JP6124723B2 - Current detector for three-phase inverter - Google Patents

Description

  The present invention relates to a current detection device that detects a current flowing in each phase of a three-phase inverter controlled by PWM (Pulse Width Modulation).

  In order to detect the current of the PWM-controlled three-phase inverter, conventionally, a current detection resistor element is connected in series with the lower arm side switching element of each phase, and the current flowing through each phase is determined based on the voltage drop of this resistor element. There was a detection method (see, for example, Patent Document 1).

  This method is simple and inexpensive, but when the duty ratio of the lower arm side switching element becomes a small value (less than 30% in Patent Document 1), the lower arm side switching element is sufficiently affected by the dullness of the gate waveform. May not be able to be turned on, and current detection of the phase becomes difficult.

  Therefore, the first current value composed of the voltage drop value of the resistance element of the predetermined phase and the second current value which is an inverted value of the sum of the voltage drops of the remaining two-phase resistance elements are set to the duty of the lower arm switching element. When the current value on the lower arm side cannot be detected by switching according to the ratio, the second current value is adopted to improve the current detection accuracy. As is well known, since the sum of the three phase currents is 0, the second current value can be detected with high accuracy.

JP 2003-164159 A

  However, when determining whether or not current detection is possible based on the duty ratio of the lower arm side switching element, the determination is made from the ON time of the switching element. Therefore, it is necessary to allow a margin for the judgment value in consideration of various characteristics such as the dullness and temperature of the switching element and a delay in current detection. As a result, there remains a problem that the period in which it is determined that the current can be detected is narrowed.

  In addition, there is a problem that the second current value cannot be calculated in a period in which there are two or more phases in which the duty ratio of the lower arm switching element is a small value. Even when the dead time of the switching element and the gate waveform are not dull and the processing time required for current detection is infinitely close to 0, when the modulation rate of the PWM signal for controlling the three-phase inverter is set to 200% or more, There is a timing at which the lower arm side switching element is not turned ON simultaneously in the two phases, and at this time, the current flowing in the two phases cannot be detected.

  Actually, there is a dead time of the switching element, a dull gate waveform, and a current detection processing time. Therefore, even when the modulation factor is set smaller than 200%, a period in which the two-phase current cannot be detected occurs. There are things to do. This period is not mentioned in the above-mentioned patent document 1, and if a state in which no current can be detected is left, current feedback control may break down and the current may become unstable.

  The present invention has been made to solve the above-described problems, and an object thereof is to make it possible to detect a current flowing in the lower arm side of a three-phase inverter in a wider period.

The current detection device for a three-phase inverter according to the present invention has the detected current of each phase when the absolute value of the sum of the current values of each phase detected based on the voltage drop of the current detection resistance element is equal to or less than a determination value. A current detection determination unit that adopts a value, the current detection determination unit identifies a phase incapable of current detection when the absolute value of the sum of the current values of each phase is larger than the determination value, and the current detection is impossible When there are two phases, the reversal value of the current value of the remaining one phase where current detection is possible is distributed at a predetermined ratio and adopted as the current value of two phases where current detection is impossible .

  According to the present invention, since the detected current value is used for the determination, it is determined whether or not the current can be detected without using the determination value in consideration of various characteristics such as the dullness and temperature of the switching element and the delay of the current detection. It is possible to adopt a current detected over a wider period.

It is a figure which shows the structural example at the time of applying the electric current detection apparatus of the three-phase inverter which concerns on Embodiment 1 of this invention to a three-phase brushless motor. 4 is a graph showing voltage command waveforms of respective phases obtained by the motor control unit of the first embodiment. It is a graph which shows the gate voltage waveform produced | generated from the voltage command of P1 vicinity of FIG. 3 is a flowchart illustrating an operation performed by a current detection unit according to the first embodiment. It is a graph which shows the gate voltage waveform produced | generated from the voltage command of P2 vicinity of FIG. 3 is a graph (at the time of overmodulation) showing voltage command waveforms of respective phases obtained by the motor control unit of the first embodiment. It is a graph which shows the gate voltage waveform produced | generated from the voltage command of P3 vicinity of FIG.

Embodiment 1 FIG.
FIG. 1 shows a configuration example when the current detection device for a three-phase inverter according to the first embodiment is applied to a three-phase brushless motor. The three-phase motor device shown in FIG. 1 includes a three-phase brushless motor 1, a three-phase inverter 2, and a controller 3. The current detection device for the three-phase inverter 2 according to the first embodiment corresponds to the current detection unit 34 of the controller 3.

  The three-phase brushless motor 1 has a winding in each of the U phase, the V phase, and the W phase.

  The three-phase inverter 2 includes a circuit in which switching elements SW1 to SW6 each including a reflux diode in parallel are bridge-connected and current detection resistance elements R1 to R3. The current detection resistance elements R1 to R3 are connected in series between the lower arm side switching elements SW2, SW4, SW6 of each phase and the lower DC power supply 4. The three-phase AC voltage output from the three-phase inverter 2 is applied to each phase winding of the three-phase brushless motor 1.

The controller 3 incorporates a microcomputer 30 (or DSP; Digital Signal Processor) and constitutes a motor control unit 31 and a current detection unit 34.
The feedback control unit 32 of the motor control unit 31 receives a rotation angle signal input from a position sensor (not shown) attached to the three-phase brushless motor 1, a current signal input from the current detection unit 34, and an external input. The feedback control is performed based on the torque command signal and the magnetic flux command signal set in the controller 3, and the upper arm side switching elements SW1, SW3 of the three-phase inverter 2 so that the drive current of each phase becomes a desired current. , SW5 and lower arm side switching elements SW2, SW4, SW6 are PWM-controlled.

From the feedback control unit 32 to the drive circuit 33, the PWM_UP signal for PWM control of the U-phase upper arm side switching element SW1, the PWM_UN signal for PWM control of the U-phase lower arm side switching element SW2, and the V-phase upper arm side switching. PWM_VP signal for PWM control of element SW3, PWM_VN signal for PWM control of lower arm side switching element SW4 for V phase, PWM_WP signal for PWM control of upper arm side switching element SW5 for W phase, lower arm side switching element SW6 for W phase The PWM_WN signal for PWM control is output, and the drive circuit 33 applies the gate voltage UP applied to the U-phase upper arm side switching element SW1 and the gate voltage UN applied to the U-phase lower arm side switching element SW2 to the upper side of the V-phase. Arm side switching element SW3 The gate voltage VP to be applied, the gate voltage VN to be applied to the lower arm side switching element SW4 of the V phase, the gate voltage WP to be applied to the upper arm side switching element SW5 of the W phase, and the lower arm side switching element SW6 of the W phase. The gate voltage WN is output.
In addition, since each structure and control system itself of the three-phase inverter 2 are already known, detailed description is abbreviate | omitted.

  In the current detection unit 34, the voltage generated at both ends of each of the current detection resistance elements R1 to R3 is detected by the analog current detection circuit 35, and the detected analog values (U-phase current, V-phase current, W-phase current) are detected by the microcomputer. 30 A / D converters 36 convert the values into digital values (U-phase current, V-phase current, W-phase current). The current detection determination unit 37 interpolates the phase current value that could not be detected based on the detected phase current value, and outputs the current value to the motor control unit 31 as a three-phase current signal.

Next, a method for detecting a phase current by the current detection unit 34 will be described.
The A / D converter 36 performs A / D conversion on the analog current value output from the analog current detection circuit 35 at a predetermined timing having a cycle that is the same as or shorter than the current control calculation cycle. The digital current value is sampled. The microcomputer 30 manages the current acquisition timing of the A / D converter 36.

Here, the voltage command waveform of each phase obtained by the motor control unit 31 is shown in FIG. 2, and an example of the gate voltage waveform applied to the switching elements SW1 to SW6 is shown in FIG. FIG. 3 is a waveform showing gate voltages UP, UN, VP, VN, WP, WN and current acquisition timing generated based on the voltage command and carrier wave of each phase in the vicinity of the point P1 shown in FIG.
In the first embodiment, the controller 3 performs PWM control at a carrier frequency of 5 kHz, and the PWM cycle is 200 μsec. The current of each phase is sampled at the negative peak of a triangular wave that is a carrier wave. The switching elements SW1 to SW6 are turned on when the gate voltage is High and turned off when the gate voltage is Low. In this example, a dead time of 10 μsec is provided in order to prevent a through current of the upper arm side switching elements SW1, SW3, SW5 and the lower arm side switching elements SW2, SW4, SW6. The dead time is set with reference to the ON / OFF switching timing of the upper arm side switching elements SW1, SW3, SW5.

FIG. 4 is a flowchart showing the operation of the current detection unit 34.
First, a method for determining whether or not the current of each phase has been accurately detected (hereinafter referred to as current detection capability) will be described.
At the current acquisition timing, the A / D converter 36 samples the voltage drop of the current detection resistor elements R1 to R3 of each phase as a digital current value (step ST1), and the current detection determination unit 37 performs the three-phase digital current. The absolute value of the sum of the values is calculated (step ST2). Subsequently, the current detection determination unit 37 checks whether or not the absolute value of the sum of the three-phase digital current values is equal to or less than the first determination value (step ST3). When the value is equal to or less than the first determination value (step ST3 “YES”), it is determined that the current of each phase has been correctly detected, and the three-phase digital current value is adopted as the current value used for the feedback control. It outputs to the part 32 (step ST4).

  Here, the first determination value is the sum of the currents flowing through the three phases. In this way, it is possible to determine whether or not current detection is possible without using various characteristics such as the dullness and temperature of the switching elements SW1 to SW6 and a determination value that takes into account the delay in current detection. The sampled current can be used.

  Further, considering the switching noise of the switching elements SW1 to SW6, current detection resistance elements R1 to R3, the analog current detection circuit 35, the A / D converter 36, and other errors related to current detection, the sum of the currents flowing in the three phases Alternatively, a determination value may be set in consideration of these current detection errors. Since the total sum = 0, the first determination value is substantially a value equal to or larger than an error that occurs when the current value of each phase is detected. By doing so, it is possible to prevent erroneous determination due to variations and errors in current detection, and it is possible to more reliably determine whether current detection is possible.

Next, a case where the sum of the three-phase digital current values is larger than the first determination value will be described.
When it is determined that the absolute value of the sum of the three-phase digital current values is greater than the first determination value and there is a phase in which the current cannot be accurately detected (step ST3 “NO”), the current detection determination unit 37 Using the second determination value, a phase in which current cannot be detected is examined (step ST5).

  In the first embodiment, the second determination value is provided for the duty ratio of the upper arm side switching element. When the duty ratio of the upper arm side switching element becomes large, the duty ratio of the lower arm side switching element becomes small, and the lower arm side switching element may not turn ON due to dead time and dull gate voltage waveform. In that case, the current detection of the phase becomes impossible.

  In step ST5, the current detection determination unit 37 checks whether the duty ratio of the upper arm side switching element of each phase is larger than the second determination value. It is determined that the ON time of the element is shorter than a predetermined time during which the current can be correctly detected, and it is determined that the current detection of this phase is impossible. By doing in this way, it can be determined whether the current detection of any phase of U phase, V phase, and W phase becomes impossible.

  The second determination value is a duty ratio of the upper arm side switching element set based on the ON time of the lower arm side switching element that can correctly detect the current. Further, the second determination value may be set in consideration of the dead time of the switching element, the dullness of the gate voltage waveform, the processing time required for current detection, and the like.

Next, a method for interpolating the current values of phases where current detection is not possible will be described.
When the current detection determination unit 37 determines in step ST5 that the current of any one of the U phase, V phase, and W phase cannot be detected, in step ST6, the current value of the undetectable phase is estimated. For example, as shown in the following equation (1), the inverted value of the sum of the detected two-phase digital current values is used as the undetectable one-phase current value. In this way, using the relationship that the sum of the currents flowing in the three phases = 0, if only one phase cannot be detected, the remaining two-phase currents can be used for accurate interpolation.

Iv = − (Iu + Iw) (1)
Here, Iu and Iw are detected U-phase and W-phase digital current values, and Iv is a V-phase interpolated current value where current detection is impossible.

Even in the case of the voltage command waveform as shown in FIG. 2, a period in which any one-phase current cannot be detected may occur due to various conditions such as the dead time of the switching element and the dullness of the gate voltage waveform.
FIG. 5 is a waveform showing gate voltages UP, UN, VP, VN, WP, WN and current acquisition timing generated based on the voltage command and carrier wave of each phase in the vicinity of the point P2 shown in FIG. At the current acquisition timing of FIG. 5, the gate voltage VN does not become High, so the V-phase lower arm side switching element SW4 is not turned ON. At this time, the current detection determination unit 37 determines that the V-phase current detection is disabled, and employs the inverted value of the sum of the U-phase and W-phase digital current values as the V-phase current value.

  On the other hand, when the voltage command for each phase obtained by the motor control unit 31 has the waveform shown in FIG. 6 due to overmodulation or the like, a period (near point P3) in which any two-phase current cannot be detected may occur. is there. FIG. 7 is a waveform showing gate voltages UP, UN, VP, VN, WP, WN and current acquisition timing generated based on the voltage command and carrier wave of each phase in the vicinity of the point P3 shown in FIG. At the current acquisition timing of FIG. 7, since the gate voltages UN and VN do not become High, the U-phase and V-phase lower arm side switching elements SW2 and SW4 are not turned ON. At this time, the current detection determination unit 37 determines that U-phase and V-phase current detection is disabled.

Next, a current value interpolation method when there are two phases in which current detection is not possible will be described.
When the current detection determination unit 37 determines in step ST5 that any two-phase current among the U phase, V phase, and W phase cannot be detected, in step ST7, the detected one-phase digital current value is inverted. The value is distributed at a predetermined ratio and used as an undetectable two-phase current value. As the predetermined ratio, for example, the inversion value of the one-phase digital current value that can be detected as in the following formula (2) is equally distributed. In this way, even when the current can be detected only in one phase, the current value can be interpolated so as not to break the relationship that the sum of the currents flowing in the three phases = 0. As a result, even if an error occurs between the actually flowing current and the interpolated current value, the current feedback control can be controlled without failing.

Iu =-(Iw / 2) (2)
Iv =-(Iw / 2)
Here, Iw is a detected W-phase digital current value, and Iu and Iv are U-phase and V-phase interpolated current values for which current detection is impossible.

  In the above description, the inversion value of the detected one-phase digital current value is evenly distributed to the two undetectable phases, but is distributed in proportion to the ON time of the undetectable two-phase switching elements. Also good.

  In addition, in the current detection determination unit 37, when the current cannot be detected in any of the three phases, it is determined as a current detection abnormality, and the current detection abnormality can be easily performed without adding a special device by stopping the three-phase inverter 2. The three-phase inverter 2 and the three-phase brushless motor 1 can be protected.

  As described above, according to the first embodiment, the voltage drop of the current detection resistor elements R1 to R3 connected in series with the lower arm side switching elements SW2, SW4, SW6 of each phase of the three-phase inverter 2 controlled by PWM control. In the current detection unit 34 that detects the current value of each phase based on the current detection determination unit 37, the absolute value of the sum of the current values of each phase detected based on the voltage drop of the current detection resistance elements R1 to R3 is the first value. When the value is equal to or less than one determination value, the detected current value of each phase is adopted. For this reason, since the detected current value is used for the determination, whether or not the current can be detected without using the conventional determination value in consideration of various characteristics such as the dullness and temperature of the switching element and the delay of the current detection is determined. The current detected in a wider period can be adopted as the phase current.

Further, according to the first embodiment, since the first determination value is set to a value that is equal to or greater than the error that occurs when detecting the current value of each phase, it is possible to more reliably determine whether or not current detection is possible. Accuracy is improved.
Note that errors that occur when detecting the current value of each phase include errors caused by switching noise of the switching elements SW1 to SW6, errors of the current detection resistance elements R1 to R3, errors of the analog current detection circuit 35, A / There is an error of the D converter 36.

Further, according to the first embodiment, the current detection determination unit 37 uses the upper arm side duty ratio set based on a predetermined time as the second determination value, and uses the upper arm side switching elements SW1, SW3. , SW5 has a duty ratio greater than the second determination value, and the phase in which current detection is impossible is specified. Therefore, the lower arm side switching elements SW2, SW4, SW6 are not turned ON or the ON time is short and accurate. Phases that cannot be detected can be identified.
Alternatively, a predetermined time may be directly used as the second determination value to specify a phase in which the ON time of the lower arm side switching elements SW2, SW4, SW6 is shorter than the predetermined time as a phase in which current detection is impossible.
The predetermined time is the ON time of the lower arm side switching elements SW2, SW4, SW6 that is long enough to correctly detect the current flowing in the lower arm, and is used for dead time of the switching elements, dull gate voltage waveform, and current detection. This is determined in consideration of the processing time required (for example, sample hold of the A / D converter 36).

  Further, according to the first embodiment, the current detection determination unit 37 specifies a phase in which current detection is impossible when the absolute value of the sum of the current values of the phases is larger than the first determination value, and detects the current detection. When there are two phases that cannot be detected, the inversion value of the current value of the remaining one phase that can detect current is distributed at a predetermined ratio and adopted as the two-phase current value that cannot be detected. For this reason, if the current on the lower arm side can be detected in one phase, the current feedback control can be performed without breaking.

  Further, according to the first embodiment, the current detection determination unit 37 specifies a phase in which current detection is impossible when the absolute value of the sum of the current values of the phases is larger than the first determination value, and detects the current detection. When there is one phase incapable of being detected, the inverted value of the sum of the current values of the remaining two phases capable of current detection is adopted as the current value of one phase incapable of current detection. For this reason, if the current on the lower arm side can be detected in two phases, the current value of the phase incapable of current detection can be accurately interpolated based on the relationship that the sum of the current values of the three phases = 0.

  If the absolute value of the sum of the current values of each phase is larger than the first determination value and there is a phase in which current detection is not possible, the current detection determination unit 37 is turned on among the lower arm side switching elements SW2, SW4, SW6. A configuration is adopted in which one phase that minimizes time is identified, the current detection of this one phase is impossible, and the inverted value of the sum of the current values of the remaining two phases is adopted as the current value of the one phase. Good. Also in this configuration, the current feedback control can be controlled without breaking based on the relationship that the sum of the three-phase current values = 0.

  In the present invention, any constituent element of the embodiment can be modified or any constituent element of the embodiment can be omitted within the scope of the invention.

  1 Three-phase brushless motor, 2 Three-phase inverter, 3 Controller, 4 DC power supply, 30 Microcomputer, 31 Motor controller, 32 Feedback controller, 33 Drive circuit, 34 Current detector, 35 Analog current detector, 36 A / D converter, 37 Current detection determination part, R1-R3 Current detection resistance element, SW1, SW3, SW5 Upper arm side switching element, SW2, SW4, SW6 Lower arm side switching element.

Claims (6)

A three-phase inverter that detects a current value of each phase based on a voltage drop of a current detection resistor element connected in series with a lower arm side switching element of each phase of a three-phase inverter controlled by PWM (Pulse Width Modulation) In the current detection device,
A current detection determination unit that employs the detected current value of each phase when the absolute value of the sum of the current values of each phase detected based on the voltage drop of the current detection resistance element is less than or equal to the determination value; ,
The current detection determination unit specifies a phase incapable of current detection when the absolute value of the sum of the current values of the respective phases is larger than the determination value, and when there are two phases incapable of current detection, A current detection device for a three-phase inverter, characterized in that the inversion value of the remaining one-phase current value that can be detected is distributed at a predetermined ratio and adopted as a two-phase current value that cannot be detected.   The current detection device for a three-phase inverter according to claim 1, wherein the determination value is set to a value that is equal to or greater than an error that occurs when the current value of each phase is detected. The current detection determination unit determines that one-phase or two-phase current detection is impossible when the absolute value of the sum of the current values of the respective phases is greater than the determination value, and the ON time of the lower arm side switching element is determined. 3. The current detecting device for a three-phase inverter according to claim 1, wherein one phase or two phases shorter than a predetermined time is specified as a phase incapable of detecting the current. When there are two phases in which current detection is impossible, the current detection determination unit evenly distributes the inversion value of the current value of the remaining one phase in which current detection is possible, or the two-phase incapable of current detection. and distributed according to the ratio of the oN time of the lower arm switching element, a current detection device of the three-phase inverter according to claim 1, wherein the said current detection is adopted as the current value of the secondary phase of impossible. The current detection determination unit identifies a phase in which current detection is impossible when the absolute value of the sum of the current values of each phase is greater than the determination value, and when there is one phase incapable of current detection, set forth in any one of the inverted value of the sum of the current values of the remaining two phases that can detect the preceding claims, characterized in that employed as the current value of one phase of impossible the current detection according to claim 4 Current detector for three-phase inverter.   When the absolute value of the sum of the current values of the respective phases is larger than the determination value, the current detection determination unit determines the one phase in which the ON time of the lower arm side switching element is minimized among the phases in which current detection is impossible. 3. The three-phase circuit according to claim 1, wherein an inversion value of a sum of the remaining two-phase current values is adopted as a one-phase current value that is regarded as being impossible to detect the current. Inverter current detector.

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