JP5447400B2 - Motor drive device, motor drive system - Google Patents

Description

The present invention relates to a motor drive device and a motor drive system.

For example, motors that drive each axis of metal processing machines such as injection molding machines, presses, and multi-axis machines such as casting / forging machines have induction machine configurations or synchronous machine configurations to increase the driving force. A multi-winding motor is used. Patent document 1 is mentioned as an example of the multiple winding motor drive device which drives such a multiple winding motor.

Patent Document 1 discloses a system in which a drive current is supplied in parallel from a plurality of PWM inverters to each winding of a multi-winding motor having an induction machine configuration or a synchronous machine configuration and a plurality of motors performing tandem operation. The master inverter fetches the speed detection signal from the encoder, performs speed control, current control, and PWM control, and sends these control signals to all the slave inverters in batch, and the slave inverter converts the received PWM synchronization reference signal to It has a PLL control circuit that controls the oscillation frequency in synchronization and performs its own PWM control, and performs speed control and current control according to the speed signal and current control signal at a timing synchronized with this PWM control. Have been described.

JP 2007-295647 A (page 4-6, FIG. 2)

In a multi-winding motor driving apparatus as described in Patent Document 1, a plurality of inverters are connected in a reactor for the purpose of reducing harmonic components contained in the output of the inverter in the apparatus configuration and increasing the capacity of the inverter. Multiple connections are used. For the same purpose, the switching elements of the inverter are connected in parallel, and the sum of the output currents of the inverters is supplied to the windings of the multi-winding motor driven through the reactor. In such a multi-winding motor driving apparatus, it is desired to control the current so as to maintain the output balance (balance) of the output current of each inverter in order not to concentrate the load on a specific inverter.

However, in such a multi-winding motor driving apparatus, for example, when an increase in inverter DC bus voltage occurs during motor regeneration or power supply voltage fluctuation, the loop gain in the current control system of the inverter apparently increases. The output current fluctuates due to the oscillation of the current control system, and the desired multiple winding motor cannot be driven.
Therefore, the present invention does not concentrate the load on a specific inverter, so that current control is performed so as to maintain the output balance (balance) of the output current of each inverter so as to increase the capacity of the motor driving force. An object of the present invention is to provide a motor drive device and a motor drive system that can suppress system oscillation.

In order to solve the above-described problem, according to one aspect of the present invention, power configured by a first control unit that generates a PWM pulse signal according to an input control command and at least a plurality of power semiconductor switching elements. Each phase output for each phase winding of a motor having a conversion unit and a second control unit for generating a gate signal for driving on and off the power semiconductor switching element and having a three-phase winding set A plurality of motor drive units connected in parallel; a converter unit that converts an AC voltage of an AC power source into a DC voltage; a voltage detector that detects the DC voltage output from the converter unit; and the motor drive unit configured as the motor The first current detector that detects the phase current supplied to each phase winding of each of the phases and the motor drive unit individually, each phase current being provided for each phase Comprising a second current detector for output, and the second control unit, the voltage value detected by the voltage detector, the current detection value of the first current detector, and the second current detector A motor driving device that generates the gate signal that increases, decreases, or equals the pulse time width of the PWM pulse signal based on the detected current value is applied.

  According to the present invention, it is possible to increase the motor driving force and suppress the oscillation of the current control system.

The block diagram which shows the structure of the motor drive system which concerns on one Embodiment of this invention. The block diagram which shows the structure of the drive group which concerns on one Embodiment of this invention. The block diagram which shows the structure of the control unit which concerns on one Embodiment of this invention. The figure explaining the generation process of the gate signal concerning one embodiment of the present invention

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, about the same structure, the same code | symbol is attached | subjected and duplication description is abbreviate | omitted suitably.

First, the configuration of the motor drive system will be described. FIG. 1 is a block diagram showing a configuration of a motor drive system according to an embodiment of the present invention.
The motor drive system includes a host device 102, a motor drive device 1, multiple winding motors 103, 104, 105, 106, position detectors 107, 108, 109, 110, and a mechanical coupling unit 111.

The position detectors 107, 108, 109, 110 are, for example, encoders and are attached to the multiple winding motors 103, 104, 105, 106. The mechanical coupling unit 111 mechanically couples the output shafts of the multi-winding motors 103, 104, 105, and 106, and corresponds to, for example, a machine constituting a press shaft in a metal processing machine such as a press. .

The multi-winding motors 103, 104, 105, 106 have a plurality of three-phase winding sets, and in the figure, have four three-phase winding sets. The mechanical coupling unit 111 is driven with the total torque generated by the multiple winding motors 103, 104, 105, and 106 by supplying power from the motor drive device 1 described later.

The host device 102 is, for example, a controller, and outputs a control command for controlling the position and speed of the multi-winding motors 103, 104, 105, 106 to the motor driving device 1. This control command is, for example, a torque command, and is output in a form such as analog or communication. In this case, calculations for position and speed control are performed in the host device 102.

The motor driving device 1 receives an AC power supply 101 and outputs inverter DC bus voltages P and N, a first driving group 3 that supplies driving power to a multiwinding motor 103, and a multiwinding motor 104. A second drive group 4 for supplying drive power; a third drive group 5 for supplying drive power to the multi-winding motor 105; and a fourth drive group 6 for supplying drive power to the multi-winding motor 106. ing.

The first, second, third, and fourth drive groups 3, 4, 5, and 6 commonly input inverter DC bus voltages P and N that are outputs of the converter 2. The first, second, third, and fourth drive groups 3, 4, 5, and 6 supply power to the three-phase winding sets of the multi-winding motors 103, 104, 105, and 106, which will be described later. It has a plurality of units.

As described above, the motor drive system includes, for example, a multi-winding motor 103, 104, 105, 106 having four sets of three-phase windings, and a first control unit having the same number of sets as the number of sets of three-phase windings. , 2, 3, 4, and 4, 2, 4, and 4, and a single host device 102 that outputs a control command to the motor drive device 1, and has a large capacity We are trying to make it.

Next, the structure of the drive group in the motor drive device will be described. FIG. 2 is a block diagram illustrating a configuration of a drive group according to an embodiment of the present invention.
The first drive group 3 has one main control unit 31 and three first slave control units 32. The second drive group 4 has one second slave control unit 33 and three first slave control units 32. The third drive group 5 has one second slave control unit 33 and three first slave control units 32. The fourth drive group 6 has one second slave control unit 33 and three first slave control units 32. Each output of the control unit described above is connected to each three-phase winding set of the multi-winding motors 103, 104, 105, 106 to be driven.

The main control unit 31 in the first drive group 3 includes a control unit A301 and a motor position calculation unit 304. The first slave control unit 32 has a control unit C303. The second slave control unit 33 includes a control unit B302 and a motor position calculation unit 304.

The main control unit 31 in the first drive group 3 is connected to the host device 102 via the host drive group transmission path 201. The main control unit 31 is connected to the second slave control unit 33 in the second, third, and fourth drive groups 4, 5, and 6, which are other drive groups, via the drive group transmission path 203. . Further, the main control unit 31 is connected to the first slave control unit 32 in the first drive group 3 which is the self-drive group through the inter-control unit transmission path 202. The second slave control unit 33 in the second, third, and fourth drive groups 4, 5, and 6 is a second drive group 4, 5 that is the self-drive group via the inter-control unit transmission path 202. , 6 to the first slave control unit 32.

In the motor drive device 1, the first drive group 3 functions as a master drive group for the entire motor drive device 1, and the second, third, and fourth drive groups 4, 5, and 6 are slave drive groups for the entire motor drive device 1. Function as. In the first drive group 3, the main control unit 31 functions as a master control unit in the self-drive group, and the first slave control unit 32 functions as a slave control unit in the self-drive group. In the second, third, and fourth drive groups 4, 5, and 6, the second slave control unit 33 functions as a master control unit in the self-drive group, and the first slave control unit 32 is in the self-drive group. Functions as a slave control unit.

The motor position calculation unit 304 in the main control unit 31 and the second sub control unit 33 detects the detection position of the multi-winding motor that is the driving object detected by the position detectors 107, 108, 109, 110. The motor position or the motor speed is calculated through the input via 204.

The control unit A301 in the main control unit 31 inputs a control command from the host device 102 via the upper drive group transmission path 201, and the first slave control unit in the self drive group via the inter control unit transmission path 202. The input control command or generated drive command and the calculated motor position or motor speed are output to the control unit C303 in FIG.

The control unit B302 in the second slave control unit 33 inputs the control command input from the control unit A301 or the generated drive command via the inter-drive group transmission path 203, and passes through the inter-control unit transmission path 202. The input control command or the generated drive command is output to the control unit C303 in the first slave control unit 32 in the self-drive group.

The control unit C303 in the first slave control unit 32 receives a control command input from the control unit A301 in the master control unit 31 or the control unit B302 in the second slave control unit 33 via the inter-control unit transmission path 202 or The generated drive command and the calculated motor position or motor speed are input.

Here, for example, when the host apparatus 102 performs a calculation for position and speed control inside and outputs a torque command, the control unit A301 in the main control unit 31 is connected via the upper drive group transmission path 201. The input control command corresponds to this torque command. Also, a control command input by the control unit C303 in the first slave control unit 32 via the inter-control unit transmission line 202, and a control command B302 in the second slave control unit 33 input via the inter-drive group transmission line 203 The control command to be executed also corresponds to this torque command.

That is, the control unit A301 in the main control unit 31 sends a torque command, which is a control command input from the host device 102, to the control unit B302 in the second slave control unit 33 in the other drive group and the first slave in the self drive group. The data is output as it is to the control unit C303 in the control unit 32. Further, a torque command, which is a control command input from the control unit A301 in the main control unit 31 by the control unit B302 in the second slave control unit 33, is sent to the control unit C303 in the first slave control unit 32 of the self-driving group. And output as it is.

In this case, each control unit 31, 32, 33 is configured to supply power to each three-phase winding set of the multiple winding motors 103, 104, 105, 106 to be driven according to the input torque command. Are the same. For example, a configuration that converts a torque command into a current command, a configuration that detects each output current, a configuration that outputs a PWM signal by controlling the detected current to follow the current command, and a power that corresponds to the PWM signal It is the structure etc. which output. Since these configurations are not the configurations forming the present invention, the illustrated explanation is omitted.

For example, when the host apparatus 102 generates and outputs a position command, the control command input by the control unit A301 in the main control unit 31 via the upper drive group transmission path 201 corresponds to this position command. . In this case, the control unit A301 in the main control unit 31 performs a calculation for controlling the position and speed based on the position command, generates a torque command, and outputs it as a drive command. The drive command that the control unit C303 in the first slave control unit 32 inputs via the inter-control unit transmission path 202 and the drive command that the control unit B302 in the second slave control unit 33 passes through the inter-drive group transmission path 203 are: This corresponds to the torque command generated by the control unit A301 in the main control unit 31.

That is, the control unit A301 in the main control unit 31 generates a torque command that is a drive command based on the position command that is a control command input from the host device 102, and uses this torque command as a second slave of another drive group. This is output to the control unit B302 in the control unit 33 and the control unit C303 in the first slave control unit 32 of the self-driven group. Further, a torque command, which is a drive command input from the control unit A301 in the main control unit 31 by the control unit B302 in the second slave control unit 33, is sent to the control unit C303 in the first slave control unit 32 of the self-drive group. And output as it is.

In this case, in each control unit 31, 32, 33, electric power is supplied to each three-phase winding set of the multi-winding motors 103, 104, 105, 106 to be driven according to the generated and input torque commands. The supply structure is the same. For example, a configuration that converts a torque command into a current command, a configuration that detects each output current, a configuration that outputs a PWM signal by controlling the detected current to follow the current command, and a power that corresponds to the PWM signal It is the structure etc. which output. Since these configurations are not the configurations forming the present invention, the illustrated explanation is omitted.

Thus, for example, the motor drive device 1 has the same number of control units as the number of sets of three-phase winding sets with respect to the multi-winding motors 103, 104, 105, and 106 having four sets of three-phase windings. The first, second, third, and fourth drive groups 3, 4, 5, and 6 are provided. The first drive group 3 functions as a master drive group for the entire motor drive device 1, the second, third, and fourth drive groups 4, 5, and 6 function as slave drive groups for the entire motor drive device 1, In the first drive group 3, the main control unit 31 functions as a master control unit in the self-drive group, the first slave control unit 32 functions as a slave control unit in the self-drive group, In the third and fourth drive groups 4, 5, and 6, the second slave control unit 33 functions as a master control unit in the self-drive group, and the first slave control unit 32 serves as a slave control unit in the self-drive group. Since it is configured to function, the driving force is increased in accordance with the same torque command.

Next, the configuration of the control unit in the drive group will be described. FIG. 3 is a block diagram showing a configuration of a control unit according to an embodiment of the present invention. Here, the main control unit 31 in the first drive group 3 will be described as an example.
The main control unit 31 includes a control unit A301, a motor position calculation unit 304, a plurality of motor drive units 41, current detectors 51, 52, and 53, and a voltage detector 54. The plurality of motor driving units 41 are commonly connected to the inverter DC bus power supplies P and N, and the outputs of the three phases connected to the three-phase windings of the multiple winding motor 103 are connected in parallel to each other.

The second slave control unit 33 in the second, third, and fourth drive groups 4, 5, and 6 includes a control unit B302 in place of the control unit A301 with respect to the configuration of the main control unit 31, and includes a motor. The position calculation unit 304, the current detectors 51, 52, 53, and the voltage detector 54 are not provided, but the same plurality of motor drive units 41 are provided.
The first slave control unit 32 in the first, second, third, and fourth drive groups 3, 4, 5, and 6 has a control unit C303 instead of the control unit A301 with respect to the configuration of the main control unit 31. The motor position calculation unit 304, the current detectors 51, 52, 53, and the voltage detector 54 are not provided, but the same plurality of motor drive units 41 are provided.

The motor drive unit 41 includes power semiconductor switch elements 411, 412, 413, 414, 415, 416 used for PWM control, an inverter control unit 423 connected to the control unit A301 via the data bus 205, and a multi-winding motor 103. Current detectors 417, 418, 419 and reactors 420, 421, 422 arranged in series in each of the three phases connected to the phase winding are provided.

The control unit A301 is a control unit phase detection current Iu, Iv, Iw detected by the current detectors 51, 52, 53, a torque command Tref (for the host device 102 to control position and speed, for example, When calculating and outputting a torque command Tref), a control unit phase current command corresponding to the torque command Tref is calculated based on the detection position Pos of the multi-winding motor 103 that is a driving target calculated by the motor position calculation unit 304 At the same time, current control is performed so that the control unit phase detection currents Iu, Iv, Iw follow the control unit phase current command, and a PWM pulse signal (PWM) is output.

Further, the control unit A301 inputs the inverter DC bus voltage Vpn of the inverter DC bus power supplies P and N detected by the voltage detector 54, and outputs the inverter DC bus voltage Vpn to each motor drive unit 41 via the data bus 205. Further, the control unit A301 divides the PWM pulse signal (PWM) and the control unit phase detection currents Iu, Iv, Iw by the number N of the motor drive units 41 included in the control unit A301, and the distribution control unit phase detection currents Iu / N, Iv. / N and Iw / N are output to each motor drive unit 41 via the data bus 205. Note that the inverter DC bus voltage Vpn may be directly input to each motor drive unit 41.

The inverter control unit 423 in the motor drive unit 41 performs current control according to an embodiment of the present invention described later so as to maintain the output parallelism (balance) of the output currents of the respective phases of the plurality of motor drive units 41. Perform the operation. That is, the PWM pulse signal (PWM) input via the data bus 205, the distribution control unit phase detection currents Iu / N, Iv / N, Iw / N, and the inverter phase detected by the current detectors 417, 418, 419 Based on the detection currents Iu1, Iv1, Iw1 and the inverter DC bus voltage Vpn, a gate signal 206 (PWM1) for PWM control of the power semiconductor switch elements 411, 412, 413, 414, 415, 416 is generated and output. . The plurality of motor drive units 41 that are commonly connected to the inverter DC bus power supplies P and N and connected to the three-phase windings of the multi-winding motor 103 are connected in parallel to each other. The operational effects are the same.

Reactors 420, 421, and 422 arranged in series in each of the three phases connected to the three-phase winding of the multi-winding motor 103 are connected to PWM-controlled power semiconductor switch elements 411, 412, 413, 414, 415, and 416, respectively. It functions to reduce harmonic components contained in the output.

FIG. 4 is a diagram illustrating a gate signal generation process according to an embodiment of the present invention.
In the drawing, the upper part shows one of PWM pulse signals (PWM) output from the control unit A301 to each motor drive unit 41. That is, one of the PWM pulse signals (PWM) is a signal that is a basis of a gate signal for turning on / off one of the power semiconductor switch elements 411, 412, 413, 414, 415, and 416. It corresponds to. The middle stage is when Δt> 0 based on one of the PWM pulse signals (PWM), and the lower stage is a gate signal 206 (PWM1 when Δt <0 based on one of the PWM pulse signals (PWM). ). Δt will be described later.
The vertical axis is the on / off level axis of the PWM pulse signal (PWM) and the gate signal 206 (PWM1), and the horizontal axis is the time axis.

Here, the meaning of Δt, Δt> 0, and Δt <0 in FIG. 4 will be described.
Based on the PWM pulse signal (PWM) output from the control unit A301, the inverter control unit 423 performs PWM control (on / off control) of its own power semiconductor switch elements 411, 412, 413, 414, 415, and 416. A gate signal 206 (PWM1) for turning on and off the power semiconductor switch element is generated and output. Here, as described with reference to FIGS. 1 to 3, when the motor drive system according to the embodiment of the present invention is configured to increase the capacity of the drive force according to the same torque command, In order to maintain the output parallelism (balance) of the in-phase output current of each motor drive unit 41, the inverter control unit 423 in each motor drive unit 41 must individually control the current.

The distribution control unit phase detection currents Iu / N, Iv / N, and Iw / N output from the control unit A301 to each inverter control unit 423 maintain the output parallelism (balance) that each motor drive unit 41 should output. This corresponds to a distribution current command for each inverter control unit 423 for the operation. Further, the PWM pulse signal (PWM) output from the control unit A301 to each inverter control unit 423 should be output to each power semiconductor switch element 411, 412, 413, 414, 415, 416 by each inverter control unit 423. This corresponds to a distributed PWM pulse signal command to each inverter control unit 423 for maintaining output parallelism (balance).

That is, each inverter control unit 423 is configured based on the distribution current command and the inverter phase detection currents Iu1, Iv1, Iw1 with respect to the pulse width of the distribution PWM pulse signal command so that output parallelism (balance) is maintained. The gate signal 206 (PWM1) is generated by adding or subtracting Δt. In PWM control, increasing or decreasing the pulse width of the PWM pulse signal works to increase or decrease the amplitude of the output current.

Each inverter control unit 423 compares the input distributed current command with the inverter phase detection currents Iu1, Iv1, and Iw1 detected by its own current detectors 417, 418, and 419, and determines itself for the distributed current command. It is determined whether the output current is large or small. When the determination result is small (Δt> 0), the gate signal 206 (PWM1) is generated by adding Δt to the pulse width of the distributed PWM pulse signal command so as to increase its own output current. On the other hand, if the determination result is large (Δt <0), the gate signal 206 (PWM1) is generated by subtracting Δt from the pulse width of the distributed PWM pulse signal command so as to reduce its own output current. When the determination results coincide (Δt = 0), the distribution PWM pulse signal command is set as the gate signal 206 (PWM1).

Next, current control of the inverter control unit 423 in the motor drive unit 41, which is current control according to an embodiment of the present invention, will be described.
The inverter control unit 423 detects the inverter phase detection current Iu1 detected by its own current detector 417, 418, 419 from the distribution control unit phase detection currents Iu / N, Iv / N, Iw / N corresponding to the distribution current command. , Iv1, and Iw1 are multiplied by a proportional constant KI to calculate Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw). Further, the gate signal 206 (PWM1) is generated by adding or subtracting the calculated Δt to the PWM pulse signal (PWM).

Δtu = KI × (Iu / N−Iu1)
Δtv = KI × (Iv / N−Iv1)
Δtw = KI × (Iu / N−Iw1)

However, as described above, in the motor driving device configured to increase the capacity of the driving force according to the same torque command, for example, an increase in the inverter DC bus voltage occurs during motor regeneration or power supply voltage fluctuation. In this case, since the loop gain in the current control system of the inverter control unit 423 is apparently increased, the output current fluctuates due to oscillation of the current control system, and the desired multiple winding motor cannot be driven.

Therefore, the inverter control unit 423 according to the embodiment of the present invention calculates the Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) in consideration of the inverter DC bus voltage Vpn. A signal 206 (PWM1) is generated to suppress oscillation of the current control system.

The inverter control unit 423 detects the inverter phase detection current Iu1 detected by its own current detector 417, 418, 419 from the distribution control unit phase detection currents Iu / N, Iv / N, Iw / N corresponding to the distribution current command. , Iv1 and Iw1 are multiplied by a proportionality constant KI. Further, Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) is calculated by multiplying the multiplication result by a value obtained by dividing the DC bus voltage coefficient Kpn by the inverter DC bus voltage Vpn. Further, the gate signal 206 (PWM1) is generated by adding or subtracting the calculated Δt to the PWM pulse signal (PWM).

Δtu = KI × (Kpn / Vpn) × (Iu / N−Iu1)
Δtv = KI × (Kpn / Vpn) × (Iv / N−Iv1)
Δtw = KI × (Kpn / Vpn) × (Iu / N−Iw1)

Inverter control section 423 increases its own output current when Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw)> 0 (when its output current is small relative to the distributed current command). In addition, a gate signal 206 (PWM1) is generated by adding Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) to the pulse width of the distributed PWM pulse signal command. On the other hand, when Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) <0 (when the output current is large relative to the distribution current command), the distribution PWM is reduced so as to reduce the output current. A gate signal 206 (PWM1) is generated by subtracting Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) from the pulse width of the pulse signal command. When Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) = 0 (when the output current is equal to the distribution current command), the distribution PWM pulse signal command is set to the gate signal 206 (PWM1). ).

The DC bus voltage coefficient Kpn is an average voltage value of the DC bus voltages P and N output from the converter 2, and is in the form of the AC power supply 101 (for example, single-phase 100V, three-phase 200V, etc.), and in the form of the converter 2 (for example, , Diode bridges (half-wave rectification, full-wave rectification), PWM converters, and the like, which are preset values (for example, AC power supply 101 is three-phase 200 V, and converter 2 is a diode bridge (full-wave rectification). In this case, the DC bus voltage coefficient Kpn is about 300 V in consideration of the voltage fluctuation of the AC power supply 101.
The proportionality constant KI is determined from, for example, preset values of the inductance value L of the reactors 420, 421, and 422, the carrier period T used for PWM control in the current control system, and the response frequency fc of the current control system. KI = πfcTL / Kpn.

Thus, the motor drive device 1 configured to increase the capacity of the drive force according to the same torque command, for example, when the inverter DC bus voltage rises during motor regeneration or power supply voltage fluctuation ( When the loop gain in the inverter current control system is apparently increased), the inverter control unit 423 takes Δt (U phase: Δtu, V phase: Δtv, W phase: Δtw) in consideration of the inverter DC bus voltage Vpn. Since the gate signal 206 (PWM1) is generated as calculated and the power semiconductor switch elements 411, 412, 413, 414, 415, and 416 are PWM-controlled, the output parallelism (balance) of the output current is maintained. The oscillation of the current control system can be suppressed. Further, since fluctuations in output current can be suppressed, a desired multiple winding motor can be driven.

The embodiment of the present invention has been described above. However, a so-called person skilled in the art can appropriately modify the above embodiment without departing from the gist of the present invention, and can appropriately combine the above embodiment and the method according to the modified example. It is. That is, it is needless to say that even a technique with such a change is included in the technical scope of the present invention.

For example, in one embodiment of the present invention, the multi-winding motors 103, 104, 105, 106 have a plurality of three-phase winding sets, and in the figure, have four three-phase winding sets. Although the case has been described, it may be a case of having one three-phase winding set. In this case, the first, second, third, and fourth drive groups 3, 4, 5, and 6 include one control unit that is connected to one three-phase winding set of the multi-winding motor to be driven. Just have it.
Further, for example, in the embodiment of the present invention, the case where the main control unit 31 has a plurality of motor drive units 41 has been described, but it is only necessary to have two or more motor drive units 41.

DESCRIPTION OF SYMBOLS 1 Motor drive device 2 Converter part 3 1st drive group 4 2nd drive group 5 3rd drive group 6 4th drive group 31 Main control unit 32 1st subordinate control unit 33 2nd subordinate control unit 41 Motor drive unit 51, 52, 53 Current detector 54 Voltage detector 101 AC power supply 102 Host device 103, 104, 105, 106 Multiple winding motor 107, 108, 109, 110 Position detector 111 Mechanical coupling unit 201 Host drive group Inter-transmission path 202 Inter-control unit transmission path 203 Inter-drive group transmission path 204 Detection position transmission path 205 Data bus 206 Gate signal 301 Control unit A
302 Control unit B
303 Control part C
304 Motor position calculation units 411, 412, 413, 414, 415, 416 Power semiconductor switch elements 417, 418, 419 Current detectors 420, 421, 422 Reactor 423 Inverter control unit

Claims (8)

A first control unit that generates a PWM pulse signal according to an input control command;
A power conversion unit composed of at least a plurality of power semiconductor switching elements and a second control unit for generating a gate signal for driving the power semiconductor switching elements on and off are individually provided, and a three-phase winding set is included. A plurality of motor drive units in which each phase output is connected in parallel to each phase winding of the motor;
A converter for converting the AC voltage of the AC power source into a DC voltage;
A voltage detector for detecting the DC voltage output by the converter unit;
A first current detector that detects, for each phase, the phase current supplied to each phase winding of the motor by the motor drive unit;
The motor driving unit individually, and a second current detector for detecting each phase current for each phase , and
The second control unit detects a pulse of the PWM pulse signal based on a voltage detection value of the voltage detector , a current detection value of the first current detector, and a current detection value of the second current detector. A motor drive device that generates the gate signal to increase, decrease, or have the same time width. The motor driving device according to claim 1, wherein the motor driving unit is configured to connect each phase output in each of the power conversion units in parallel via a reactor. The motor driving apparatus according to claim 1, wherein the second control unit calculates a time for increasing or decreasing the pulse time width based on a ratio between the DC voltage and a predetermined coefficient . The first control unit, based on the current detection value of the control command and the first current detector, and generates the PWM pulse signal, the current detection value of said first current detector motor The value divided by the number of drive units is output as a distributed current command for the motor drive unit,
The second control unit generates the gate signal in which the pulse time width is determined based on the distribution current command, the current detection value of the second current detector, and the voltage detection value of the voltage detector. The motor driving apparatus according to claim 1. When the second control unit has a smaller current detection value of the second current detector than the distribution current command, the second control unit generates the gate signal whose time is increased with respect to the pulse time width,
When the current detection value of the second current detector is larger than the distribution current command, the gate signal is generated by reducing the time with respect to the pulse time width,
5. The motor drive device according to claim 4, wherein when the distribution current command and a current detection value of the second current detector coincide with each other, the gate signal having the same pulse time width is generated. A plurality of the motors mechanically coupled to the rotating shaft;
A host device that outputs the control command;
The motor driving system according to claim 1, further comprising a plurality of the motor driving devices that individually drive the motors. The motor is a multi-winding motor having a plurality of 3-phase winding sets,
A plurality of the motor control devices for supplying power to a set of three-phase windings of the multi-winding motor;
6. The motor drive system according to claim 1, wherein one of the motor control devices is configured as a master and the other motor control devices are configured as slaves. The motor is a multi-winding motor having a plurality of 3-phase winding sets,
A plurality of the multi-winding motors mechanically coupled to the rotating shaft;
A host device that outputs the control command;
The multi-winding motor is individually driven, and includes a plurality of the motor control devices that supply power to a set of three-phase windings of the multi-winding motor, and the motor control device 6. The motor drive system according to claim 1, further comprising: one of the two as a master and the other motor control device as a slave.

Images