JP4655750B2 - Motor drive system and motor drive method - Google Patents

Description

  The present invention relates to a motor driving system and a motor driving method for driving a motor with three-phase AC power.

  The conventional motor drive system and motor drive method control the semiconductor switching element of the drive device with a control signal from the control device, convert the power from the DC power source into three-phase AC power, and drive the motor with the three-phase AC power It is the structure to do.

  In such a configuration, it is known that electromagnetic noise (hereinafter referred to as EMI (Electro-Magnetic Interference) noise) is generated during power conversion and when power is converted into physical power. ing. Specific examples include radiation noise generated when switching noise due to opening and closing of semiconductor switches inside the drive unit is transmitted to the cable between the DC power supply and the drive unit, and three-phase AC power is transmitted to the cable between the drive unit and the motor. Radiation noise generated when the motor is operated, noise generated with a change in the magnetic field for rotating the motor inside the motor, noise generated during signal processing in the control device, and the like.

  These EMI noises may cause malfunctions in electronic devices and the like, and may cause communication failures to various communication devices such as radio receivers. For this reason, various countermeasure methods for suppressing EMI noise have been implemented. A stepping motor will be described below as an example.

  At present, a widely used current control stepping motor is controlled by a method of rotating the motor forward or backward by sequentially turning on / off the switching elements having an H-bridge configuration according to a predetermined sequence. In this configuration, by performing pulse width modulation (PWM) control on the drive pulse of the stepping motor, the average drive current can be increased or decreased to perform speed control or the like.

  When the current-driven stepping motor is driven by PWM control in this way, switching noise of the fundamental frequency of the PWM current waveform and its harmonic frequency is generated, which affects the operation of the radio or communication equipment that is operating in the vicinity, and is annoying There is a problem that noise or malfunction of equipment occurs.

  As a method for suppressing the switching noise component, there is a stepping motor control device disclosed in “Patent Document 1” below. This is a method of frequency-modulating the fundamental frequency of the PWM current waveform, that is, the carrier frequency for driving the stepping motor, so as to change in a sine wave shape within a predetermined frequency range. With such frequency modulation, the spectrum structure including the fundamental frequency of PWM control changes with time, and the noise level is reduced as a time average.

JP-A-7-99795

  However, the harmonic noise generated by driving the stepping motor includes not only the carrier frequency but also the noise caused by the various factors described above. Therefore, even if the noise level is reduced as a time average by changing the fundamental frequency of the carrier signal, which is the conventional technology described above, to a sine wave shape, the noise due to other factors does not cause noise due to the carrier frequency. It still exists and a peak of radiated noise occurs. Therefore, when this radiation noise peak enters a reception channel of a reception device such as a radio or communication device, there is a possibility that the reception device may be damaged.

  SUMMARY An advantage of some aspects of the invention is that it provides a motor driving system and a motor driving method capable of reducing the noise level of a receiving apparatus.

  In order to achieve the above object, in the present invention, an adjacent band noise for detecting an adjacent band noise level from a reception frequency and EMI noise of a receiving apparatus is output to a control apparatus that outputs a control signal for control to a driving apparatus that drives a motor. Level detection means, carrier frequency determination means for determining a carrier frequency from the adjacent band noise level, carrier signal generation means for generating a carrier signal according to the determined carrier frequency, and a control signal from the carrier signal and the current command signal And a control signal generating means for generating.

  In the present invention, since the carrier frequency can be determined so that the adjacent band noise level is minimized, the noise level of the receiving apparatus can be reduced.

First Embodiment FIG. 1 is a diagram showing a basic configuration of a first embodiment. 10 is a motor to be controlled, 11 is a drive device that drives the motor 10 according to a control signal, 12 is a battery that supplies power to the motor 10 via the drive device 11, and 15 is a control signal to the drive device 11. , 13 is a receiving device, and 14 is a current command means for outputting a current command signal to the control device 15.

  In such a configuration, the DC power from the battery 12 is converted into three-phase AC power by the driving device 11 and transmitted to the motor 10. At the same time, the driving device 11 receives a control signal from the control device 15, and performs internal semiconductor switching. By turning on / off the element, DC power is converted into three-phase AC power, the motor 10 is driven with the three-phase AC power, and the motor 10 is rotated at a speed corresponding to the current command signal.

  The control device 15 includes a both-side noise level detection means (adjacent band noise level detection means) 16 for detecting a both-side noise level (described later) from the reception frequency that is the frequency of the reception channel of the reception device 13 and EMI noise, and both-side noise. Carrier frequency determining means 17 for determining the carrier frequency from the level, carrier signal generating means 18 for generating a carrier signal corresponding to the determined carrier frequency, and control signal generating means for generating a control signal from the carrier signal and the current command signal 19.

  FIG. 2 is a diagram illustrating the concept of the reception channel, the frequency band of EMI noise, and the noise level in the reception device 13 using the channel frequency of the radio station. The horizontal axis represents the channel frequency (reception frequency) of the radio station and the frequency of EMI noise, and the vertical axis represents the noise level. The frequency fch is the reception frequency of the selected radio station, and the frequencies fob1 and fob2 are frequencies in the bands on both sides of the reception frequency fch. That is, in Japan, the channel frequency band of a radio station is about 9 kHz, and the channel frequency band of another radio station does not enter the frequency band adjacent to one channel frequency band, and the reception frequency fch is determined. For example, the frequencies fob1 and fob2 of the bands on both sides are automatically determined.

  In FIG. 2, 21 is a reception frequency band which is a frequency band of the reception frequency fch, 20 is a lower frequency band which is a frequency band of a frequency fob1 lower than the reception frequency fch, and 22 is a frequency fob2 which is higher than the reception frequency fch. An upper frequency band 23, which is a frequency band, is a noise spectrum of EMI noise generated from the motor drive system. The EMI noise is averaged over the entire range from the lower frequency band 20 to the upper frequency band 22 because the spectrum structure including the fundamental frequency (carrier frequency) of PWM control changes with time. Exist. For this reason, it is difficult for the radio to distinguish between the radio signal having the reception frequency fch of the selected radio station and the EMI noise existing in the reception frequency band 21.

  However, if the EMI noise present in the lower frequency band 20 and the upper frequency band 22 is small, it can be estimated that the EMI noise present in the reception frequency band 21 is also small. Further, the noise level of EMI noise changes depending on the amount of change in the spectrum structure of EMI noise. Therefore, the spectrum that minimizes the EMI noise entering the reception frequency band 21 by detecting the noise level of the EMI noise entering the lower frequency band 20 and the upper frequency band 22 and changing the amount of change in the spectrum structure of the EMI noise. The amount of change in structure can be determined, and the disturbance of EMI noise to the reception frequency fch can be reduced.

  FIG. 3 is a diagram showing a basic configuration of the both-side noise level detection means. The both-side noise level detection means 16 detects the EMI noise level, the first noise level detection means 42 and the second noise level detection means 43, and the reception channel signal from the reception device 13 is the frequency of the reception channel. The frequency fch is detected, the frequency fob1 in the lower frequency band 20 is set as the first noise level detection means 42 in the first noise level detection means 42, and the frequency fob2 in the upper frequency band 22 is set as the second noise level detection frequency. Receiving frequency detection means 41 set in the second noise level detection means 43, and addition means 44 for adding the output of the first noise level detection means 42 and the output of the second noise level detection means 43. And the first noise level detection means 42 detects the noise level of the first noise level detection frequency fob1 from the EMI noise. Detecting a P1, a second noise level detector 43, the EMI noise, to detect the noise level P2 of the second noise-level detection frequency Fob2.

  FIG. 4 is a diagram showing the basic configuration of the noise level detection means. The first and second noise level detection means 42 and 43 have the same structure, and the first noise level detection means 42 will be described below. The first noise level detection means 42 includes a local transmission circuit 53 that outputs a local transmission signal using the frequency fob1 from the reception frequency detection means 41, and a mixing circuit 51 that outputs a mixed signal from the EMI noise and the local transmission signal. And a filter 52 for removing signals other than the intermediate frequency fIF from the input mixed signal. The configuration of the present noise level detection means uses a so-called superheterodyne method used in radio receivers, spectrum analyzers, and the like.

  A method of detecting the noise level of EMI noise at the observation frequency fob1 in such a configuration will be described. First, the local transmission circuit 53 receives the observation frequency fob 1 from the reception frequency detection means 41, generates a local transmission signal having a frequency fosc that is the sum of the observation frequency fob 1 and the intermediate frequency fIF, and outputs the local transmission signal to the mixing circuit 51. On the other hand, the mixing circuit 51 converts the observation frequency fob1 into the intermediate frequency fIF from the EMI noise and the local transmission signal. The intermediate frequency fIF is output to the filter 52. In the filter 52, components other than the intermediate frequency fIF are removed, and only the component of the intermediate frequency fIF is output. This output noise level P1 becomes the noise level at the observation frequency fob1.

  FIG. 5 is a diagram showing a basic configuration of the carrier signal generating means. The carrier signal generating means 18 includes a first oscillating means 30 that generates a signal based on the carrier frequency from the carrier frequency determining means 17, and a second oscillating means 31 that modulates the signal output from the first oscillating means 30. And have.

  With this configuration, the carrier frequency determined by the carrier frequency determining unit 17 is input to the first oscillating unit 30, and the first oscillating unit 30 generates a signal corresponding to the input carrier frequency. The second oscillating means 31 modulates the signal output from the first oscillating means and outputs a signal having a constant modulation frequency fcm. As a result, the output signal of the first oscillating means 30 is modulated, and the modulated frequency signal, that is, the carrier signal is output to the control signal generating means 19.

  FIG. 6 is a flowchart showing a carrier frequency determination procedure for preventing the noise peak from including the reception frequency fch. First, in S10, the carrier frequency value is fc, the modulation frequency value is fcm, and the motor 10 is driven by the driving device 11 with both being constant values. When the reception device 13 is turned on in this state, the reception frequency fch of the both-side noise level detection unit 16 is received from the reception device 13 in S11, and the reception frequency detection unit 41 receives the first frequency in S12. The frequencies fob1 and fob2 are set in the second noise level detection means 42 and 43, respectively. Next, n = 1 is set in S13, and the process proceeds to S14, where the first and second noise level detection means 42, 43 detect the noise levels P1, P2 of the EMI noises of the frequencies fob1, fob2, and both side noises. The levels P1 and P2 are output to the adding means 44.

  Next, in S15, the adding means 44 adds the noise level P1 and the noise level P2, and outputs the addition result E1 to the carrier frequency determining means 17. Next, n ≧ 2 is determined in S16. Since n ≧ 2 is not satisfied, the process proceeds to S19, where the carrier frequency determining means 17 sets A = Δfc, and in S21, A (= Δfc) is added to the carrier frequency fc (fc) = Fc + A), the carrier frequency fc is changed, n = n + 1 (= 2) is set in S22, the process returns to S14, noise levels P1 and P2 of the EMI noise of the frequencies fob1 and fob2 are detected, and the addition result E2 in S15 Ask for.

  Next, since n ≧ 2 is established in S16, the process proceeds to S17, where the carrier frequency determining means 17 determines E2 <E1, and if E2 <E1 is not established, the process proceeds to S20. In S20, the sign of A is changed (A = −Δfc), and the process proceeds to S21. Thereafter, the same procedure as described above is performed.

  Then, when E2 <E1 is established in S17, the process proceeds to S18, and the carrier frequency determining means 17 changes the carrier frequency fc until the condition of En> En-1 (changes from decrease to increase) is reached, and the noise level on both sides is increased. The detection means 16 detects both-side noise levels P1 and P2. When the condition of En> En-1 is satisfied in S18, it is determined that the state of En-1 is the minimum noise level, and in S23, the carrier frequency determining means 17 sets the carrier frequency fc-A to the minimum noise level. Is determined as a carrier frequency.

  That is, the carrier frequency determination means 17 receives both-side noise levels P1, P2 of the lower frequency band 20 and the upper frequency band 22, which are frequency bands on both sides of the reception frequency band 21 of the reception frequency fch, from the both-side noise level detection means 16. Each time the carrier frequency fc is changed minutely (Δfc), the addition result of the two-side noise levels P1 and P2 is compared to determine the carrier frequency fc that minimizes the addition result of the two-side noise levels P1 and P2. Can do.

  That is, in the motor driving method of the present embodiment, the current command means 14 outputs a current command signal to the control device 15, the control device 15 outputs a control signal to the drive device 11, and the battery 12 drives the motor 10. In the motor driving method in which power is supplied via the device 11 and the driving device 11 drives the motor 10 according to the control signal, the control device 15 uses the both-side noise level detection means 16 to receive the reception frequency fch and the EMI. Both-side noise levels P1, P2 are detected from the noise, the carrier frequency determining means 17 determines the carrier frequency fc from the both-side noise levels P1, P2, and the carrier signal generating means 18 generates a carrier signal corresponding to the carrier frequency fc. The control signal generation means 19 generates a control signal from the carrier signal and the current command signal.

  FIG. 7 is a diagram showing a noise spectrum of EMI noise generated from the motor drive system when the motor drive system is operated. The horizontal axis represents frequency and the vertical axis represents electric field strength. The case where the carrier frequency is fca is indicated by a solid line, and the case where the carrier frequency is fcb is indicated by a broken line. From the observation result of the noise spectrum, it can be seen that the noise spectrum of the EMI noise (spectrum indicated by the envelope) generated when the motor drive system operates is formed in an uneven shape. Hereinafter, the latter convex band is referred to as a noise peak. It can be seen that this noise peak depends on the carrier frequency fc.

  For example, when there is a receiving device 13 such as a radio that is affected by the EMI noise of the reception frequency fch, it is difficult to determine the necessary signal and the EMI noise with only the output of the reception frequency fch. Therefore, by estimating the noise level of the reception frequency fch from the noise levels P1 and P2 of the lower frequency band 20 and upper frequency band 22 of the reception frequency fch, which is the point of the present invention, the noise levels P1 and P2 on both sides are minimized. The carrier frequency fc can be set so that no noise peak is formed at the reception frequency fch. As a result, the influence of EMI noise can be suppressed at the reception frequency fch. That is, the influence of EMI noise can be suppressed by selecting the carrier frequency fcb in the case of the reception frequency ch1 in FIG. 7 and selecting the carrier frequency fca in the case of the reception frequency ch2.

  As described above, in the motor drive system and motor drive method of the present embodiment, the control device 15 detects both-side noise levels P1 and P2 from the reception frequency fch and the EMI noise from the reception device 13. Means 16, carrier frequency determining means 17 for determining carrier frequency fc from both-side noise levels P1, P2, and carrier signal generating means for generating a carrier signal corresponding to carrier frequency fc determined by carrier frequency determining means 17 18 and the control signal generating means 19 that generates a control signal from the carrier signal and the current command signal, so that the peak of the noise spectrum of the EMI noise does not enter the reception frequency band 21 of the reception device 13. And is affected by the presence of EMI noise in that band. It is possible to reduce the noise level of the receiver 13 such as a radio that.

  Further, the both-side noise level detection means 16 performs first noise level detection by using the first and second noise level detection means 42 and 43 and the frequency fob1 in the frequency band lower than the reception frequency fch as the first noise level detection frequency. A reception frequency detection means 41 that is set in the means 42 and sets a frequency fob2 in a frequency band higher than the reception frequency fch as a second noise level detection means in the second noise level detection means; and a first noise level detection means 42 And the output of the second noise level detection means 43 are added, and the first noise level detection means 42 detects the noise level of the first noise level detection frequency from the EMI noise. P1 is detected, and the second noise level detection means 43 detects the noise level P2 of the second noise level detection frequency from the EMI noise. A configuration, since detecting the noise level of EMI noise on either side of the frequency band 20, 22 of the reception frequency band 21, it is possible to estimate the noise level of the reception frequency band 21 in the presence of more accurate reception frequency fch.

Second Embodiment FIG. 8 is a diagram showing a basic configuration of carrier signal generation means of a second embodiment. The carrier signal generating means 60 includes a voltage generating means 61 for generating a voltage corresponding to the carrier frequency fc from the carrier frequency determining means 17 and a voltage controlled oscillating means 62 for generating a carrier signal corresponding to the voltage from the voltage generating means 61. And an integrating means 63 for integrating the output from the voltage controlled oscillating means 62, and an oscillating means 64 for outputting a modulation signal having a constant frequency fcm and modulating the integration result signal of the integrating means 63.

  In such a configuration, the voltage generation means 61 receives the determined carrier frequency fc from the carrier frequency determination means 17 and outputs it to the voltage controlled oscillation means 62 as a voltage output. The voltage controlled oscillating means 62 outputs a rectangular wave frequency signal corresponding to the voltage to the integrating means 63. The integrating means 63 generates a triangular wave by integrating the rectangular wave frequency signal output from the voltage controlled oscillating means 62, and the oscillating means 64 modulates the triangular wave output from the integrating means 63 with a modulation signal.

  With such a configuration, an effect that the carrier signal generating means 60 can be reduced in size can be obtained.

Third Embodiment FIG. 9 is a diagram illustrating a basic configuration of a control device according to a third embodiment. The control device 70 has a modulation frequency determining means 71 that determines the modulation frequency fm from both-side noise levels P1 and P2 and outputs the modulation frequency fm to the carrier signal generating means 73. The carrier signal generating means 73 receives from the modulation frequency determining means 71. The carrier signal fc is generated using the output and the output from the carrier frequency determining means 17 and output to the control signal generating means 19.

  FIG. 10 is a diagram showing a basic configuration of the carrier signal generating means. The carrier signal generating unit 73 generates a signal based on the first oscillation unit 30 that generates a signal based on the carrier frequency fc determined by the carrier frequency determining unit 17 and the modulation frequency fm determined by the modulation frequency determining unit 71. And a second oscillating means 81 that modulates the signal output from the first oscillating means 30.

  In such a configuration, the carrier frequency fc determined by the carrier frequency determining means 17 is input to the first oscillator 30, and the first oscillating means 30 generates a signal having the same frequency as the input carrier frequency fc. The second oscillating means 81 that modulates the signal of the first oscillating means 30 outputs a modulation signal having the modulation frequency fm determined by the modulation frequency determining means 71. As a result, the carrier signal fc obtained by modulating the output of the first oscillating means 30 is output from the carrier signal generating means 73.

  FIG. 11 shows a flowchart for determining the modulation frequency. First, in S30, the carrier frequency value obtained by the carrier frequency determining means 17 is set to fc, and in S31, the modulation frequency value obtained by the modulation frequency determining means 71 is set to fm to operate the motor drive system. Next, in S32, k = 1 is set and the process proceeds to S33. In S33, the both-side noise levels P1, P2 are detected by the first and second noise level detecting means 42, 43 of the both-side noise level detecting means 16. Next, in S34, the both-side noise levels P1 and P2 are added by the adding means 44 to obtain an addition result E1. Next, k ≧ 2 is determined in S35, and k ≧ 2 is not satisfied. Therefore, the process proceeds to S38, and the modulation frequency determining means 71 proceeds to S40 with B = Δfm. Next, in S40, B (= Δfm) is added to the modulation frequency fm to change it, and in S41, k = k + 1 (= 2) is set. Next, the result of adding the both-side noise levels P1 and P2 in S34 is E2. Next, since k ≧ 2 is established in S35, the process proceeds to S36, where the modulation frequency determining means 71 determines E2 <E1, and if E2 <E1 is not established, the process proceeds to S39. In S39, the sign of B is changed (B = −Δfm), and the process proceeds to S40. Thereafter, the procedure is the same as described above.

  When Ek <E1 is satisfied in S36, the process proceeds to S37, and the modulation frequency determining means 71 changes the modulation frequency fm until the condition of Ek−Ek−1 <C (C is a constant) is satisfied, and both-side noise Level detection means 16 detects both-side noise levels P1 and P2. When the condition of Ek-Ek-1 <C is satisfied in S37, it is determined that the state of Ek-1 is the minimum noise level, and in S42, the modulation frequency determining means 71 converts the modulation frequency fm-B to noise. The modulation frequency is determined as the minimum level. That is, when Ek decreases from E1 in S36, B is changed by adding B to the modulation frequency fm as B = Δfm. If Ek has increased from E1, B is changed to B at the modulation frequency fm by setting B =-. DELTA.fm in S39. In this operation, the direction in which the modulation frequency fm is changed is determined. Next, if the direction of change of the modulation frequency fm is determined, the result of adding the noise levels P1 and P2 on both sides until the condition of Ek−Ek−1 <C (C is a constant) is satisfied, that is, even if the modulation frequency fm is changed. The modulation frequency fm is changed until Ek does not change.

  In the present embodiment, since the control device 70 includes the modulation frequency determining means 71, the modulation frequency fm can be determined so that the addition result E of the both-side noise levels P1 and P2 is minimized. The noise level can be further reduced.

Fourth Embodiment In the first to third embodiments, the carrier frequency fc is detected by the carrier frequency determining means 17 only when the change of the reception frequency fch of the reception device 13 is detected and the reception frequency fch is changed. And the modulation frequency fm is determined by the modulation frequency determination means 71.

  With such a configuration, even if the noise peak of the EMI noise does not change, the reception frequency fch changes, so that the failure of the reception device 13 such as a radio due to the reception frequency fch entering the frequency band of the noise peak. Can be suppressed. Furthermore, the carrier frequency determining means 17 and the modulation frequency determining means 71 can be operated only when the reception frequency fch is changed, and the energy consumption of the devices related to the control device 70 can be suppressed.

  In the above-described embodiment, both-side noise levels P1 and P2 that are noise levels of the lower and upper frequency bands 20 and 22 are detected as adjacent band noise levels, and the addition result of both-side noise levels P1 and P2 is detected. The carrier frequency fc and the modulation frequency fm have been determined. As the adjacent band noise level, one of the noise levels P1 and P2 is detected, and the carrier frequency fc and the modulation frequency fm are determined from one of the noise levels P1 and P2. May be.

  Further, the present invention is not limited to the above embodiment, and any of the above embodiments may be combined.

It is a figure which shows the basic composition of the motor drive system of 1st Embodiment. It is a figure which shows the relationship between the frequency band of a receiving channel and EMI noise, and a noise spectrum. It is a figure which shows the basic composition of the both-sides noise level detection means of 1st Embodiment. It is a figure which shows the basic composition of the noise level detection means of 1st Embodiment. It is a figure which shows the basic composition of the carrier signal generation means of 1st Embodiment. It is a flowchart which shows the determination procedure of the carrier frequency of 1st Embodiment. It is a figure which shows an example of the noise spectrum of the EMI noise which generate | occur | produces from a motor drive system. It is a figure which shows the basic composition of the carrier signal generation means of 2nd Embodiment. It is a figure which shows the basic composition of the control apparatus of 3rd Embodiment. It is a figure which shows the basic composition of the carrier signal generation means of 3rd Embodiment. It is a flowchart which shows the determination procedure of the modulation frequency of 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Motor 11 ... Drive apparatus 12 ... Battery 13 ... Receiver 14 ... Current command means 15 ... Control apparatus 16 ... Both-side noise level detection means 17 ... Carrier frequency determination means 18 ... Carrier signal generation means 19 ... Control signal generation means

Claims (9)

A motor; a drive device that drives the motor in response to a control signal; a battery that supplies power to the motor via the drive device; a control device that outputs the control signal to the drive device; and the control device A motor drive system having current command means for outputting a current command signal to
The control apparatus includes: an adjacent band noise level detecting unit that detects an adjacent band noise level from a reception frequency that is a frequency of a reception channel of the receiving apparatus and EMI noise; and a carrier frequency determining unit that determines a carrier frequency from the adjacent band noise level. And a carrier signal generating means for generating a carrier signal corresponding to the determined carrier frequency, and a control signal generating means for generating the control signal from the carrier signal and the current command signal. Driving system. The adjacent band noise level detection means detects the reception frequency from the reception channel signal of the first and second noise level detection means and the reception apparatus, and sets a frequency in a frequency band lower than the reception frequency to the first noise. A reception frequency detection unit that sets the first noise level detection unit as a level detection frequency, and sets a frequency in a frequency band higher than the reception frequency as a second noise level detection unit in the second noise level detection unit; And adding means for adding the output of the first noise level detecting means and the output of the second noise level detecting means,
The first noise level detection means detects a noise level of the first noise level detection frequency from the EMI noise, and the second noise level detection means detects the second noise from the EMI noise. The motor drive system according to claim 1, wherein a noise level at a level detection frequency is detected.   2. The carrier frequency determination means compares the adjacent band noise levels before and after the change while changing the carrier frequency, and determines the carrier frequency that minimizes the adjacent band noise level. Or the motor drive system of 2.   The carrier signal generating means outputs a first oscillating means for generating a signal corresponding to the carrier frequency determined by the carrier frequency determining means, and outputs a modulated signal having a constant frequency, and is output from the first oscillating means. The motor drive system according to claim 1, further comprising: a second oscillating unit that modulates the generated signal.   The carrier signal generating means includes a voltage generating means for generating a voltage according to the carrier frequency, a voltage controlled oscillating means for generating a signal according to the voltage from the voltage generating means, and a voltage controlled oscillating means from the voltage controlled oscillating means. The integration means for integrating the output, and the oscillation means for outputting a modulation signal having a constant frequency and modulating the signal of the integration result from the integration means. Motor drive system.   The control device includes a modulation frequency determining unit that determines a modulation frequency from the adjacent band noise level and outputs the modulation frequency to a carrier signal generation unit, and the carrier signal generation unit includes an output from the modulation frequency determination unit, and 6. The motor drive system according to claim 1, wherein the carrier signal is generated using an output from a carrier frequency determining means.   The carrier signal generating means includes a first oscillating means for generating a signal corresponding to the frequency determined by the carrier frequency determining means, and the first oscillating means based on the modulation frequency determined by the modulation frequency determining means. The motor drive system according to claim 6, further comprising: a second oscillating unit that modulates the signal output from the motor.   8. The motor drive system according to claim 1, wherein the control device operates the carrier frequency determination unit when the reception frequency is changed. The current command means outputs a current command signal to the control device, the control device outputs a control signal to the drive device, a battery supplies power to the motor via the drive device, and the drive device supplies the motor to the motor In a motor driving method for driving according to a control signal,
The control device detects the adjacent band noise level from the reception frequency which is the frequency of the reception channel of the receiving device and EMI noise by the adjacent band noise level detection means, and determines the carrier frequency from the adjacent band noise level by the carrier frequency determination means. A motor driving method comprising: determining, generating a carrier signal corresponding to the carrier frequency by a carrier signal generating means, and generating the control signal from the carrier signal and the current command signal by a control signal generating means.

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