TWI712734B - Drive device, electric vehicle, and control method of drive device - Google Patents

Abstract

The driving device includes a control unit that controls the driving of the motor by controlling the first to sixth switches. The control unit energizes the continuous first to sixth each corresponding to an electrical angle of 60° according to the first to sixth detection period. The period section is periodically set, and the first to sixth switches are PWM controlled, so that the 120° energization of the phase current flowing in the first to sixth energization period sections in two consecutive energization period sections To switch between 180° energization and energization of the phase currents flowing in the three consecutive energization period sections in the sixth energization period, and set the energization period when the switching is performed in the first to sixth energization period sections In the first to sixth detection period, the detection period is shifted by a period corresponding to the arrangement angle of the angle sensor.

Description

Drive device, electric vehicle, and control method of drive device

The present invention relates to a driving device, an electric vehicle, and a control method of the driving device.

In the past, electric two-wheeled vehicles using a battery as a power source and a three-phase motor (hereinafter referred to as a motor) as a power source have been widely recognized.

In this kind of electric two-wheeled vehicle, in order to drive the motor, a three-phase full bridge circuit (that is, an inverter circuit) equipped with a high-side switch and a low-side switch on each phase is used to realize each phase from the battery to the motor. The energization control of the phase coil.

During the energization control, the switch is PWM controlled by the set duty cycle, and the torque corresponding to the duty cycle is output to the motor. In addition, as the energization method, the following are used: 120° energization in which the energization is performed in the continuous 120° energization period in the energization period divided by the electrical angle of every 60°, and in the continuous 180° period. The 180° energization is performed during the full-phase period.

Conventionally, while detecting the rotation angle of the rotor with the angle sensor of the motor, the 120° energization and the 180° energization are switched at the time when the detected rotation angle is switched.

However, when the installation position of the angle sensor deviates from the coil of the motor, once the 120° energization and 180° energization are switched at the time point when the angle sensor detects the rotation angle of the rotor The deviation of the installation position of the angle sensor causes the phase of the energization mode to be also Correspondingly, it shifts from the ideal phase, thereby causing greater torque fluctuations when switching between 120° energization and 180° energization.

In addition, Japanese Patent Laid-Open No. 2002-186274 discloses a technique for selecting between 120° energization and 180° energization. However, since the technology disclosed in the Japanese Patent Application Publication No. 2002-186274 does not consider the deviation of the installation position of the angle sensor, this technology is completely irrelevant to the present invention.

Therefore, the object of the present invention is to provide a drive device, an electric vehicle, and a control method of the drive device that can suppress torque fluctuations when switching between 120° energization and 180° energization.

The driving device according to an aspect of the present invention is characterized by comprising: a first switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the first output terminal of the first phase coil of the motor; A switch, one end of which is connected to the first output terminal, and the other end to the ground terminal; a third switch, one end of which is connected to the power terminal, and the other end of which is connected to the second phase leading to the motor The second output terminal of the coil is connected; the fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal; the fifth switch, one end of which is connected to the power terminal, Its other end is connected to the third output terminal leading to the third phase coil of the motor; the sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal; at least The one-phase angle sensor is staggered with respect to the in-phase coils of the first to third phase coils at a preset configuration angle, and is cycled in response to the rotation of the rotor of the motor The rotation angle of the rotor is detected in each successive first to sixth detection period segments that are respectively equivalent to 60° in electrical angles, and the control unit controls the first to sixth switches to thereby Controlling the driving of the motor, wherein the control unit

According to the first to sixth detection period segments, the continuous first to sixth energization period segments each corresponding to an electrical angle of 60° are periodically set, and the first to sixth switches are PWM controlled, The 120° energization of the phase current flowing in the first to sixth energization period sections in the two consecutive energization period sections is the same as the three consecutive energization periods in the first to sixth energization period sections The energization and switching between 180° of the phase currents flowing in the cycle section are performed, and the energization period during the switching in the first to sixth energization period sections is set relative to the first to sixth energization period sections. In the detection period, the detection period at the time of switching is staggered by a period corresponding to the arrangement angle.

In the driving device, the control unit detects the rotation speed of the rotor based on the detection angle of the angle sensor, and when the detection speed of the rotor is slower than a preset first reference speed In the first case, PWM control is performed on the first to sixth switches, whereby the 120° energization is performed, and in the second case when the detection speed is greater than or equal to the first reference speed, the first The first to sixth switches perform PWM control, thereby performing the 180° energization.

In the drive device, the angle sensor is arranged to be shifted to the retard angle side with respect to the coils of the same phase, and the control section changes the energization period during the switching to the detection period during the switching. Stagger the setting on the advance angle side.

In the drive device, the control unit

The energization period immediately after the energization period when the switching is performed is set to be staggered with respect to the detection period immediately after the detection period when the switching is performed. The staggered period is: The corresponding period is added to the period corresponding to the set angle set by the user operation amount for controlling the rotation of the motor according to the detection speed.

In the drive device, the control unit

When switching between the 120° energization and the 180° energization, the duty cycle of the PWM control is switched.

In the driving device, the first situation means that the set duty cycle set according to the detection speed and the user operation amount for controlling the rotation of the motor is lower than the preset first reference duty cycle.

In the driving device, the second situation refers to: the detection speed is slower than a preset second reference speed, and the set duty cycle is lower than the first reference duty cycle and greater than or equal to a preset The second reference work period is lower than the preset third reference work period, or the detection speed is greater than or equal to the second reference speed and slower than the preset third reference speed, and the set work period is lower than the The third benchmark work cycle.

In the driving device, in the first situation, the control unit

While switching the on/off of the first switch by the first phase high-end PWM signal of the set duty cycle, the first phase adjusted by the duty cycle between the first phase high-end PWM signal and the first switch The one-phase low-side PWM signal turns on/off of the second switch relative to the first The switch performs complementary switching control, so as to form a dead time that does not turn on the second switch and the first switch at the same time. The second phase high-end PWM signal of the set duty cycle controls the third While the on/off of the switch is switched, the on/off of the fourth switch is relative to the second phase low-side PWM signal after the duty cycle is adjusted between the second-phase high-side PWM signal The third switch performs complementary switching control, so as to form a dead time that does not turn on the fourth switch and the third switch at the same time. The third-phase high-end PWM signal of the set duty cycle is matched by the dead time. While the fifth switch is switched on/off, the sixth switch is turned on/off by the third-phase low-side PWM signal whose duty cycle is adjusted between the third-phase high-side PWM signal and the third-phase low-side PWM signal Complementary switching control is performed with respect to the fifth switch, so as to form a dead time that does not simultaneously turn on the sixth switch and the fifth switch.

In the driving device, in the first situation, the control unit

While switching the on/off of the second switch in the first to fourth energization periods, switching control of the on/off of the first switch in the second and third energization periods , While switching the on/off of the fourth switch in the third to sixth energization period, while switching the on/off of the third switch in the fourth and fifth energization period Control, while switching the on/off of the sixth switch in the fifth and sixth energization period and the first and second energization period immediately after the sixth energization period, while in the The switching control of the on/off of the fifth switch is performed in the sixth energization period and the first energization period thereafter.

In the driving device, when in the second situation, the control unit

While switching the on/off of the first switch by the first phase high-end PWM signal of the set duty cycle, the first phase adjusted by the duty cycle between the first phase high-end PWM signal and the first switch A one-phase low-side PWM signal performs complementary switching control of the on/off of the second switch with respect to the first switch, thereby forming a deadlock that does not turn on the second switch and the first switch at the same time. The zone time is adjusted by the duty cycle between the second phase high-side PWM signal of the set duty cycle and the on/off of the third switch is switched at the same time The second-phase low-side PWM signal after the fourth switch is switched on/off complementary to the third switch, so as to prevent the fourth switch and the third switch from being switched at the same time. The turn-on dead time, while switching the on/off of the fifth switch by the third-phase high-end PWM signal of the set duty cycle, works with the third-phase high-end PWM signal The third-phase low-side PWM signal whose period is adjusted makes the sixth switch on/off complementary switching control with respect to the fifth switch, so that the sixth switch and the first Dead time when five switches are turned on at the same time.

In the driving device, when in the second situation, the control unit

The on/off of the first switch is switched during the first to third energization period, and the on/off of the second switch is switched and controlled during the third to fifth energization period. The on/off of the third switch is switched on/off while the on/off of the fourth switch is switched, The fifth and sixth energization period sections and the first energization period section immediately after the sixth energization period period are switched on/off of the fifth switch while turning on/off the sixth switch Close for switching control.

An electric vehicle related to an aspect of the present invention includes a motor and a drive device, wherein the drive device includes: a first switch, one end of which is connected to a power terminal, and the other end of which is connected to the The first output terminal of the first phase coil of the motor is connected; the second switch, one end of which is connected to the first output terminal, and the other end of which is connected to the ground terminal; the third switch, one end of which is connected to the power terminal The other end of the switch is connected to the second output terminal of the second phase coil of the motor; the fourth switch has one end connected to the second output terminal, and the other end is connected to the ground terminal. The fifth switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the third output terminal of the third phase coil leading to the motor; the sixth switch, one end of which is connected to the third output The terminals are connected, and the other end is connected to the ground terminal; the angle sensor of at least one phase is staggered at a preset configuration angle with respect to the in-phase coils of the first to third phase coils, and The rotation angle of the rotor is detected in each successive first to sixth detection period segments each corresponding to an electrical angle of 60° periodically repeated corresponding to the rotation of the rotor of the motor; and the control unit, by controlling The first to sixth switches are used to control the driving of the motor, Wherein, the control unit

According to the first to sixth detection period segments, the continuous first to sixth energization period segments each corresponding to an electrical angle of 60° are periodically set, and the first to sixth switches are PWM controlled, The 120° energization of the phase current flowing in the first to sixth energization period sections in two consecutive energization period sections is the same as the three consecutive energization period sections in the first to sixth energization period sections Switching between the 180° energization of the phase currents flowing inside, and the energization period during the switching in the first to sixth energization period is set relative to the first to sixth detection period The detection period in the switching is shifted from the period corresponding to the arrangement angle.

In the electric vehicle, the control unit

The rotation speed of the rotor is detected according to the detection angle of the angle sensor. When the detection speed of the rotor is slower than the preset first reference speed, and the detection speed is determined by the user's throttle operation amount. In the first case where the set set duty cycle is lower than the preset first reference duty cycle, the first to sixth switches are PWM controlled to perform the 120° energization. When the detection speed is greater than or equal to The first reference speed is slower than the second reference speed, and the set work period is greater than or equal to the second reference work period and lower than a preset third reference work period, or the detection speed is greater than or equal to all In the second case where the second reference speed is slower than the preset third reference speed, and the set duty cycle is lower than the third reference duty cycle, PWM control is performed on the first to sixth switches, thereby Perform the 180° energization.

In the electric vehicle, the control unit

The torque corresponding to the detected speed and the throttle operation amount is set according to the torque diagram showing the correspondence between the rotation speed of the rotor, the throttle operation amount, and the torque of the motor, according to the expression A schematic diagram of the duty cycle of the correspondence between the rotation speed of the rotor, the torque, and the duty cycle, and the duty cycle corresponding to the detected speed and the set torque is taken as the set duty cycle Make settings.

A method of controlling a driving device according to an aspect of the present invention includes a first switch, one end of which is connected to a power terminal, and the other end of which is connected to a first output terminal of a first phase coil of a motor The second switch, one end of which is connected to the first output terminal, and the other end of which is connected to the ground terminal; the third switch, one end of which is connected to the power terminal, and the other end of which is connected to the motor The second output terminal of the second phase coil is connected; the fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal; the fifth switch, one end of which is connected to the power terminal The other end is connected to the third output terminal of the third phase coil leading to the motor; and a sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal Phase connection is characterized in that: at least one phase angle sensor is arranged at least one phase offset by a preset arrangement angle with respect to the in-phase coil among the first to third phase coils. Detect the rotation angle of the rotor during each successive first to sixth detection period segments each equivalent to 60° in electrical angles that are periodically repeated periodically, and according to the first to sixth detection period segments, The continuous first to sixth energization period segments each equivalent to an electrical angle of 60° are periodically set, and the first to sixth switches are PWM controlled, so that in the first to sixth energization period segments The 120° energization of the phase current flowing in the two consecutive energization periods To switch between the 180° energization of the phase currents flowing in the three consecutive energization period segments in the sixth energization period, and the energization period during the switching in the first to sixth energization period segments is opposite The detection period during the switching among the first to sixth detection periods is staggered by a period corresponding to the arrangement angle.

A drive device according to an aspect of the present invention includes: a first switch, one end of which is connected to a power supply terminal, and the other end of which is connected to a first output terminal of the first phase coil leading to the motor; and a second switch, one end of which is connected Connected to the first output terminal, the other end of which is connected to the ground terminal; the third switch, one end of which is connected to the power terminal, and the other end of which is connected to the second output terminal of the second phase coil leading to the motor; Four switches, one end is connected to the second output terminal, and the other end is connected to the ground terminal; the fifth switch, one end is connected to the power terminal, and the other end is connected to the third output of the third phase coil of the motor The sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal; the angle sensor of at least one phase, relative to the in-phase coil of the first to third phase coils The preset arrangement angles are staggered and arranged, and the rotation angle of the rotor is detected in each successive first to sixth detection period segments corresponding to the rotation of the rotor of the motor and periodically repeated each corresponding to an electrical angle of 60°; and The control unit controls the driving of the motor by controlling the first to sixth switches, wherein the control unit controls the continuous first to sixth energization periods each corresponding to an electrical angle of 60° according to the first to sixth detection period periods Periodic setting of the segment, PWM control of the first to sixth switches, so that the 120° energization of the phase current flowing in the first to sixth energization period in the first to sixth energization period In the sixth energization period, the 180° energization of the phase currents in the three consecutive energization period sections is switched, and the energization period when switching between the first to sixth energization period sections The period corresponding to the arrangement angle is shifted from the detection period at the time of switching in the first to sixth detection period.

According to the present invention, when switching between 120° energization and 180° energization, by staggering the energization period to the period corresponding to the arrangement angle of the angle sensor relative to the detection period, it is possible to prevent angle sensing The phase shift of the energization pattern caused by the shift between the placement angle of the detector and the coil.

Therefore, according to the present invention, it is possible to suppress torque fluctuations when switching between 120° energization and 180° energization.

1: Electric vehicle control device

2.B: Battery

3: motor

3a, 3b, 3c: output terminal

3r: Rotor

4: Angle sensor

4u, 4v, 4w: phase angle sensor

5: Throttle position sensor

7: Instrument

8: Wheel

10: Control Department

20: Memory Department

30: Power Conversion Department

30a: Power terminal

30b: Ground terminal

31u, 31v, 31w: phase coil

100: Electric two-wheeler

C: Smoothing capacitor

DEG1, DEG2: set angle

Q1, Q2, Q3, Q4, Q5, Q6: semiconductor switches

R1~R5: area

S1~S15: steps

θ: configuration angle

FIG. 1 is a schematic diagram of an electric two-wheeled vehicle 100 according to the first embodiment.

2 is a schematic diagram of the electric power conversion unit 30 and the motor 3 in the electric two-wheeled vehicle 100 according to the first embodiment.

3 is a schematic diagram of the magnet and the angle sensor 4 provided on the rotor of the motor 3 in the electric two-wheeled vehicle 100 according to the first embodiment.

4 is a schematic diagram of the relationship between the rotor angle and the output of the angle sensor 4 in the electric two-wheeled vehicle 100 according to the first embodiment.

5 is a timing chart showing the 120° upper and lower rectangular wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

6 is a timing chart showing the dead time in the 120° upper and lower rectangular wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 7 is a timing chart showing the 180° upper and lower rectangular wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 8 is a timing chart showing the switching from 120° energization to 180° energization in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 9 is a timing chart showing the switching from 180° energization to 120° energization in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 10 is an explanatory diagram for explaining the detection procedure of the rotation speed of the rotor and the setting procedure of the duty cycle in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 11 is a graph showing an example of a torque diagram for implementing the setting procedure of the duty cycle in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 12 is a chart showing an example of a schematic diagram of a duty cycle for implementing the procedure of setting the duty cycle in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 13 is a graph showing an example of an angle schematic diagram for implementing the angle setting step in the control method of the electric two-wheeled vehicle 100 according to the first embodiment.

FIG. 14 is a flowchart showing a control method of the electric two-wheeled vehicle 100 according to the second embodiment.

15A is a graph showing the energization control method according to the rotation speed of the rotor and the target torque in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

15B is a graph showing the energization control method according to the rotation speed of the rotor and the set duty cycle in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

16 is a timing chart showing the 120° upper stage rectangular wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 17 is a timing chart showing the 180° upper and lower step trapezoidal wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

18 is a timing chart showing the duty cycle in the 180° upper and lower step trapezoidal wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

19 is a timing chart showing the 180° upper rectangular wave PWM control in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

Hereinafter, embodiments related to the present invention will be described with reference to the drawings. However, the embodiments shown below do not limit the present invention. In addition, in the drawings referred to in the embodiments, the same or similar symbols are added to the same parts or parts with the same functions, and repeated descriptions thereof are omitted.

(First embodiment)

First, referring to FIG. 1, an electric two-wheeled vehicle 100 according to a first embodiment as an example of an electric vehicle will be described.

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

As shown in FIG. 1, the electric two-wheeled vehicle 100 includes: an electric vehicle control device 1, a battery 2, a motor 3 as an example of a driving device, an angle sensor 4, an accelerator position sensor 5, and an example of a rotation speed detection unit. Instrument 7, and wheel 8.

Hereinafter, each component of the electric two-wheeled vehicle 100 will be described in detail.

The electric vehicle control device 1 is a device that controls the electric two-wheeled vehicle 100 and includes a control unit 10, a storage unit 20, and a power conversion unit 30. However, the electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric two-wheeled vehicle 100. Hereinafter, 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 simultaneously drives and controls the motor 3 by the power conversion unit 30. The detailed information of the control unit 10 will be described later.

The storage unit 20 stores information used by the control unit 10 and a program used by the control unit 10 to operate. The memory portion 20 may be, for example, a non-volatile semiconductor memory, but it may not be 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 is composed of an inverter circuit, specifically a three-phase full bridge circuit.

The full bridge circuit has: a first semiconductor switch Q1 as an example of the first switch, a second semiconductor switch Q2 as an example of the second switch, a third semiconductor switch Q3 as an example of the third switch, and a fourth switch as an example of the fourth switch A semiconductor switch Q4, a fifth semiconductor switch Q5 as an example of a fifth switch, and a sixth semiconductor switch Q6 as an example of a sixth switch.

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

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 to which the negative electrode of the grounded battery 2 is connected.

The third semiconductor switch Q3 has one end connected to the power supply terminal 30a and the other end connected to the second output terminal 3b leading to the V-phase coil 31v of the motor 3 as an example of the second phase coil.

The fourth semiconductor switch Q4 has one end connected to the second output terminal 3b, and the other end connected to the ground terminal 30b.

The fifth semiconductor switch Q5 has one end connected to the power supply terminal 30a and the other end connected to the third output terminal 3c leading to the W-phase coil 31w of the motor 3 as an example of the third-phase coil.

The sixth semiconductor switch Q6 has one end connected to the third output terminal 3c and the other end 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 terminal 30a and the ground terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.

The battery 2 can be charged and discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 during discharge. In addition, when the battery 2 is charged by AC power supplied from an external power source such as a commercial power source, the AC power supplied from the power source is charged with the converted DC power by a charger not shown. In addition, when the battery 2 is charged by the AC power output by the motor 3 following the rotation of the wheels 8, the AC power output by the motor 3 is charged by the power conversion device 100 with the converted DC voltage.

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

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

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.

Specifically, the motor 3 is driven by AC power supplied from the power conversion unit 30 to output torque for driving the wheels 8. The torque is controlled by the control unit 10 outputting to the semiconductor switches Q1 to Q6 of the power conversion unit 30 PWM signals having energization time points and duty cycles calculated based on the target torque. 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 wheel 8 and rotates the wheel 8 in a desired direction by torque. In this embodiment, the motor 3 is mechanically connected to the wheels 8 without passing through a clutch. However, the type of the motor 3 is not particularly limited.

The angle sensor 4 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, on the peripheral surface of the rotor 3r of the motor 3, N-pole and S-pole magnets (sensor magnets) are alternately mounted. The angle sensor 4 is constituted by, for example, a Hall element, and detects a change in the magnetic field accompanying the rotation of the motor 3. Among them, the magnet may also be provided inside a fly wheel (not shown).

As shown in FIG. 3, the angle sensor 4 has a U-phase angle sensor 4u as an example of a first phase angle sensor, a V-phase angle sensor 4v as an example of a second phase angle sensor, and The W-phase angle sensor 4w is an example of the third phase angle sensor. In this embodiment, the U-phase angle sensor 4u and the V-phase angle sensor 4v are arranged 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 to form an angle of 30° with respect to the rotor of the motor 3.

In addition, as shown in FIG. 3, the angle sensors 4u, 4v, and 4w are shifted by a preset arrangement angle θ with respect to the coils 31u, 31v, and 31w of the same phase. The arrangement angle θ may be offset by 30° to the retard angle side with respect to the coils 31u, 31v, and 31w, but it may not be limited to this.

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 pulse signals of phases corresponding to the rotor angle (angle position) (that is, the detection of the rotation angle). Signal).

In addition, as shown in FIG. 4, a number (motor stage number) indicating a motor stage (motor stage) is assigned for each predetermined rotor angle. The motor stage indicates the angular position of the rotor 3r of the motor 3. In this embodiment, the motor stage numbers 1, 2, 3, 4, 5, and 6 are assigned for every 60° electrical angle. The motor level is defined by the combination of the 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, motor stage number 1 is (U-phase, V-phase, W-phase)=(H, L, H), motor stage number 2 is (U-phase, V-phase, W-phase)=(H, L, L).

As shown in Fig. 4, the angle sensors 4u to 4w periodically repeat each motor stage (detection cycle) of No. 1 to No. 6 each corresponding to an electrical angle of 60° according to the rotation angle of the corresponding rotor 3r. The rotation angle of the rotor.

The control unit 10 functions as a rotation speed detection unit together with the angle sensors 4u to 4w, and detects the rotation speed of the rotor based on the detection signal (detection angle) of the angle sensors 4u to 4w. As an example, as shown in FIG. 4, the control unit 10 calculates the rotation speed of the rotor based on the time t from when the output of the V-phase rotor angle sensor 4v decreases to when the output of the U-phase rotor angle sensor 4u increases.

The accelerator position sensor 5 is used to detect the accelerator operation amount set by the user's accelerator operation, and send the detected accelerator operation amount to the control unit 10 as an electrical signal. The throttle operation amount is, for example, the intake port opening degree. The amount of throttle operation increases when the user wants to accelerate.

The instrument 7 is a display (such as a liquid crystal panel) installed on the electric two-wheeled vehicle 100, and displays various messages. Specifically, the instrument 7 displays information such as the driving speed of the electric two-wheeled vehicle 100, the remaining amount of the battery 2, the current time, and the driving distance. In this embodiment, the instrument 7 is installed on the steering wheel of the electric two-wheeled vehicle 100 (not shown).

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

The control unit 10 periodically sets the continuous first to sixth energization period segments each corresponding to an electrical angle of 60° based on the motor poles of No. 1 to No. 6.

The control unit 10 performs PWM control on the first semiconductor switch Q1 to the sixth semiconductor switch Q6, so that the 120° energization of the phase current flowing in the first to sixth energization period sections in two consecutive energization period sections To switch between the 180° energization of the phase currents flowing in the three consecutive energization period sections in the sixth energization period.

The control unit 10 switches the energization period between 120° energization and 180° energization in the first to sixth energization period segments with respect to the motor stages of No. 1 to No. 6 between 120° energization and 180° energization The motor stage at the time of switching is shifted by a period corresponding to the arrangement angle θ .

In the first case where the rotation speed of the rotor (hereinafter referred to as the detection speed) detected based on the detection angles of the angle sensors 4u to 4w is slower than the preset first reference speed, the control unit 10 switches the semiconductor Q1 to Q6 are controlled by PWM so as to conduct 120° energization. The first case can also be further a case where the set duty cycle set based on the detected speed and the throttle operation amount is lower than the preset first reference duty cycle.

On the other hand, in the second case where the detection speed is greater than or equal to the first reference speed, the control unit 10 performs PWM control on the semiconductor switches Q1 to Q6 to perform 180° energization. The second situation can also be further that the detection speed is slower than the preset second reference speed, and the set duty cycle is lower than the first reference duty cycle and greater than or equal to the preset second reference duty cycle and lower than the preset third benchmark The working period or the detection speed is greater than or equal to the second reference speed and slower than the preset third reference speed, and the set working period is lower than the third reference working period.

When the angle sensors 4u to 4w are shifted to the retarded angle side with respect to the coils 31u, 31v, and 31w, the control unit 10 shifts the energization period during switching to the advanced angle side relative to the motor stage during switching.

The control unit 10 sets the energization period immediately after the energization period at the time of switching with respect to the motor stage staggered period immediately after the motor stage at the time of switching. The staggered period is: the period corresponding to the arrangement angle θ The period is a period obtained by adding the period corresponding to the set angle set according to the detected speed and the accelerator operation amount (ie, the user operation amount) for controlling the rotation of the motor 3.

When in the first case of 120° energization, the control unit 10 switches the on/off of the first semiconductor switch Q1 by setting the duty cycle of the U-phase high-side PWM signal (ie, the first-phase high-side PWM signal) At the same time, the U-phase low-side PWM signal (ie, the first-phase low-side PWM signal) is used to perform complementary switching control of the on/off of the second semiconductor switch Q2 relative to the first semiconductor switch Q1. In the first case, the U-phase low-side PWM signal is the same as the U-phase high-side PWM signal of the set duty cycle. The PWM signal with the adjusted duty cycle between signals forms a dead time that does not turn on the second semiconductor switch Q2 and the first semiconductor switch Q1 at the same time.

In addition, when in the first situation, the control unit 10 switches the on/off of the third semiconductor switch Q3 by setting the duty cycle of the V-phase high-side PWM signal (ie, the second-phase high-side PWM signal). The V-phase low-side PWM signal (ie, the second-phase low-side PWM signal) performs complementary switching control of the on/off of the fourth semiconductor switch Q4 with respect to the third semiconductor switch Q3. In the first case, the V-phase low-side PWM signal is a PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal of the set duty cycle, so as to form the fourth semiconductor switch Q4 and the third semiconductor switch Q3. Dead time for simultaneous conduction.

In addition, when in the first situation, the control unit 10 switches the on/off of the fifth semiconductor switch Q5 by setting the duty cycle of the W-phase high-side PWM signal (ie, the third-phase high-side PWM signal), by The W-phase low-side PWM signal (ie, the third-phase low-side PWM signal) performs complementary switching control of the on/off of the sixth semiconductor switch Q6 with respect to the fifth semiconductor switch Q5. In the first case, the W-phase low-side PWM signal is the PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal of the set duty cycle, so as to form the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5. Dead time for simultaneous conduction.

In addition, when in the first situation, the control unit 10 switches the on/off of the second semiconductor switch Q2 during the first to fourth energization period, and controls the first semiconductor switch during the second and third energization period. The on/off of Q1 is switched to control.

In addition, in the first case, the control unit 10 switches the on/off of the fourth semiconductor switch Q4 during the third to sixth energization period, and controls the third semiconductor switch during the fourth and fifth energization period. The on/off of Q3 is switched to control.

In addition, in the first case, the control unit 10 switches the sixth semiconductor during the fifth and sixth energization period and the first and second energization period immediately after the sixth energization period. The on/off of the bulk switch Q6 is switched on/off of the fifth semiconductor switch Q5 during the sixth energization period and the first energization period thereafter.

On the other hand, in the second case of conducting 180° energization, the control unit 10 switches the on/off of the first semiconductor switch Q1 by setting the duty cycle of the U-phase high-side PWM signal, and at the same time, by the U-phase The low-side PWM signal performs complementary switching control of the on/off of the second semiconductor switch Q2 with respect to the first semiconductor switch Q1. The U-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the U-phase high-side PWM signal of the set duty cycle, so as to form a PWM signal that does not switch the second semiconductor The dead time when Q2 and the first semiconductor switch Q1 are simultaneously turned on.

In addition, 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 that sets the duty cycle, and simultaneously switches the fourth semiconductor switch Q3 on/off by the V-phase low-side PWM signal The on/off of the switch Q4 is switched and controlled in a complementary manner with respect to the third semiconductor switch Q3. The V-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal of the set duty cycle, so as to form a fourth semiconductor switch without switching The dead time when Q4 and the third semiconductor switch Q3 are simultaneously turned on.

In addition, when in the second situation, the control unit 10 switches the on/off of the fifth semiconductor switch Q5 by setting the duty cycle of the W-phase high-side PWM signal, and simultaneously uses the W-phase low-side PWM signal to turn the sixth semiconductor switch on/off. The on/off of the switch Q6 is switched and controlled complementary to the fifth semiconductor switch Q5. The W-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal of the set duty cycle, so as to form a The dead time when Q6 and the fifth semiconductor switch Q5 are turned on at the same time.

In addition, in the second case, the control unit 10 performs switching control on the on/off of the second semiconductor switch Q2 while switching the on/off of the first semiconductor switch Q1 in the first to third energization period.

In addition, when in the second case, the control unit 10 switches the on/off of the third semiconductor switch Q3 during the third to fifth energization period, and performs switching control on the on/off of the fourth semiconductor switch Q4.

In addition, when in the second case, the control unit 10 switches the on/off of the fifth semiconductor switch Q5 during the fifth and sixth energization period and the first energization period immediately after the sixth energization period. The on/off control of the sixth semiconductor switch Q6 is performed.

(Control method of electric two-wheeler 100)

Next, as an example of a control method of the drive device, a control method of the electric two-wheeled vehicle 100 according to the first embodiment will be described.

"120° Upper and Lower Rectangular Wave PWM Control"

As shown in FIG. 5, the control unit 10 performs 120° upper and lower rectangular wave PWM control to be energized as 120°.

The 120° upper and lower rectangular wave PWM control is a 120° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control of both the upper stage, the high-end semiconductor switches Q1, Q3, and Q5, and the lower stage, the low-end semiconductor switches Q2, Q4, Q6. .

As shown in Figure 5, in the 120° upper and lower rectangular wave PWM control, the energization levels of No. 1 to No. 6 (ie In the continuous No. 1 and No. 2 energization stages (ie, the second and third energization period sections) in the energization period section, the first semiconductor switch Q1 is turned on/off by setting the duty cycle of the U-phase high-side PWM signal Perform switching control.

Among them, the set duty cycle is set according to the torque diagram and the duty cycle diagram shown in FIG. 10. Specifically, as shown in FIG. 10, the control unit 10 obtains the target torque corresponding to the accelerator operation amount and the rotation speed of the rotor by referring to the torque map, thereby setting the target torque.

The torque diagram is shown in Fig. 11, which shows the correspondence between the rotation speed of the rotor, the throttle operation amount, and the target torque. The torque map is stored in the memory unit 20 in a state where the control unit 10 can read it. The torque diagram is different for 120° energization and 180° energization.

After the target torque is set, the control unit 10 sets the duty cycle based on the detected speed and the set target torque.

Specifically, as shown in FIG. 10, the control unit 10 obtains the duty cycle corresponding to the detected speed and the target torque by referring to the duty cycle schematic diagram, thereby setting the duty cycle.

The schematic diagram of the working cycle is shown in Fig. 12, which shows the correspondence between the rotation speed of the rotor, the target torque, and the working cycle. The working cycle diagram is stored in the memory unit 20 in a state where the control unit 10 can read it. The working cycle diagram is different for 120° energization and 180° energization.

In addition, as shown in Fig. 5, in the 120° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 6 to No. 3 (that is, the first to fourth energization period), the high-end PWM signal of the U phase In the meantime, the U-phase low-side PWM signal after the duty cycle is adjusted, the second semiconductor switch Q2 is switched on/off complementary to the first semiconductor switch Q1 to form a dead time.

Among them, since the first semiconductor switch Q1 is closed in the energization stages of No. 6 and No. 3, strictly speaking, the on/off of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1 in a continuous 6 No. 1 and No. 2 of the energized levels from No. to No. 3.

In addition, since the high-side semiconductor switch Q1 is equivalent to a high-level signal in a conducting state, the low-side semiconductor switch Q2 is equivalent to a low-level signal being in a conducting state. Therefore, in Figure 5, the high-level PWM The signal icon is "Hi Active", and the low-end PWM signal icon is "Lo Active".

In addition, as shown in FIG. 6 after the dashed frame in FIG. 5 is enlarged, the duty cycle between the U-phase low-end PWM signal and the U-phase high-end PWM signal is adjusted so as to prevent the second semiconductor switch Q2 from connecting the second semiconductor switch Q2 to the first The dead time Dt when a semiconductor switch Q1 is turned on at the same time.

In addition, as shown in FIG. 5, in the 120° upper and lower rectangular wave PWM control, in the continuous No. 3 and No. 4 energization stages (ie, the fourth and fifth energization period sections), by setting the duty cycle The V-phase high-side PWM signal is used to switch the on/off control of the third semiconductor switch Q3.

In addition, in the 120° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 2 to No. 5 (ie, the third to sixth energization period), it works between the V-phase high-end PWM signal The V-phase low-side PWM signal whose period is adjusted makes the on/off of the fourth semiconductor switch Q4 complementary to that of the third semiconductor switch Q3, thereby forming a dead time.

In addition, in the 120° upper and lower rectangular wave PWM control, in the consecutive No. 5 and No. 6 energization stages (that is, the sixth energization period and the first energization period thereafter), the W of the duty cycle is set A high-side PWM signal is used to switch on/off the fifth semiconductor switch Q5.

In addition, in the 120° upper and lower rectangular wave PWM control, in the consecutive energization levels of No. 4 to No. 1 (that is, the fifth and sixth energization period sections and the first and second energization period sections thereafter), Between the W-phase high-side PWM signal and the W-phase high-side PWM signal, the turn-on/off of the sixth semiconductor switch Q6 is complementarily switched with respect to the fifth semiconductor switch Q5 through the W-phase low-side PWM signal after the duty cycle is adjusted, thereby forming a deadlock. District time.

Among them, in the energization stages other than No. 1 and No. 2, the first semiconductor switch Q1 is turned off. In energization levels other than No. 6 to No. 3, the second semiconductor switch Q2 is turned off. In the energization levels other than No. 3 and No. 4, the third semiconductor switch Q3 is turned off. In energization levels other than No. 2 to No. 5, the fourth semiconductor switch Q4 is closed. In energization levels other than No. 5 and No. 6, the fifth semiconductor switch Q5 is closed. In energization levels other than No. 4 to No. 1, the sixth semiconductor switch Q6 is closed.

The energization level has an angular deviation set based on the target torque and the motor rotation speed relative to the motor level.

According to the above 120° upper and lower rectangular wave PWM control, it is possible to improve the starting characteristics by energizing 120° when the rotor 3r rotates at a low speed. In addition, by performing PWM control on the low-side switches Q2, Q4, and Q6, a dead time is formed between the low-side switches Q1, Q3, and Q5, thereby preventing shoot-through current.

"180° Upper and Lower Rectangular Wave PWM Control"

As shown in FIG. 7, the control unit 10 performs 180° upper and lower rectangular wave PWM control to be energized as 180°.

The 180° upper and lower rectangular wave PWM control is a 180° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, Q5 and the low-side semiconductor switches Q2, Q4, Q6.

As shown in FIG. 7, in the 180° upper and lower rectangular wave PWM control, in the continuous energization levels of No. 1 to No. 3 (ie, the first to third energization period sections), the U phase of the duty cycle is set The high-end PWM signal controls the on/off of the first semiconductor switch Q1.

In addition, in the 180° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 1 to No. 3, between the U-phase high-end PWM signal and the U-phase high-end PWM signal, the duty cycle is adjusted by the U-phase low-end PWM signal. The on/off of the second semiconductor switch Q2 is complementarily switched with respect to the first semiconductor switch Q1 to form a dead time.

In addition, in the 180° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 3 to No. 5 (ie, the third to fifth energization period), the V-phase high-end PWM signal pair with the set duty cycle The on/off of the third semiconductor switch Q3 is switched and controlled.

In addition, in the 180° upper and lower rectangular wave PWM control, the V-phase low-side PWM signal adjusted by the duty cycle between the V-phase high-end PWM signal and the V-phase high-end PWM signal in the continuous energization stages of No. 3 to No. 5 No., the on/off of the fourth semiconductor switch Q4 is complementarily switched with respect to the third semiconductor switch Q3 to form a dead time.

In addition, in the 180° upper and lower rectangular wave PWM control, in the consecutive energization levels of No. 5 to No. 1 (that is, the fifth and sixth energization periods and the first energization period thereafter), by setting the duty cycle The W-phase high-side PWM signal controls the on/off of the fifth semiconductor switch Q5.

In addition, in the 180° upper and lower rectangular wave PWM control, the W-phase low-end PWM signal whose duty cycle is adjusted between the W-phase high-end PWM signal and the W-phase high-end PWM signal in the continuous energization stages of No. 5 to No. 1 The on/off of the sixth semiconductor switch Q6 is complementarily switched with respect to the fifth semiconductor switch Q5 to form a dead time.

According to the above-mentioned 180° upper and lower rectangular wave PWM control, it is possible to increase the utilization of the power supply voltage by energizing at 180° and obtain a large torque when the rotor 3r is rotating at a high speed, thereby appropriately applying torque to the high-rotating rotor 3r . In addition, by performing PWM control on the low-side switches Q2, Q4, and Q6, a dead time is formed between the low-side switches Q1, Q3, and Q5, thereby preventing shoot-through current.

"120°-180° power switch"

When switching from 120° energization (ie, 120° upper and lower rectangular wave PWM control) to 180° energization (ie, 180° upper and lower rectangular wave PWM control), the control unit 10 changes according to the arrangement angle of the angle sensors 4u to 4w θ , set the energization level, that is, the energization mode relative to the motor level.

In the example of FIG. 8, when switching from the No. 6 motor stage to the first motor stage in the next cycle, that is, when switching from the No. 6 energization stage to the subsequent No. 1 energization stage, the control unit 10 Switch from 120° energization to 180° energization. That is, the motor stage No. 1 in the next cycle is the motor stage at the time of switching, and the energization stage No. 1 in the next cycle is the energization level at the time of switching.

The control unit 10 shifts the energized stage No. 1 in the next period with respect to the motor stage No. 1 in the next period by a period corresponding to the arrangement angle θ .

Specifically, the control unit 10 shifts the energization level in the advance angle direction by a period corresponding to the arrangement angle θ . That is, the control unit 10 advances the energization mode by an angle corresponding to the arrangement angle θ .

After switching to 180° energization, the control unit 10 sets the energization level immediately after the energization level at the time of switching with respect to the motor stage staggered period after the motor level at the time of switching. The staggered period is: The period corresponding to the angle θ is added to the period corresponding to the set angle (for example, DEG1 and DEG2 in FIG. 8) set according to the angle diagram shown in FIG. 10.

That is, the period in which the control unit 10 shifts the energization level with respect to the motor stage corresponds to the angle ( θ + DEG1, θ + DEG1 + DEG2) obtained by adding the arrangement angle θ and the set angle (DEG1, DEG2).

Among them, as shown in FIG. 13, the schematic diagram of the angle indicates the correspondence between the rotation speed of the rotor, the target torque and the angle. The angle diagram is stored in the memory unit 20 in a state where the control unit 10 can read it, and the angle diagram is different for 120° energization and 180° energization.

As shown in FIG. 9, even when switching from 180° energization to 120° energization, the control unit 10 shifts the energization level in the advance angle direction by a period corresponding to the arrangement angle θ .

By staggering the setting of the energization level when switching between 120° energization and 180° energization in this way, it is possible to suppress torque fluctuations when switching between 120° energization and 180° energization as shown in Figure 8 and Figure 9 . In addition, after switching between 120° energization and 180° energization, by staggering the energization levels according to the angle set based on the angle diagram, the appropriate torque corresponding to the driving state can be output.

Among them, when switching between 120° energization and 180° energization, the control unit 10 switches the duty cycle. For example, when switching from 120° energization to 180° energization, the duty cycle is reduced, and conversely, when switching from 180° energization to 120° energization, the duty cycle is increased. By switching the duty cycle when switching between 120° energization and 180° energization, it is possible to further suppress torque fluctuations while suppressing the generation of overcurrent.

As described above, in the electric two-wheeled vehicle 100 according to the first embodiment, the control unit 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6. The control unit 10 periodically sets the continuous first to sixth energization period segments (energization levels) each corresponding to an electrical angle of 60° based on the first to sixth detection period segments (motor stages), and sets the semiconductor switch Q1 to Q6 perform PWM control, whereby the 120° energization of the phase current flowing in the first to sixth energization period sections in two consecutive energization period sections and the three consecutive energization periods in the first to sixth energization period sections Switch between 180° energization of the phase currents flowing in the energization period. The control unit 10 shifts the energization period during switching in the first to sixth energization period segments from the detection period during switching in the first to sixth detection period segments by a period corresponding to the arrangement angle θ .

According to the present invention, when switching between 120° energization and 180° energization, by staggering the energization period from the detection period according to the arrangement angle θ of the angle sensors 4u to 4w, it is possible to prevent The phase shift of the energization pattern caused by the shift between the placement angle of the sensor and the coil.

Therefore, according to the present invention, it is possible to suppress torque fluctuations when switching between 120° energization and 180° energization.

(Second embodiment)

Next, a second embodiment in which the energization method is selected according to the driving state will be described.

In the second embodiment, when the detection speed other than the configuration of the first embodiment is slower than the first reference speed, and the set duty cycle is greater than or equal to the first reference duty cycle, the control unit 10 turns off the second The second semiconductor switch Q2 controls the on/off of the first semiconductor switch Q1 through the U-phase high-side PWM signal (ie, the first-phase high-side PWM signal) that sets the duty cycle.

In addition, in the third situation, the control unit 10 turns off the fourth semiconductor switch Q4 while turning on the third semiconductor switch Q3 by setting the duty cycle of the V-phase high-side PWM signal (ie, the second-phase high-side PWM signal) /Close for switching control.

In addition, in the third situation, the control unit 10 turns off the sixth semiconductor switch Q6 while turning on the fifth semiconductor switch Q5 by setting the duty cycle of the W-phase high-side PWM signal (ie, the third-phase high-side PWM signal) /Close for switching control.

In detail, in the third case, the control unit 10 turns off the second semiconductor switch Q2 during the first to fourth energization period, and uses U-phase high-side PWM during the second and third energization period. The signal controls the on/off of the first semiconductor switch Q1.

In addition, when in the third situation, the control unit 10 turns off the fourth semiconductor switch Q4 during the third to sixth energization period, and at the same time uses the V-phase high-side PWM signal to adjust the fourth and fifth energization period. The switching control of the on/off of the three semiconductor switch Q3 is performed.

In addition, in the third case, the control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energization period and the first and second energization period immediately after the sixth energization period, while During the sixth power-on period and the first power-on period thereafter, the on/off of the fifth semiconductor switch Q5 is switched and controlled by the W-phase high-side PWM signal.

By this control in the third case, 120° energization is performed.

In addition, in the fourth case where the detection speed is greater than or equal to the first reference speed and slower than the second reference speed, and the set duty cycle is lower than the preset second reference duty cycle, the control unit 10 performs a trapezoidal current waveform. Drive control of motor 3.

The drive control of the motor 3 performed by the trapezoidal current waveform includes: by being adjusted to increase from the zero duty cycle (ie, off state) to the set duty cycle step by step, and maintain the set duty cycle after the increase, and maintain Then, the U-phase high-end PWM signal of the adjustment duty cycle, which is gradually reduced from the set duty cycle to zero duty cycle, switches the on/off of the first semiconductor switch Q1 at the same time. At this time, the on/off of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1 by the U-phase low-side PWM signal. The U-phase low-side PWM signal in the fourth case is a PWM signal whose duty cycle has been adjusted between the U-phase high-side PWM signal that adjusts the duty cycle, so that the second semiconductor switch Q2 is not connected to the first semiconductor switch Q1. Dead time for simultaneous conduction.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: the on/off of the third semiconductor switch Q3 is switched by the V-phase high-side PWM signal that adjusts the duty cycle, and the V-phase low-side PWM The signal turns on/off of the fourth semiconductor switch Q4 to perform complementary switching control with respect to the third semiconductor switch Q3. The V-phase low-side PWM signal in the fourth case is a PWM signal whose duty cycle has been adjusted between the V-phase high-side PWM signal that adjusts the duty cycle, so as to form the fourth semiconductor switch Q4 and the third semiconductor switch Q3. Dead time for simultaneous conduction.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: the fifth semiconductor switch Q5 is switched on/off by the W-phase high-side PWM signal that adjusts the duty cycle, and the W-phase low-side PWM The signal turns on/off of the sixth semiconductor switch Q6 to perform complementary switching control with respect to the fifth semiconductor switch Q5. In the fourth case, the W-phase low-side PWM signal is the PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal that adjusts the duty cycle, so as to form the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5. Dead time for simultaneous conduction.

In detail, when in the fourth situation, the control unit 10 uses the U-phase high-side PWM signal to switch the on/off of the first semiconductor switch Q1 during the first to fourth energization period. The U-phase low-end PWM signal controls the on/off of the second semiconductor switch Q2.

In addition, in the fourth situation, the control unit 10 uses the V-phase high-side PWM signal to switch the on/off of the third semiconductor switch Q3 during the third to sixth energization period. At the same time, the V-phase low The terminal PWM signal controls the on/off of the fourth semiconductor switch Q4.

In addition, when in the fourth situation, the control unit 10 uses the W-phase high side during the fifth and sixth energization period and the first and second energization period immediately after the sixth energization period. While the PWM signal switches the on/off of the fifth semiconductor switch Q5, the W-phase low-side PWM signal controls the on/off of the sixth semiconductor switch Q6.

With this control in the fourth case, 180° energization is performed.

In addition, when in the fourth situation, the adjustment duty cycle of the U-phase high-end PWM signal is gradually increased to the set duty cycle during the first energization period, and is maintained at the set duty cycle during the second and third energization periods. , In the fourth energization period from the set work cycle phased reduction.

In addition, when in the fourth situation, the adjustment duty cycle of the V-phase high-end PWM signal is gradually increased to the set duty cycle during the third energization period, and is maintained at the set duty cycle during the fourth and fifth energization periods. , In the sixth power cycle period from the set work cycle phased reduction.

In addition, when in the fourth situation, the adjustment duty cycle of the W-phase high-end PWM signal is gradually increased to the set duty cycle during the fifth energization period, and is increased during the sixth energization period and the first energization period thereafter. Maintain the set work cycle, and gradually decrease from the set work cycle in the second power-on period.

In addition, when the detection speed is greater than or equal to the first reference speed and slower than the third reference speed, and the set duty cycle is greater than or equal to the third reference duty cycle, or the detection speed is greater than or equal to the third reference speed in the fifth case, the control unit 10 The second semiconductor switch Q2 is turned off, and the on/off of the first semiconductor switch Q1 is switched and controlled by the U-phase high-side PWM signal that sets the duty cycle.

In addition, when in the fifth situation, the control unit 10 closes the fourth semiconductor switch Q4 while switching on/off the third semiconductor switch Q3 by setting the duty cycle of the V-phase high-side PWM signal.

In addition, when in the fifth situation, the control unit 10 turns off the sixth semiconductor switch Q6 while switching on/off the fifth semiconductor switch Q5 by setting the duty cycle of the W-phase high-side PWM signal.

In detail, when in the fifth situation, the control unit 10 turns off the second semiconductor switch Q2 during the first to third energization period while turning on the first semiconductor switch Q1 by the U-phase high-side PWM signal. Close for switching control.

In addition, in the fifth situation, the control unit 10 turns off the fourth semiconductor switch Q4 during the third to fifth energization period, while switching the third semiconductor switch Q3 on/off by the V-phase high-side PWM signal control.

In addition, in the fifth case, the control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energization period and the first energization period immediately after the sixth energization period while turning off the W phase The high-end PWM signal controls the on/off of the fifth semiconductor switch Q5.

With this control in the fifth case, 180° energization is performed.

(Control method of electric two-wheeler 100)

Hereinafter, as an example of the control method of the driving device, the control method of the electric two-wheeled vehicle 100 according to the first embodiment will be described with reference to the flowchart of FIG. 14. Among them, the flowchart of FIG. 14 will be repeated when necessary.

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

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

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

Specifically, as shown in FIG. 10, the control unit 10 obtains the target torque corresponding to the accelerator operation amount and the rotation speed of the rotor by referring to the torque map, thereby setting the target torque.

The torque diagram is shown in Fig. 11, which shows the correspondence between the rotation speed of the rotor, the throttle operation amount, and the target torque. The torque map is stored in the memory unit 20 in a state where the control unit 10 can read it.

After the target torque is set, as shown in FIG. 14, the control unit 10 sets the duty cycle based on the detected speed and the set target torque (step S4).

Specifically, as shown in FIG. 10, the control unit 10 obtains the duty cycle corresponding to the detected speed and the target torque by referring to the duty cycle schematic diagram, thereby setting the duty cycle. A schematic diagram of the working cycle is shown in Figure 12, which shows the correspondence between the rotation speed of the rotor, the target torque, and the working cycle. The working cycle schematic diagram is stored in the memory unit 20 in a state where the control unit 10 can read it.

After setting the duty cycle, as shown in FIG. 14, the control unit 10 determines whether the detected speed is greater than or equal to the preset first reference speed (step S5).

When the detected speed is less than the first reference speed (step S5: No), the control unit 10 determines whether the set duty cycle is greater than or equal to the preset first reference duty cycle (step S6).

"120° Upper and Lower Rectangular Wave PWM Control"

When the set duty cycle is smaller than the first reference duty cycle (step S6: No), the control unit 10 implements 120° upper and lower rectangular wave PWM control as the first region R1 shown in FIGS. 15A and 15B (that is, the first Case) energization mode (step S11).

The details of the 120° upper and lower rectangular wave PWM control are illustrated in Fig. 5.

"120° Upper Rectangular Wave PWM Control"

As shown in FIG. 14, when the set duty cycle is greater than or equal to the first reference duty cycle (step S6: Yes), the control unit 10 implements 120° upper rectangular wave PWM control as the second region shown in FIGS. 15A and 15B The energization mode of R2 (that is, the third case) (step S12).

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

As shown in Figure 16, in the 120° upper rectangular wave PWM control, in the consecutive No. 1 and No. 2 energization stages (ie, the second and third energization period sections), by setting the U phase of the duty cycle section The high-end PWM signal controls the on/off of the first semiconductor switch Q1.

In addition, in the 120° upper rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the consecutive energization levels of No. 6 to No. 3 (that is, the first to fourth energization period sections).

In addition, in the 120° upper rectangular wave PWM control, in the continuous No. 3 and No. 4 energization stages (that is, the fourth and fifth energization period sections), the V-phase high-end PWM signal sets the duty cycle to the second The switching control of the on/off of the three semiconductor switch Q3 is performed.

In addition, in the 120° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously turned off in the consecutive energization levels of No. 2 to No. 5 (ie, the third to sixth energization period sections).

In addition, in the 120° upper rectangular wave PWM control, in the consecutive No. 5 and No. 6 energization stages (that is, the sixth energization period and the first energization period thereafter), the W phase of the duty cycle is set The high-end PWM signal controls the on/off of the fifth semiconductor switch Q5.

In addition, in the 120° upper rectangular wave PWM control, in the consecutive energization levels of No. 4 to No. 1 (that is, the fifth and sixth energization period sections and the first and second energization period sections thereafter), the The six semiconductor switch Q6 performs continuous closing control.

According to the above 120° upper rectangular wave PWM control, when the set duty cycle is high, by turning off the low-side switches Q2, Q4, Q6 and only the high-side switches Q1, Q3, Q5 are PWM controlled, so there is no need to adjust the mutual PWM The duty cycle of the signal causes a dead time to be formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

In this way, since the duty cycle of the high-end PWM signal can be sufficiently increased, it is possible to output as large a torque as possible while maximizing the use of the charging voltage of the battery 2.

"180°Upper and lower trapezoidal wave PWM control"

As shown in FIG. 14, when the detected speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether the detected speed is equal to or higher than the second reference speed (step S7).

When the detected speed is less than the second reference speed (step S7: No), the control unit 10 determines whether the set duty cycle is greater than or equal to the second reference duty cycle (step S8).

When the set duty cycle is smaller than the second reference duty cycle (step S8: No), the control unit 10 implements 180° upper and lower trapezoidal wave PWM control as the third region R3 (that is, the fourth region) shown in FIGS. 15A and 15B Case) energization mode (step S13).

The 180° upper and lower trapezoidal wave PWM control is a 180° energization that generates a substantially trapezoidal current waveform, which is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in Fig. 17, in the 180° upper and lower step trapezoidal wave PWM control, in the consecutive energization stages of No. 6 to No. 3 (ie, the first to fourth energization period segments), the U phase of the duty cycle is adjusted The high-end PWM signal controls the on/off of the first semiconductor switch Q1. In detail, by stepwise increase to the set duty cycle in the No. 6 energization stage, the set duty cycle is maintained in the No. 1 and No. 2 energization stages, and the set duty cycle in the No. 3 energization stage The U-phase high-end PWM signal of the periodically reduced duty cycle controls the on/off of the first semiconductor switch Q1.

As shown in FIG. 18 after the dashed frame in FIG. 17 is enlarged, the PWM signal is generated based on the triangular wave generated by the control unit 10 in every carrier cycle of the triangular wave. In the No. 6 energization stage where the U-phase trapezoidal wave rises, the duty cycle of the U-phase PWM signal increases in stages with the elapsed time. In addition, although not shown, in the No. 3 energization stage where the U-phase trapezoidal wave drops, the duty cycle of the U-phase PWM signal decreases in stages with the elapsed time.

In addition, as shown in Figure 17, in the 180° upper and lower trapezoidal wave PWM control, in the continuous energization stages of No. 6 to No. 3, the U phase is adjusted by the duty cycle between the U-phase high-end PWM signal and the U phase. Phase low-side PWM signal, the second semiconductor switch Q2 is switched on/off complementary to the first semiconductor switch Q1, so as to form a deadlock that does not turn on the second semiconductor switch Q2 and the first semiconductor switch Q1 at the same time. District time.

In addition, in the 180° upper and lower trapezoidal wave PWM control, in the consecutive energization stages of No. 2 to No. 5 (ie, the third to sixth energization periods), the V-phase high-end PWM signal adjusts the duty cycle to the first The switching control of the on/off of the three semiconductor switch Q3 is performed. In detail, by stepwise increase to the set duty cycle in the No. 2 energization stage, the set duty cycle is maintained in the No. 3 and No. 4 energization stages, and the set duty cycle in the No. 5 energization stage The V-phase high-end PWM signal of the periodically reduced duty cycle controls the on/off of the third semiconductor switch Q3.

In addition, in the 180° upper and lower trapezoidal wave PWM control, the V-phase low-side PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal in the continuous energization stages of No. 2 to No. 5. The turn-on/off of the fourth semiconductor switch Q4 is complementary to that of the third semiconductor switch Q3, thereby forming a dead time that does not turn on the fourth semiconductor switch Q4 and the third semiconductor switch Q3 at the same time.

In addition, in the 180° upper and lower trapezoidal wave PWM control, in the consecutive energization stages of No. 4 to No. 1 (ie, the fifth and sixth energization period sections and the first and second energization period sections thereafter), borrow The switching control of the on/off of the fifth semiconductor switch Q5 is performed by the W-phase high-end PWM signal that adjusts the duty cycle. In detail, by stepwise increase to the set duty cycle in the No. 4 energization stage, the set duty cycle is maintained in the No. 5 and No. 6 energization stages, and the set duty cycle in the No. 1 energization stage The W-phase high-end PWM signal of the periodically reduced duty cycle controls the on/off of the fifth semiconductor switch Q5.

In addition, in the 180° upper and lower trapezoidal wave PWM control, in the continuous energization stages of No. 4 to No. 1, the W-phase low-end PWM signal whose duty cycle is adjusted between the W-phase high-end PWM signal and the W-phase high-end PWM signal is used. The on/off of the sixth semiconductor switch Q6 is complementary to that of the fifth semiconductor switch Q5. The control is changed to form a dead time that does not turn on the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 at the same time.

According to the above-mentioned 180° upper and lower trapezoidal wave PWM control, the ripple can be suppressed by gradually increasing and decreasing the current waveform.

"180° Upper and Lower Rectangular Wave PWM Control"

As shown in FIG. 14, when the detected speed is equal to or higher than the second reference speed (step S7: Yes), the control unit 10 determines whether the detected speed is equal to or higher than the third reference speed (step S9).

When the detected speed is less than the third reference speed (step S9: No), or when the set duty cycle is greater than or equal to the second reference duty cycle (step S8: Yes), the control unit 10 determines whether the set duty cycle is greater than or equal to the third reference duty cycle Determine (step S10).

When the set duty cycle is smaller than the third reference duty cycle (step S10: No), the control unit 10 implements 180° upper and lower rectangular wave PWM control as the fourth region R4 shown in FIGS. 15A and 15B (that is, the second Case) energization mode (step S14). Wherein, in the example of FIG. 15B, although the third reference duty cycle is consistent with the first reference duty cycle, the third reference duty cycle may also be inconsistent with the first reference duty cycle.

The details of the 180° upper and lower rectangular wave PWM control are illustrated in Figure 7.

"180° Upper Rectangular Wave PWM Control"

As shown in FIG. 14, when the detected speed is greater than or equal to the third reference speed (step S9: Yes), or when the set duty cycle is greater than or equal to the third reference duty cycle (step S10: Yes), the control unit 10 implements the 180° upper rectangular wave PWM control is used as the energization method of the fifth region R5 (that is, the fifth case) shown in FIGS. 15A and 15B (step S15).

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

As shown in Figure 19, in the 180° upper rectangular wave PWM control, in the consecutive energization levels of No. 1 to No. 3 (ie, the first to third energization period), the U-phase high end of the duty cycle is set The PWM signal is used to control the on/off switching of the first semiconductor switch Q1.

In addition, in the 180° upper rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the continuous energization levels of No. 1 to No. 3.

In addition, in the 180° upper rectangular wave PWM control, in the continuous energization stages of No. 3 to No. 5 (ie, the third to fifth energization period sections), it is performed by setting the V-phase high-end PWM signal of the duty cycle On/off switching control of the third semiconductor switch Q3.

In addition, in the 180° upper rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously closed in the continuous energization stages of No. 3 to No. 5.

In addition, in the 180° upper rectangular wave PWM control, in the consecutive energization levels of No. 5 to No. 1 (ie, the fifth and sixth energization period sections and the first energization period section thereafter), by setting the duty cycle The W-phase high-end PWM signal is used to control the on/off switching of the fifth semiconductor switch Q5.

In addition, in the 180° upper rectangular wave PWM control, the sixth semiconductor switch Q6 is continuously turned off in the continuous energization levels of No. 5 to No. 1.

According to the above 180° upper rectangular wave PWM control, it is the same as the 120° upper rectangular wave PWM control. When the duty cycle is set to be higher, by turning off the low-side switches Q2, Q4, Q6, and only the high-side switches Q1, Q3, Q5 By performing PWM control, there is no need to adjust the duty cycle of the mutual PWM signals, so that there is a dead time between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

In this way, since the duty cycle of the high-end PWM signal can be sufficiently increased, it is possible to output as large a torque as possible while maximizing the use of the charging voltage of the battery 2.

According to the second embodiment, since an appropriate PWM control can be selected based on the detection speed and the set duty cycle, it is possible to output as large a torque as possible while maximizing the use of the charging voltage of the battery 2.

At least a part of the electric vehicle control device 1 described in the above embodiment may be configured by hardware or software. When it is constituted 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 storage medium such as a floppy disk or a CD-ROM, and the program may be read and run by a computer. The storage medium is not limited to removable disks and optical discs, etc., but may also be fixed storage media such as hard disk devices and storage.

In addition, a program that realizes at least a part of the functions of the electric vehicle control device 1 may be distributed through a communication line (including wireless communication) such as the Internet. It is also possible to further distribute the program through wired and wireless lines such as the Internet or stored in a storage medium in an encrypted, modulated, and compressed state.

Based on the foregoing description, a person with ordinary knowledge in the technical field may think of additional effects and various modifications of the present invention, but the mode of the present invention is not limited to the various embodiments described above. The constituent elements related to different embodiments may be appropriately combined. Various additions, changes, and partial deletions can be made without departing from the content specified in the scope of the patent application and the technical means and spirit of the present invention derived from its equivalents.

2.B: Battery

3: motor

3a, 3b, 3c: output terminal

30: Power Conversion Department

30a: Power terminal

30b: Ground terminal

31u, 31v, 31w: phase coil

C: Smoothing capacitor

Q1, Q2, Q3, Q4, Q5, Q6: semiconductor switches

Claims (15)

A driving device includes: a first switch, one end of which is connected to a power terminal, and the other end of which is connected to a first output terminal of a first phase coil leading to a motor; a second switch, one end of which is connected to the first output terminal The other end of the third switch is connected to the power terminal, and the other end is connected to the second output terminal of the second phase coil leading to the motor; the fourth switch, One end is connected to the second output terminal, and the other end is connected to the ground terminal; the fifth switch, one end is connected to the power terminal, and the other end is connected to the third phase coil leading to the motor. Three output terminals are connected; the sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal; at least one phase of the angle sensor is relative to the first to third phases The coils of the same phase in the coils are staggered at a preset configuration angle, and are periodically repeated in response to the rotation of the rotor of the motor, each corresponding to an electrical angle of 60° in each continuous first to sixth detection period. , Detecting the rotation angle of the rotor; and the control part, by controlling the first to sixth switches to control the driving of the motor; wherein, the control part is equivalent to the electric power according to the first to sixth detection period The continuous first to sixth energization period with an angle of 60° is periodically set, PWM control is performed on the first to sixth switches so that 120° of the phase current flowing in the first to sixth energization period sections in the two consecutive energization period sections, and the first to sixth energization period sections Switch between 180° energization and energization of the phase currents flowing in the three consecutive energization period sections in the energization period, and set the energization period and set the energization period when the switching is performed in the first to sixth energization period. In the first to sixth detection period, the detection period is shifted by the period corresponding to the arrangement angle. The driving device according to the first item of the scope of patent application, wherein the control unit detects the rotation speed of the rotor according to the detection angle of the angle sensor, and when the detection speed of the rotor is slower than the preset first reference In the first case of the speed, the PWM control is performed on the first to sixth switches to perform the 120° energization; in the second case when the detection speed is greater than or equal to the first reference speed, the first to sixth switches are The sixth switch performs the PWM control, thereby performing the 180° energization. For the driving device described in the first item of the scope of patent application, wherein the angle sensor is arranged staggered to the retard angle side with respect to the coil of the same phase, and the control unit compares the energization period during the switching to the switching The detection period of time is offset to the advance angle side. As for the driving device described in the second item of the scope of patent application, the control unit compares the energization period immediately after the energization period when the switching is performed with respect to the detection immediately after the detection period when the switching is performed Period staggered period setting, the staggered period corresponds to the period corresponding to the configuration angle and the setting angle set according to the detection speed and the user operation amount used to control the rotation of the motor The period after adding the periods. In the driving device described in item 1 of the scope of the patent application, the control unit switches the duty cycle of the PWM control when switching between the 120° energization and the 180° energization. For the driving device described in item 2 of the scope of patent application, the first situation means that the set duty cycle set according to the detection speed and the user operation amount for controlling the rotation of the motor is lower than the preset first reference work cycle. For the driving device described in item 6 of the scope of the patent application, the second situation means that the detection speed is slower than the preset second reference speed, and the set duty cycle is lower than the first reference duty cycle and greater than or equal to the preset The set second reference duty cycle is lower than the preset third reference duty cycle, or the detection speed is greater than or equal to the second reference speed and slower than the preset third reference speed, and the set work cycle is lower than the third reference speed. Baseline duty cycle. The driving device described in item 6 of the scope of patent application, wherein when in the first situation, the control unit switches the on/off of the first switch by the first phase high-side PWM signal of the set duty cycle At the same time, between the first-phase high-end PWM signal and the first-phase low-end PWM signal whose duty cycle is adjusted, the on/off of the second switch is complementarily switched with respect to the first switch. In this way, a dead time that does not turn on the second switch and the first switch at the same time is formed; while the on/off of the third switch is switched by the second-phase high-side PWM signal of the set duty cycle, at the same time as Between the second-phase high-end PWM signals, the second-phase low-end PWM signal whose duty cycle is adjusted is used to perform complementary switching control of the on/off of the fourth switch relative to the third switch, In this way, a dead time that does not turn on the fourth switch and the third switch at the same time is formed; while the on/off of the fifth switch is switched by the third-phase high-end PWM signal of the set duty cycle, the Between the third-phase high-end PWM signal and the third-phase low-end PWM signal after the duty cycle is adjusted, the on/off of the sixth switch is complementarily switched with respect to the fifth switch. Dead time for turning on the sixth switch and the fifth switch at the same time. For the driving device described in item 8 of the scope of patent application, in the first situation, the control section switches the on/off of the second switch during the first to fourth energization period, and at the same time The on/off of the first switch is switched during the second and third energization periods; while switching the on/off of the fourth switch in the third to sixth energization periods, the fourth and Switching control of the on/off of the third switch is performed in the fifth energization period; while in the fifth and sixth energization period and the first and second energization periods immediately after the sixth energization period The on/off of the sixth switch is switched, while switching control of the on/off of the fifth switch is performed during the sixth energization period and the first energization period thereafter. For the driving device described in item 7 of the scope of patent application, when in the second condition, the control unit switches the on/off of the first switch by the first phase high-side PWM signal of the set duty cycle At the same time, between the first-phase high-end PWM signal and the first-phase low-end PWM signal whose duty cycle is adjusted, the on/off of the second switch is complementary to that of the first switch. Ground switching control, so as to form a dead time that does not turn on the second switch and the first switch at the same time; the third switch is switched on/off by the second phase high-end PWM signal of the set duty cycle At the same time, between the second-phase high-end PWM signal and the second-phase low-end PWM signal after the duty cycle is adjusted, the on/off of the fourth switch is complementarily switched with respect to the third switch. In this way, a dead time that does not turn on the fourth switch and the third switch at the same time is formed; while the on/off of the fifth switch is switched by the third-phase high-end PWM signal of the set duty cycle, the Between the third-phase high-end PWM signal and the third-phase low-end PWM signal after the duty cycle is adjusted, the on/off of the sixth switch is complementarily switched with respect to the fifth switch. Dead time for turning on the sixth switch and the fifth switch at the same time. According to the driving device described in item 10 of the scope of patent application, in the second situation, the control unit switches the on/off of the first switch during the first to third energization period and simultaneously performs the first switch The on/off of the second switch is switched on/off; the on/off of the third switch is switched during the third to fifth energization period while the on/off of the fourth switch is switched on/off; in the fifth and During the sixth energization period and the first energization period immediately after the sixth energization period, the on/off of the fifth switch is switched while switching on/off of the sixth switch is performed. An electric vehicle includes a motor and a driving device, wherein the driving device includes Including: the first switch, one end of which is connected to the power terminal, and the other end of which is connected to the first output terminal of the first phase coil leading to the motor; the second switch, one end of which is connected to the first output terminal, The other end of the third switch is connected to the ground terminal; one end of the third switch is connected to the power terminal, and the other end is connected to the second output terminal of the second phase coil of the motor; the fourth switch, one end of which is connected to The second output terminal is connected, and the other end is connected to the ground terminal; the fifth switch, one end is connected to the power terminal, and the other end is connected to the third output terminal of the third phase coil of the motor. The sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal; at least one phase of the angle sensor, relative to the first to third phase coils of the same phase The coils are arranged staggered at a preset arrangement angle, and are periodically repeated in response to the rotation of the rotor of the motor in each successive first to sixth detection period that corresponds to an electrical angle of 60°. The rotation angle; and the control part, by controlling the first to sixth switches to control the driving of the motor; wherein, the control part according to the first to sixth detection period, each corresponding to the continuous 60 ° electrical angle Periodically set the first to sixth power-on period, PWM control is performed on the first to sixth switches so that 120° of the phase current flowing in the first to sixth energization period sections in the two consecutive energization period sections, and the first to sixth energization period sections Switch between 180° energization and energization of the phase currents flowing in three consecutive energization period sections in the energization period section, and set the energization period section when the switching is performed in the first to sixth energization period sections The detection period of the first to sixth detection period is shifted by the period corresponding to the arrangement angle when the switching is performed. The electric vehicle described in item 12 of the scope of patent application, wherein the control unit detects the rotation speed of the rotor according to the detection angle of the angle sensor; when the detection speed of the rotor is slower than the preset first reference speed And in the first case where the set duty cycle set according to the detection speed and the user's throttle operation amount is lower than the preset first reference duty cycle, the first to sixth switches are PWM controlled to perform the 120 °Power on; when the detection speed is greater than or equal to the first reference speed and slower than the second reference speed, and the set duty cycle is greater than or equal to the second reference duty cycle and lower than the preset third reference duty cycle, or In the second case where the detection speed is greater than or equal to the second reference speed and slower than the preset third reference speed, and the set duty cycle is lower than the third reference duty cycle, perform PWM control on the first to sixth switches, This allows the 180° energization to be performed. According to the electric vehicle described in item 13 of the scope of patent application, the control unit sets the detected speed based on a torque diagram representing the corresponding relationship between the rotation speed of the rotor, the amount of throttle operation, and the torque of the motor. And the torque corresponding to the throttle operation amount; According to the duty cycle diagram showing the correspondence between the rotation speed of the rotor, the torque, and the duty cycle, the duty cycle corresponding to the detected speed and the set torque is set as the set duty cycle. A control method of a driving device, the driving device comprising: a first switch, one end of which is connected to a power terminal, and the other end of which is connected to a first output terminal of a first phase coil leading to a motor; and a second switch, one end of which is connected Connected to the first output terminal, the other end of which is connected to the ground terminal; the third switch, one end of which is connected to the power terminal, and the other end of which is connected to the second output terminal of the second phase coil of the motor The fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal; the fifth switch, one end of which is connected to the power terminal, and the other end of which is connected to the motor The third output terminal of the three-phase coil is connected; and a sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal, wherein: by relative to the first to third phases The in-phase coils in the coils are angle sensors of at least one phase that are staggered by a preset arrangement angle, and are periodically repeated in response to the rotation of the rotor of the motor. During the first to sixth detection period, the rotation angle of the rotor is detected; according to the first to sixth detection period, the consecutive first to sixth energization periods each corresponding to an electrical angle of 60° are periodically performed set up, PWM control is performed on the first to sixth switches, so that the 120° energization of the phase currents flowing in the first to sixth energization period sections and the first to sixth energization period sections Switch between the 180° energization of the phase currents flowing in the three consecutive energization periods in the period, and the energization period at the time of switching in the first to sixth energization periods is relative to the first to sixth detection The detection period when switching in the period section is staggered by the period section corresponding to the arrangement angle.

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