KR20210003484A - Motor driving apparatus and method thereof - Google Patents

Abstract

The present invention relates to a motor driving apparatus and a control method thereof. According to an embodiment of the present invention, the motor driving apparatus comprises: a DC-stage capacitor to store direct current power; an inverter which has a plurality of switching elements, and converts the direct current power stored in the DC-stage capacitor into alternating current power to output the alternating current power to a motor; an output current detection unit to detect an output current outputted from the inverter to flow through the motor; and a control unit to control an operation of the inverter. The control unit outputs a switching control signal for controlling operations of the plurality of switching elements based on a triangular wave in a first section, and outputs the switching control signal based on a sawtooth wave in a second section. Accordingly, the rotating speed of the motor is increased by open loop control using a triangular wave in a low speed section where the rotating speed of the motor and the position of a rotor are difficult to detect accurately to improve the current control performance for the motor and the inverter, and the operation of the motor is controlled by a closed loop control using a sawtooth wave and the position of the rotor in a high speed section where the rotating speed of the motor is high to improve the speed control performance for the motor and the inverter. Other embodiments are possible.

Description

Motor driving device and its control method {MOTOR DRIVING APPARATUS AND METHOD THEREOF}

TECHNICAL FIELD The present invention relates to a motor driving apparatus and a control method thereof, and more particularly, to a motor driving apparatus capable of increasing inverter efficiency and a control method thereof.

The motor driving device is a device for driving a motor having a rotor for rotational motion and a stator wound around a coil. The motor driving device may be divided into a sensor type motor driving device using a sensor such as a Hall sensor and a sensorless type motor driving device without a sensor.

In the case of a general sensor type motor driving device such as prior art 1 (Korean Patent Publication No. 10-2014-0082747), it is possible to easily check the rotation speed of the motor or the position of the rotor of the motor through the Hall effect sensor.

On the other hand, a sensorless motor driving device such as prior art 2 (Korean Patent Publication No. 10-1635551) cannot check the rotation speed of the motor or the position of the rotor through the Hall effect sensor. The phase current flowing through the motor is detected based on the current flowing between the motors, and the rotational speed of the motor and the position of the rotor of the motor are detected through an operation based on the phase current.

As described above, in the case of the sensorless motor driving device, since the operation of the motor is controlled through various calculations based on the current flowing between the inverter and the motor, the calculation amount of the controller is larger than that of the sensor type motor driving device. There is a relatively difficult point to control the operation.

Nevertheless, for reasons of manufacturing cost reduction, etc., sensorless motor driving devices are widely used in recent years, and various studies have been conducted to improve inverter efficiency in sensorless motor driving devices and to drive more stable motors. Has become.

It is an object of the present invention to provide a motor driving apparatus capable of improving inverter efficiency and a control method thereof by controlling the operation of an inverter based on different carriers in a separate control section.

In addition, another object of the present invention is to provide a motor driving apparatus capable of driving a motor more stably and a control method thereof by providing a transient section between separate control sections.

In order to achieve the above object, the motor driving apparatus according to an embodiment of the present invention divides a section for controlling motor operation, and controls the operation of the motor based on a carrier wave of a triangular wave in the first section, and the second section The motor operation can be controlled based on the carrier wave of the sawtooth wave.

On the other hand, to achieve the above object, a motor driving apparatus according to an embodiment of the present invention includes a DC terminal capacitor for storing DC power, a plurality of switching elements, and converts DC power stored in the DC terminal capacitor into AC power The inverter outputs to the motor, an output current detection unit that detects an output current that is output from the inverter and flows through the motor, and a control unit that controls the operation of the inverter, and the control unit includes, in a first section, a plurality of switching based on a triangular wave A switching control signal for controlling the operation of the device may be output, and in a second period, a switching control signal may be output based on a sawtooth wave.

In order to achieve the above object, a control method of a motor driving apparatus according to an embodiment of the present invention includes, in a first section, a switching control signal for controlling the operation of a plurality of switching elements provided in the inverter based on a triangular wave. May include a first control operation for controlling the operation of the motor by outputting and, and a second control operation for controlling the operation of the motor by the controller outputting a switching control signal based on a sawtooth wave in a second section. .

According to various embodiments of the present invention, in a low-speed section where it is difficult to accurately detect the rotational speed of the motor and the position of the rotor, the operation of the motor is controlled through open loop control using a triangular wave having good current detection efficiency. , It is possible to improve the current control performance for inverters and motors.

In addition, according to various embodiments of the present invention, in a high-speed section in which the rotational speed of a motor is fast, a closed loop using a sawtooth wave can more accurately control the switching operation of the inverter in consideration of the position of the rotor compared to the triangular wave. By controlling the operation of the motor through loop) control, it is possible to improve speed control performance for the inverter and the motor.

In addition, according to various embodiments of the present invention, current flowing through the inverter and the motor can be more accurately and efficiently monitored using a triangular wave in a low-speed section, and damage to circuit elements due to the inflow of overcurrent can be more reliably prevented. I can.

In addition, according to various embodiments of the present invention, when controlling the operation of the inverter based on a sawtooth wave in a high-speed section, it is possible to more accurately control the switching operation of the inverter in consideration of the position of the rotor as compared to the triangular wave, Distortion of the waveform of the output current output from the inverter to the motor can be reduced.

In addition, according to various embodiments of the present invention, it is possible to control the operation of the inverter and the motor based on the voltage at both ends of the DC terminal resistance element, a sensor type motor driving device or a sensorless device having a plurality of resistance elements. Compared to the type of motor driving device, price competitiveness can be increased.

1 is an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present invention.
2A is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention, and FIG. 2B is an example of an internal block diagram of an inverter controller according to an embodiment of the present invention.
3 is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention.
4 is a diagram illustrating a flow chart of a method for controlling a motor driving apparatus according to an embodiment of the present invention.
5 is a diagram referred to for a description of a switching operation of an inverter in relation to an operation description of the motor driving apparatus according to an embodiment of the present invention.
6 and 7 are diagrams referenced for description of carrier waves in connection with the description of the operation of the motor driving apparatus according to an embodiment of the present invention.
8A to 8C are diagrams illustrating a vacuum cleaner, which is an example of a home appliance including a motor driving device according to an embodiment of the present invention.
9 is a diagram illustrating various home appliances including a motor driving device according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the drawings. In the drawings, in order to clearly and briefly describe the present invention, the illustration of parts not related to the description is omitted, and the same reference numerals are used for identical or extremely similar parts throughout the specification.

The suffixes "module" and "unit" for the constituent elements used in the following description are given in consideration of only the ease of writing in the present specification, and do not impart a particularly important meaning or role by themselves. Therefore, the "module" and "unit" may be used interchangeably with each other.

In the present application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or additional possibility of additions or numbers, steps, actions, components, parts, or combinations thereof, is not preliminarily excluded.

In addition, in this specification, terms such as first and second may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

In the drawings, the thickness, size, and graph of each component may be exaggerated, omitted, or schematically illustrated for convenience and clarity of description.

1 is an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the motor driving device 200 includes, for example, a power supply unit 210, a motor driving unit 220, a motor 230, an input unit 240, an output unit 250, and/or a control unit. It may include 260.

The power supply unit 210 may supply power to, for example, the motor driving device 200.

The power supply unit 210 may convert AC power input from a commercial AC power source into DC power and supply it as power of the motor driving apparatus 200. For example, the power supply unit 210 may include a converter (not shown), and may convert AC power into DC power through the converter.

The power supply unit 210 may include, for example, a battery 215 that stores DC power. For example, the power supply unit 210 may supply DC power stored in the battery 215 as power of the motor driving apparatus 200.

The power supply unit 210 may convert commercial AC power into DC power and store it in the battery 215, for example.

The power supply unit 210 may further include a DC terminal capacitor (not shown), and may store the DC power converted through the converter and/or the DC power supplied from the battery 215 in the DC terminal capacitor.

The motor driving unit 220 may drive the motor 230, for example. For example, the motor driving unit 220 may drive the motor 230 based on power supplied from the power supply unit 210.

The motor driving unit 220 includes, for example, an inverter (not shown) that includes a plurality of switching elements and converts and outputs DC power to AC power of a predetermined frequency through an on/off operation of the switching element. In addition, AC power output from the inverter may be supplied to the motor 230.

The motor driving unit 220 may include, for example, a current detection unit (not shown) that detects a current flowing through each component of the motor driving device 200 and/or a voltage detection unit (not shown) that detects a voltage applied to each component. It may further include.

The current detection unit may include, for example, a current sensor, a current transformer (CT), a shunt resistor, etc. for current detection, and the detected current may be input to the controller 260.

The voltage detector may include, for example, a resistance element, an operational amplifier (op-amp), or the like for voltage detection, and the detected voltage may be input to the controller 260.

The motor 230 may be driven, for example, according to power supplied from the motor driving unit 220.

The motor 230 may be driven according to, for example, AC power having a predetermined frequency supplied from the motor driving unit 220. For example, the operation of the motor 230 may be changed according to the size and/or frequency of the power supplied from the motor driving unit 220.

The motor 230 is, for example, a Surface-Mounted Permanent-Magnet Synchronous Motor (SMPMSM), an Interior Permanent Magnet Synchronous Motor (IPMSM), a synchronous reluctance motor. (Synchronous Reluctance Motor; SynRM), etc. may be included. Among them, SMPMSM and IPMSM are Permanent Magnet Synchronous Motor (PMSM), and SynRm is characterized by no permanent magnet.

The input unit 240 may include, for example, an input device (eg, a key, a touch panel, etc.) capable of receiving a user input. For example, the input unit 240 may include a power key for turning on/off the power of the home appliance 100, an operation key for setting an operation mode of the motor driving apparatus 200, and the like.

The input unit 240 may receive a user input through an input device, for example, and may transmit a command corresponding to the received user input to the control unit 260. For example, the controller 260 may determine an operation mode of the motor driving apparatus 200 based on a user input input through the input unit 240.

The output unit 250 may include, for example, a display device such as a display (not shown) and a light emitting diode (LED). For example, the output unit 250 may display an ON/OFF state of power of the motor driving apparatus 200, an operation state according to an operation mode, a message related to an error occurrence, and the like.

The output unit 250 may be provided with an audio device, such as a speaker or a buzzer, for example. For example, the output unit 250 may output a sound effect according to an ON/OFF state of the power of the motor driving apparatus 200, a sound effect according to a change in an operation mode, a warning sound for an error occurrence, and the like.

The control unit 260 may be connected to each component provided in the motor driving apparatus 200, for example. The control unit 260 may transmit and receive signals to and from each component to the motor driving apparatus 200, for example, and control the overall operation of each component.

The controller 260 may include, for example, a converter controller (not shown) for controlling the operation of the converter and/or an inverter controller (not shown) for controlling the operation of the inverter. According to various embodiments of the present invention, the converter control unit and the inverter control unit may be included in the same configuration or may be included in separate configurations.

The control unit 260 may control the operation of the motor driving unit 220, for example. For example, the controller 260 may output a switching control signal for controlling a switching operation of an inverter included in the motor driver 220. Here, the switching control signal may be, for example, a pulse width modulation (PWM) control signal having a predetermined duty cycle and frequency.

The controller 260 may control the operation of the motor driving unit 220 so that the frequency of the AC power flowing through the motor 230 is changed, for example. For example, the controller 260 may change the rotational speed of the motor 230 by controlling the frequency of the AC power output from the motor driving unit 220 to be changed.

The control unit 260 may control the operation of the motor driving unit 220 so that the magnitude of the current of AC power flowing through the motor 230 is changed, for example. For example, the control unit 260 may change the torque of the motor 230 by controlling the amount of current of the AC power output from the motor driving unit 220 to be changed.

On the other hand, the motor driving apparatus 200 according to various embodiments of the present invention is not provided with a configuration such as a Hall sensor for detecting the rotor position of the motor 230 inside or outside the motor 230, sensorless The operation of the motor 230 can be controlled by a method.

The control unit 260 may calculate, for example, a current flowing through the motor 230. For example, the controller 260 may calculate a current flowing through the motor 230 through the current detector.

The control unit 260 may calculate, for example, a phase current flowing through the motor 230. In this case, when the motor 230 is a three-phase motor, a three-phase current flowing through the motor 230 may be calculated.

The control unit 260 may calculate, for example, the rotational speed of the motor 230. For example, the controller 260 may calculate the rotational speed of the motor 230 based on the phase current flowing through the motor 230.

The control unit 260 may calculate, for example, a position of the rotor of the motor 230. For example, the controller 260 may calculate the position of the rotor of the motor 230 based on the phase current flowing through the motor 230.

2A is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention, and FIG. 2B is an example of an internal block diagram of an inverter controller according to an embodiment of the present invention.

Referring to FIG. 2A, the motor driving device 200 includes, for example, a converter 410, a dc terminal capacitor (C), an inverter 420, a motor 230, and/or an inverter control unit 430. can do.

The motor driving apparatus 200 may further include, for example, an input current detection unit A, a dc voltage detection unit B, and/or an output current detection unit E.

The converter 410 may rectify and output the input AC power 405 to DC power, for example. In this case, the input AC power may be, for example, a single-phase AC power or a three-phase AC power.

The converter 410 may include, for example, a bridge diode. For example, a pair of upper-arm diode elements and lower-arm diode elements, each connected in series with each other, may be a pair, and a total of two or three pairs of upper-arm diode elements may be connected in parallel with each other.

On the other hand, as the converter 410, for example, a half-bridge type converter in which two switching elements and four diodes are connected may be used, and in the case of a three-phase AC power source, six switching elements and six diodes may be used. .

The dc terminal capacitor C may be connected to the output terminal of the converter 410, for example.

The dc terminal capacitor C may smooth and store DC power supplied from the converter 410. In the drawings, a single device is shown as a dc-stage capacitor C, but the present invention is not limited thereto, and a plurality of devices are provided to ensure device stability.

The inverter 420 may be connected to, for example, a dc terminal of both ends of the dc terminal capacitor C, convert DC power into AC power, and output the converted AC power to the motor 230.

The inverter 420 includes, for example, a plurality of switching elements (Sa, S'a, Sb, S'b, Sc, S'c), and is a DC power supply smoothed by the on/off operation of the switching element. (Vdc) may be converted into a three-phase AC power supply having a predetermined frequency, and may be output to the motor 230.

Inverter 420 is, for example, a pair of upper-arm switching elements (Sa, Sb, Sc) and lower-arm switching elements (S'a, S'b, S'c) connected in series with each other, and a total of three pairs Upper and lower arm switching elements may be connected in parallel (Sa&S'a, Sb&S'b, Sc&S'c). Diodes may be connected in reverse parallel to each of the switching elements Sa, S'a, Sb, S'b, Sc, and S'c.

The switching elements Sa, S'a, Sb, S'b, Sc, S'c of the inverter 420 are, for example, based on the switching control signal Sic output from the inverter controller 430 , On/off operation can be performed.

The input current detection unit A can detect, for example, the input current is from the input AC power supply 405. The input current detection unit A may be connected to a front end of the converter 410, for example. The detected input current is may be input to the inverter control unit 430, for example.

The dc terminal voltage detector B may detect, for example, the voltage Vdc of the dc terminal to which DC power is supplied. The detected DC terminal voltage Vdc may be input to the inverter controller 430 as, for example, a discrete signal in the form of a pulse.

The output current detection unit E can detect, for example, the output current io flowing through the motor 230. The output current detection unit E may be disposed between the inverter 420 and the motor 230 in order to detect, for example, a current flowing through the motor 230.

The output current detector E may detect a phase current, which is an output current io of each phase flowing through the motor 230 through, for example, three resistance elements. The detected output current io may be applied to the inverter controller 430 as a discrete signal in the form of a pulse, and an inverter switching control signal Sic may be generated based on the detected output current io.

On the other hand, the output current detection unit E may be provided with, for example, two resistance elements. At this time, the phase current of the other phase may be calculated using a three-phase balance.

The inverter controller 430 may control, for example, a switching operation of the inverter 420.

The inverter controller 430 may output a switching control signal Sic to the inverter 420 in order to control the switching operation of the inverter 420, for example. The output of the control signal Sic will be described with reference to FIG. 2B.

2B, the inverter control unit 430 of the motor driving apparatus 200 according to an embodiment of the present invention includes, for example, an axis conversion unit 310, a speed calculation unit 320, and a current command generation unit ( 330, a voltage command generation unit 340, an axis conversion unit 350, a carrier wave output unit 355, and/or a switching control signal output unit 360.

The axis conversion unit 310 may receive, for example, three-phase output currents (ia, ib, ic) detected by the output current detection unit E, and convert them into two-phase currents (iα, iβ) of the stationary coordinate system. have.

Meanwhile, the axis conversion unit 310 may convert, for example, the two-phase currents iα and iβ in the stationary coordinate system into the two-phase currents id and iq in the rotation coordinate system.

)를 추정할 수 있다. The speed calculation unit 320 is based on the two-phase currents (id, iq) of the rotational coordinate system axis-converted by the axis conversion unit 310, the rotor position of the motor 250 (

) Can be estimated.

)에 기초하여, 모터(230)의 회전 속도(

)를 추정할 수 있다. The speed calculation unit 320, for example, the rotor position (

), the rotational speed of the motor 230 (

) Can be estimated.

)와 연산된 속도(

)를 출력할 수 있다.The speed calculation unit 320, for example, the calculated position (

) And calculated speed (

) Can be printed.

)와 속도 지령치(ω^* _r)에 기초하여, 전류 지령치(i^* _q)를 생성할 수 있다. 예를 들어, 전류 지령 생성부(330)는, 연산 속도(

)와 속도 지령치(ω^* _r)의 차이에 기초하여, PI 제어기(335)에서 PI 제어를 수행하며, 전류 지령치(i^* _q)를 생성할 수 있다. On the other hand, the current command generation unit 330, for example, the calculation speed (

) And the speed command value (ω ^* _r ), the current command value (i ^* _q ) can be generated. For example, the current command generation unit 330, the calculation speed (

) And the speed command value (ω ^* _r ), the PI controller 335 performs PI control, and a current command value (i ^* _q ) can be generated.

In the drawings, the q-axis current command value (i ^* _q ) is shown as the current command value, but the present invention is not limited thereto, and the d-axis current command value (i ^* _d ) may be generated together. Meanwhile, the value of the d-axis current command value (i ^* _d ) may be set to 0.

Meanwhile, the current command generation unit 330 may further include, for example, a limiter (not shown) that limits its level so that the current command value i ^* _q does not exceed an allowable range.

Next, the voltage command generation unit 340 is, for example, in the d-axis and q-axis currents (i _d , i _q ) and the current command generation unit 330 that are axis-transformed from the axis conversion unit to a two-phase rotational coordinate system. Based on the current command values (i ^* _d , i ^* _q ) of, d-axis and q-axis voltage command values (v ^* _d , v ^* _q ) can be generated.

For example, the voltage command generation unit 340 performs PI control in the PI controller 344 based on the difference between the q-axis current (i _q ) and the q-axis current command value (i ^* _q ), and q It is possible to generate the axis voltage command value (v ^* _q ).

Further, the voltage command generation unit 340 performs PI control in the PI controller 348 based on, for example, a difference between the d-axis current (i _d ) and the d-axis current command value (i ^* _d ), and , d-axis voltage command value (v ^* _d ) can be generated.

Meanwhile, the value of the d-axis voltage command value v ^* _d may be set to 0, for example, corresponding to the case where the value of the d-axis current command value i ^* _d is set to 0.

Meanwhile, the voltage command generation unit 340 may further include a limiter for limiting the level of the d-axis and q-axis voltage command values (v ^* _d , v ^* _q ) not exceeding the allowable range. .

Meanwhile, the generated d-axis and q-axis voltage command values (v ^* _d , v ^* _q ) may be input to, for example, the axis conversion unit 350.

)와, d축, q축 전압 지령치(v^* _d, v^* _q)를 입력받아, 축변환을 수행할 수 있다.The axis conversion unit 350 is, for example, a position calculated by the speed calculation unit 320 (

), and d-axis and q-axis voltage command values (v ^* _d , v ^* _q ), and axis transformation can be performed.

)가 사용될 수 있다.First, the axis conversion unit 350 converts from a two-phase rotation coordinate system to a two-phase stationary coordinate system. At this time, the position calculated by the speed calculating unit 320 (

) Can be used.

In addition, the axis conversion unit 350 may perform conversion from a 2-phase stationary coordinate system to a 3-phase stationary coordinate system. Through this conversion, the axis conversion unit 350 may output a three-phase output voltage command value (v ^* a, v ^* b, v ^* c).

The carrier output unit 355 may generate and output various carrier signals, for example. For example, the carrier wave output unit 355 may output a carrier wave Sc to the switching control signal output unit 360. Here, the carrier wave is, for example, a type of reference signal for generating the switching control signal Sic, and may mean a signal having a predetermined frequency and repeating the same waveform for each period. The carrier output unit 355 is the carrier wave output unit 355. , For example, it is possible to output a triangle wave (triangle carrier) and/or a sawtooth wave (sawtooth carrier).

Here, the triangular wave may mean, for example, a carrier wave in which a triangular waveform is periodically repeated, and in the present invention, a carrier wave having the same slope size of the upward hypotenuse and the downward hypotenuse corresponding to two sides of a triangle repeated periodically Can mean On the other hand, the sawtooth wave may mean, for example, a carrier wave whose waveform is periodically increased and then rapidly decreased.In the present invention, the slope size of the upward hypotenuse and the downward hypotenuse corresponding to two sides of a triangle repeated periodically May mean different carriers.

)가 소정 기준 속도 미만인 저속 구간, 모터(230)의 회전 속도(

)가 소정 기준 속도 이상인 고속 구간, 및 저속 구간과 고속 구간 사이의 구간인 과도 구간으로 구분될 수 있다.The carrier output unit 355 may output a carrier wave according to, for example, a control section related to operation control of the inverter 420. Here, the control section related to the operation control of the inverter 420 is, for example, the rotation speed of the motor 230 (

) Is less than a predetermined reference speed, the rotational speed of the motor 230 (

) May be divided into a high-speed section with a predetermined reference speed or higher, and a transient section that is a section between the low-speed section and the high-speed section.

) 추정의 오차에 따라 결정될 수 있다. 센서리스 방식에 따라 모터(230)의 회전자 위치(

)를 추정하는 경우, 모터(230)의 회전 속도(

)가 소정 속도 미만인 구간에서는 오차가 증가하고, 소정 속도 이상인 구간에서는 오차가 증가하지 않는 경향이 있으며, 오차 증가와 관련된 소정 속도는 모터(230)의 종류, 역기전력과 같은 특성 등에 따라 달라질 수 있다.Here, the reference speed related to the division of the control section is the position of the rotor of the motor 230 according to the sensorless method (

) It can be determined according to the error of the estimation. According to the sensorless method, the position of the rotor of the motor 230 (

When estimating ), the rotational speed of the motor 230 (

In a section where) is less than a predetermined speed, the error increases, and in a section above the predetermined speed, the error does not tend to increase, and the predetermined speed related to the increase in error may vary depending on the type of the motor 230 and characteristics such as back EMF.

)에 대한 기준 속도는, 모터 구동 장치(200)에 의해 구동하는 모터(230)에 따라 상이할 수 있다. 예를 들면, 특정 모터의 회전 속도(

)가 0 내지 100 rpm(revolutions per minute)인 구간에서 회전자 위치(

) 추정의 오차가 증가하고, 100 rpm 이상 구간에서 오차가 증가하지 않는 경우, 특정 모터의 회전 속도(

)에 대한 소정 기준 속도는 100 rpm일 수 있고, 0 내지 100 rpm 구간은 저속 구간, 100 rpm 이상 구간은 고속 구간으로 구분될 수 있다..Therefore, the rotation speed of the motor 230 related to the division of the control section (

The reference speed for) may be different depending on the motor 230 driven by the motor driving device 200. For example, the rotational speed of a specific motor (

) In the range of 0 to 100 rpm (revolutions per minute), the rotor position (

) If the error of the estimation increases and the error does not increase in the range of 100 rpm or more, the rotation speed of a specific motor (

) May be a predetermined reference speed of 100 rpm, 0 to 100 rpm section can be divided into a low-speed section, 100 rpm or more section can be divided into a high-speed section.

For example, the carrier wave output unit 355 may output a triangular wave in a low speed section and a sawtooth wave in a high speed section.

For example, the carrier wave output unit 355 may output the sawtooth wave of the first period in the transient period between the low-speed period and the high-speed period, and may output the sawtooth wave of the second period in the high-speed period.

The voltage command generation unit 340 may change the d-axis and q-axis voltage command values (v ^* _d , v ^* _q ) based on, for example, a carrier wave Sc output from the carrier wave output unit 355. .

The switching control signal output unit 360, for example, pulses based on the carrier wave (Sc) output from the carrier wave output unit 355 and the three-phase output voltage command value (v ^* a, v ^* b, v ^* c). A switching control signal Sic according to the width modulation method may be output.

For example, the switching control signal output unit 360 compares the carrier wave (Sc) output from the carrier wave output unit 355 with a three-phase output voltage command value (v ^* a, v ^* b, v ^* c) to perform duty May be generated, and a switching control signal Sic may be output based on the generated duty.

The switching control signal Sic may be converted into an inverter switching signal Si in a gate driver (not shown) and input to the gate of each switching element in the inverter 420. For example, each switching element (Sa, S'a, Sb, S'b, Sc, S'c) provided in the inverter 420 may perform a switching operation by the inverter switching signal Si. .

The inverter control unit 430 may determine, for example, a control section for the inverter 420.

)에 기초하여, 인버터(420)에 대한 제어 구간을 결정할 수 있다. Inverter control unit 430, for example, the rotational speed of the motor 230 (

), a control section for the inverter 420 may be determined.

)가 소정 기준 속도 미만인 구간을 저속 구간으로 결정할 수 있고, 모터(230)의 회전 속도(

)가 소정 기준 속도 이상인 구간을 고속 구간으로 결정할 수 있다.For example, the inverter control unit 430, the rotation speed of the motor 230 (

A section in which) is less than a predetermined reference speed may be determined as a low speed section, and the rotation speed of the motor 230 (

A section in which) is greater than or equal to a predetermined reference speed may be determined as a high-speed section.

Meanwhile, the inverter controller 430 may determine, for example, a transient section between the low-speed section and the high-speed section.

The inverter controller 430 may output a switching control signal Sic based on a triangular wave, for example, in a low speed section. For example, the inverter control unit 430 may output a switching control signal Sic so that the rotational speed of the motor 230 continuously increases based on the speed command value ω ^* _r and a triangular wave in a low speed section. I can.

The inverter controller 430 may control the switching operation of the inverter 420 in an open loop, for example, in a low speed section. Here, the open loop control may refer to a control method in which, for example, there is no feedback on the output of the control system, and the output does not affect the control input.

For example, the inverter control unit 430, in the low-speed section, without feedback on the output current (io), based on the speed command value (ω ^* _r ), to continuously increase the rotational speed of the motor 230, switching A control signal Sic can be output.

Meanwhile, the inverter controller 430 may output a switching control signal Sic based on a sawtooth wave, for example, in a high-speed section. For example, the inverter controller 430 may output a switching control signal Sic based on a speed command value ω ^* _r and a sawtooth wave in a high-speed section.

The inverter controller 430 may control a switching operation of the inverter 420 in a closed loop, for example, in a high-speed section. Here, the closed loop control may refer to a control method of adjusting the output by feeding back at least part of the output of the control system and comparing it with a reference signal.

For example, the inverter controller 430 may output the switching control signal Sic based on the feedback for the output current io and the speed command value ω ^* _r in a high-speed section.

), 모터(230)의 회전 속도(

) 등을 포함할 수 있다.At this time, the feedback on the output current (io) is, for example, the position of the rotor (

), the rotational speed of the motor 230 (

), etc.

)와 소정 기준 속도를 비교할 수 있다.Inverter control unit 430, for example, the rotational speed of the motor 230 (

) And a predetermined reference speed can be compared.

)가 소정 기준 이상인 경우, 인버터(420)에 대한 제어 구간에 대하여, 저속 구간에서 고속 구간으로의 전환을 결정할 수 있다.Inverter control unit 430, for example, the rotational speed of the motor 230 (

When) is greater than or equal to a predetermined reference, it may be determined to switch from a low-speed section to a high-speed section with respect to the control section for the inverter 420.

The inverter control unit 430 may determine a transition period between the low-speed section and the high-speed section, for example, when it is determined to switch from the low-speed section to the high-speed section.

The inverter controller 430 may determine a transient section based on, for example, a period of a triangular wave and a rotation period of a rotor.

For example, the inverter control unit 430 may calculate a time difference between the start time of the triangular wave period and the start time of the rotation cycle of the rotor, and calculate the remaining time of the triangular wave output from the calculated time difference. have.

In this case, the inverter controller 430 may determine, for example, at least a part of a time obtained by subtracting the remaining time of the triangular wave output from the rotation period of the rotor as the transient section.

The inverter controller 430 may output a switching control signal Sic based on, for example, a sawtooth wave different from a sawtooth wave in a high-speed section in a transient section. For example, the inverter control unit 430 may output the switching control signal Sic based on the sawtooth wave of the first period in the transient period, and the switching control signal Sic based on the sawtooth wave of the second period in the high-speed period. ) Can be printed.

In this case, the first period, which is the period of the sawtooth wave in the transient period, may be shorter than the second period, which is the period of the sawtooth wave in the transient period, for example.

Meanwhile, the rotation period of the rotor may be a multiple of the second period in the high-speed section, for example. For example, while the rotor rotates once in a high-speed section, the inverter controller 430 may control the switching operation of the inverter 420 based on the sawtooth wave of the second cycle repeated six times. In this case, the rotation period of the rotor may correspond to six times the second period.

Meanwhile, the inverter controller 430 may determine whether an overcurrent flows through the inverter 420 and the motor 230 based on, for example, the output current io flowing through the motor 230. For example, the inverter controller 430 may determine whether overcurrent flows through the inverter 420 and the motor 230 in response to a period of a triangular wave in a low speed section.

3 is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention. Detailed descriptions of contents overlapping with those described in FIGS. 2A and 2B will be omitted.

Referring to FIG. 3, the motor driving apparatus 200 may include an output current detection unit E that detects a current flowing through the motor 230 through one resistance element.

The output current detection unit E may include, for example, a dc terminal resistance element Rdc disposed between the dc terminal capacitor C and the inverter 420.

Inverter control unit 430, for example, based on the current (io) flowing through the DC short resistance element (Rdc) detected through the output current detection unit (E), the phase current flowing through the motor 230 (phase current) Can be calculated. For example, the inverter controller 430 may calculate a three-phase current flowing in each phase flowing through the motor 230 based on the current io flowing through the dc terminal resistance element Rdc.

), 모터(230)의 회전 속도(

) 등을 산출할 수 있다. The inverter control unit 430, for example, based on the three-phase output current (ia, ib, ic) calculated based on the current (io) flowing through the dc terminal resistance element (Rdc), the rotor position (

), the rotational speed of the motor 230 (

), etc.

), 모터(230)의 회전 속도(

) 등에 기초하여 인버터(420)의 스위칭 동작을 제어할 수 있다.In addition, the inverter control unit 430, for example, the rotor position calculated based on the current io flowing through the dc terminal resistance element Rdc (

), the rotational speed of the motor 230 (

), and the like, the switching operation of the inverter 420 may be controlled.

), 회전자의 위치(

) 등을 산출하여 모터(230)의 동작을 제어하므로, 일반적인 센서 방식의 모터 구동 장치나, 복수의 저항 소자를 구비하는 센서리스 방식의 모터 구동 장치에 비해 제조 비용 및 부피가 감소하는 등 많은 장점이 있다.As described above, according to various embodiments of the present invention, the phase current of each phase flowing through the motor 230 and the rotational speed of the motor 230 using one dc short resistance element Rdc (

), the position of the rotor (

), etc. to control the operation of the motor 230, such as a reduction in manufacturing cost and volume compared to a general sensor type motor driving device or a sensorless type motor driving device having a plurality of resistance elements. There is this.

4 is a diagram referred to for a description of a switching operation of an inverter in connection with an operation description of a motor driving apparatus according to an embodiment of the present invention.

Referring to FIG. 4, in operation S401, the motor driving apparatus 200 may control the operation of the motor 230 based on a triangular wave.

The motor driving apparatus 200 may output a switching control signal Sic to the inverter 420 so that the rotational speed of the motor 230 continuously increases based on, for example, a triangular wave in a low speed section.

The motor driving device 200 may control the switching operation of the inverter 420 in an open loop, for example, in a low speed section.

), 모터(230)의 회전 속도(

) 등을 산출할 수 있다.On the other hand, the motor driving device 200, for example, in a low-speed section, based on the current flowing through the motor 230, the position of the rotor (

), the rotational speed of the motor 230 (

), etc.

)가 소정 기준 속도 이상인지 여부를 판단할 수 있다.The motor drive device 200, in operation S402, the rotational speed of the motor 230 (

It can be determined whether) is more than a predetermined reference speed.

)가 소정 기준 속도 미만인 경우, S401 동작으로 분기하여, 삼각파에 기초하여 모터(230)의 동작을 제어할 수 있다.The motor drive device 200 is the rotational speed of the motor 230 (

If) is less than a predetermined reference speed, the operation of the motor 230 may be branched to operation S401 and the operation of the motor 230 may be controlled based on the triangular wave.

)가 소정 기준 속도 이상인 경우, 인버터(420)에 대한 제어 구간에 대하여, 저속 구간에서 고속 구간으로의 전환을 결정할 수 있고, 고속 구간에서 회전자의 위치 및 톱니파에 기초하여 모터(230)의 동작을 제어할 수 있다.On the other hand, the motor driving device 200, in operation S403, the rotation speed of the motor 230 (

) Is greater than or equal to a predetermined reference speed, it is possible to determine the transition from the low-speed section to the high-speed section for the control section for the inverter 420, and the operation of the motor 230 based on the position of the rotor and the sawtooth wave in the high-speed section. Can be controlled.

The motor driving device 200 may control a switching operation of the inverter 420 in a closed loop, for example, in a high-speed section.

Meanwhile, the motor driving apparatus 200 may determine a transition period between the low-speed section and the high-speed section, for example, when it is determined to switch from the low-speed section to the high-speed section.

The motor driving apparatus 200 may output a switching control signal Sic based on, for example, a sawtooth wave different from a sawtooth wave in a high-speed section in a transient section.

In this case, the first period, which is the period of the sawtooth wave in the transient section, may be shorter than the second period, which is the period of the sawtooth wave in the high-speed section.

5 is a diagram referred to for a description of a switching operation of an inverter in relation to an operation description of the motor driving apparatus according to an embodiment of the present invention.

)에 대응하여 산출된 회전자의 회전 주기를 의미할 수 있다.Figure 5 (a) illustrates the carrier (Sc), (b) illustrates the switching operation of the switching elements (Sa, Sb, Sc) provided in the inverter 420, (c) is the rotation of the rotor Illustrate the cycle. On the other hand, HA, HB, and HC of FIG. 7(c) are the rotor positions (

It may mean the rotation period of the rotor calculated in response to ).

Referring to FIG. 5, in the low speed section Sec1, a switching control signal Sic is output based on a triangular wave, and in response to this, the switching elements Sa, Sb, and Sc provided in the inverter 420 operate respectively. You can see that it performs.

At this time, it can be seen that the switching operation of the switching elements Sa, Sb, and Sc provided in the inverter 420 is performed regardless of the rotation period of the rotor.

Meanwhile, in the high-speed section Sec2, a switching control signal Sic is output based on a sawtooth wave, and in response to this, the switching elements Sa, Sb, and Sc provided in the inverter 420 perform a switching operation. I can confirm.

In this case, it can be seen that the period of the sawtooth wave corresponds to the rotation period of the rotor, and the switching operation of the switching elements Sa, Sb, and Sc provided in the inverter 420 is also performed corresponding to the rotation period of the rotor.

In the case of FIG. 5, the rotation period of the rotor corresponds to 6 times the period of the sawtooth wave, and the switching elements (Sa, Sb, Sc) provided in the inverter 420 are turned on three times each while the rotor rotates one rotation. You can see that the operation is performed.

6 and 7 are diagrams referred to for explanation of a transient section and a carrier wave in connection with the description of the operation of the motor driving apparatus according to an embodiment of the present invention.

6 and 7 (a) illustrates a carrier wave (Sc), and (b) illustrates a rotation period of a rotor associated with any one of the three phases.

Referring to FIG. 6, it can be seen that the operation of the motor 230 is controlled based on the triangular wave in the low speed section Sec1, and the period of the triangular wave is not related to the rotation period of the rotor.

On the other hand, in the high-speed section (Sec2), the operation of the motor 230 is controlled based on the sawtooth wave, and it can be confirmed that the period (T2) of the sawtooth wave in the high-speed section (Sec2) corresponds to the rotation period (2Tr) of the rotor. have. In the case of (a) of FIG. 6, it can be seen that the sawtooth wave is repeated 6 times while the rotor rotates once in the high-speed section Sec2.

Meanwhile, the transient section Sec3 between the low speed section Sec1 and the high speed section Sec2 may be determined based on the period of the triangle wave and the rotation period of the rotor.

)가 소정 기준 속도 이상인 경우, 인버터(420)의 동작 제어와 관련된 제어 구간에 대하여, 저속 구간에서 고속 구간으로의 전환이 결정될 수 있다.For example, the rotational speed of the motor 230 (

When) is greater than or equal to a predetermined reference speed, for a control section related to operation control of the inverter 420, a transition from a low speed section to a high speed section may be determined.

On the other hand, when the rotation period of the rotor starts after the time point t0 at which the control section is switched is determined, among the past start points of the triangular wave period, the time point t1 closest to the start time point t2 of the rotation period of the rotor May be determined, and a time difference (t2-t1) between the start time t2 of the rotation period and the start time t1 and t2 of the triangular wave cycle may be calculated.

Also, since the frequency and period of the triangular wave are preset, the remaining time (t3-t2) of the triangular wave output may be calculated from the calculated time difference t2-t1.

At this time, if the calculated time difference (t2-t1) is less than half the period of the triangular wave, the triangular wave may be output to a point corresponding to half of the period of the triangular wave, and the calculated time difference (t2-t1) is the half period of the triangular wave period. In the above case, the triangle wave may be output until the corresponding triangle wave period ends.

In addition, the remaining time (T1) excluding the multiple of the period of the sawtooth wave (T2) in the high-speed section (Sec2) among the time obtained by subtracting the remaining time (t3-t2) of the triangular wave output from the half period (Tr) of the rotation period of the rotor. This transition period Sec3 may be determined.

Meanwhile, the period T1 of the sawtooth wave in the transient section Sec3 may correspond to the time of the transient section Sec3.

Referring to FIG. 7, in the transient section that is switched from the low speed section Sec1 to the high speed section Sec2, the sawtooth wave of the first period T1 is repeated twice, and then the sawtooth wave of the second period T2 is repeated. Can be confirmed.

As described above, according to various embodiments of the present invention, in the low-speed section Sec1 where it is difficult to accurately detect the rotational speed of the motor 230 and the position of the rotor, the motor is controlled through open loop control using a triangular wave. By increasing the rotation speed of 230), it is possible to improve the current control performance for the inverter 420 and the motor 230.

In addition, according to various embodiments of the present invention, in a high-speed section (Sec2) in which the rotation speed of the motor 230 is fast, the operation of the motor 230 is controlled through a closed loop control using a position of a rotor and a sawtooth wave. By controlling, speed control performance for the inverter 420 and the motor 230 may be improved.

In addition, according to various embodiments of the present invention, by controlling the operation of the inverter 420 based on a triangular wave having good current detection efficiency in the low speed section Sec1, the current flowing through the inverter 420 and the motor 230 is more It can accurately and efficiently monitor, and more reliably prevent damage to circuit elements due to the inflow of overcurrent.

In addition, according to various embodiments of the present invention, by controlling the switching operation of the inverter 420 based on the sawtooth wave in the high speed section Sec2, the switching operation of the inverter 420 considering the position of the rotor compared to the triangular wave is controlled. As can be performed more accurately, distortion of the waveform of the output current io output from the inverter 420 to the motor 230 can be reduced.

8A to 8C are diagrams illustrating a vacuum cleaner, which is an example of a home appliance including a motor driving device according to an embodiment of the present invention.

FIG. 8A is a side elevational view of a cleaner that is an example of a home appliance according to an embodiment of the present invention, FIG. 8B is a perspective view of the cleaner with the nozzle module removed from FIG. 8A, and FIG. 8C is a side view of the cleaner of FIG. 8B.

8A to 8C, a cleaner 100a, which is an example of a home appliance 100 according to an embodiment of the present invention, includes, for example, a flow path P for guiding suctioned air to be discharged to the outside. The main body 10 to be formed, the handle 30 coupled to the rear side of the main body 10, a nozzle module 70 detachably connected to the suction part 9 of the main body 10, and supplying power. The battery Bt (eg, the battery 215 in FIG. 1 ), the battery housing 40 in which the battery Bt is accommodated, and/or the fan module 50 disposed on the flow path P to move air in the flow path ) Can be provided.

The nozzle module 70 may include, for example, a nozzle unit 71 provided to suck in external air and an extension pipe 73 extending from the nozzle unit 71.

The extension pipe 73 can connect the nozzle part 71 and the suction part 9, for example. The extension pipe 73 may guide the air sucked from the nozzle unit 71 to be introduced into the suction passage P, for example. One end of the extension pipe 73 may be detachably coupled to the suction part 9 of the main body 10, for example. The user can clean while holding the handle 30 and moving the nozzle 71 while placing the nozzle 71 on the floor.

The main body 10 includes, for example, an exhaust cover 12 forming an exhaust port 8a, a dust collection unit 13 for storing separated dust, and/or a fan module 50 therein. It may include a fan module housing 14.

The discharge cover 12 may form an upper surface of the main body 10, for example, and may cover the upper side of the fan module housing 14.

The dust collection unit 13 may be formed in a cylindrical shape, for example. The dust collecting part 13 may be disposed under the fan module housing 14, for example. Accordingly, a storage space for dust may be formed inside the dust collection unit 13.

The fan module housing 14 may be formed, for example, extending upward from the dust collecting part 13. The fan module housing 14 may be formed in a cylindrical shape, for example. The extended portion 31 of the handle 30 may be disposed on the rear side of the fan module housing 14.

In the fan module housing 14, a fan module 50 may be disposed.

The fan module 50 may include, for example, a suction motor 230 that rotates the impeller 51. The suction motor 230 may be located above, for example, the dust separation unit 20.

The impeller 51 may be disposed under the suction motor 230, for example. The impeller 51 may be rotated by the rotational force of the suction motor 230 in combination with, for example, the suction motor 230.

On the other hand, the impeller 51 can pressurize air by rotation so that, for example, air in the flow path P is discharged through the exhaust port 8a.

Meanwhile, the cleaner 100a may include, for example, a motor driving device 200 for controlling the suction motor 230. For example, the motor driving unit 220 of the motor driving device 200 may be disposed between the suction motor 230 and the dust collecting unit 13. Meanwhile, the motor driving unit 220 may include, for example, a circuit element disposed on a PCB circuit board.

The handle 30 extends in the vertical direction, for example, and may include an additional extension 32. The additional extension 32 may be spaced apart from the main body 10 in the front-rear direction, for example. The user can use the vacuum cleaner 100a while holding the additional extension 32. The upper end of the additional extension 32 may be connected to the rear end of the extension 31, for example. The lower end of the further extension 32 is connected, for example, to the battery housing 40.

The additional extension part 32 includes, for example, a movement limiting part for preventing the hand from moving in the longitudinal direction (up and down direction) of the additional extension part 32 while the user holds the additional extension part 32 32a) may be provided. The movement limiting portion 32a may protrude forward from the additional extension portion 32, for example.

The movement limiting part 32a may be disposed to be spaced apart from the extension part 31 vertically, for example. While the user is holding the additional extension part 32, some fingers of the user's hand held may be located above the movement limiting part 32a, and the remaining fingers may be located below the movement limiting part 32a.

The handle 30 may include, for example, an inclined surface 33 facing the direction between the upper side and the rear side. The inclined surface 33 may, for example, locate the rear surface of the extension 31. The input unit 3 may be disposed, for example, on the inclined surface 33.

The battery Bt may supply power to the fan module 50, for example. The battery Bt may supply power to, for example, a noise control module. The battery Bt may be detachably disposed inside the battery housing 40, for example.

The battery housing 40 may be coupled to the rear side of the main body 10, for example. The battery housing 40 may be disposed under the handle 30, for example. The battery Bt may be accommodated in, for example, the battery housing 40. In the battery housing 40, for example, a heat dissipation hole for discharging heat generated from the battery Bt to the outside may be formed.

Meanwhile, the exhaust port 8a may be disposed to face a specific direction (eg, upward direction), for example. The plurality of exhaust ports 8a can be divided from each other in the circumferential direction by, for example, a plurality of exhaust guides 12a. The plurality of exhaust ports 8a may be arranged to be spaced apart from each other at predetermined intervals along the circumferential direction, for example.

9 is a diagram illustrating various home appliances including a motor driving device according to an embodiment of the present invention.

Referring to FIG. 9, (a) of FIG. 9 illustrates a refrigerator 100b in which a compressor motor (not shown) can be driven by the motor driving device 200, and FIG. 9(b) shows a washing tub. A laundry treatment machine (washing machine or dryer) 100c in which a motor (not shown) for rotation can be driven by the motor driving device 200 is illustrated, and FIG. 9(c) is a compressor motor (not shown) Exemplifies an air conditioner 100d that can be driven by the motor driving device 300.

The accompanying drawings are only for making it easier to understand the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all changes and equivalents included in the spirit and scope of the present invention It should be understood to include water or substitutes.

Likewise, while depicting the actions in the drawings in a specific order, it should not be understood that such actions should be performed in that particular order or sequential order shown, or that all illustrated actions should be performed in order to obtain a desired result. . In certain cases, multitasking and parallel processing can be advantageous.

In addition, although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

200: motor drive device
210: power supply
215: battery
220: motor drive unit
230: motor
240: input
250: output
260: control unit

Claims (20)

DC stage capacitors storing DC power;
An inverter having a plurality of switching elements and converting the DC power stored in the DC terminal capacitor into AC power and outputting it to a motor;
An output current detection unit that is output from the inverter and detects an output current flowing through the motor; And
It includes a control unit for controlling the operation of the inverter,
The control unit,
In a first section, a switching control signal for controlling the operation of the plurality of switching elements is output based on a triangular wave,
In the second section, the motor driving apparatus, characterized in that to output the switching control signal based on the sawtooth wave. The method of claim 1,
The control unit,
Based on the output current, detects a phase current flowing through the motor,
Based on the detected phase current, the motor driving apparatus, characterized in that calculating the position of the rotor provided in the motor and the rotational speed of the motor. The method of claim 2,
The control unit,
In the first section, when the rotational speed of the motor is greater than or equal to a predetermined reference speed, it is determined to switch to the second section. The method of claim 3,
The control unit,
In the first section, based on the triangle wave, outputting the switching control signal so that the rotational speed of the motor is continuously increased,
And outputting the switching control signal based on the position of the rotor and the sawtooth wave in the second section. The method of claim 4,
The control unit,
A third section between the first section and the second section is calculated based on the period of the triangular wave and the rotation period of the rotor,
In the third section, outputting the switching control signal based on the sawtooth wave of the first cycle,
And outputting the switching control signal based on the sawtooth wave of the second period in the second period. The method of claim 5,
The control unit,
Calculate a time difference between the start time of the period of the triangular wave and the start time of the rotation period of the rotor,
Calculate a residual time of the output of the triangular wave from the calculated time difference,
And a time obtained by subtracting the calculated remaining time from half of the rotation period of the rotor is determined as the third section. The method of claim 6,
The first cycle is shorter than the second cycle,
The motor driving apparatus, wherein the rotation period of the rotor corresponds to a multiple of the second period. The method of claim 7,
The output current detection unit,
Including a dc terminal resistance element disposed between the dc terminal capacitor and the inverter,
The control unit,
And detecting the phase current based on a current flowing through the dc terminal resistance element corresponding to the output current. The method of claim 8,
The control unit,
A carrier signal output unit outputting the triangular wave in the first section and outputting the sawtooth wave in the second section;
A speed calculator configured to calculate the position of the rotor and the rotational speed of the rotor based on the phase current;
A current command generation unit that generates a current command value based on the speed command value;
A voltage command generation unit that generates a voltage command value based on the current command value; And
And a switching control signal output unit configured to output the switching control signal based on any one of the triangular wave and the sawtooth wave and the voltage command value. The method of claim 9,
The current command generation unit,
In the first section, based on the speed command value, the current command value is generated,
In the second section, based on the speed command value and the rotational speed of the rotor, the current command value is generated,
The voltage command generation unit,
In the first section, the voltage command value is generated based on the current command value,
In the second section, the voltage command value is generated based on the phase current and the current command value. In the control method of the motor drive device,
A first control operation in which the controller outputs a switching control signal for controlling an operation of a plurality of switching elements provided in the inverter based on a triangular wave in a first section to control an operation of the motor; And
And a second control operation in which the control unit outputs the switching control signal based on a sawtooth wave in a second section to control an operation of the motor. The method of claim 9,
Detecting, by the control unit, a phase current flowing through the motor based on an output current output from the inverter and flowing through the motor; And
And calculating, by the controller, a position of a rotor provided in the motor and a rotation speed of the motor based on the detected phase current. The method of claim 12,
The first control operation,
And when the rotation speed of the motor is equal to or greater than a predetermined reference speed in the first section, the control unit further comprises determining to switch to the second section. The method of claim 13,
The first control operation,
The control unit controls to continuously increase the rotational speed of the motor based on the triangular wave in the first section,
The second control operation,
The control method of a motor driving apparatus, wherein the control unit controls an operation of the motor in the second section, based on the position of the rotor and the sawtooth wave. The method of claim 14,
Calculating, by the control unit, a third section between the first section and the second section based on a period of the triangular wave and a rotation period of the rotor; And
The controller further includes a third control operation for controlling the operation of the motor by outputting the switching control signal based on the sawtooth wave of the first period in the third section,
The second control operation,
The control method of the motor driving apparatus, wherein the controller controls the operation of the motor by outputting the switching control signal based on the sawtooth wave of the second period in the second section. The method of claim 15,
The operation of calculating the third section,
An operation of calculating, by the control unit, a time difference between a start point of a period of the triangular wave and a start point of a rotation period of the rotor;
Calculating, by the control unit, a remaining time of the output of the triangular wave from the calculated time difference; And
And determining, by the control unit, a time obtained by subtracting the calculated remaining time from a half of the rotation period of the rotor as the third section. The method of claim 16,
The first cycle is shorter than the second cycle,
The control method of a motor driving apparatus, wherein the rotation period of the rotor corresponds to a multiple of the second period. The method of claim 17,
The operation of detecting the phase current,
The control method of a motor driving apparatus, characterized in that the control unit detects the phase current based on a current flowing through a dc terminal resistor element disposed between the dc terminal capacitor and the inverter. The method of claim 18,
The control unit,
A carrier signal output unit outputting the triangular wave in the first section and outputting the sawtooth wave in the second section;
A speed calculator configured to calculate the position of the rotor and the rotational speed of the rotor based on the phase current;
A current command generation unit that generates a current command value based on the speed command value;
A voltage command generation unit that generates a voltage command value based on the current command value; And
And a switching control signal output unit configured to output the switching control signal based on any one of the triangular wave and the sawtooth wave and the voltage command value. The method of claim 19,
The first control operation,
Generating, by the current command generation unit, the current command value based on the speed command value in the first section; And
The voltage command generation unit further comprises an operation of generating the voltage command value based on the current command value in the first section,
The second control operation,
Generating the current command value based on the speed command value and the rotational speed of the rotor in the second section; And
And generating the voltage command value based on the phase current and the current command value in the second section.

Images