JPWO2019186759A1 - Drive device, electric vehicle and control method of drive device - Google Patents

Abstract

The drive device includes a control unit that controls the drive of the motor by controlling the first to sixth switches, and the control unit has a rotation speed detection unit whose detection speed is slower than the preset first reference speed. In the first case, the set duty ratio set based on the detection speed and the user operation amount for controlling the rotation of the motor is equal to or higher than the preset first reference duty ratio, the second case. Control to switch on / off the first switch by the first phase high side PWM signal of the set duty ratio while turning off the switch, and the third by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch. Control for switching on / off of the switch and control for switching on / off of the fifth switch by the third phase high side PWM signal of the set duty ratio while turning off the sixth switch are performed.

Description

The present invention relates to a drive device, an electric vehicle, and a method for controlling the drive device.

Electric motorcycles that use a battery as a power source and a three-phase motor (hereinafter referred to as a motor) as a power source are known.

In this type of electric motorcycle, a three-phase full bridge circuit (ie, an inverter circuit) with high-side and low-side switches for each phase is used to drive the motor from the battery to the coil of each phase of the motor. It was controlling the energization.

In the control of energization, PWM control was performed on the switch according to the set duty ratio, and torque corresponding to the duty ratio was output to the motor. In addition, as an energization method, of the energization periods allocated for each 60 ° electric angle, 120 ° energization is performed during a continuous 120 ° energization period, and energization is performed during a continuous 180 ° period, that is, an all-phase period. 180 ° energization to be performed was adopted.

However, in the past, it was necessary to provide a dead time between the high-side PWM control and the low-side PWM control in order to prevent the through current from flowing by turning on the high-side switch and the low-side switch at the same time. ..

As a result, there is a problem that the duty ratio cannot be sufficiently increased, and it is difficult to improve the utilization rate of the charging voltage charged in the battery and output as large a torque as possible.

Japanese Patent Application Laid-Open No. 2011-147237 discloses a technique for controlling the on-time duty ratio of an inverter circuit. However, the technique disclosed in Japanese Patent Application Laid-Open No. 2011-147237 is a technique for reducing the duty ratio in order to prevent the regenerative voltage from becoming excessive when power is not supplied from the main battery. Is completely irrelevant.

Therefore, the present invention provides a control method for a drive device, an electric vehicle, and a drive device capable of improving the utilization rate of the charging voltage charged in the battery and outputting as large a torque as possible. The purpose.

The drive device according to one aspect of the present invention is
A first switch with one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor.
A second switch with one end connected to the first output terminal and the other end connected to the ground terminal.
A third switch, one end connected to the power supply terminal and the other end connected to the second output terminal to the second phase coil of the motor.
A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal.
A fifth switch, one end connected to the power supply terminal and the other end connected to the third output terminal to the third phase coil of the motor.
A sixth switch with one end connected to the third output terminal and the other end connected to the ground terminal.
A rotation speed detection unit that detects the rotation speed of the rotor of the motor,
A control unit that controls the drive of the motor by controlling the first to sixth switches is provided.
The control unit
The detection speed by the rotation speed detection unit is slower than the first preset reference speed, and the set duty ratio is set based on the detection speed and the user operation amount for controlling the rotation of the motor. However, in the first case where the duty ratio is equal to or higher than the preset first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
While turning off the sixth switch, control for switching on / off of the fifth switch is performed by the third phase high side PWM signal of the set duty ratio.

In the drive device
The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the first case, the second switch is turned off during the first to fourth energizing periods, and the first switch is switched on / off during the second and third energizing periods. While turning off the 4th switch during the 3rd to 6th energization periods, control is performed to switch on / off the 3rd switch during the 4th and 5th energization periods, and the 5th and 6th energization periods and the 6th energization period are performed. Control to switch on / off the fifth switch during the sixth energization period and the first energization period of the next cycle while turning off the sixth switch during the first and second energization periods of the next cycle following the energization period. By doing so, 120 ° energization may be performed in which a phase current is passed during an energization period corresponding to an electric angle of 120 °.

In the drive device
The control unit
In the second case where the detection speed is slower than the first reference speed and the set duty ratio is lower than the first reference duty ratio,
The first phase high is switched on / off by the first phase high side PWM signal of the set duty ratio, and the first phase high is formed so as to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the first phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the set duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. The third phase low side PWM signal whose duty ratio is adjusted with the side PWM signal may be used to control the on / off of the sixth switch in a complementary manner to the fifth switch.

In the drive device
The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the second case, control is performed to switch on / off of the first switch during the second and third energization periods while switching on / off of the second switch during the first to fourth energization periods. Controls to switch the third switch on / off during the fourth and fifth energization periods while switching the on / off of the fourth switch during the third to sixth energization periods, and to perform the control to switch the third switch on / off during the fourth and fifth energization periods. The fifth energization period and the first energization period of the next cycle while switching on / off of the sixth switch during the energization period and the first and second energization periods of the next cycle following the sixth energization period. By controlling the on / off of the switch, 120 ° energization may be performed in which a phase current flows during an energization period corresponding to an electric angle of 120 °.

In the drive device
The control unit
In the third case, the detection speed is equal to or higher than the first reference speed, slower than the preset second reference speed, and the set duty ratio is lower than the preset second reference duty ratio. , The drive control of the motor is performed by the trapezoidal energization waveform.
The drive control is
The first phase high of the adjustment duty ratio adjusted to gradually increase to the set duty ratio, maintain the set duty ratio after the increase, and gradually decrease from the set duty ratio after the maintenance. The duty ratio with the first phase high side PWM signal so as to switch on / off of the first switch by the side PWM signal and to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the adjusted first phase low side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the adjustment duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the adjustment duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. It may include a control for switching on / off of the sixth switch in a complementary manner to the fifth switch by the third phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.

In the drive device
The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the third case, on / off of the first switch and on / off of the second switch are controlled during the first to fourth energization periods, and during the third to sixth energization periods. The third switch is switched on / off and the four switches are controlled to be switched on / off, and the fifth and sixth energization periods and the first and second energization periods of the next cycle following the sixth energization period are performed. By controlling the on / off of the fifth switch and the on / off of the six switches, 180 ° energization in which a phase current flows during an energization period corresponding to an electric angle of 180 ° may be performed.

In the drive device
The adjustment duty ratio of the first phase high side PWM signal is gradually increased to the set duty ratio during the first energization period, and maintained at the set duty ratio during the second and third energization periods. During the 4th energization period, the duty ratio gradually decreases from the set duty ratio,
The adjustment duty ratio of the second phase high side PWM signal is gradually increased to the set duty ratio during the third energization period, and maintained at the set duty ratio during the fourth and fifth energization periods. During the sixth energization period, the duty ratio gradually decreases from the set duty ratio,
The adjustment duty ratio of the third phase high side PWM signal is gradually increased to the set duty ratio during the fifth energization period, and the set duty is increased during the sixth energization period and the first energization period of the next cycle. The ratio may be maintained and gradually decreased from the set duty ratio during the second energization period of the next cycle.

In the drive device
The control unit
The detection speed is equal to or higher than the first reference speed and slower than the second reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio and is higher than the preset third reference duty ratio. In the fourth case where the detection speed is lower than the second reference speed, slower than the preset third reference speed, and the set duty ratio is lower than the third reference duty ratio. Is
The first phase high is switched on / off by the first phase high side PWM signal of the set duty ratio, and the first phase high is formed so as to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the first phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the set duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. The third phase low side PWM signal whose duty ratio is adjusted with the side PWM signal may be used to control the on / off of the sixth switch in a complementary manner to the fifth switch.

In the drive device
The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the fourth case, on / off of the first switch and on / off of the two switches are controlled during the first to third energization periods, and during the third to fifth energization periods. The third switch is switched on / off and the fourth switch is controlled to be switched on / off, and the first energizing period of the next cycle following the fifth and sixth energizing periods and the sixth energizing period is performed. By switching the on / off of the 5 switches and controlling the on / off of the 6 switches, 180 ° energization in which a phase current flows during the energization period corresponding to the electric angle of 180 ° may be performed.

In the drive device
The control unit
The detection speed is equal to or higher than the first reference speed and slower than the third reference speed, and the set duty ratio is equal to or higher than the third reference duty ratio, or the detection speed is the third reference speed. In the fifth case above,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
While turning off the sixth switch, control for switching on / off of the fifth switch may be performed by the third phase high side PWM signal of the set duty ratio.

In the drive device
The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the fifth case, control is performed to switch on / off the first switch while turning off the second switch during the first to third energization periods, and the third to fifth energization period. 4 Controls to switch on / off of the third switch while turning off the switch, and turns off the sixth switch during the fifth and sixth energization periods and the first energization period of the next cycle following the sixth energization period. At the same time, by controlling the on / off of the fifth switch, 180 ° energization in which a phase current flows during the energization period corresponding to the electric angle of 180 ° may be performed.

The electric vehicle according to one aspect of the present invention is
An electric vehicle equipped with a motor and a drive device.
The drive device
A first switch with one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor.
A second switch with one end connected to the first output terminal and the other end connected to the ground terminal.
A third switch, one end connected to the power supply terminal and the other end connected to the second output terminal to the second phase coil of the motor.
A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal.
A fifth switch, one end connected to the power supply terminal and the other end connected to the third output terminal to the third phase coil of the motor.
A sixth switch with one end connected to the third output terminal and the other end connected to the ground terminal.
A rotation speed detection unit that detects the rotation speed of the rotor of the motor,
A control unit that controls the drive of the motor by controlling the first to sixth switches is provided.
The control unit
The detection speed by the rotation speed detection unit is slower than the first preset reference speed, and the set duty ratio is set based on the detection speed and the user operation amount for controlling the rotation of the motor. However, in the first case where the duty ratio is equal to or higher than the preset first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
While turning off the sixth switch, control for switching on / off of the fifth switch is performed by the third phase high side PWM signal of the set duty ratio.

In the electric vehicle
The user operation amount may be an accelerator operation amount.

In the electric vehicle
The control unit
Based on the torque map showing the correspondence relationship between the rotation speed of the rotor, the accelerator operation amount, and the torque of the motor, the detection speed and the torque corresponding to the accelerator operation amount are set.
The duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio based on the duty ratio map showing the correspondence relationship between the rotor rotation speed, the torque, and the duty ratio. It is also good.

The method for controlling the drive device according to one aspect of the present invention is as follows.
One end is connected to the power supply terminal and the other end is connected to the first output terminal to the first phase coil of the motor, and one end is connected to the first output terminal and the other end is connected to the ground terminal. The second switch, one end connected to the power supply terminal, the other end connected to the second output terminal to the second phase coil of the motor, and one end connected to the second output terminal. A fourth switch whose other end is connected to the ground terminal and a fifth switch whose one end is connected to the power supply terminal and the other end is connected to the third output terminal to the third phase coil of the motor. A control method for a drive device including a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal.
Detecting the rotation speed of the rotor of the motor,
By controlling the first to sixth switches, the drive control of the motor is performed.
The drive control is
The detection speed of the rotor is slower than the preset first reference speed, and the set duty ratio set based on the detection speed and the user operation amount for controlling the rotation of the motor is set in advance. In the first case, which is equal to or greater than the set first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
It includes a control of switching on / off of the fifth switch by a third phase high side PWM signal of the set duty ratio while turning off the sixth switch.

In the drive device according to one aspect of the present invention, one end is connected to the power supply terminal, the other end is connected to the first output terminal to the first phase coil of the motor, and one end is connected to the first output terminal. A second switch that is connected and the other end is connected to the ground terminal, and a third switch that is connected to the power supply terminal at one end and the second output terminal to the second phase coil of the motor at the other end. Was connected to the second output terminal and the other end was connected to the ground terminal, and one end was connected to the power supply terminal and the other end was connected to the third output terminal to the third phase coil of the motor. A fifth switch, a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal, a rotation speed detector for detecting the rotation speed of the rotor of the motor, and first to sixth switches. The control unit is provided with a control unit that controls the drive of the motor by controlling the motor, and the control unit has a rotation speed detection unit whose detection speed is slower than the preset first reference speed, and the detection speed and the rotation of the motor. In the first case where the set duty ratio set based on the user operation amount for controlling is equal to or higher than the preset first reference duty ratio, the set duty ratio is set while the second switch is turned off. Control to switch on / off of the first switch by the first phase high side PWM signal, and control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch. While turning off the 6th switch, control is performed to switch the 5th switch on / off by the 3rd phase high side PWM signal of the set duty ratio.

As described above, according to the present invention, when the set duty ratio is high, the low-side switch is turned off and PWM control is performed only on the high-side switch, so that the high-side switch and the low-side switch can be used. There is no need to form a dead time between them.

As a result, the duty ratio in PWM control for the high-side switch can be set as high as possible.

Therefore, according to the present invention, it is possible to improve the utilization rate of the charging voltage charged in the battery and output as large a torque as possible.

It is a figure which shows the electric motorcycle 100 which concerns on 1st Embodiment. It is a figure which shows the electric power conversion part 30 and the motor 3 in the electric motorcycle 100 which concerns on 1st Embodiment. It is a figure which shows the magnet provided in the rotor of the motor 3 and the angle sensor 4 in the electric motorcycle 100 which concerns on 1st Embodiment. It is a figure which shows the relationship between the rotor angle and the output of an angle sensor 4 in the electric motorcycle 100 which concerns on 1st Embodiment. It is a flowchart which shows the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is explanatory drawing for demonstrating the process of detecting a rotor rotation speed, and the process of setting a duty ratio in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a graph which shows an example of the torque map used for carrying out the duty ratio setting process in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a graph which shows an example of the duty ratio map used for carrying out the duty ratio setting process in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a graph which shows the energization control system according to a rotor rotation speed and a target torque in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a graph which shows the energization control method according to a rotor rotation speed and a set duty ratio in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows 120 ° upper and lower stage rectangular wave PWM control in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows the dead time in the 120 ° upper and lower stage rectangular wave PWM control in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. FIG. 5 is a timing chart showing 120 ° upper rectangular wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment. It is a timing chart which shows 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows the duty ratio in 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows 180 ° upper and lower stage rectangular wave PWM control in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows the upper rectangular wave PWM 180 ° energization in the control method of the electric motorcycle 100 which concerns on 1st Embodiment. It is a timing chart which shows the duty ratio control in 180 ° upper and lower trapezoidal wave PWM control in the control method of the electric motorcycle 100 which concerns on 2nd Embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. The embodiments shown below do not limit the present invention. Further, in the drawings referred to in the embodiment, the same parts or parts having the same functions are designated by the same reference numerals or similar reference numerals, and the repeated description thereof will be omitted.

(First Embodiment)
First, the electric motorcycle 100 according to the first embodiment as an example of the electric vehicle will be described with reference to FIG.

The electric two-wheeled vehicle 100 is an electric two-wheeled vehicle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. More specifically, the electric motorcycle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch.

As shown in FIG. 1, the electric motorcycle 100 includes an electric vehicle control device 1 which is an example of a drive device, a battery 2, a motor 3, an angle sensor 4 which is an example of a rotation speed detection unit, and an accelerator position sensor 5. , A meter 7, and a wheel 8.

Hereinafter, each component of the electric motorcycle 100 will be described in detail.

The electric vehicle control device 1 is a device that controls the electric motorcycle 100, and has a control unit 10, a storage unit 20, and a power conversion unit 30. The electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric motorcycle 100. Next, each component of the electric vehicle control device 1 will be described in detail.

The control unit 10 inputs information from various devices connected to the electric vehicle control device 1, and drives and controls the motor 3 via the power conversion unit 30. The details of the control unit 10 will be described later.

The storage unit 20 stores information used by the control unit 10 and a program for operating the control unit 10. The storage unit 20 is, for example, a non-volatile semiconductor memory, but is not limited thereto.

The power conversion unit 30 converts the DC power of the battery 2 into AC power and supplies it to the motor 3. As shown in FIG. 2, the power conversion unit 30 includes an inverter circuit, more specifically, a three-phase full bridge circuit.

The full bridge circuit includes a first semiconductor switch Q1 which is an example of a first switch, a second semiconductor switch Q2 which is an example of a second switch, a third semiconductor switch Q3 which is an example of a third switch, and a fourth switch. It has a fourth semiconductor switch Q4 which is an example, a fifth semiconductor switch Q5 which is an example of a fifth switch, and a sixth semiconductor switch Q6 which is an example of a sixth switch.

One end of the first semiconductor switch Q1 is connected to the power supply terminal 30a connected to the positive electrode of the battery 2, and the other end is connected to the first output terminal 3a to the U-phase coil 31u of the motor 3, which is an example of the first-phase coil. It is connected.

One end of the second semiconductor switch Q2 is connected to the first output terminal 3a, and the other end is connected to the ground terminal 30b connected to the negative electrode of the grounded battery 2.

One end of the third semiconductor switch Q3 is connected to the power supply terminal 30a, and the other end is connected to the second output terminal 3b to the V-phase coil 31v of the motor 3, which is an example of the second-phase coil.

One end of the fourth semiconductor switch Q4 is connected to the second output terminal 3b, and the other end is connected to the ground terminal 30b.

One end of the fifth semiconductor switch Q5 is connected to the power supply terminal 30a, and the other end is connected to the third output terminal 3c to the W-phase coil 31w of the motor 3, which is an example of the third-phase coil.

One end of the sixth semiconductor switch Q6 is connected to the third output terminal 3c, and the other end is connected to the ground terminal 30b.

The control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control unit 10. A smoothing capacitor C is provided between the power supply terminal 30a and the ground terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs, IGBTs, or the like.

The battery 2 can be charged and discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 at the time of discharging. Further, when charging with AC power supplied from an external power source such as a commercial power source, the battery 2 is charged with DC power obtained by converting the AC power supplied from the power source with a charger (not shown). Further, the battery 2 is charged by the DC voltage obtained by converting the AC power output by the motor 3 by the power conversion device 100 when charging by the AC power output by the motor 3 as the wheels 8 rotate.

The battery 2 includes a battery management unit (BMU). The battery management unit transmits information on the voltage of the battery 2 and the state (charge rate, etc.) of the battery 2 to the control unit 10.

The number of batteries 2 is not limited to one, and may be plural. The battery 2 is, for example, a lithium ion battery, but may be another type of battery. The battery 2 may be composed of different types of batteries (for example, a lithium ion battery and a lead battery).

The motor 3 outputs torque for driving the wheels 8 by the electric power supplied from the battery 2. Alternatively, the motor 3 outputs electric power as the wheels 8 rotate. The motor 3 is a three-phase motor having three-phase coils 31u, 31v, 31w of U, V, and W.

The motor 3 is driven by AC power supplied from the power conversion unit 30, and outputs torque for driving the wheels 8. The torque is controlled by the control unit 10 outputting a PWM signal having an energization timing and a duty ratio calculated based on the target torque to the semiconductor switches Q1 to Q6 of the power conversion unit 30. That is, the torque is controlled by the control unit 10 controlling the electric power supplied from the battery 2 to the motor 3.

The motor 3 is mechanically connected to the wheels 8 and causes the wheels 8 to rotate in a desired direction by torque. In this embodiment, the motor 3 is mechanically connected to the wheels 8 without the intervention of a clutch.

The angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor 3 in order to detect the rotation speed of the motor 3. As shown in FIG. 3, magnets (sensor magnets) of N pole and S pole are alternately attached to the peripheral surface of the rotor 3r of the motor 3. The angle sensor 4 is composed of, for example, a Hall element, and detects a change in the magnetic field accompanying the rotation of the motor 3. The magnet may be provided inside the flywheel (not shown).

As shown in FIG. 3, the angle sensor 4 includes a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w. In the present embodiment, the U-phase angle sensor 4u and the V-phase angle sensor 4v are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3. Similarly, the V-phase angle sensor 4v and the W-phase angle sensor 4w are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3.

As shown in FIG. 4, the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w output a phase pulse signal (that is, a rotation angle detection signal) corresponding to the rotor angle (angle position). To do.

Further, as shown in FIG. 4, a number indicating a motor stage (motor stage number) is assigned to each predetermined rotor angle. The motor stage indicates the angular position of the rotor 3r of the motor 3, and in the present embodiment, the motor stage numbers 1, 2, 3, 4, 5, and 6 are assigned every 60 ° in the electric angle. The motor stage is defined by a combination of output signal levels (H level or L level) of the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w. For example, the motor stage number 1 is (U phase, V phase, W phase) = (H, L, H), and the motor stage number 2 is (U phase, V phase, W phase) = (H, L, L). ).

The accelerator position sensor 5 detects the accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount as an electric signal to the control unit 10. The accelerator operation amount may be, for example, a throttle opening degree. When the user wants to accelerate, the accelerator operation amount becomes large.

The meter 7 is a display (for example, a liquid crystal panel) provided on the electric motorcycle 100, and displays various information. Specifically, information such as the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In this embodiment, the meter 7 is provided on the handle (not shown) of the electric motorcycle 100.

Next, the control unit 10 of the electric vehicle control device 1 will be described in detail.

The control unit 10 controls the drive of the motor 3 by controlling the semiconductor switches Q1 to Q6.

The control unit 10 functions as a rotation speed detection unit together with the angle sensor 4, and detects the rotor rotation speed based on the detection signal by the angle sensor 4. As an example, as shown in FIG. 4, the control unit 10 calculates the rotor rotation speed based on the time t from the falling edge of the output of the V-phase rotor angle sensor to the rising edge of the output of the U-phase rotor angle sensor.

The control unit 10 has a detected rotor rotation speed (hereinafter, also referred to as a detection speed) slower than a preset first reference speed, and an accelerator operation amount for controlling the detection speed and the rotation of the motor 3. In the first case where the set duty ratio set based on (that is, the user operation amount) is equal to or higher than the preset first reference duty ratio, the set duty ratio is set while the second semiconductor switch Q2 is turned off. The U-phase high-side PWM signal (that is, the first-phase high-side PWM signal) controls the on / off of the first semiconductor switch Q1.

Further, in the first case, the control unit 10 uses the V-phase high-side PWM signal of the set duty ratio (that is, the second-phase high-side PWM signal) of the third semiconductor switch Q3 while turning off the fourth semiconductor switch Q4. Controls to switch on / off.

Further, in the first case, the control unit 10 uses the W-phase high-side PWM signal of the set duty ratio (that is, the third-phase high-side PWM signal) of the fifth semiconductor switch Q5 while turning off the sixth semiconductor switch Q6. Controls to switch on / off.

More specifically, the control unit 10 may periodically set continuous first to sixth energization periods corresponding to an electric angle of 60 °, depending on the detection angle of the angle sensor 4.

Then, in the first case, the control unit 10 turns off the second semiconductor switch Q2 during the first to fourth energization periods, and receives the U-phase high-side PWM signal during the second and third energization periods to make the first semiconductor. Control to switch ON / OFF of the switch Q1 may be performed.

Further, in the first case, the control unit 10 turns off the fourth semiconductor switch Q4 during the third to sixth energization periods, and uses the V-phase high-side PWM signal during the fourth and fifth energization periods to generate the third semiconductor switch. Control to switch Q3 on / off may be performed.

Further, in the first case, the control unit 10 turns off the sixth semiconductor switch Q6 during the first and second energization periods of the next cycle following the fifth and sixth energization periods and the sixth energization period, while the sixth semiconductor switch Q6 is turned off. During the energization period and the first energization period of the next cycle, control for switching on / off of the fifth semiconductor switch Q5 may be performed by the W-phase high-side PWM signal.

By the control in such a first case, 120 ° energization in which a phase current is passed during an energization period corresponding to an electric angle of 120 ° is performed.

Further, in the second case where the detection speed is slower than the first reference speed and the set duty ratio is lower than the first reference duty ratio, the control unit 10 uses the U-phase high-side PWM signal of the set duty ratio. The first semiconductor switch Q1 is switched on / off, and the second semiconductor switch Q2 is turned on complementarily with the first semiconductor switch Q1 by the U-phase low-side PWM signal (that is, the first-phase low-side PWM signal). Control to switch between / off may be performed. The U-phase low-side PWM signal in the second case has a duty with the U-phase high-side PWM signal having a duty ratio set so as to form a dead time in which the second semiconductor switch Q2 is not turned on at the same time as the first semiconductor switch Q1. This is a PWM signal with an adjusted ratio.

Further, in the second case, the control unit 10 switches the on / off of the third semiconductor switch Q3 by the V-phase high-side PWM signal of the set duty ratio, and also switches the V-phase low-side PWM signal (that is, the second-phase low). A control for switching on / off of the fourth semiconductor switch Q4 may be performed complementarily to the third semiconductor switch Q3 by the side PWM signal). The V-phase low-side PWM signal in the second case has a duty with the V-phase high-side PWM signal of the set duty ratio so as to form a dead time in which the fourth semiconductor switch Q4 is not turned on at the same time as the third semiconductor switch Q3. This is a PWM signal with an adjusted ratio.

Further, in the second case, the control unit 10 switches the fifth semiconductor switch Q5 on / off by the W-phase high-side PWM signal of the set duty ratio, and also switches the W-phase low-side PWM signal (that is, the third-phase low). A control for switching on / off of the sixth semiconductor switch Q6 may be performed complementarily to the fifth semiconductor switch Q5 by the side PWM signal). The W-phase low-side PWM signal in the second case has a duty between the W-phase high-side PWM signal having a duty ratio set so as to form a dead time in which the sixth semiconductor switch Q6 is not turned on at the same time as the fifth semiconductor switch Q5. This is a PWM signal with an adjusted ratio.

More specifically, in the second case, the control unit 10 switches the on / off of the second semiconductor switch Q2 by the U-phase low-side PWM signal during the first to fourth energization periods, while energizing the second and third energization units. Control to switch on / off of the first semiconductor switch Q1 may be performed by the U-phase high side PWM signal during the period.

Further, in the second case, the control unit 10 switches the on / off of the fourth semiconductor switch Q4 by the V-phase low-side PWM signal during the third to sixth energization periods, and V during the fourth and fifth energization periods. Control to switch on / off of the third semiconductor switch Q3 may be performed by the phase high side PWM signal.

Further, in the second case, the control unit 10 sends the W-phase low-side PWM signal to the sixth semiconductor switch Q6 during the first and second energization periods of the next cycle following the fifth and sixth energization periods and the sixth energization period. The fifth semiconductor switch Q5 may be controlled to be turned on / off by the W-phase high-side PWM signal during the sixth energizing period and the first energizing period of the next cycle while switching the on / off of.

By the control in such a second case, 120 ° energization is performed.

Further, the control unit 10 has a third detection speed equal to or higher than the first reference speed, slower than the preset second reference speed, and a set duty ratio lower than the preset second reference duty ratio. In the case of, the drive control of the motor 3 may be performed by the trapezoidal energization waveform.

The drive control of the motor 3 by the trapezoidal energization waveform was adjusted so as to gradually increase up to the set duty ratio, maintain the set duty ratio after the increase, and gradually decrease from the set duty ratio after the maintenance. The first semiconductor switch Q1 is switched on / off by the U-phase high-side PWM signal of the adjustment duty ratio, and the second semiconductor switch Q2 is turned on complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal. It may include a control to switch on / off. The U-phase low-side PWM signal in the third case has a duty with the U-phase high-side PWM signal having an adjustment duty ratio so as to form a dead time in which the second semiconductor switch Q2 is not turned on at the same time as the first semiconductor switch Q1. This is a PWM signal with an adjusted ratio. Further, the drive control of the motor 3 by the trapezoidal energization waveform switches the on / off of the third semiconductor switch Q3 by the V-phase high-side PWM signal of the adjustment duty ratio, and the third semiconductor by the V-phase low-side PWM signal. A control for switching on / off of the fourth semiconductor switch Q4 in a complementary manner to the switch Q3 may be included. The V-phase low-side PWM signal in the third case has a duty with the V-phase high-side PWM signal having an adjustment duty ratio so as to form a dead time in which the fourth semiconductor switch Q4 is not turned on at the same time as the third semiconductor switch Q3. This is a PWM signal with an adjusted ratio.

Further, the drive control of the motor 3 by the trapezoidal energization waveform switches the fifth semiconductor switch Q5 on / off by the W phase high side PWM signal of the adjustment duty ratio, and the fifth semiconductor by the W phase low side PWM signal. A control for switching on / off of the sixth semiconductor switch Q6 may be included in a complementary manner to the switch Q5. The W-phase low-side PWM signal in the third case has a duty with the W-phase high-side PWM signal having an adjustment duty ratio so as to form a dead time in which the sixth semiconductor switch Q6 is not turned on at the same time as the fifth semiconductor switch Q5. This is a PWM signal with an adjusted ratio.

More specifically, in the third case, the control unit 10 switches the first semiconductor switch Q1 on / off by the U-phase high-side PWM signal during the first to fourth energization periods, and the U-phase low-side PWM signal. The second semiconductor switch Q2 may be controlled to be turned on / off.

Further, in the third case, the control unit 10 switches the third semiconductor switch Q3 on / off by the V-phase high-side PWM signal during the third to sixth energization periods, and the fourth by the V-phase low-side PWM signal. Control may be performed to switch the semiconductor switch Q4 on / off.

Further, in the third case, the control unit 10 uses the W-phase high-side PWM signal to switch the fifth semiconductor switch during the first and second energization periods of the next cycle following the fifth and sixth energization periods and the sixth energization period. The on / off of Q5 may be switched, and the on / off of the sixth semiconductor switch Q6 may be controlled by the W-phase low-side PWM signal.

By the control in such a third case, 180 ° energization in which a phase current is passed during an energization period corresponding to an electric angle of 180 ° is performed.

Further, in the third case, the adjustment duty ratio of the U-phase high side PWM signal is gradually increased to the set duty ratio during the first energization period, and is maintained at the set duty ratio during the second and third energization periods. The duty ratio may be gradually reduced from the set duty ratio during the fourth energization period.

Further, in the third case, the adjustment duty ratio of the V-phase high side PWM signal is gradually increased to the set duty ratio during the third energization period, and maintained at the set duty ratio during the fourth and fifth energization periods. During the sixth energization period, the duty ratio may be gradually reduced from the set duty ratio.

Further, in the third case, the adjustment duty ratio of the W phase high side PWM signal is gradually increased to the set duty ratio in the fifth energization period, and the set duty is set in the sixth energization period and the first energization period of the next cycle. The ratio may be maintained and gradually decreased from the set duty ratio during the second energization period of the next cycle.

Further, in the control unit 10, the detection speed is equal to or higher than the first reference speed and slower than the second reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio, and the preset third reference duty ratio is set. In the fourth case, the detection speed is lower than the second reference speed, slower than the preset third reference speed, and the set duty ratio is lower than the third reference duty ratio. The first semiconductor switch Q1 is switched on / off by the U-phase high-side PWM signal of the set duty ratio, and the second semiconductor switch Q2 is turned on complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal. Control to switch between / off may be performed. The U-phase low-side PWM signal in the fourth case has a duty with the U-phase high-side PWM signal having a duty ratio set so as to form a dead time in which the second semiconductor switch Q2 is not turned on at the same time as the first semiconductor switch Q1. This is a PWM signal with an adjusted ratio.

Further, in the fourth case, the control unit 10 switches on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal of the set duty ratio, and the third semiconductor switch Q3 by the V-phase low-side PWM signal. The fourth semiconductor switch Q4 may be controlled to be turned on / off in a complementary manner. The V-phase low-side PWM signal in the fourth case has a duty with the V-phase high-side PWM signal of the set duty ratio so as to form a dead time in which the fourth semiconductor switch Q4 is not turned on at the same time as the third semiconductor switch Q3. This is a PWM signal with an adjusted ratio.

Further, in the fourth case, the control unit 10 switches the fifth semiconductor switch Q5 on / off by the W-phase high-side PWM signal of the set duty ratio, and the fifth semiconductor switch Q5 by the W-phase low-side PWM signal. The sixth semiconductor switch Q6 may be controlled to be turned on / off in a complementary manner. The W-phase low-side PWM signal in the fourth case has a duty between the W-phase high-side PWM signal and the W-phase high-side PWM signal having a duty ratio set so as to form a dead time in which the sixth semiconductor switch Q6 is not turned on at the same time as the fifth semiconductor switch Q5. This is a PWM signal with an adjusted ratio.

More specifically, in the fourth case, the control unit 10 switches the first semiconductor switch Q1 on / off by the U-phase high-side PWM signal during the first to third energization periods, and the U-phase low-side PWM signal. The second semiconductor switch Q2 may be controlled to be turned on / off.

Further, in the fourth case, the control unit 10 switches the third semiconductor switch Q3 on / off by the V-phase high-side PWM signal during the third to fifth energization periods, and the fourth by the V-phase low-side PWM signal. Control may be performed to switch the semiconductor switch Q4 on / off.

Further, in the fourth case, the control unit 10 turns on the fifth semiconductor switch Q5 by the W-phase high-side PWM signal during the first energization period of the next cycle following the fifth and sixth energization periods and the sixth energization period. You may control to switch on / off of the sixth semiconductor switch Q6 by switching / off and the W-phase low side PWM signal.

By the control in such a fourth case, 180 ° energization is performed.

Further, in the control unit 10, the detection speed is equal to or higher than the first reference speed and slower than the third reference speed, the set duty ratio is equal to or higher than the third reference duty ratio, or the detection speed is the third reference speed. In the fifth case as described above, control for switching on / off of the first semiconductor switch Q1 may be performed by the U-phase high side PWM signal of the set duty ratio while turning off the second semiconductor switch Q2.

Further, in the fifth case, the control unit 10 may control to switch the third semiconductor switch Q3 on / off by the V-phase high side PWM signal of the set duty ratio while turning off the fourth semiconductor switch Q4. ..

Further, in the fifth case, the control unit 10 may control to switch the fifth semiconductor switch Q5 on / off by the W phase high side PWM signal of the set duty ratio while turning off the sixth semiconductor switch Q6. ..

More specifically, in the fifth case, the control unit 10 turns on / off the first semiconductor switch Q1 by the U-phase high side PWM signal while turning off the second semiconductor switch Q2 during the first to third energization periods. You may perform control to switch.

Further, in the fifth case, the control unit 10 controls to switch the third semiconductor switch Q3 on / off by the V-phase high side PWM signal while turning off the fourth semiconductor switch Q4 during the third to fifth energization periods. May be done.

Further, in the fifth case, the control unit 10 turns off the sixth semiconductor switch Q6 during the first energization period of the next cycle following the fifth and sixth energization periods and the sixth energization period, and the W phase high side PWM. Control to switch on / off of the fifth semiconductor switch Q5 may be performed by a signal.

By the control in such a fifth case, 180 ° energization is performed.

Further, in controlling the semiconductor switches Q1 to Q6 in the first to fifth cases described above, the control unit 10 is a torque map showing the correspondence relationship between the rotation speed of the rotor 3r, the accelerator operation amount, and the torque of the motor 3. The target torque corresponding to the detection speed and the accelerator operation amount may be set based on the above. Then, the control unit 10 sets the detection speed and the duty ratio corresponding to the set target torque as the set duty ratio based on the duty ratio map showing the correspondence relationship between the rotor rotation speed, the target torque, and the duty ratio. It may be set.

(Control method for electric motorcycle 100)
Hereinafter, the control method of the electric motorcycle 100 according to the first embodiment will be described as an example of the control method of the drive device with reference to the flowchart of FIG. The flowchart of FIG. 5 is repeated as necessary.

First, the control unit 10 detects the accelerator operation amount based on the detection signal of the accelerator position sensor 5 (step S1).

Further, the control unit 10 detects the rotor rotation speed based on the detection signal of the angle sensor 4 (step S2).

After detecting the accelerator operation amount and the rotor rotation speed, the control unit 10 sets the target torque based on the detected accelerator operation amount and the detected rotor rotation speed (that is, also referred to as the detection speed) (step S3). ).

Specifically, as shown in FIG. 6, the control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotor rotation speed with reference to the torque map.

As shown in FIG. 7, the torque map is a map showing the correspondence between the rotor rotation speed, the accelerator operating amount, and the target torque. The torque map may be stored in the storage unit 20 in a state in which the control unit 10 can read it.

After setting the target torque, as shown in FIG. 5, the control unit 10 sets the duty ratio based on the detection speed and the set target torque (step S4).

Specifically, as shown in FIG. 6, the control unit 10 sets the duty ratio by acquiring the duty ratio corresponding to the detection speed and the target torque with reference to the duty ratio map. As shown in FIG. 8, the duty ratio map is a map showing the correspondence between the rotor rotation speed, the target torque, and the duty ratio. The duty ratio map may be stored in the storage unit 20 in a state in which the control unit 10 can read it.

After setting the duty ratio, as shown in FIG. 5, the control unit 10 determines whether or not the detection speed is equal to or higher than the preset first reference speed (step S5).

When the detection speed is not equal to or higher than the first reference speed (step S5: No), the control unit 10 determines whether or not the set duty ratio is equal to or higher than the preset first reference duty ratio (step S6).

<120 ° upper and lower square wave PWM control>
When the set duty ratio is not equal to or greater than the first reference duty ratio (step S6: No), the control unit 10 uses the energization method of the first region R1 (that is, the second case) shown in FIGS. 9A and 9B. The 120 ° upper and lower stage rectangular wave PWM control is executed (step S11).

The 120 ° upper and lower stage rectangular wave PWM control produces a substantially rectangular energization waveform with PWM control for both the upper stage, that is, the high-side semiconductor switches Q1, Q3, Q5 and the lower stage, that is, the low-side semiconductor switches Q2, Q4, Q6. The resulting 120 ° energization.

As shown in FIG. 10, in the 120 ° upper and lower stage rectangular wave PWM control, the energization stages Nos. 1 to 6 having an electric angle of 60 °, which are periodically set according to the motor stages Nos. 1 to 6. (That is, in the continuous energization stage No. 1 and No. 2 (that is, the second and third energization periods), the first semiconductor switch Q1 is turned on by the U-phase high side PWM signal of the set duty ratio. Controls to switch between / off.

Further, in the 120 ° upper and lower stage rectangular wave PWM control, the U-phase high-side PWM signal is used so as to form a dead time in the continuous 6th to 3rd energization stages (that is, the 1st to 4th energization periods). The U-phase low-side PWM signal whose duty ratio is adjusted between the two is used to control the on / off of the second semiconductor switch Q2 in a complementary manner to the first semiconductor switch Q1.

Since the first semiconductor switch Q1 is turned off in the 6th and 3rd energization stages, it is strictly speaking that the on / off of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1. It is the 1st and 2nd energization stages of the 6th to 3rd energization stages that are continuous.

Further, the high-side semiconductor switch Q1 corresponds to the high level of the signal in the on state, whereas the low-side semiconductor switch Q2 corresponds to the low level of the signal in the on state. Therefore, FIG. 10 shows the high-side PWM. The signal is shown as "Hi Active" and the low side PWM signal is shown as "Lo Active".

Further, as shown in FIG. 11 in which the broken line frame portion in FIG. 10 is enlarged, the U-phase low-side PWM signal forms a dead time Dt that does not turn on the second semiconductor switch Q2 at the same time as the first semiconductor switch Q1. The duty ratio is adjusted with the U-phase high-side PWM signal.

Further, as shown in FIG. 10, in the 120 ° upper and lower stage rectangular wave PWM control, the V-phase high of the set duty ratio is set in the continuous 3rd and 4th energization stages (that is, the 4th and 5th energization periods). The third semiconductor switch Q3 is controlled to be turned on / off by the side PWM signal. Further, in the 120 ° upper and lower stage rectangular wave PWM control, the V-phase high-side PWM signal is used so as to form a dead time in the continuous 2nd to 5th energization stages (that is, the 3rd to 6th energization periods). By the V-phase low-side PWM signal whose duty ratio is adjusted between the two, the third semiconductor switch Q3 is complementarily controlled to switch on / off the fourth semiconductor switch Q4.

Further, in the 120 ° upper and lower square wave PWM control, the W phase high side PWM of the set duty ratio is performed in the continuous 5th and 6th energization stages (that is, the 6th energization period and the 1st energization period of the next cycle). The fifth semiconductor switch Q5 is controlled to be turned on / off by a signal.

Further, in the 120 ° upper and lower stage rectangular wave PWM control, the dead time is set in the continuous 4th to 1st energization stages (that is, the 5th and 6th energization periods and the 1st and 2nd energization periods of the next cycle). The W-phase low-side PWM signal whose duty ratio is adjusted with the W-phase high-side PWM signal so as to form switches the sixth semiconductor switch Q6 on / off in a complementary manner to the fifth semiconductor switch Q5. Take control.

The first semiconductor switch Q1 is turned off in the energizing stages other than No. 1 and No. 2. The second semiconductor switch Q2 is turned off in the energizing stages other than Nos. 6 to 3. The third semiconductor switch Q3 is turned off in the energizing stages other than No. 3 and No. 4. The fourth semiconductor switch Q4 is turned off in the energizing stages other than Nos. 2 to 5. The fifth semiconductor switch Q5 is turned off in the energizing stages other than the 5th and 6th. The sixth semiconductor switch Q6 is turned off in the energizing stages other than Nos. 4 to 1.

The energizing stage may have a deviation of an angle set according to the target torque and the motor rotation speed with respect to the motor stage.

According to the 120 ° upper and lower stage rectangular wave PWM control as described above, when the rotor 3r is rotating at a low speed, the starting characteristics can be improved by energizing the rotor 3r at 120 °. Further, the penetration current can be prevented by PWM-controlling the low-side switches Q2, Q4, and Q6 so that a dead time is formed between the high-side switches Q1, Q3, and Q5.

<120 ° upper square wave PWM control>
As shown in FIG. 5, when the set duty ratio is equal to or greater than the first reference duty ratio (step S6: Yes), the control unit 10 controls the second region R2 (that is, the first) shown in FIGS. 9A and 9B. In the case of), 120 ° upper rectangular wave PWM control is executed as the energization method (step S12).

The 120 ° upper rectangular wave PWM control is a 120 ° energization that produces a substantially rectangular energization waveform accompanied by PWM control only to the high-side semiconductor switches Q1, Q3, and Q5.

As shown in FIG. 12, in the 120 ° upper rectangular wave PWM control, the U-phase high-side PWM signal of the set duty ratio is used in the continuous No. 1 and No. 2 energization stages (that is, the second and third energization periods). Controls to switch the first semiconductor switch Q1 on / off.

Further, in the 120 ° upper rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the continuous 6th to 3rd energization stages (that is, the 1st to 4th energization periods).

Further, in the 120 ° upper square wave PWM control, in the continuous 3rd and 4th energization stages (that is, the 4th and 5th energization periods), the third semiconductor switch is generated by the V-phase high side PWM signal of the set duty ratio. Control to switch Q3 on / off.

Further, in the 120 ° upper rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously turned off in the continuous second to fifth energization stages (that is, the third to sixth energization periods).

Further, in the 120 ° upper square wave PWM control, the W phase high side PWM signal of the set duty ratio is used in the continuous 5th and 6th energization stages (that is, the 6th energization period and the 1st energization period of the next cycle). Controls to switch the fifth semiconductor switch Q5 on / off.

Further, in the 120 ° upper rectangular wave PWM control, the sixth semiconductor switch is used in the continuous fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle). Control keeps Q6 off.

According to the 120 ° upper rectangular wave PWM control as described above, when the set duty ratio is high, the low side switches Q2, Q4 and Q6 are turned off and the PWM control is performed only on the high side switches Q1, Q3 and Q5. By doing so, it is not necessary to adjust the duty ratios of the PWM signals of each other so that a dead time is formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

As a result, the duty ratio of the high-side PWM signal can be sufficiently increased, so that the utilization rate of the charging voltage charged in the battery 2 can be improved and the torque as large as possible can be output. Become.

<180 ° upper and lower trapezoidal wave PWM control>
As shown in FIG. 5, when the detection speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether or not the detection speed is equal to or higher than the second reference speed (step S7). ..

When the detection speed is not equal to or higher than the second reference speed (step S7: No), the control unit 10 determines whether or not the set duty ratio is equal to or higher than the second reference duty ratio (step S8).

When the set duty ratio is not equal to or greater than the second reference duty ratio (step S8: No), the control unit 10 uses the energization method of the third region R3 (that is, the third case) shown in FIGS. 9A and 9B. 180 ° upper and lower trapezoidal wave PWM control is executed (step S13).

The 180 ° upper and lower trapezoidal wave PWM control produces a substantially trapezoidal energization waveform with PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6. Is.

As shown in FIG. 13, in the 180 ° upper and lower trapezoidal wave PWM control, the U-phase high side PWM of the adjustment duty ratio is performed in the continuous 6th to 3rd energization stages (that is, the 1st to 4th energization periods). Control is performed to switch on / off the first semiconductor switch Q1 by a signal. More specifically, in the 6th energization stage, it gradually increases to the set duty ratio, is maintained at the set duty ratio in the 1st and 2nd energization stages, and gradually increases from the set duty ratio in the 3rd energization stage. The first semiconductor switch Q1 is controlled to be turned on / off by a U-phase high-side PWM signal having a duty ratio that decreases.

As shown in FIG. 14 in which the broken line frame portion in FIG. 13 is enlarged, the PWM signal is generated for each carrier period due to the triangular wave based on the triangular wave generated by the control unit 10. In the sixth energization stage in which the U-phase trapezoidal wave rises, the duty ratio of the U-phase PWM signal gradually increases with the passage of time. Further, although not shown, the duty ratio of the U-phase PWM signal gradually decreases with the passage of time in the third energization stage in which the U-phase trapezoidal wave falls.

Further, as shown in FIG. 13, in the 180 ° upper and lower trapezoidal wave PWM control, the duty between the U-phase high-side PWM signal and the U-phase high-side PWM signal is formed so as to form a dead time in the continuous energization stages 6 to 3. The U-phase low-side PWM signal whose ratio is adjusted is used to control the on / off of the second semiconductor switch Q2 in a complementary manner to the first semiconductor switch Q1.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, in the continuous second to fifth energization stages (that is, the third to sixth energization periods), the third semiconductor is generated by the V-phase high side PWM signal of the adjustment duty ratio. Controls to switch the switch Q3 on / off. More specifically, in the second energization stage, the duty ratio is gradually increased to the set duty ratio, and in the third and fourth energization stages, the set duty ratio is maintained, and in the fifth energization stage, the set duty ratio is gradually increased. Control is performed to switch on / off the third semiconductor switch Q3 by a V-phase high-side PWM signal having a duty ratio that decreases.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, the duty ratio is adjusted between the V phase and the high side PWM signal so as to form a dead time in the continuous energization stages 2 to 5. The low-side PWM signal complementarily controls the third semiconductor switch Q3 to switch on / off the fourth semiconductor switch Q4.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, the adjustment duty ratio is adjusted in the continuous 4th to 1st energization stages (that is, the 5th and 6th energization periods and the 1st and 2nd energization periods of the next cycle). The fifth semiconductor switch Q5 is controlled to be turned on / off by the W-phase high-side PWM signal of. More specifically, in the 4th energization stage, it gradually increases to the set duty ratio, is maintained at the set duty ratio in the 5th and 6th energization stages, and gradually increases from the set duty ratio in the 1st energization stage. The fifth semiconductor switch Q5 is controlled to be turned on / off by a W-phase high-side PWM signal having a duty ratio that decreases.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, the duty ratio is adjusted between the W phase and the high side PWM signal so as to form a dead time in the continuous 4th to 1st energization stages. The low-side PWM signal complementarily controls the fifth semiconductor switch Q5 to switch on / off the sixth semiconductor switch Q6.

According to the 180 ° upper and lower trapezoidal wave PWM control as described above, ripple can be suppressed by gently raising and lowering the energization waveform.

<180 ° upper and lower square wave PWM control>
As shown in FIG. 5, when the detection speed is equal to or higher than the second reference speed (step S7: Yes), the control unit 10 determines whether or not the detection speed is equal to or higher than the third reference speed (step S9). ..

When the detection speed is not equal to or higher than the third reference speed (step S9: No), or when the set duty ratio is equal to or higher than the second reference duty ratio (step S8: Yes), the control unit 10 has a set duty ratio of the third. It is determined whether or not the duty ratio is equal to or greater than the reference duty ratio (step S10).

When the set duty ratio is not equal to or greater than the third reference duty ratio (step S10: No), the control unit 10 uses the energization method of the fourth region R4 (that is, the fourth case) shown in FIGS. 9A and 9B. 180 ° upper and lower stage rectangular wave PWM control is executed (step S14).

In the example of FIG. 9B, the third reference duty ratio corresponds to the first reference duty ratio. The third reference duty ratio may be different from the first reference duty ratio.

The 180 ° upper and lower square wave PWM control produces a substantially rectangular energization waveform with PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6. Is.

As shown in FIG. 15, in the 180 ° upper and lower stage rectangular wave PWM control, the U-phase high side PWM of the set duty ratio is performed in the continuous 1st to 3rd energization stages (that is, the 1st to 3rd energization periods). Control is performed to switch on / off the first semiconductor switch Q1 by a signal.

Further, in the 180 ° upper and lower stage rectangular wave PWM control, the duty ratio is adjusted between the U phase and the high side PWM signal so as to form a dead time in the continuous energization stages 1 to 3. The low-side PWM signal is used to control the on / off of the second semiconductor switch Q2 in a complementary manner to the first semiconductor switch Q1.

Further, in the 180 ° upper and lower stage rectangular wave PWM control, in the continuous 3rd to 5th energization stages (that is, the 3rd to 5th energization periods), the third semiconductor is generated by the V-phase high side PWM signal of the set duty ratio. Controls to switch the switch Q3 on / off.

Further, in the 180 ° upper and lower stage rectangular wave PWM control, the duty ratio is adjusted between the V phase and the high side PWM signal so as to form a dead time in the continuous energization stages 3 to 5. The low-side PWM signal complementarily controls the third semiconductor switch Q3 to switch on / off the fourth semiconductor switch Q4.

Further, in the 180 ° upper and lower stage rectangular wave PWM control, the W phase of the set duty ratio is used in the continuous 5th to 1st energization stages (that is, the 5th and 6th energization periods and the 1st energization period of the next cycle). The high-side PWM signal is used to control the fifth semiconductor switch Q5 to be turned on / off.

Further, in the 180 ° upper and lower stage rectangular wave PWM control, the duty ratio is adjusted between the W phase and the high side PWM signal so as to form a dead time in the continuous 5th to 1st energization stages. The low-side PWM signal complementarily controls the fifth semiconductor switch Q5 to switch on / off the sixth semiconductor switch Q6.

According to the 180 ° upper and lower square wave PWM control as described above, when the rotor 3r rotates at a high speed, the power supply voltage is used by energizing the rotor 3r so that torque can be appropriately applied to the rotating rotor 3r. The rate can be increased to obtain a sufficiently large torque. Further, the penetration current can be prevented by PWM-controlling the low-side switches Q2, Q4, and Q6 so that a dead time is formed between the high-side switches Q1, Q3, and Q5.

<180 ° upper square wave PWM control>
As shown in FIG. 5, when the detection speed is equal to or higher than the third reference speed (step S9: Yes), or when the set duty ratio is equal to or higher than the third reference duty ratio (step S10: Yes), the control unit 10 Performs 180 ° upper rectangular wave PWM control as an energization method for the fifth region R5 (that is, the fifth case) shown in FIGS. 9A and 9B (step S15).

The 180 ° upper rectangular wave PWM control is 180 ° energization that produces a substantially rectangular energization waveform accompanied by PWM control only to the high-side semiconductor switches Q1, Q3, and Q5.

As shown in FIG. 16, in the 180 ° upper rectangular wave PWM control, the U-phase high-side PWM signal of the set duty ratio is used in the continuous 1st to 3rd energization stages (that is, the 1st to 3rd energization periods). Controls to switch the first semiconductor switch Q1 on / off.

Further, in the 180 ° upper rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the continuous energization stages 1 to 3.

Further, in the 180 ° upper square wave PWM control, in the continuous 3rd to 5th energization stages (that is, the 3rd to 5th energization periods), the third semiconductor switch is generated by the V-phase high side PWM signal of the set duty ratio. Control to switch Q3 on / off.

Further, in the 180 ° upper rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously turned off in the continuous energization stages 3 to 5.

Further, in the 180 ° upper rectangular wave PWM control, the W phase high of the set duty ratio is set in the continuous 5th to 1st energization stages (that is, the 5th and 6th energization periods and the 1st energization period of the next cycle). The control to switch the fifth semiconductor switch Q5 on / off is performed by the side PWM signal.

Further, in the 180 ° upper rectangular wave PWM control, the sixth semiconductor switch Q6 is continuously turned off in the continuous 5th to 1st energization stages.

According to the 180 ° upper square wave PWM control as described above, when the set duty ratio is high, the low side switches Q2, Q4, and Q6 are turned off and the high side is turned off, as in the case of the 120 ° upper square wave PWM control. By performing PWM control only on the switches Q1, Q3, and Q5 of, the PWM signals of each other so that a dead time is formed between the high-side switches Q1, Q3, and Q5 and the low-side switches Q2, Q4, and Q6. It is no longer necessary to adjust the duty ratio of.

As a result, the duty ratio of the high-side PWM signal can be sufficiently increased, so that the utilization rate of the battery 2 can be improved and the torque as large as possible can be output.

As described above, in the first embodiment, the control unit 10 controls the detection speed and the rotation of the motor 3 while the detection speed by the rotation speed detection unit 4 is slower than the preset first reference speed. In the first case where the set duty ratio set based on the user operation amount (accelerator operation amount) is equal to or greater than the preset first reference duty ratio, the second switch Q2 is turned off. The control to switch the 1st switch Q1 on / off by the 1st phase high side PWM signal of the set duty ratio, and the 3rd switch Q3 by the 2nd phase high side PWM signal of the set duty ratio while turning off the 4th switch Q4. Control to switch on / off and control to switch on / off of the fifth switch Q5 by the third phase high side PWM signal of the set duty ratio while turning off the sixth switch Q6 are performed.

As a result, the duty ratio of the high-side PWM signal can be sufficiently increased, so that the utilization rate of the battery 2 can be improved and the torque as large as possible can be output.

(Second Embodiment)
Next, the electric motorcycle 100 according to the second embodiment will be described with reference to FIG. In the first embodiment, the configuration in which the control unit 10 performs 180 ° upper and lower trapezoidal wave PWM control has been described.

In the second embodiment, the control unit 10 sets the cycle T1 of increasing and decreasing the duty ratio during the rise and fall periods of the trapezoidal wave to be longer than the carrier cycle T2 of the PWM signal by the triangular wave.

According to such a configuration, the processing load of PWM control can be reduced.

At least a part of the electric vehicle control device 1 described in the above-described embodiment may be configured by hardware or software. When configured by software, a program that realizes at least a part of the functions of the electric vehicle control device 1 may be stored in a recording medium such as a flexible disk or a CD-ROM, read by a computer, and executed. The recording medium is not limited to a removable one such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk device or a memory.

Further, a program that realizes at least a part of the functions of the electric vehicle control device 1 may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be encrypted, modulated, compressed, and distributed via a wired line or wireless line such as the Internet, or stored in a recording medium.

Based on the above description, those skilled in the art may be able to conceive of additional effects and various modifications of the present invention, but aspects of the present invention are not limited to the individual embodiments described above. .. Components across different embodiments may be combined as appropriate. Various additions, changes and partial deletions are possible without departing from the conceptual idea and purpose of the present invention derived from the contents defined in the claims and their equivalents.

1 Electric vehicle control device 2 Battery 3 Motor 4 Angle sensor 10 Control unit

Claims (15)

A first switch with one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor.
A second switch with one end connected to the first output terminal and the other end connected to the ground terminal.
A third switch, one end connected to the power supply terminal and the other end connected to the second output terminal to the second phase coil of the motor.
A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal.
A fifth switch, one end connected to the power supply terminal and the other end connected to the third output terminal to the third phase coil of the motor.
A sixth switch with one end connected to the third output terminal and the other end connected to the ground terminal.
A rotation speed detection unit that detects the rotation speed of the rotor of the motor,
A control unit that controls the drive of the motor by controlling the first to sixth switches is provided.
The control unit
The detection speed by the rotation speed detection unit is slower than the first preset reference speed, and the set duty ratio is set based on the detection speed and the user operation amount for controlling the rotation of the motor. However, in the first case where the duty ratio is equal to or higher than the preset first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
A drive device characterized in that while the sixth switch is turned off, control for switching on / off of the fifth switch is performed by a third phase high-side PWM signal of the set duty ratio. The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the first case, the second switch is turned off during the first to fourth energizing periods, and the first switch is switched on / off during the second and third energizing periods. While turning off the 4th switch during the 3rd to 6th energization periods, control is performed to switch on / off the 3rd switch during the 4th and 5th energization periods, and the 5th and 6th energization periods and the 6th energization period are performed. Control to switch on / off the fifth switch during the sixth energization period and the first energization period of the next cycle while turning off the sixth switch during the first and second energization periods of the next cycle following the energization period. The drive device according to claim 1, wherein 120 ° energization is performed in which a phase current flows during an energization period corresponding to an electric angle of 120 °. The control unit
In the second case where the detection speed is slower than the first reference speed and the set duty ratio is lower than the first reference duty ratio,
The first phase high is switched on / off by the first phase high side PWM signal of the set duty ratio, and the first phase high is formed so as to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the first phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the set duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. The third-phase low-side PWM signal whose duty ratio is adjusted with that of the side PWM signal is used to perform control for switching on / off of the sixth switch in a complementary manner to the fifth switch. The drive device according to claim 1. The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the second case, control is performed to switch on / off of the first switch during the second and third energization periods while switching on / off of the second switch during the first to fourth energization periods. Controls to switch the third switch on / off during the fourth and fifth energization periods while switching the on / off of the fourth switch during the third to sixth energization periods, and to perform the control to switch the third switch on / off during the fourth and fifth energization periods. The fifth energization period and the first energization period of the next cycle while switching on / off of the sixth switch during the energization period and the first and second energization periods of the next cycle following the sixth energization period. The drive device according to claim 3, wherein by controlling the switch on / off, 120 ° energization is performed in which a phase current flows during an energization period corresponding to an electric angle of 120 °. The control unit
In the third case, the detection speed is equal to or higher than the first reference speed, slower than the preset second reference speed, and the set duty ratio is lower than the preset second reference duty ratio. , The drive control of the motor is performed by the trapezoidal energization waveform.
The drive control is
The first phase high of the adjustment duty ratio adjusted to gradually increase to the set duty ratio, maintain the set duty ratio after the increase, and gradually decrease from the set duty ratio after the maintenance. The duty ratio with the first phase high side PWM signal so as to switch on / off of the first switch by the side PWM signal and to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the adjusted first phase low side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the adjustment duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the adjustment duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. It is characterized by including a control for switching on / off of the sixth switch in a complementary manner to the fifth switch by a third phase low side PWM signal whose duty ratio is adjusted with the side PWM signal. The drive device according to claim 1. The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the third case, on / off of the first switch and on / off of the second switch are controlled during the first to fourth energization periods, and during the third to sixth energization periods. The third switch is switched on / off and the four switches are controlled to be switched on / off, and the fifth and sixth energization periods and the first and second energization periods of the next cycle following the sixth energization period are performed. By controlling the on / off of the 5th switch and the on / off of the 6 switches, 180 ° energization is performed in which a phase current flows during an energization period corresponding to an electric angle of 180 °. The driving device according to claim 5. The adjustment duty ratio of the first phase high side PWM signal is gradually increased to the set duty ratio during the first energization period, and maintained at the set duty ratio during the second and third energization periods. During the 4th energization period, the duty ratio gradually decreases from the set duty ratio,
The adjustment duty ratio of the second phase high side PWM signal is gradually increased to the set duty ratio during the third energization period, and maintained at the set duty ratio during the fourth and fifth energization periods. During the sixth energization period, the duty ratio gradually decreases from the set duty ratio,
The adjustment duty ratio of the third phase high side PWM signal is gradually increased to the set duty ratio during the fifth energization period, and the set duty is increased during the sixth energization period and the first energization period of the next cycle. The drive device according to claim 6, wherein the drive device is maintained at a ratio and gradually decreases from the set duty ratio during the second energization period of the next cycle. The control unit
The detection speed is equal to or higher than the first reference speed and slower than the second reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio and is higher than the preset third reference duty ratio. In the fourth case where the detection speed is lower than the second reference speed, slower than the preset third reference speed, and the set duty ratio is lower than the third reference duty ratio. Is
The first phase high is switched on / off by the first phase high side PWM signal of the set duty ratio, and the first phase high is formed so as to form a dead time in which the second switch is not turned on at the same time as the first switch. Control to switch on / off of the second switch in a complementary manner to the first switch by the first phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The second phase high is switched on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high is formed so as to form a dead time in which the fourth switch is not turned on at the same time as the third switch. Control to switch on / off of the fourth switch in a complementary manner to the third switch by the second phase low side PWM signal whose duty ratio is adjusted with the side PWM signal.
The third phase high is switched on / off by the third phase high side PWM signal of the set duty ratio, and the third phase high is formed so as to form a dead time in which the sixth switch is not turned on at the same time as the fifth switch. The third-phase low-side PWM signal whose duty ratio is adjusted with that of the side PWM signal is used to perform control for switching on / off of the sixth switch in a complementary manner to the fifth switch. The drive device according to claim 5. The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the fourth case, on / off of the first switch and on / off of the two switches are controlled during the first to third energization periods, and during the third to fifth energization periods. The third switch is switched on / off and the fourth switch is controlled to be switched on / off, and the first energizing period of the next cycle following the fifth and sixth energizing periods and the sixth energizing period is performed. The claim is characterized in that 180 ° energization is performed in which a phase current flows during an energization period corresponding to an electric angle of 180 ° by controlling the on / off of the 5 switches and the on / off of the 6 switches. 8. The drive device according to 8. The control unit
The detection speed is equal to or higher than the first reference speed and slower than the third reference speed, and the set duty ratio is equal to or higher than the third reference duty ratio, or the detection speed is the third reference speed. In the fifth case above,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
The drive device according to claim 8, wherein the control for switching on / off of the fifth switch is performed by the third phase high-side PWM signal of the set duty ratio while turning off the sixth switch. The rotation speed detection unit has a plurality of angle sensors that detect the rotation angle of the rotor.
The control unit
A continuous first to sixth energization period corresponding to an electric angle of 60 ° is periodically set according to the detection angle by the angle sensor.
In the fifth case, control is performed to switch on / off the first switch while turning off the second switch during the first to third energization periods, and the third to fifth energization period. Control to switch on / off the third switch while turning off the 4 switches is performed, and the sixth switch is turned off during the first energization period of the next cycle following the fifth and sixth energization periods and the sixth energization period. The drive device according to claim 10, wherein 180 ° energization is performed in which a phase current flows during an energization period corresponding to an electric angle of 180 ° by performing control for switching on / off of the fifth switch. .. An electric vehicle equipped with a motor and a drive device.
The drive device
A first switch with one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor.
A second switch with one end connected to the first output terminal and the other end connected to the ground terminal.
A third switch, one end connected to the power supply terminal and the other end connected to the second output terminal to the second phase coil of the motor.
A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal.
A fifth switch, one end connected to the power supply terminal and the other end connected to the third output terminal to the third phase coil of the motor.
A sixth switch with one end connected to the third output terminal and the other end connected to the ground terminal.
A rotation speed detection unit that detects the rotation speed of the rotor of the motor,
A control unit that controls the drive of the motor by controlling the first to sixth switches is provided.
The control unit
The detection speed by the rotation speed detection unit is slower than the first preset reference speed, and the set duty ratio is set based on the detection speed and the user operation amount for controlling the rotation of the motor. However, in the first case where the duty ratio is equal to or higher than the preset first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
An electric vehicle characterized in that while the sixth switch is turned off, control for switching on / off of the fifth switch is performed by a third phase high-side PWM signal of the set duty ratio. The electric vehicle according to claim 12, wherein the user operation amount is an accelerator operation amount. The control unit
Based on the torque map showing the correspondence relationship between the rotation speed of the rotor, the accelerator operation amount, and the torque of the motor, the detection speed and the torque corresponding to the accelerator operation amount are set.
The duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio based on the duty ratio map showing the correspondence relationship between the rotor rotation speed, the torque, and the duty ratio. 13. The electric vehicle according to claim 13. One end is connected to the power supply terminal and the other end is connected to the first output terminal to the first phase coil of the motor, and one end is connected to the first output terminal and the other end is connected to the ground terminal. The second switch, one end connected to the power supply terminal, the other end connected to the second output terminal to the second phase coil of the motor, and one end connected to the second output terminal. A fourth switch whose other end is connected to the ground terminal and a fifth switch whose one end is connected to the power supply terminal and the other end is connected to the third output terminal to the third phase coil of the motor. A control method for a drive device including a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal.
Detecting the rotation speed of the rotor of the motor,
By controlling the first to sixth switches, the drive control of the motor is performed.
The drive control is
The detection speed of the rotor is slower than the preset first reference speed, and the set duty ratio set based on the detection speed and the user operation amount for controlling the rotation of the motor is set in advance. In the first case, which is equal to or greater than the set first reference duty ratio,
Control to switch on / off of the first switch by the first phase high side PWM signal of the set duty ratio while turning off the second switch.
Control to switch on / off of the third switch by the second phase high side PWM signal of the set duty ratio while turning off the fourth switch.
A method for controlling a drive device, which includes a control for switching on / off of the fifth switch by a third-phase high-side PWM signal of the set duty ratio while turning off the sixth switch.

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