JP5096020B2 - インダクタンス負荷制御装置 - Google Patents
インダクタンス負荷制御装置 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
Description
ii)Hブリッジ回路とグラウンドとの間に介在させた1つの電流検出抵抗器によってモータ電流を検出する。(例えば、特許文献2)
iii)Hブリッジ回路の一方のローサイドスイッチ素子とグラウンド間に第1の電流検出抵抗を介在させるとともに、Hブリッジ回路の他方のローサイドスイッチ素子とグラウンド間に第2の電流検出抵抗器を介在させ、これらの電流検出抵抗器の端子電圧に基づいてモータ電流を検出する。具体的には、上記各電流検出抵抗器を用いてモータの巻線に流れる駆動電流を検出し、この駆動電流を補正回路で平均化した電流を還流電流と見なすようにしている。(例えば、特許文献3)
上記手法ii)は、1つの電流検出抵抗器を用いるので、還流電流を検出することができず、このため、還流電流を流すスイッチングシーケンス、つまり、電流のリプルを小さくすることができるスイッチングシーケンスを採用することができない。
上記手法iii)では、還流電流を直接検出しないで、演算によって得るようにしている。このように、還流電流を直接的に検出しない手法では、上記補正回路等を必要とするため構成が複雑かつ高価になり、しかも、還流電流を精度良く検出することができないおそれがある。さらに、この手法iii)は、還流電流を電源側に戻すスイッチングシーケンスを併用しているので、モータ電流のリプルも大きくなる。
前記電流検出手段は、前記第1、第2の電流検出抵抗器の端子電圧を差動増幅する差動増幅手段と、前記駆動電流と前記差動増幅手段の出力との対応関係と前記放電電流と前記差動増幅手段の出力との対応関係が一致するように、前記第2のモード時に前記差動増幅手段のゲインを前記第1のモード時のゲインよりも低下させるゲイン調整手段と、を備えている。
このインダクタンス負荷制御装置は、インダクタンス負荷であるモータ(例えば、ステッピングモータ)の巻線Lに駆動電流を流すためのH型ブリッジ回路BCを備えている。
H型ブリッジ回路BCは、電源の正極と負極(グラウンド)間に直列接続されたスイッチング素子1,3および上記正極と負極間に直列接続されたスイッチング素子2,4を備え、スイッチング素子1,3の共通接続点およびスイッチング素子2,4の共通接続点に上記巻線Lの一端および他端がそれぞれ接続されている。
なお、スイッチング素子1〜4には、電界効果トランジスタ等が使用される。また、スイッチング素子1〜4には、図示していないフリーホイールダイオードがそれぞれ並列接続されている。
なお、本実施形態では、電流検出用抵抗器Rs1,Rs2として抵抗値が等しいものを使用し、また、上記入力抵抗器R1およびR2の抵抗値r1およびr2をr1=r2に設定するともに、上記帰還抵抗器R3,R4,R5およびR6の抵抗値r3,r4,r5およびr6をr3=r4=r5=r6に設定している。
制御信号生成部9は、スイッチング素子2,3(あるいは、スイッチング素子1,4)をオンさせる「Fastモード」とスイッチング素子3,4をオンさせる「Slowモード」とを順次切換えるスイッチングシーケンスを実行する。
上記「Fastモード」では、制御信号生成部9からライン8bおよびライン8dのみにオン制御信号が出力されるので、駆動回路5,6を介してスイッチング素子2,3が同時にオンされ、その結果、図2に実線矢印で示すモータ電流(駆動電流)が流れる。
そして、上記「Slowモード」では、制御信号生成部9からライン8cおよびライン8dのみにオン制御信号が出力されるので、駆動回路5,6を介してスイッチング素子3,4が同時にオンされ、その結果、図3に実線矢印で示すモータ電流(還流電流)が流れる。このモータ電流は、「Fastモード」時に巻線Lに蓄積されたエネルギーに基づくものである。
なお、スイッチング素子1,4をオンさせる「Fastモード」では、図2に点線矢印で示すモータ電流が流れる。そして、この場合、「Slowモード」で図3に点線矢印で示すモータ電流(還流電流)が流れることになる。
V0=−[(r3+r4)/r1]×(V1−V2)
したがって、V2=0である「Fastモード」での演算増幅器11の出力電圧V0は、
V0=−[(r3+r4)/r1]×V1
と表され、また、V2=−V1である「slowモード」での演算増幅器11の出力電圧V0は、
V0=−2×[(r3+r4)/r1]×V1
と表される。
「Slowモード」では、スイッチング素子3,4をオンさせるために、制御信号生成部9が出力ライン8c、8dに論理レベル「H」の信号を出力する。差動増幅部7−1に組込まれたアンド回路14は、ライン8c、8dにその各入力が接続されているので、「Slowモード」時にアナログスイッチSw1およびSw2を同時に切換接続する。このため、「Slowモード」時においては、抵抗器R4およびR6が共に短絡されて、演算増幅器11のゲインがr3/r1、つまり、「Fastモード」時のゲインの1/2になる。
かくして、この実施形態によれば、「Slowモード」時の差動増幅部7−1の電流検出レベルと「Fastモード」時のそれとが一致し、その結果、図4の下段に示す波形bから明らかなように、「Slowモード」時に演算増幅器11が還流電流の大きさに対応する正しい電圧を出力することになる。
本実施形態に係るインダクタンス負荷制御装置は、差動増幅部7−2の構成において前記第1の実施形態と相違する。
すなわち、本実施形態に係る差動増幅部7−2は、帰還抵抗器R3を演算増幅器11の反転入力と出力間に介在させた点と、該反転入力と出力間に帰還抵抗器R4とゲイン切換用スイッチSw1を直列に介在させた点と、上記非反転入力とグラウンド間に帰還抵抗器R5を介在させた点と、該非反転入力とグラウンド間に帰還抵抗器R6とゲイン切換用スイッチSw2を直列に介在させた点とにおいて図1に示す差動増幅部7−1と相違する。
したがって、本実施形態に係るインダクタンス負荷制御装置においても、「Slowモード」時の差動増幅部7−2の電流検出レベルと「Fastモード」時のそれとを一致させることができる。
本実施形態に係るインダクタンス負荷制御装置は、差動増幅部7−3の構成において前記第2の実施形態と相違する。
すなわち、図6に示す差動増幅部7−3は、入力抵抗器R4をゲイン切換用スイッチSw1を介して入力抵抗器R1に並列接続した点と、入力抵抗器R6をゲイン切換用スイッチSw2を介して入力抵抗器R2に並列接続した点とにおいて図5に示す差動増幅部7−2と相違する。
したがって、本実施形態に係るインダクタンス負荷制御装置においても、「Slowモード」時の差動増幅部7−2の電流検出レベルと「Fastモード」時のそれとを一致させることができる。
本実施形態に係るインダクタンス負荷制御装置は、差動増幅部7−4の構成において前記第3の実施形態と相違する。
すなわち、図7に示す差動増幅部7−4は、抵抗器R4を抵抗器R1に直列接続した点と、ゲイン切換用スイッチSw1を抵抗器R4に並列接続した点と、抵抗器R6を抵抗器R2に直列接続した点と、ゲイン切換用スイッチSw2を抵抗器R6に並列接続した点とにおいて図6に示す差動増幅部7−3と相違する。
したがって、本実施形態に係るインダクタンス負荷制御装置においても、「Slowモード」時の差動増幅部7−2の電流検出レベルと「Fastモード」時のそれとを一致させることができる。
また、本発明は、インダクタンス負荷がモータの巻線Lではない場合にも適用可能である。
Rs1,Rs2 電流検出用抵抗器
L モータ巻線
5,6 駆動回路
R1〜R6 抵抗器
7−1〜7−4 差動増幅部
Cp1,Cp2 キャパシタ
Sw1,Sw2 スイッチ
8 電流制御部
9 制御信号生成部
10 電流検出方向生成部
11 演算増幅器
14 アンド回路
Claims (8)
- ブリッジ接続したスイッチング素子を有し、該スイッチング素子を介してインダクタンス負荷に電流を流すHブリッジ回路と、
前記Hブリッジ回路における一方のローサイドスイッチング素子とグラウンド間に介在させた第1の電流検出抵抗器と、
前記Hブリッジ回路における他方のローサイドスイッチング素子とグラウンド間に介在させた第2の電流検出抵抗器と、
前記第1、第2の電流検出抵抗器の端子電圧に基づいて、前記インダクタンス負荷に流れる電流を検出する電流検出手段と、
前記インダクタンス負荷に流れる電流に基づいてPWM信号を形成するPWM信号形成手段と、
前記PWM信号に基づいて、前記Hブリッジ回路における対角の各スイッチング素子を介して前記負荷に駆動電流を流す第1のモードと、前記Hブリッジ回路におけるローサイドのスイッチング素子を介して前記負荷に放電電流を流す第2のモードとを切換えるスイッチングシーケンスを実行するシーケンス制御手段と、
を備え、前記電流検出手段は、
前記第1、第2の電流検出抵抗器の端子電圧を差動増幅する差動増幅手段と、
前記駆動電流と前記差動増幅手段の出力との対応関係と前記放電電流と前記差動増幅手段の出力との対応関係が一致するように、前記第2のモード時に前記差動増幅手段のゲインを前記第1のモード時のゲインよりも低下させるゲイン調整手段と、
を備えることを特徴とするインダクタンス負荷制御装置。 - 前記差動増幅手段は、演算増幅器を用いた加算器としての構成を有し、前記ゲイン調整手段は、前記演算増幅器のゲインを規定する抵抗器の抵抗値を変化させるように構成されていることを特徴とする請求項1に記載のインダクタンス負荷制御装置。
- 前記ゲインを規定する抵抗器が前記演算増幅器に接続した帰還抵抗器であることを特徴とする請求項2に記載のインダクタンス負荷制御装置。
- 前記帰還抵抗器が2つの抵抗器を含み、この2つの抵抗器の内の一方の抵抗器に対して他方の抵抗器を直列接続もしくは並列接続することによって前記帰還抵抗器の抵抗値を変化させるように構成されていることを特徴とする請求項3に記載のインダクタンス負荷制御装置。
- 前記ゲインを規定する抵抗器が前記演算増幅器に接続した入力抵抗器であることを特徴とする請求項2に記載のインダクタンス負荷制御装置。
- 前記入力抵抗器が2つの抵抗器を含み、この2つの抵抗器の内の一方の抵抗器に対して他方の抵抗器を直列接続もしくは並列接続することによって前記入力抵抗器の抵抗値を変化させるように構成されていることを特徴とする請求項5に記載のインダクタンス負荷制御装置。
- 前記第1、第2の電流検出抵抗器が同じ抵抗値を有することを特徴とする請求項1に記
載のインダクタンス負荷制御装置。 - 前記差動増幅手段の出力のサージを抑制するために、前記帰還抵抗器にフィルタとしての機能を有するキャパシタを並列接続したことを特徴とする請求項3に記載のインダクタンス負荷制御装置。
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