signal having a constant cycle,
The timings t1, t2, t3,.
And the signal S81 applied to the transistor 18a
x is switched to an off level every time Vr2 <Vs6,
At each of the timings t1, t2, t3,...
If Vr2> Vs6, the signal S81x is switched to the on level at that time. If Vr2 ≦ Vs6, the signal S81x is switched.
Is maintained at the off level.

However, in this control ((a) in FIG. 11), Vr2 <V just before the timing (t4) of the synchronization signal.
At s6, the timing (t
In 4), since Vr2 <Vs6, the signal S81x is maintained at the off level. As a result, the period during which on / off of the signal S81x is not switched becomes longer, and the transistor 18
There were times when the on / off frequency of a became lower than the upper limit of the human audible frequency.

Therefore, in this embodiment, control is performed as shown in FIG. 11B by using a further improved timing control circuit 17c. This control is shown in FIG.
This will be described with reference to FIG. Using a synchronization signal with a constant period,
The timings t1, t2, t3,.
-Generate The signal FE is switched to a high level H (cannot be turned on) when Vs6> Vr2, and at each timing t1, t2, t3,.
(ON). The condition for switching off the signal S81 is when Vs6> Vr2, and the condition for switching on the signal S81 is that the signal FE can be turned on.
And when Vs6 ≦ Vr2. According to this control, Vr2 <V just before the timing (t4) of the synchronization signal.
s6, the timing of the synchronization signal immediately after (s4)
Even if Vr2 <Vs6, if Vs6> Vr2 after the signal FE is turned on, the signal S
Since 81 is switched on, the on / off cycle of the signal S81 is substantially the same as the cycle of the synchronization signal (reference chopping cycle), and the frequency does not change much. For this reason,
By setting the frequency of the synchronizing signal slightly higher than the upper limit of the human audible frequency, it is possible to prevent the generation of audible frequency noise and also the generation of large heat.

FIG. 3 shows an actual configuration of the timing control circuit 17c, and FIG. 10 shows an example of a signal waveform of each part in the circuit. In this embodiment, a pulse signal having a frequency of 15 KHz is used as the synchronization signal CLK15K. The circuit shown in FIG. 3 has gate circuits 171, 174, 177, 178
And 179, and D-type flip-flops 172 and 17
3, 176 and 17A, and an inverter 175. As shown in FIG. 10, the signal FE is the input signal S71.
When the condition of Vs6> Vr2 is satisfied, the state is switched to "ON impossible", and is switched to "ON possible" at the timing of the rising edge of the 15 kHz synchronization signal CLK15K. Then, the signal S81 is turned off when the input signal S71 satisfies the condition of Vs6> Vr2, and is turned on when the input signal S71 becomes Vs6 <Vr2 after the signal FE has been released from "impossible to turn on". . Therefore, the control shown as (b) in FIG. 11 is realized by using the timing control circuit 17c.

Incidentally, for example, in order to make the rotational speed of the motor 1 accurately follow the target speed, it is desirable to carry out speed feedback control. In this embodiment, the current value of the motor 1 is controlled by controlling the reference level Vr2 of the current input to the comparator 7a. However, it is also possible to control the delicate waveform of the current. Further, an independent current value is assigned to the reference level Vr2 for each minute rotation angle (0.7 degrees) of the motor 1. For this reason, for example, with changes in the rotation speed (rpm) and the required torque,
To adjust the amount of energization of the motor 1, it is necessary to calculate current values at all angles of the coils of each phase, and to update and register the current values in the memory. That is, since it takes a very long time to update the control amount, the response of the control system is very slow. If a speed feedback control is included in the control system (current waveform generating circuit 15) for adjusting such a large number of current values, a fast response to a speed change cannot be expected.

Therefore, in this embodiment, speed feedback control is performed as an independent control system separate from generation of a current waveform. That is, as shown in FIG. 2, the speed compensation value generated by the speed feedback control is:
The addition signal is added to the output signal S4 of the current waveform generation circuit 15 by the addition circuit 16. Therefore, since the speed feedback control system does not include a particularly time-consuming process, the speed control system has a high response speed.

The addition circuit 16 adds a vibration compensation value in addition to the speed compensation value. This vibration compensation value is
This is a compensation value for suppressing minute vibration in the rotation direction of the motor 1. According to the experiments of the present inventor, while the SR motor 1 is being driven to rotate in a certain direction, the rotor may temporarily rotate (vibrate) in the direction opposite to the driving direction. Has been verified. If vibration due to such reverse rotation is suppressed, S
The R motor 1 is driven more smoothly, and the noise is reliably reduced.

Therefore, in this embodiment, a reverse rotation in the rotating direction during driving is detected, a vibration compensation value for suppressing the reverse rotation is generated, and the vibration compensation value is input to the addition circuit 16 to compensate the current value. I have. Also in this vibration compensation control system, since it is an independent control system different from the generation of the current waveform, it can sufficiently follow a rapid change (vibration).

Actually, using the direction detection circuit 5 shown in FIG. 7, the rotation direction CW / CC of the rotor of the SR motor 1 based on the lower two bits of the signal output from the angle sensor 1d.
W (forward / backward) is detected. Referring to FIG. 7, the direction detection circuit 5 includes a D-type flip-flop 5
1, 52 and 58 and gate circuits 53, 54, 55 and 56
And 57. FIG. 8 shows an example of the signal waveform of each part of the direction detection circuit 5, so that the reference is made. By using the angle sensor 1d and the direction detecting circuit 5, even a slight reverse rotation can be detected.

The operation of the CPU 11 shown in FIG.
It is shown in FIG. The operation of the CPU 11 will be described with reference to FIG. When the power is turned on, initialization is executed in step 61. That is, after the initialization of the internal memory of the CPU 11 and the mode setting such as the internal timer and the interrupt, the system is diagnosed, and if there is no abnormality, the process proceeds to the next processing.

In step 62, a shift lever, a blur
The state of the signal output from each of the key switch, the accelerator switch, and the accelerator opening sensor is read. Step 62
If there is any change in the state detected in step 63, the process proceeds from step 63 to step 64. When there is no change,
The process proceeds from step 63 to step 65.

In step 64, the target value of the driving torque of the SR motor 1 is determined based on the various states detected in step 62. For example, when the accelerator opening detected by the accelerator opening sensor increases, the target value of the driving torque also increases. Here, a torque change flag indicating a change in the target torque is set.

In step 65, the detected present SR
The rotation speed of the motor 1 is input. The rotation speed is detected by an interrupt process described later. If there is a change in the rotation speed of the SR motor 1, the process proceeds from step 66 to step 68. If there is no change in the rotation speed, the process proceeds to step 67. In step 67, the state of the torque change flag is checked. When the flag is set, that is, when there is a change in the target torque, the process proceeds to step 68, and when there is no change in the torque, the process returns to step 62.

In step 68, the PWM map memory 1
Referring to 3b, data is input, and the duty of the pulse signal (PWM signal) S10 output from the CPU 11 is changed. The pulse signal S10 is constantly output while the motor 1 is being driven, and its cycle is fixed at 15 KHz, but the duty is changed according to the state at that time.

That is, the PWM map memory 13b is a read-only memory (ROM) in which various data are registered in advance.
As shown in FIG. 13, a large number of data Pnm (n: corresponding to torque) corresponding to various target torques and various rotational speeds (rotational speeds of the motor). Column numerical value, m: the numerical value of the row corresponding to the rotation speed). For example, since the data P34 holds a value indicating 95% of the on-duty, for example, when the torque is 20 [N · m] and the rotation speed is 500 [rpm], the CPU 11 -With reference to the contents of P34,
The duration of the signal S10 is adjusted so that the ON time of the signal S10 becomes 95%.
Update the tee.

In the next step 69, the data is stored in the current map memory 13a and the waveform map memory 13c, respectively.
Input data. In this embodiment, the current map memory 13
a and a waveform map memory 13c are constituted by a read-only memory (ROM) in which various data are registered in advance. The current map memory 13a holds data as shown in FIG. The memory 13c holds data as shown in FIG.

That is, the current map memory 13a stores a large number of data Cnm (n: columns corresponding to torques) corresponding to various target torques and various rotational speeds (motor rotational speeds). , M: the number in the row corresponding to the number of rotations), and one set of data Cnm includes a power-on angle, a power-off angle, a current upper limit, and a waveform pattern number. ing. For example, when the torque is 20 [N · m]
When the rotation speed is 500 [rpm], the contents of the data C34 are 52.5 degrees, 82.5 degrees, 200 [A], and the waveform pattern number 3. This data C34 indicates the energization information within the range of the rotation position of 0 to 90 degrees.
In the range of 2.5 to 82.5 degrees, a current of the predetermined third waveform pattern with an upper limit of the current of 200 A is applied, and the range of 0 to 52.5 degrees and 82.5 to 90 degrees Means that the current is cut off. Step 69
Then, Cm selected according to the torque and rotation speed at that time,
n sets of data are input.

Further, a set of waveform data corresponding to the waveform pattern number included in the input Cmn data is read from the waveform map memory 13c. For example, a waveform pattern
When the application number is 3, 0, 12, 26,
A series of waveform data of 40,. Based on this waveform data, the waveform of the reference value of the current actually passed through the coil is determined. That is, the reference value of the current is finely adjusted for each angular step of the rotor of the motor.

In the next step 6A, the energization map data is generated based on the data Cnm and the waveform data input in step 69. That is, a number of current reference values associated with each angular step of the motor rotor and associated data (described in detail below) are generated. Then, the data of the energization map is transmitted to the current waveform generation circuit 1.
5 is written into the memory (bidirectional memory) inside. As will be described later, the current waveform generation circuit 15
Since the data of all three phases are automatically generated based on the data of the phases, in step 6A, only the energization map for a specific one phase is created and stored in the memory of the current waveform generation circuit 15. Write.

The CPU 11 executes the above-described steps 62 to 6A
Is repeatedly executed. Then, the detected SR mode
If the rotation speed and torque of the motor are constant, step 6
6-67-62, but when the rotation speed changes or the torque changes, steps 68-69-6.
Since A-6B is executed, the energization map of the current waveform generation circuit 15 is updated.

After the initialization in step 61 is completed, a timer interrupt is generated in the CPU 11 every 4 msec. When this timer interrupt occurs, the CPU 11
The processing shown in FIG. This will be described with reference to FIG.

In step 71, it is determined whether or not the timing is a predetermined timing generated at a cycle of 24 msec with reference to the value of the counter TM24. That is, the process proceeds from step 71 to step 7C once every 24 msec, and otherwise proceeds from step 71 to step 72.

In step 72, it is determined whether or not the timing is a predetermined timing generated in a cycle of 8 ms by referring to the value of the counter TM8. That is, the process proceeds from step 72 to step 7D once every 8 msec, and otherwise proceeds from step 72 to step 73.

In step 7C, which is executed once every 24 msec, first, a speed compensation value is generated.
That is, based on the target driving speed of the motor 1 and the detected motor rotation speed, a predetermined PID (proportional / integral / differential) is obtained.
An operation is performed, and the result is used as a speed compensation value. And
This speed compensation value is output and input to the addition circuit 16.
Further, the counter TM24 is cleared.

In step 7D, which is executed once every 8 msec, first, the states of the shift lever, brake switch, accelerator switch, accelerator opening degree sensor, etc. are read via the input interface 12. And the result is stored in the internal memory. Further, the rotation speed of the motor is calculated. In this embodiment, the angle sensor 1d connected to the drive shaft of the SR motor 1 outputs a pulse signal whose cycle changes according to the rotation speed of the drive shaft.
1 measures the pulse period of the signal output from the angle sensor 1d, and detects the rotation speed of the SR motor 1 based on this period. The data of the detected rotation speed is stored in the internal memory. In step 7D, the counter TM8 is further cleared.

In step 73, it is determined whether or not the SR motor 1 is being driven.
Go to step 4; otherwise go to step 7A. In step 74, it is determined whether the current SR motor driving direction (direction to be driven) is forward rotation or reverse rotation. Then, in the next step 75, it is determined whether the actual rotation direction of the present SR motor is forward rotation or reverse rotation. The actual rotation direction of the SR motor is determined by a direction detection circuit 5.
The CPU 11 identifies the actual rotation direction of the SR motor 1 with reference to the binary signal CW / CCW output from the direction detection circuit 5.

In step 76, it is determined whether or not the current SR motor driving direction identified in step 74 matches the actual rotation direction of the current SR motor identified in step 75. If they match, the process proceeds to step 7B, where 0 is set to the vibration compensation value. When the driving direction does not match the actual rotation direction, that is, when the rotor is rotating in the reverse direction with respect to the driving direction due to vibration, the process proceeds to step 78, and a predetermined constant is set to the vibration compensation value. set. In this embodiment, the constant (current value) set to the vibration compensation value in step 78 is +30 [A].
Stipulated. In the next step 79, the vibration compensation value determined in step 78 or 7B is output and applied to the adding circuit 16. This vibration compensation value is commonly used in the three-phase control system.

In step 7A, the value of the counter TM24 and the value of TM8 are updated (+1). In step 7E, the interrupt timer is reset to generate the next interrupt.

FIG. 9 shows a waveform example of the current instruction value S4 output from the current waveform generation circuit 15 and the corrected current instruction value S4B. In FIG. 9, CP1 is a vibration compensation value,
2 is a speed compensation value. The vibration compensation value CP1 and the velocity compensation value CP2 are commonly used in each of the three phases. When the current instruction value S4 is 0, the corrected current instruction value S4B
Is also set to 0. By adding the vibration compensation value CP1 to the current command value S4, the vibration of the SR motor 1 is suppressed, so that noise is reduced. By adding the speed compensation value CP2 to the current command value S4, the SR motor is added. -The responsiveness of the speed control of the motor 1 is improved.

In this embodiment, the three-phase SR motor 1
, The indicated value of the current flowing through each phase coil is set to 3
It is necessary to generate phase components. In this embodiment, it is very difficult to generate the current instruction value S4 because the current instruction value is adjusted for each rotor position (small angle step) to optimize the conduction waveform. In addition, the current instruction value must be changed each time the rotor makes a minute rotation, so that the current instruction value S4 must be updated instantaneously. In order to generate such a signal, a large number of current instruction values (energization maps) are pre-registered in the memory, and the addresses of the memory are associated with the position (angle step) of the rotor, and the position of the rotor changes. Each time, the position information may be applied to the address of the memory, and the current instruction value at that position may be read from the memory and controlled so as to be given to the current control system. Also,
By installing three such circuits, it is possible to generate three-phase current instruction values.

However, if three sets of independent current waveform generation circuits are provided for each of the three phases, the required memory capacity is increased and the circuit configuration is inevitably complicated. The CPU 11 must rewrite the contents of the memory (the energization map) every time the number of rotations of the motor or the required torque changes. However, if the capacity of the memory is large, it is necessary to update all the contents. Since a long time is required, the responsiveness of the control system deteriorates.

On the other hand, as shown in FIG. 9 and FIG. 20, the waveforms of the three-phase current instruction values are similar to each other, and only the phases (relative angles) of the waveforms are different from each other. Therefore, 1
If a signal whose phase is shifted is generated based on the waveform of the phase current instruction value, a three-phase current instruction value can be generated.

For example, as shown in FIG.
When a large number of waveform data (hatched portions) associated with each angle step within a range of 90 degrees are stored in the memory address associated with each angle step, the waveform data corresponding to each angle step is stored. The waveform data of the second phase can be obtained by adding +30 degrees to the indicated angle, and the waveform data of the third phase can be obtained by adding +60 degrees to the indicated angle for the memory address.
Data can be obtained. Also, by repeating the first phase waveform in the range of 0 to 90 degrees, waveform data in the range of 0 to 360 degrees can be obtained.

That is, only the reference one-phase waveform is registered in the memory, and a three-phase signal waveform can be generated based on the registered one-phase waveform. This reduces the capacity of the memory, simplifies the circuit configuration, and reduces the time required for updating the contents of the memory.

FIG. 4 shows the configuration of the actual current waveform generation circuit 15.
FIG. 6 shows the timings of the signals of the respective sections. CPU
The energization map generated by 11 is written to a bidirectional RAM (read / write memory) 49 in the current waveform generation circuit 15.
In this embodiment, the bidirectional RAM 49 has two memory banks. Of these two memory banks, reading of waveform data is executed from one of the two memory banks, and data of the CPU 11 is read from the other. Writing is performed. Therefore, the reading of the waveform data and the writing of the data by the CPU 11 can be executed simultaneously.

The memory bank 1 of the bidirectional RAM 49 is D8
00H to D886H (H: hexadecimal notation; the same applies hereinafter)
Are assigned to memory addresses DC00H to DC86H. The area in the memory bank 1 is allocated as follows.

D800H to D87FH (128 bytes): Each current value of rotation angle every 0.7 degree (90 degrees: 128 steps) D880H: Angle 1 of first phase (start or end angle of energization) D881H: First phase D882H: second phase angle 1 (energization start or end angle) D883H: second phase angle 2 (energization end or start angle) D884H: third phase angle 1 (energization D885H: 3rd phase angle 2 (energization end or start angle) D886H: Waveform convex / concave (energization start at angle 1 → energization end at angle 2, energization end at angle 1 → energization at angle 2) The memory allocation of the memory bank 2 is the same as that of the memory bank 1 except that the address is shifted by 400H. Switching between the memory bank 1 and the memory bank 2 is performed by controlling the bit 10 (A10) of the address of the bidirectional RAM 49.

The current waveform generation circuit 15 will be described with reference to FIGS. The 10-bit angle signals RZ0 to RZ9 output from the angle sensor 1d are latched by the latch 41 and applied to one input of the adder 47. Also,
The angle signal RZ0 is applied to the timing pulse generation circuit 42. The timing pulse generation circuit 42 generates the clock pulses CLK1A, C1 based on the clock signal CLK8M of 8 MHz generated therein and the angle signal RZ0.
LK1B, CLK2A, CLK2B and a latch control signal LATZ are generated.

The 4-bit counter 44 counts the clock pulse CLK2B output from the timing pulse generation circuit 42, and sequentially counts a numerical value in the range of 0 to 15 to the count value CNT.
And output repeatedly. The operation of each circuit of the current waveform generation circuit 15 is based on the count value C output by the 4-bit counter 44.
It is determined according to the value of NT. The count value CNT is input to the latch control circuit 45, the angle correction output circuit 46, the address control circuit 48, and the drive signal generation circuit 4C.

The angle correction output circuit 46 is an encoder, and outputs the following correction values CPS according to the input count value CNT.

CNT: 0 to 3, CPS: 0 (0 degree) CNT: 4 to 7, CPS: 84 (60 degrees) CNT: 8 to 11, CPS: 42 (30 degrees) CNT: 12 to 15, CPS: 42 (30 degrees: Dummy) Therefore, the output of the adder 47 contains the count value CNT of 0 to 3
In the case of, the rotational position of the rotor at that time (angle: RZ0-
RZ9) appears as it is, but the count value CNT is 4-7.
In the case of, 60 degrees are added (shifted) and the count value CN
When T is 8 to 11, 30 degrees are added (shifted). The adder 47 when the count value CNT is 12 to 15
Is not used.

The address control circuit 48 generates the following 8-bit value MA07 according to the value of the input count value CNT.
Is output.

CNT: 0, 1, 4, 5, 8, 9, MA07: output of the adder 47 CNT: 2 MA07: 0 CNT: 3 MA07: 1 CNT: 6 MA07: 2 CNT: 7 MA07: 3 CNT: 10 MA07: 4 CNT: 11 MA07: 5 CNT: 12 to 15 MA07: 6 Further, the latch control circuit 45 receives the input count value CNT.
, And outputs a 2-bit value MA89 as follows. Also, the memory read signal MRD has a count value C
It becomes effective while NT is 0-12.

CNT: 0, 1, 4, 5, 8, 9 MA89: 0 CNT: 2, 3, 6, 7, 10 to 15 MA89: 0 8-bit value MA07 output from the address control circuit 48
Is applied to the lower 8 bits of the address of the bidirectional RAM, and the 2-bit value MA89 output by the latch control circuit 45 is
Is applied to the eighth and ninth bits of the address of the bidirectional RAM. Therefore, the lower 10 bits of the bidirectional RAM 49
The designated address of the bit is as follows according to the value of the input count value CNT.

CNT: 0, 1, 4, 5, 8, 9, MA07: output of the adder 47 CNT: 2 MA07: 0100H CNT: 3 MA07: 0101H CNT: 6 MA07: 0102H CNT: 7 MA07: 0103H CNT: 10 MA07: 0104H CNT: 11 MA07: 0105H CNT: 12 to 15 MA07: 0106H In other words, the following information is read from the bidirectional RAM 49 in accordance with the input count value CNT.

CNT: 0, 1 DATA: Current value of current angle (current value of first phase) CNT: 2 DATA: Angle 1 of first phase CNT: 3 DATA: Angle 2 of first phase CNT: 4, 5 DATA: Current angle + 60 degree current value (second phase current value) CNT: 6 DATA: Second phase angle 1 CNT: 7 DATA: Second phase angle 2 CNT: 8, 9 DATA: Current Current at the angle +30 degrees (current value of the third phase) CNT: 10 DATA: Angle 1 of the third phase CNT: 11 DATA: Angle 2 of the third phase CNT: 12 to 15 DATA: Waveform convex / concave section meter The first phase current value (DATA: 8 bits) output from the bidirectional RAM 49 when the numerical value CNT is 0 or 1 is latched by the latch 4E in synchronization with the signal PH1C output from the latch control circuit 45. Similarly, when the count value CNT is 4,
5, the current value of the second phase output from the bidirectional RAM 49 is synchronized with the latch control signal PH2C and the latch 4E
When the count value CNT is 8 or 9,
The current value of the third phase output from M49 is latched by latch 4E in synchronization with latch control signal PH3C. Three sets (three phases) of the signal S4 output from the latch 4E are applied to the addition circuit 16 shown in FIG.

On the other hand, the comparator 4B compares the output of the adder 47 with the output of the bidirectional RAM 49. Here, among the outputs of the bidirectional RAM 49, the first phase angle 1, the first phase angle 2, the second phase angle 1, the second phase angle 2, and the third phase angle are actually used. Angle 1 and phase 3 angle 2
And the convex / concave section of the waveform. That is, the comparator 4
B identifies the magnitude relationship between the current rotor angle (+ shift amount) and the angles 1 and 2 of each phase.

The output of the comparator 4B is controlled by the control signal LTCH1 output from the latch control circuit 45 when the count value CNT is 2, 3, 6, 7, 10, 11, 12 and 13, respectively. Latched and used inside 4C. That is, using the output of the comparator 4B when the count value CNT is 2 and 3, a binary signal indicating the on / off switching of the energization for the first phase is generated. Using the output of the comparator 4B at the time of (7) and (7), a binary signal indicating the on / off switching of the energization for the second phase is generated. By using the output of the data 4B, a binary signal indicating the on / off switching of the energization for the third phase is generated. Further, using the output of the comparator 4B when the count value CNT is 12 or 13, the convex / concave of the waveform is identified, and a binary signal (S5) indicating ON / OFF of energization is generated.

The 8-bit data output from the adder 47 is in the range of 0 to 127, and the most significant bit is always 0. In addition, the first
The phase angle 1, the first phase angle 2, the second phase angle 1, the second phase angle 2, the third phase angle 1, and the third phase angle 2 are also 0 to 1.
27 and the most significant bit is always zero. On the other hand, in the convex / concave division of the waveform held in the bidirectional RAM 49, 255 is assigned to the concave waveform and 0 is assigned to the convex waveform. Therefore, when the comparator 4B compares the convex / concave section of the waveform with the output of the adder 47, the output of the comparator 4B follows only the convex / concave section of the waveform irrespective of the output of the adder 47. Is determined. Therefore, when the count value CNT is 12 or 13, the drive signal generation circuit 4C determines the convex / concave of the waveform of the output three-phase binary signal according to the “waveform convex / concave division” information.

That is, when the convex / concave division of the waveform is 0: Off (first phase angle 1) <(current angle) ≦ (current angle) ≦ (first phase angle 1) while (current angle) ≦ (first phase angle 1) A binary signal (S5) is generated that is on during the first phase angle 2) and off during the first phase angle 2 <(current angle). Case: On (first phase angle 1) <(current angle) ≦ off (first phase angle 2) while (current angle) ≦ (first phase angle 1) A binary signal (S5) that is turned on during the phase angle 2) <(current angle) is generated. The same applies to the binary signals (S5) of the second phase and the third phase.

The first phase generated by the drive signal generation circuit 4C,
The second phase and third phase binary signals (S5) are output from the drive signal generation circuit 4C and input to the latch 4D. Then, at a timing (CNT: 13) at which the states of all the binary signals are determined, the control signal LAT0 appearing in synchronism with the latch control signal LTCH1 outputted from the latch control circuit 45 causes the drive signal generation circuit 4C to output 3 The two binary signals are latched by the latch 4D, and the three-phase 2
The value signal S5 is applied to the output determination circuit 17.

[0094]

As described above, claim 1 and claim 2
According to the invention, since the signal a second control means (11) outputs are pulse signals, the first control means (1
Even during the period when one of the switching means connected to (6) is in the on state (the rising period at the start of energization), there is a period during which the other switching means is off, so the rising curve of the load current is controlled by the second control. It changes as shown in FIG. 12 according to the duty of the signal output by the means (11). That is, by adjusting the duty of the signal of the second control means (11), it is possible to control the rising waveform of the load current. Further, even when one of the switching means connected to the first control means (16) is in the off state (falling time at the end of energization), the load current of the other switching means is on and off. Since the decay speed is different, the slope of the falling curve of the load current also changes according to the duty of the signal output from the second control means (11). That is, by adjusting the duty of the signal of the second control means (11), it is possible to control the waveform when the load current falls.

In the invention according to claim 3 , the duty of the output pulse signal is automatically changed in accordance with at least one of the change in the operating speed of the load and the required torque. In other words, as the operation speed of the load increases, the energization time of the load decreases.However, the rise of the load current is shortened, thereby preventing the drive torque from lowering and realizing stable operation at high speed. I do. Also,
When the torque required for acceleration or the like is increased, the rise of the load current is accelerated accordingly, and the driving torque is increased, so that the acceleration response is improved. When the required torque is small as in the case of a constant speed operation, the rise of the load current is made gentle, so that the operation of the load becomes smooth and the generation of noise is prevented.

In the invention according to claim 4 , the memory means holds information defining the correlation between the operating speed and required torque of the load and the duty of the pulse signal. The duty of the pulse signal can be changed appropriately and easily in response to changes in the speed and the required torque.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a motor driving device according to an embodiment.

FIG. 2 is a block diagram showing a detailed configuration of a part of FIG.

FIG. 3 is a block diagram showing a timing control circuit 17c of FIG. 2;

FIG. 4 is a block diagram illustrating a configuration of a current waveform generation circuit 15 of FIG. 1;

FIG. 5 is a schematic diagram showing a correspondence between contents of a memory of a current waveform generation circuit 15 and a generated waveform.

FIG. 6 is a time chart showing the operation of the current waveform generation circuit 15;

FIG. 7 is a block diagram showing a configuration of a direction detection circuit 5 of FIG.

8 is a time chart showing the operation of the direction detection circuit 5. FIG.

FIG. 9 is a time chart showing an output of the current waveform generation circuit 15 and a signal after compensation.

FIG. 10 is a time chart showing the operation of the timing control circuit 17c of FIG. 2;

11 is a time chart showing the operation of the timing control circuit 17c of FIG. 2 and the device before improvement.

FIG. 12 is a time chart showing a current reference level Vr2 and a waveform of a current flowing through a load.

FIG. 13 is a map showing the contents of a PWM map memory 13b.

FIG. 14 is a flowchart showing processing of the CPU 11;

FIG. 15 is a flowchart showing a timer interrupt process of the CPU 11;
It is a chart.

FIG. 16 is a block diagram illustrating a path of a current flowing through a current-carrying circuit.

FIG. 17 is a block diagram illustrating a path of a current flowing through a current-carrying circuit.

FIG. 18 is a front view showing the basic structure inside the SR motor.

FIG. 19 is a map showing the contents of a current map memory 13a.

FIG. 20 is a time chart showing an example of a basic current waveform when driving the SR motor 1 of the embodiment.

FIG. 21 is a map showing the contents of a waveform map memory 13c.

[Explanation of symbols]

1: SR motors 1a, 1b, 1c, CL:
Coil 2, 3, 4: Current sensor 5: Direction detection circuit 6: D / A converter 7: Comparison circuit 7a: Analog comparator 11: CPU 12: Input interface 13a: Current map memory 13b: PWM map Memory 13c: Waveform map memory 14: Power supply circuit 15: Current waveform generation circuit 16: Addition circuits 16a, 16b: Adder 17: Output determination circuits 18, 19, 1A: Drivers 18a, 18b: Transistors (IGBT) 18c, 18d: Diodes 18e, 18f: power supply line 41: latch 42: timing pulse generating circuit 43: counter control circuit 44: 4-bit counter 45: latch control circuit 46: angle correction output circuit 47: adder 48: address control circuit 49: Bidirectional RAM 4A: Bank switching circuit 4B: Comparator 4C: Drive signal generation circuit 4D 4E: Latch R: rotor S: stator Ra to Rd, Sa to Sf:
Extreme part

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H02P 7/05 G05F 1/56 H01F 7/20 H02M 3/155 H02P 8/12

Claims (4)

(57) [Claims] A first switching means interposed between one end of the load and a first power supply line; a second switching means interposed between the other end of the load and a second power supply line; Switching means; current detecting means for detecting the level of the current actually flowing to the load; binary comparison between a reference level of the current and the detected current level detected by the current detecting means, and according to the result of the comparison. 2
A first control means for applying a value signal to one or both of the first switching means and the second switching means; and a pulse signal having a variable duty, and the pulse signal A chopping energization control device, comprising: second control means for applying to one or both of the first switching means and the second switching means. 2. An intermediate circuit between one end of a load and a first power supply line.
First switching means inserted; interposed between the other end of the load and a second power supply line
Second switching means; a current detecting means for detecting a level of a current actually flowing to the load.
Output means: a reference level of the current and a detection voltage detected by the current detection means.
And the flow level is compared in a binary manner.
Applying a value signal to a first switching means,
Control means; and, du - tee generates a variable pulse signal, the pulse signal
To the second switching means.
A chopping energization control device comprising: 3. The second control means includes means for automatically changing the duty of a pulse signal to be output in response to a change in at least one of an operation speed of a load and a required torque. Item 3. The chopping energization control device according to item 1 or 2 . 4. The load control device according to claim 1, wherein said second control means includes a memory means for storing information defining a correlation between an operation speed and a required torque of the load and a duty of the pulse signal. 3. The chopping energization control device according to claim 1 , wherein the duty of the pulse signal to be output is automatically changed in response to each of the changes.