TWI743462B - Drive device, electric vehicle, and control method of drive device - Google Patents

Abstract

The control unit uses the trapezoidal current waveform to control the drive of the motor. The drive control includes: stepwise increase to the preset duty cycle by being adjusted, and maintain the set duty cycle after the increase, and after the maintenance The first phase high-end PWM signal that adjusts the duty cycle is switched on/off from the first-phase high-end PWM signal that sets the duty cycle to gradually decrease; the second-phase high-end PWM signal that adjusts the duty cycle controls the third switch On/off for switching control; and by adjusting the duty cycle of the third-phase high-end PWM signal to switch on/off the fifth switch, stepwise increase to the set duty cycle and from the set duty cycle The gradual reduction of the empty ratio is carried out according to the set period, which is set to be longer than the pulse period of the first-phase high-end PWM signal, the second-phase high-end PWM signal, and the third-phase high-end PWM signal.

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-end switch and a low-end 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 ratio, and the motor drive is controlled by the current waveform corresponding to the duty ratio.

In the PWM control, in order to prevent ripples in the current waveform, the duty cycle is slowly increased or decreased to generate a trapezoidal current waveform with smooth rise and fall.

However, when the timing of PWM control is determined by the fixed carrier cycle of the triangular wave, once the duty cycle is continuously increased or decreased for each carrier cycle in order to generate the trapezoidal current waveform, there will be PWM control. Deal with the problem of excessive load.

In addition, Japanese Patent Laid-Open No. 8-331885 discloses a technique for making three-phase alternating current into a substantially trapezoidal shape. However, the technology disclosed in the Japanese Patent Application Laid-Open No. 8-331885 does not involve reducing the processing load of PWM control for generating trapezoidal waves at all, and this technology is completely irrelevant to the present invention.

Therefore, an object of the present invention is to provide a drive device, an electric vehicle, and a control method of the drive device, which can reduce the processing load of PWM control for generating a trapezoidal current waveform.

The driving device according to one aspect of the present invention includes:

The 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 leading to the motor;

A 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;

A third switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the second output terminal of the second phase coil leading to the motor;

A 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;

A 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;

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; and

The control unit controls the driving of the motor by controlling the first to sixth switches,

Wherein, the control unit performs drive control of the motor by using a trapezoidal current waveform,

The drive control includes:

Adjustment to increase to a preset duty ratio in stages by being adjusted, and maintain the set duty ratio after the increase, and gradually decrease from the set duty ratio after the maintenance The first-phase high-end PWM signal of the duty cycle performs switching control on the on/off of the first switch; the second-phase high-side PWM signal that adjusts the duty cycle performs the on/off of the third switch Switching control; and switching control of the on/off of the fifth switch by the third-phase high-end PWM signal for adjusting the duty cycle,

The stepwise increase to the set duty cycle and the stepwise decrease from the set duty cycle are performed in accordance with a set cycle, which is set to be higher than the first phase high-end PWM signal and the second phase The pulse period of the first-phase high-end PWM signal and the third-phase high-end PWM signal is longer.

In the driving device,

The control part

The duty ratio in each of a plurality of pulse periods included in the same set period is controlled to be constant.

In the driving device,

The switching control of the on/off of the first switch by the first-phase high-side PWM signal for adjusting the duty cycle is adjusted by the duty cycle between the first-phase high-side PWM signal and the first-phase high-side PWM signal After the first phase low-side PWM signal, the on/off of the second switch is complementarily switched with respect to the first switch at the same time, so as to prevent the second switch from connecting the second switch to the first switch. The dead time when a switch is turned on at the same time,

The switching control of the on/off of the third switch by the second-phase high-side PWM signal for adjusting the duty cycle is adjusted by the duty cycle between the second-phase high-side PWM signal and the second-phase high-side PWM signal The latter second-phase low-side PWM signal makes the fourth switch on/off complementary to the third switch at the same time, so that the fourth switch will not be connected to the first The dead time when the three switches are turned on at the same time,

The switching control of the on/off of the fifth switch by the third-phase high-side PWM signal for adjusting the duty cycle is adjusted by the duty cycle between the third-phase high-side PWM signal and the third-phase high-side PWM signal The subsequent third-phase low-side PWM signal turns the sixth switch on/off at the same time as the complementary switching control of the fifth switch, so as to prevent the sixth switch from connecting the sixth switch to the second switch. Dead time when five switches are turned on at the same time.

In the driving device,

It further includes: a rotation speed detection unit for detecting the rotation speed of the rotor of the motor,

The set duty ratio is set based on the detection speed of the rotation speed detection unit and the amount of user operation for controlling the rotation of the motor.

In the driving device,

When in the first situation: the detection speed is greater than or equal to the preset first reference speed, and is slower than the preset second reference speed, and the set duty ratio is lower than the preset first reference duty ratio Down,

The control unit performs the drive control.

In the driving device,

When it is: 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 first reference duty cycle and lower than the preset The second reference duty cycle, or the detection speed is greater than or equal to the second reference speed, and is slower than a preset third reference speed, and the set duty cycle is lower than that of the second reference duty cycle In the second case,

The control part

While the on/off of the first switch is switched by the first phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the first phase high-side PWM signal and the first-phase high-side PWM signal After the first-phase low-side PWM signal, the on/off of the second switch is complementarily switched with respect to the first switch, so that the second switch and the first switch are not connected to each other. The dead time of simultaneous conduction,

While the on/off of the third switch is switched by the second-phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the second-phase high-side PWM signal and the second-phase high-side PWM signal After the second-phase low-side PWM signal, the on/off of the fourth switch is complementarily switched with respect to the third switch, so that the fourth switch and the third switch are not connected to each other. The dead time of simultaneous conduction,

While the on/off of the fifth switch is switched by the third-phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the third-phase high-side PWM signal and the third-phase high-side PWM signal. After the third-phase low-side PWM signal, the on/off of the sixth switch is complementarily switched with respect to the fifth switch, so that the sixth switch and the fifth switch are not connected to each other. Dead time for simultaneous conduction.

In the driving device,

When it is: 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 second reference duty cycle, or the detection speed is greater than In the third case equal to the third reference speed,

The control part

While turning off the second switch, the on/off control of the first switch is performed by the first-phase high-end PWM signal of the set duty cycle,

While turning off the fourth switch, the switching control of the on/off of the third switch is performed by the second-phase high-end PWM signal of the set duty cycle,

While turning off the sixth switch, the on/off of the fifth switch is switched and controlled by the third-phase high-side PWM signal of the set duty ratio.

In the driving device,

When in the first to third situations,

The control part

Conduct a 180° energization in which a phase current flows in an energization period corresponding to an electrical angle of 180°.

In the driving device,

When in the fourth case: the detection speed is slower than the first reference speed, and the set duty ratio is lower than the preset third reference duty ratio,

The control part

While the on/off of the first switch is switched by the first-phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the first-phase high-side PWM signal and the first-phase high-side PWM signal After the first-phase low-side PWM signal, the on/off of the second switch is complementarily switched with respect to the first switch, so that the second switch and the first switch are not connected to each other. The dead time of simultaneous conduction,

While the on/off of the third switch is switched by the second-phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the second-phase high-side PWM signal and the second-phase high-side PWM signal After the second-phase low-side PWM signal, the on/off of the fourth switch is complementarily switched with respect to the third switch, so that the fourth switch and the third switch are not connected to each other. The dead time of simultaneous conduction,

While the on/off of the fifth switch is switched by the third-phase high-side PWM signal of the set duty ratio, the duty ratio is adjusted between the third-phase high-side PWM signal and the third-phase high-side PWM signal. After the third-phase low-side PWM signal, the on/off of the sixth switch is complementarily switched with respect to the fifth switch, so that the sixth switch and the fifth switch are not connected to each other. Dead time for simultaneous conduction.

In the driving device,

When in the fifth case: the detection speed is slower than the first reference speed, and the set duty ratio is greater than or equal to the third reference duty ratio,

The control part

While turning off the second switch, the on/off control of the first switch is performed by the first-phase high-end PWM signal of the set duty cycle,

While turning off the fourth switch, the switching control of the on/off of the third switch is performed by the second-phase high-end PWM signal of the set duty cycle,

While turning off the sixth switch, the on/off of the fifth switch is switched and controlled by the third-phase high-side PWM signal of the set duty ratio.

In the driving device,

When in the fourth and fifth situations,

The control part

Conduct 120° energization in which the phase current flows in an energization period corresponding to an electrical angle of 120°.

An electric vehicle related to an aspect of the present invention includes a motor and a driving device, and is characterized in that:

Wherein, the driving device includes:

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 leading to the motor;

A 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;

A third switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the second output terminal of the second phase coil leading to the motor;

A 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;

A 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;

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; and

The control unit controls the driving of the motor by controlling the first to sixth switches,

Wherein, the control unit performs drive control of the motor by using a trapezoidal current waveform,

The drive control includes:

Adjustment to increase to a preset duty ratio in stages by being adjusted, and maintain the set duty ratio after the increase, and gradually decrease from the set duty ratio after the maintenance The first-phase high-end PWM signal of the duty cycle performs switching control on the on/off of the first switch; the second-phase high-side PWM signal that adjusts the duty cycle performs the on/off of the third switch Switching control; and switching control of the on/off of the fifth switch by the third-phase high-end PWM signal for adjusting the duty cycle,

The stepwise increase to the set duty cycle and the stepwise decrease from the set duty cycle are performed according to a set cycle, which is set to be higher than the first phase high-end PWM signal and the second phase The pulse period of the phase high-end PWM signal and the third-phase high-end PWM signal are longer.

In the electric vehicle,

It further includes: a rotation speed detection unit for detecting the rotation speed of the rotor of the motor,

The set duty ratio is set based on the detection speed of the rotation speed detection unit and the user's accelerator operation amount.

In the electric vehicle,

The control part

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 duty ratio schematic diagram showing the correspondence between the rotation speed of the rotor, the torque, and the duty ratio, the duty ratio corresponding to the detected speed and the set torque is taken as the Set the duty cycle as described above.

An aspect of the present invention relates to a control method of a driving device, the 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 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 Phase connection, the other end of which 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 by:

By controlling the first to sixth switches, the drive control of the motor is performed by the trapezoidal current waveform,

The drive control includes:

Adjustment to increase to a preset duty ratio in stages by being adjusted, and maintain the set duty ratio after the increase, and stepwise decrease from the set duty ratio after the maintenance The first-phase high-end PWM signal of the duty cycle performs switching control on the on/off of the first switch; the second-phase high-side PWM signal that adjusts the duty cycle performs the on/off of the third switch Switching control; and switching control of the on/off of the fifth switch by the third-phase high-end PWM signal for adjusting the duty cycle,

The stepwise increase to the set duty cycle and the stepwise decrease from the set duty cycle are performed in accordance with a set cycle, which is set to be higher than the first phase high-end PWM signal and the second phase The pulse period of the phase high-end PWM signal and the third-phase high-end PWM signal are longer.

Invention effect

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 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; and a control part, which controls the driving of the motor by controlling the first to sixth switches, wherein the control part The drive control of the motor is carried out by the trapezoidal current waveform. The drive control includes: stepwise increase to the preset setting duty ratio by being adjusted, and maintaining the setting duty ratio after the increase, and from the setting after maintaining The duty cycle of the first phase high-end PWM signal that adjusts the duty cycle gradually decreases to switch the on/off of the first switch; the second-phase high-end PWM signal that adjusts the duty cycle conducts the on/off of the third switch Is switched off for switching control; and the switching control of the on/off of the fifth switch is performed by adjusting the duty cycle of the third-phase high-end PWM signal, which is gradually increased to the set duty cycle and from the set duty cycle The phase reduction is carried out according to the set period, which is set to be longer than the pulse period of the first-phase high-end PWM signal, the second-phase high-end PWM signal, and the third-phase high-end PWM signal.

According to the present invention, by increasing and decreasing the duty ratio for generating the trapezoidal current waveform according to the set period longer than the pulse period of the PWM signal, there is no need to increase or decrease the duty ratio according to each pulse period.

Therefore, according to the present invention, it is possible to reduce the processing load of the PWM control for generating the trapezoidal current waveform.

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, the electric two-wheeled vehicle 100 according to the first embodiment as an example of the electric vehicle will be described with reference to FIG. 1.

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 a motor and a wheel are mechanically connected without a clutch.

As shown in FIG. 1, an 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. The instrument 7, and the 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 has a control unit 10, a storage unit 20, and a power conversion unit 30. Among them, the electric vehicle control device 1 may also 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 at the same time, drives and controls the motor 3 through 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 programs used by the control unit 10 for operation. The storage unit 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.

One end of the third semiconductor switch Q3 is connected to the power supply terminal 30a, and the other end is connected to the second output terminal 3b 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.

One end of the fifth semiconductor switch Q5 is connected to the power supply terminal 30a, and the other end is connected to the third output terminal 3c 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 as the wheels 8 rotate, 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 sends messages 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 is, for example, a lithium ion battery, but it may 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 in accordance with the rotation of the wheels 8. The motor 3 is a three-phase motor having U, V, and W three-phase coils 31u, 31v, and 31w.

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

As shown in FIG. 3, the angle sensor 4 has a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w. 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.

As shown in Figure 4, the U-phase angle sensor 4u, the V-phase angle sensor 4V, and the W-phase angle sensor 4W output phase pulse signals corresponding to the rotor angle (angle position) (ie, the rotation angle Detection signal).

In addition, as shown in FIG. 4, a number (motor stage number) indicating a motor stage (motor stage) is assigned for each prescribed rotor angle. The motor level indicates the angular position of the rotor 3r of the motor 3. In this embodiment, the motor level 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 level number 1 is (U phase, V phase, W phase) = (H, L, H), motor level number 2 is (U phase, V phase, W phase) = (H, L, L).

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 throttle opening. The amount of throttle operation increases when the user wants to accelerate.

The instrument 7 is a display (for example, a liquid crystal panel) provided 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 (not shown) of the electric two-wheeled vehicle 100.

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

The control unit 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6. The control unit 10 performs drive control of the motor 3 based on the trapezoidal current waveform.

The drive control of the motor 3 by the trapezoidal current waveform includes: by being adjusted to increase from zero duty cycle (ie, off state) to a preset duty cycle stepwise, and maintain the set duty cycle after the increase The duty cycle of the U-phase high-end PWM signal (that is, the first-phase high-end PWM signal) of the adjusted duty cycle of the U-phase high-end PWM signal (that is, the first-phase high-end PWM signal) to the first semiconductor switch Q1 after being maintained is gradually reduced from the set duty cycle to zero after the duty cycle is maintained. Close for switching control.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: turning on/off the third semiconductor switch Q3 by the V-phase high-side PWM signal (ie, the second-phase high-side PWM signal) that adjusts the duty cycle Switch control.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: turning on/off the fifth semiconductor switch Q5 by adjusting the duty ratio of the W-phase high-side PWM signal (ie, the third-phase high-side PWM signal) Switch control.

In addition, in adjusting the duty ratio, the stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are performed in accordance with the set cycle, which is set to be higher than the U-phase high-end PWM The pulse period of the signal, V-phase high-end PWM signal, and W-phase high-end PWM signal is longer.

That is, the control unit 10 controls the duty ratio in each of the plurality of pulse periods included in the same set period to be constant.

The switching control of the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal that adjusts the duty cycle is the same as the U-phase low-side PWM signal (ie, the first-phase low-side PWM signal). The on/off of the semiconductor switch Q2 is performed at the same time as the complementary switching control of the first semiconductor switch Q1. The U-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal for adjusting the duty ratio, so that the second semiconductor switch Q2 and the first semiconductor switch Q1 will not be turned on at the same time Dead time.

The switching control of the on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal that adjusts the duty cycle is the same as the V-phase low-side PWM signal (ie, the second-phase low-side PWM signal). The on/off of the semiconductor switch Q4 is performed while performing complementary switching control with respect to the third semiconductor switch Q3. The V-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal that adjusts the duty ratio, so that the fourth semiconductor switch Q4 and the third semiconductor switch Q3 will not be turned on at the same time Dead time.

The switching control of the on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal that adjusts the duty cycle is the same as that by the W-phase low-side PWM signal (ie, the third-phase low-side PWM signal). The on/off of the semiconductor switch Q6 is performed at the same time as the complementary switching control of the fifth semiconductor switch Q5. The W-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal for adjusting the duty ratio, so that the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 will not be turned on at the same time Dead time.

The control unit 10 functions as a rotation speed detection unit together with the angle sensor 4 and detects the rotation speed of the rotor based on the detection signal of the angle sensor 4. 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 decreases to when the output of the U-phase rotor angle sensor increases.

The duty ratio is set based on the rotation speed of the rotor (hereinafter referred to as the detection speed) detected by the control unit 10 (rotation speed detection unit) and the throttle operation amount (user operation amount) used to control the rotation of the motor 3 Set. Specifically, the control unit 10 sets the target torque corresponding to the detected speed and the accelerator operation amount based on the torque map indicating the correspondence between the rotation speed of the rotor 3r, the accelerator operation amount, and the torque of the motor 3. In addition, the control unit 10 uses the duty ratio corresponding to the detected speed and the set target torque as the set duty ratio based on the duty ratio diagram showing the correspondence between the rotation speed of the rotor, the target torque, and the duty ratio. To make settings.

The control unit 10 periodically sets the continuous first to sixth energization periods each corresponding to an electrical angle of 60° based on the detection angle of the angle sensor 4.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: during the first to fourth energization periods, the first semiconductor switch Q1 is switched on/off by the U-phase high-side PWM signal, and at the same time The on/off of the second semiconductor switch Q2 is switched and controlled by the U-phase low-end PWM signal.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes: during the third to sixth energization period, the third semiconductor switch Q3 is switched on/off by the V-phase high-side PWM signal, and the third semiconductor switch Q3 is switched on/off by The on/off of the fourth semiconductor switch Q4 is switched and controlled by the V-phase low-end PWM signal.

In addition, the drive control of the motor 3 performed by the trapezoidal current waveform includes: during the fifth and sixth energization periods and the first and second energization periods immediately after the sixth energization period, using the W-phase high-end PWM signal While switching the on/off of the fifth semiconductor switch Q5, the on/off of the sixth semiconductor switch Q6 is switched and controlled by the W-phase low-side PWM signal.

With this control, as the drive control of the motor 3 by the trapezoidal current waveform, the 180° energization is performed in which the phase current flows in the energization period corresponding to the electrical angle of 180°.

In addition, the adjusted duty cycle of the U-phase high-end PWM signal is gradually increased to the set duty cycle during the first power-on cycle, and is maintained at the set duty cycle during the second and third power-on cycles, and in the fourth power-on cycle The duty cycle is gradually reduced from the setting.

In addition, the adjusted duty cycle of the V-phase high-end PWM signal is gradually increased to the set duty cycle in the third energizing cycle, and is maintained at the set duty cycle in the fourth and fifth energizing cycles, and in the sixth energizing cycle The duty cycle is gradually reduced from the setting.

In addition, the adjusted duty cycle of the W-phase high-end PWM signal is gradually increased to the set duty cycle during the fifth power-on period, and is maintained at the set duty cycle during the sixth power-on period and the first power-on period thereafter. The duty cycle is gradually reduced from the set duty cycle during the second power-on period.

(Control method of electric two-wheeled vehicle 100)

Hereinafter, 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.

"180°Upper and lower trapezoidal wave PWM control"

As shown in FIG. 5, the control unit 10 implements 180° upper and lower trapezoidal wave PWM control as the drive control of the motor 3 by the trapezoidal current waveform.

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, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in Figure 5, in the 180° upper and lower trapezoidal wave PWM control, in the consecutive energization stages of No. 6 to No. 3 (that is, the first to fourth energization periods), the U phase is adjusted by the duty cycle. The high-end PWM signal performs switching control on the on/off of the first semiconductor switch Q1. In detail, by stepwise increase to the set duty ratio in the energization stage No. 6, it is maintained at the set duty ratio in the energization stages No. 1 and 2, and it is from the setting duty ratio in the energization stage No. 3. The U-phase high-end PWM signal of the duty cycle whose duty cycle is gradually reduced, performs switching control on the on/off of the first semiconductor switch Q1.

In addition, as shown in Figure 5, in the 180° upper and lower trapezoidal wave PWM control, in the continuous energization stages of No. 6 to No. 3, the duty cycle is adjusted between the U-phase high-end PWM signal and the The U-phase low-side PWM signal controls the on/off of the second semiconductor switch Q2 to complement the first semiconductor switch Q1, so that the second semiconductor switch Q2 and the first semiconductor switch Q1 will not be turned on at the same time. Dead time.

In addition, in the 180° upper and lower trapezoidal wave PWM control, in the consecutive energization stages of No. 2 to No. 5 (that is, the third to sixth energization period), the V-phase high-end PWM signal pair that adjusts the duty cycle The on/off of the third semiconductor switch Q3 is switched and controlled. In detail, by stepwise increase to the set duty ratio in the energization stage No. 2, it is maintained at the set duty ratio in the energization stage No. 3 and 4, and it is from the setting duty ratio in the energization stage No. 5 The V-phase high-end PWM signal with the duty cycle of which the duty cycle decreases step by step, 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 ratio is adjusted between the V-phase high-side PWM signal and the continuous No. 2 to No. 5 energization stage , The on/off of the fourth semiconductor switch Q4 is complementarily switched with respect to the third semiconductor switch Q3, so as to form 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 levels of No. 4 to No. 1 (that is, the fifth and sixth energization periods and the first and second energization periods thereafter), by adjusting The W-phase high-side PWM signal of the duty cycle performs switching control on the on/off of the fifth semiconductor switch Q5. In detail, by stepwise increase to the set duty ratio in the energization stage No. 4, the duty ratio is maintained at the set duty ratio in the energization stage No. 5 and 6, and from the setting duty ratio in the energization stage No. 1. The W-phase high-end PWM signal of the duty cycle whose duty cycle is gradually reduced, performs switching control on the on/off of the fifth semiconductor switch Q5.

In addition, in the 180° upper and lower trapezoidal wave PWM control, the W-phase low-end PWM signal whose duty ratio is adjusted between the W-phase high-end PWM signal and the continuous No. 4 to No. 1 energization stage , The turn-on/off of the sixth semiconductor switch Q6 is complementary to that of the fifth semiconductor switch Q5, so as 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.

In FIG. 5, in order to make it easier to understand the corresponding relationship between the rise and fall of the trapezoidal wave and the energization level, the current waveform superimposed on the PWM signal is shown in the figure. In addition, in FIG. 5, the UV phase-to-phase voltage, the VW phase-to-phase voltage, and the WU phase-to-phase voltage corresponding to each energization level are shown.

In addition, as shown in FIG. 6 in which the part of the dashed frame in FIG. 5 is enlarged, the PWM signal is generated based on the triangular wave generated by the control unit 10 for each carrier cycle in 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 step by step with the elapsed time. In addition, although not shown, in the No. 3 energization stage where the U-phase trapezoidal wave drops, the duty ratio of the U-phase PWM signal gradually decreases with the elapsed time.

Specifically, as shown in FIG. 7, the control unit 10 sets the increase and decrease period T1 of the duty ratio in the rising and falling periods of the trapezoidal wave to be longer than the carrier period T2 of the PWM signal in the triangular wave. .

According to the above-mentioned 180° upper and lower trapezoidal wave PWM control, the ripple can be suppressed by slowly increasing and decreasing the current waveform. In addition, the stepwise increase to the set duty cycle and the stepwise decrease from the set duty cycle are set to be higher than the pulses of the U-phase high-end PWM signal, V-phase high-end PWM signal, and W-phase high-end PWM signal Performing a longer set period can reduce the processing load of the PWM control for generating the trapezoidal current waveform.

As described above, in the electric two-wheeled vehicle 100 according to the first embodiment, the control unit 10 performs drive control of the motor 3 using the trapezoidal current waveform. Drive control, including: by being adjusted to stepwise increase to the preset setting duty ratio, maintaining the setting duty ratio after the increase, and adjusting the duty ratio stepwisely decreasing from the setting duty ratio after the maintenance The first-phase high-end PWM signal (U-phase high-end PWM signal) controls the on/off of the first switch (first semiconductor switch Q1). In addition, the driving control includes switching control of the on/off of the third switch (the third semiconductor switch Q3) by adjusting the duty cycle of the second-phase high-end PWM signal (V-phase high-end PWM signal). In addition, the drive control includes switching control of the on/off of the fifth switch (the fifth semiconductor switch Q5) by the third-phase high-end PWM signal (W-phase high-end PWM signal) that adjusts the duty cycle. In addition, the stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are performed according to a set cycle, which is set to be higher than the first phase high-end PWM signal and the second phase high-end The pulse period of the PWM signal and the third-phase high-end PWM signal is longer.

According to this structure, since it is not necessary to increase or decrease the duty ratio for each pulse period, it is possible to reduce the processing load of the PWM control for generating the trapezoidal current waveform.

(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 of the rotor 3r is greater than or equal to the preset first reference speed, and is slower than the preset second reference speed, and the set duty ratio is lower than the preset first reference duty In the first case of the empty ratio, the control unit 10 performs drive control of the motor 3 using a trapezoidal current waveform.

The detailed information of the drive control of the motor 3 by the trapezoidal current waveform is as described in the first embodiment.

In addition, when it is: the detection speed is greater than or equal to the first reference speed and slower than the second reference speed, and the set duty ratio is greater than or equal to the first reference duty ratio and lower than the preset second reference duty ratio, or In the second case where the detection speed is greater than or equal to the second reference speed, is slower than the preset third reference speed, and the set duty ratio is lower than the second reference duty ratio, the control unit 10 performs the following control.

In the second case, the control unit 10 switches the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal that sets the duty cycle, and at the same time, uses the U-phase low-side PWM signal to switch the second semiconductor switch Q1 on/off. The on/off of the semiconductor switch Q2 is switched and controlled in a complementary manner with respect to the first semiconductor switch Q1. In the second case, the U-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal with the set duty ratio, so as to prevent the second semiconductor switch Q2 from connecting the first semiconductor switch Q2. The dead time when the semiconductor switch Q1 is turned on at the same time.

In addition, in the second case, the control unit 10 switches on/off the third semiconductor switch Q3 by the V-phase high-side PWM signal that sets the duty ratio, and at the same time, uses the V-phase low-side PWM signal to switch The on/off of the fourth semiconductor switch Q4 is switched and controlled in a complementary manner with respect to the third semiconductor switch Q3. In the second case, the V-phase low-side PWM signal is a PWM signal whose duty ratio has been adjusted between the V-phase high-side PWM signal with the set duty ratio, so that the fourth semiconductor switch Q4 will not be connected to the third The dead time when the semiconductor switch Q3 is turned on at the same time. In addition, in the second case, the control unit 10 switches on/off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal that sets the duty ratio, and at the same time, uses the W-phase low-side PWM signal to switch The on/off of the sixth semiconductor switch Q6 is switched and controlled in a complementary manner with respect to the fifth semiconductor switch Q5. In the second case, the W-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase high-side PWM signal, so that the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 will not be turned on at the same time Dead time.

In detail, in the second case, the control unit 10 switches the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal during the first to third energization periods, and at the same time, by The U-phase low-end PWM signal performs switching control on the on/off of the second semiconductor switch Q2.

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 during the third to fifth energization periods, and at the same time, the V-phase low The terminal PWM signal performs switching control on the on/off of the fourth semiconductor switch Q4.

In addition, when in the second situation, the control unit 10 performs the W-phase high-side PWM signal on the fifth semiconductor switch Q5 during the fifth and sixth energization periods and the first energization period immediately after the sixth energization period. While switching on/off, the sixth semiconductor switch Q6 is switched on/off by the W-phase low-side PWM signal.

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

In addition, when in the third case: the detection speed is greater than or equal to the first reference speed and slower than the third reference speed, and the set duty ratio is greater than or equal to the second reference duty ratio, or the detection speed is greater than or equal to the third reference speed , The control unit 10 performs the following control.

In the third situation, the control unit 10 closes the second semiconductor switch Q2, and at the same time controls the on/off of the first semiconductor switch Q1 by setting the duty cycle of the U-phase high-side PWM signal.

In addition, in the third situation, the control unit 10 closes the fourth semiconductor switch Q4, and at the same time controls the on/off of the third semiconductor switch Q3 by setting the duty cycle of the V-phase high-side PWM signal.

In addition, in the third situation, the control unit 10 closes the sixth semiconductor switch Q6, and at the same time controls the on/off of the fifth semiconductor switch Q5 by setting the duty ratio of the W-phase high-side PWM signal.

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

In addition, in the third situation, the control unit 10 turns off the fourth semiconductor switch Q4 during the third to fifth energization periods, and at the same time, uses the V-phase high-side PWM signal to turn on/off the third semiconductor switch Q3. Switch control.

In addition, in the third case, the control unit 10 closes the sixth semiconductor switch Q6 during the fifth and sixth energization periods and the first energization period immediately after the sixth energization period, while turning off the W-phase high-side PWM Signal for switching control of the on/off of the fifth semiconductor switch Q5.

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

In addition, in the fourth case where the detection speed is slower than the first reference speed and the set duty ratio is lower than the preset third reference duty ratio, the control unit 10 performs the following control.

In the fourth case, the control unit 10 switches the on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal that sets the duty ratio, and at the same time, uses the U-phase low-side PWM signal to switch the second semiconductor switch Q1 on/off. The on/off of the semiconductor switch Q2 is switched and controlled in a complementary manner with respect to the first semiconductor switch Q1. In the fourth case, the U-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the U-phase high-side PWM signal with the set duty ratio, so that the second semiconductor switch Q2 will not be connected to the first The dead time when the semiconductor switch Q1 is turned on at the same time.

In addition, in the fourth case, the control unit 10 switches on/off the third semiconductor switch Q3 by the V-phase high-side PWM signal that sets the duty ratio, and at the same time, uses the V-phase low-side PWM signal to switch The on/off of the fourth semiconductor switch Q4 is switched and controlled in a complementary manner with respect to the third semiconductor switch Q3. In the fourth case, the V-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal with the set duty ratio, so that the fourth semiconductor switch Q4 will not be connected to the third The dead time when the semiconductor switch Q3 is turned on at the same time.

In addition, in the fourth case, the control unit 10 switches on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal setting the duty ratio, and at the same time, uses the W-phase low-side PWM signal to switch The on/off of the sixth semiconductor switch Q6 is switched and controlled in a complementary manner with respect to the fifth semiconductor switch Q5. In the fourth case, the W-phase low-side PWM signal is a PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal with the set duty ratio, so that the sixth semiconductor switch Q6 will not be connected to the fifth The dead time when the semiconductor switch Q5 is turned on at the same time.

In detail, in the fourth case, the control unit 10 uses the U-phase low-side PWM signal to switch the on/off of the second semiconductor switch Q2 during the first to fourth energization cycles, and at the same time During the second and third power-on periods, the U-phase high-side PWM signal is used to switch on/off the first semiconductor switch Q1.

In addition, in the fourth case, the control unit 10 switches on/off the fourth semiconductor switch Q4 by the V-phase low-side PWM signal during the third to sixth energization periods, and at the same time, the fourth and the fourth semiconductor switch Q4 are switched on/off. During the five power-on cycles, the on/off control of the third semiconductor switch Q3 is performed by the V-phase high-side PWM signal.

In addition, when in the fourth situation, the control unit 10 uses the W-phase low-side PWM signal to control the sixth energization period during the fifth and sixth energization periods and the first and second energization periods immediately after the sixth energization period. The semiconductor switch Q6 is switched on/off, and the fifth semiconductor switch Q5 is switched on/off by the W-phase high-side PWM signal during the sixth energization period and the first energization period thereafter.

By this control in the fourth case, 120° energization is performed in which the phase current flows in an energization period corresponding to an electrical angle of 120°.

In addition, in the fifth case where the detection speed is slower than the first reference speed and the set duty ratio is greater than or equal to the third reference duty ratio, the control unit 10 turns off the second semiconductor switch Q2 while setting the duty cycle Compared with the U-phase high-end PWM signal, the first semiconductor switch Q1 is switched on/off.

In addition, when in the fifth situation, the control unit 10 closes the fourth semiconductor switch Q4, and at the same time controls the on/off of 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 closes the sixth semiconductor switch Q6, and at the same time controls the on/off of 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 closes the second semiconductor switch Q2 during the first to fourth energization periods, and uses the U-phase high-side PWM during the second and third energization periods. The signal performs switching control on the on/off of the first semiconductor switch Q1.

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

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

With this control in the fifth case, 120° energization is performed.

(Control method of electric two-wheeled vehicle 100)

Hereinafter, the control method of the electric two-wheeled vehicle 100 according to the second embodiment will be described with reference to the flowchart of FIG. 8. Among them, the flowchart of FIG. 8 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. 9, 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. 10, 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 setting the target torque, as shown in FIG. 8, the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4).

Specifically, as shown in FIG. 9, the control unit 10 obtains the duty ratio corresponding to the detected speed and the target torque by referring to the duty ratio diagram, thereby setting the duty ratio. The schematic diagram of the duty cycle is shown in Fig. 11, which shows the correspondence between the rotation speed of the rotor, the target torque, and the duty cycle. The duty ratio schematic diagram is stored in the memory unit 20 in a state where the control unit 10 can read it.

After setting the duty ratio, as shown in FIG. 8, the control unit 10 determines whether the detected speed is greater than or equal to the first reference speed set in advance (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 ratio is greater than or equal to a preset third reference duty ratio (step S6).

"120° Upper and Lower Rectangular Wave PWM Control"

When the set duty ratio is smaller than the third reference duty ratio (step S6: No), the control unit 10 implements 120° upper and lower rectangular wave PWM control as the first region R1 shown in FIGS. 12A and 12B (ie, The fourth case) is the energization mode (step S11).

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 Fig. 13, in the 120° upper and lower rectangular wave PWM control, the energization stages of No. 1 to No. 6 each having an electrical angle of 60° (that is, In the consecutive energization stages of No. 1 and No. 2 in the energization period (ie, the second and third energization periods), the first semiconductor switch Q1 is turned on by setting the duty cycle of the U-phase high-side PWM signal Turn off the switch control.

In addition, in the 120° upper and lower rectangular wave PWM control, in the consecutive energization levels of No. 6 to No. 3 (ie, the first to fourth energization periods), a duty cycle is used between the U-phase high-end PWM signal Compared with the adjusted 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.

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

In addition, since the high-end semiconductor switch Q1 is equivalent to a high-level signal in a conducting state, the low-end semiconductor switch Q2 is equivalent to a low-level signal being in a conducting state, so in Figure 13, The high-end PWM signal icon is “Hi Active”, and the low-end PWM signal icon is “Lo Active”.

In addition, as shown in FIG. 14 after the dashed box in FIG. 13 is enlarged, the duty ratio between the U-phase low-side PWM signal and the U-phase high-side PWM signal is adjusted so as to prevent the second semiconductor switch Q2 from being turned off. The dead time Dt when the first semiconductor switch Q1 is turned on at the same time.

In addition, as shown in FIG. 13, in the 120° upper and lower rectangular wave PWM control, in the consecutive energization levels of No. 3 and No. 4 (ie, the fourth and fifth energization periods), the duty cycle is set The V-phase high-side PWM signal is used for switching control of the on/off 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 (that is, the third to sixth energization period), there is a duty cycle between the V-phase high-end PWM signal Compared with the adjusted V-phase low-end PWM signal, 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 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 phase is set by the duty cycle. The high-side PWM signal is used to switch the on/off control of 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 periods and the first and second energization periods thereafter), the The W-phase low-side PWM signal after the duty cycle is adjusted between the high-side PWM signals to control the turn-on/off of the sixth semiconductor switch Q6 with respect to the fifth semiconductor switch Q5, thereby forming a dead zone. time.

Among them, in the energization levels 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 turned off. In energization levels other than No. 5 and No. 6, the fifth semiconductor switch Q5 is turned off. In the energization levels other than No. 4 to No. 1, the sixth semiconductor switch Q6 is turned off.

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 to form a dead time with the high-side switches Q1, Q3, and Q5, the shoot-through current can be prevented.

"120° Upper Rectangular Wave PWM Control"

As shown in FIG. 8, when the duty ratio is set to be greater than or equal to the third reference duty ratio (step S6: Yes), the control unit 10 implements 120° upper rectangular wave PWM control as the first step shown in FIGS. 12A and 12B The energization mode of the second region R2 (that is, the fifth case) (step S12). In the legend of FIG. 12B, although the third reference duty ratio is consistent with the second reference duty ratio, the third reference duty ratio may also be inconsistent with the second reference duty ratio.

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 15, in the 120° upper rectangular wave PWM control, in the continuous No. 1 and No. 2 energization levels (ie, the second and third energization periods), the U-phase high end is set by the duty cycle. The PWM signal performs switching control on 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 closed in the consecutive energization levels of No. 6 to No. 3 (ie, the first to fourth energization periods).

In addition, in the 120° upper rectangular wave PWM control, in the continuous energization levels of No. 3 and No. 4 (ie, the fourth and fifth energization periods), the V-phase high-end PWM signal with the duty cycle is used to set the duty cycle. 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 closed in the consecutive energization levels of No. 2 to No. 5 (ie, the third to sixth energization periods).

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

In addition, in the 120° upper rectangular wave PWM control, the sixth semiconductor The switch Q6 performs continuous closing control.

According to the above 120° upper rectangular wave PWM control, when the duty ratio is set to be high, by turning off the low-side switches Q2, Q4, Q6 and only the high-side switches Q1, Q3, Q5 are PWM controlled, 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 ratio of the high-side 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. 8, when the detected speed is greater than or equal to the first reference speed (step S5: Yes), the control unit 10 determines whether the detected speed is greater than or equal to 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 ratio is greater than or equal to the first reference duty ratio (step S8).

When the set duty ratio is smaller than the first reference duty ratio (step S8: No), the control unit 10 implements 180° upper and lower trapezoidal wave PWM control as the third region R3 shown in FIGS. 12A and 12B (ie, The energization mode of the first case) (step S13).

The waveforms in the 180° upper and lower step trapezoidal wave PWM control are shown in FIGS. 5 to 7 in the first embodiment. According to the 180° upper and lower trapezoidal wave PWM control, the ripple can be suppressed by slowly increasing and decreasing the current waveform.

"180° Upper and Lower Rectangular Wave PWM Control"

As shown in FIG. 8, when the detected speed is greater than or equal to the second reference speed (step S7: Yes), the control unit 10 determines whether the detected speed is greater than or equal to the third reference speed (step S9).

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

When the set duty ratio is smaller than the second reference duty ratio (step S10: No), the control unit 10 implements 180° upper and lower rectangular wave PWM control as the fourth region R4 shown in FIGS. 12A and 12B (ie, The second case) is the energization mode (step S14).

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. 16, 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 periods), the U phase is set by the duty cycle. The high-end PWM signal performs switching control on the on/off of the first semiconductor switch Q1.

In addition, in the 180° upper and lower rectangular wave PWM control, the U-phase low-end PWM signal adjusted by the duty cycle between the U-phase high-end PWM signal and the U-phase high-end PWM signal in the continuous energization stages of No. 1 to No. 3 , The on/off of the second semiconductor switch Q2 is complementarily switched with respect to the first semiconductor switch Q1, thereby forming 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 (that is, the third to fifth energization period), the V-phase high-end PWM signal pair with the duty ratio is set 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-side PWM signal and the V-phase high-side PWM signal in the continuous energization stages of No. 3 to No. 5 , The on/off of the fourth semiconductor switch Q4 is complementarily switched with respect to the third semiconductor switch Q3, thereby forming 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 (ie, the fifth and sixth energization periods and the first energization period thereafter), by setting the duty cycle The W-phase high-end 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, thereby forming 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° during high rotation of the rotor 3r and sufficiently obtain a large torque, thereby appropriately applying torque to the highly rotating rotor 3r . In addition, by performing PWM control on the low-side switches Q2, Q4, and Q6 to form a dead time with the high-side switches Q1, Q3, and Q5, the shoot-through current can be prevented. "180° Upper Rectangular Wave PWM Control"

As shown in FIG. 8, when the detected speed is greater than or equal to the third reference speed (step S9: Yes), or the set duty ratio is greater than or equal to the second reference duty ratio (step S10: Yes), the control unit 10 performs the 180° upper stage Rectangular wave PWM control is used as the energization method of the fifth region R5 (that is, the third case) shown in FIGS. 12A and 12B (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 Fig. 17, 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 periods), the U-phase high end is set by the duty cycle. The PWM signal is used for the on/off switching control 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 stages of No. 1 to No. 3.

In addition, in the 180° upper rectangular wave PWM control, in the continuous energization levels 3 to 5 (ie, the third to fifth energization periods), it is performed by setting the duty cycle of the V-phase high-end PWM signal 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 turned off 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 (that is, the fifth and sixth energization periods and the first energization period thereafter), the duty cycle is set The W-phase high-side 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 stages 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 ratio is set to be high, 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 a dead time is formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

In this way, since the duty ratio of the high-side 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 ratio, it is possible to output as large torque as possible while effectively using 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 configured by software, a program that realizes at least a part of the functions of the electric vehicle control device 1 may be stored in a 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 magnetic disks and optical disks, and may also be fixed storage media such as hard disk devices and storages.

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 in a state of being encrypted, modulated, and compressed through limited lines such as the Internet and wireless lines, or stored in a storage medium.

Based on the above description, a person with ordinary knowledge in the 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 conceptual idea and gist of the present invention derived from its equivalents.

1‧‧‧Electric vehicle control device 2‧‧‧Battery 3‧‧‧Motor 4‧‧‧Angle sensor 5‧‧‧Throttle position sensor 7‧‧‧Instrument 8‧‧‧Wheels 10‧‧‧Control Department 20‧‧‧Memory Department 30‧‧‧Power Conversion Department 100‧‧‧Electric two-wheeler Q1, Q2, Q3, Q4, Q5, Q6‧‧‧Semiconductor switch 30a‧‧‧Power terminal 30b‧‧‧Ground terminal 3a, 3b, 3c‧‧‧output terminal 31u, 31v, 31w‧‧‧coil 4v, 4u, 4w‧‧‧angle sensor 3r‧‧‧Rotor C‧‧‧Smoothing capacitor N‧‧‧N pole R1, R2, R3, R4, R5‧‧‧area S‧‧‧S pole S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15‧‧‧Step T1, T2‧‧‧period

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

FIG. 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.

FIG. 5 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 first embodiment.

6 is a timing chart showing the duty ratio 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 first embodiment.

FIG. 7 is a timing chart showing the duty ratio control 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 first embodiment.

FIG. 8 is a flowchart showing a control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 9 is an explanatory diagram for explaining the process of detecting the rotation speed of the rotor and the process of setting the duty ratio in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 10 is a graph showing an example of a torque diagram for implementing the process of setting the duty ratio in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 11 is a graph showing an example of a schematic diagram of a duty ratio for implementing the process of setting the duty ratio in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 12A 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.

FIG. 12B is a graph showing the energization control method according to the rotation speed of the rotor and the set duty ratio in the control method of the electric two-wheeled vehicle 100 according to the second embodiment.

FIG. 13 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 second embodiment.

14 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 second embodiment.

15 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.

16 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 second embodiment.

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

1‧‧‧Electric vehicle control device

2‧‧‧Battery

3‧‧‧Motor

4‧‧‧Angle sensor

5‧‧‧Throttle position sensor

7‧‧‧Instrument

8‧‧‧Wheels

10‧‧‧Control Department

20‧‧‧Memory Department

30‧‧‧Power Conversion Department

100‧‧‧Electric two-wheeler

Claims (15)

A driving device includes: a first switch, one end of which is connected to a power supply terminal, 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 The output terminal is connected, and 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, 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 third phase coil is connected; 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; and the control unit, by controlling the first The first to sixth switches control the driving of the motor, wherein the control section performs the driving control of the motor by a trapezoidal current waveform, and the driving control includes: The first phase high-end PWM signal that adjusts the duty cycle of the first phase high-end PWM signal that adjusts the duty cycle stepwisely decreases from the set duty cycle after the increase and maintains the set duty cycle after the increase The on/off of the first switch performs switching control; by adjusting the duty The second-phase high-end PWM signal is used to switch on/off the third switch; and the duty-cycle-adjusted third-phase high-side PWM signal is used to switch on/off the fifth switch Control, the stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are performed according to a set cycle, which is set to be higher than the first phase high-end PWM signal, the The pulse period of the second-phase high-end PWM signal and the third-phase high-end PWM signal are longer. The PWM signal is based on a triangular wave generated by the control unit and is generated according to each carrier period in the triangular wave. The control unit will The period of stepwise increase to the set duty ratio and the period of stepwise decrease from the set duty ratio are set to be longer than the carrier period of the PWM signal in the triangular wave. The driving device according to claim 1, wherein the control unit controls the respective duty ratios of a plurality of pulse periods included in the same set period to be constant. The driving device according to claim 1, wherein the switching control of the on/off of the first switch by the first-phase high-side PWM signal that adjusts the duty ratio is performed with the first phase Between the high-end PWM signals, the on/off of the second switch is performed at the same time with the complementary switching control of the first switch by the first-phase low-end PWM signal after the duty cycle is adjusted, thereby forming The dead time that does not turn on the second switch and the first switch at the same time, the switching control of the on/off of the third switch by the second-phase high-side PWM signal that adjusts the duty cycle Yes and in the second phase with the high end PWM Between the signals, the on/off of the fourth switch is complementary to the third switch by the second-phase low-side PWM signal after the duty cycle is adjusted. The dead time when the fourth switch and the third switch are turned on at the same time, the switching control of the on/off of the fifth switch by the third-phase high-side PWM signal that adjusts the duty cycle is and Between the third-phase high-end PWM signal and the third-phase high-end PWM signal, the on/off of the sixth switch is complementarily switched with respect to the fifth switch by the third-phase low-end PWM signal after the duty cycle is adjusted. The control is performed at the same time, thereby forming a dead time that does not turn on the sixth switch and the fifth switch at the same time. The driving device according to claim 1, further comprising: a rotation speed detection unit for detecting the rotation speed of the rotor of the motor, and the set duty ratio is based on the detection speed of the rotation speed detection unit and the use It is set by the amount of user operation that controls the rotation of the motor. The driving device according to claim 4, wherein, when the detection speed is greater than or equal to a preset first reference speed, and is slower than a preset second reference speed, and the set duty ratio is lower than a preset In the first case of the set first reference duty ratio, the control unit performs the drive control. The driving device according to claim 5, wherein 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 ratio is greater than or equal to the first reference speed A reference duty cycle, and is lower than a preset second reference duty cycle, or the detection speed is greater than or equal to the second reference speed, and is slower than a preset In the second case where the third reference speed and the set duty ratio are lower than the second reference duty ratio, the control unit performs the first phase high-end PWM signal pairing with the set duty ratio While the on/off of the first switch is switched, the second switch is turned on by the first-phase low-side PWM signal after the duty cycle is adjusted between the first-phase high-side PWM signal and the first-phase low-side PWM signal. /Off is complementary switching control with respect to the first switch, so as to form a dead time that does not turn on the second switch and the first switch at the same time. While the two-phase high-side PWM signal switches the on/off of the third switch, the second-phase low-side PWM signal after the duty cycle is adjusted between the second-phase high-side PWM signal and the second-phase high-side PWM signal The on/off of the fourth switch is complementary to that of the third switch, 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 that sets the duty cycle switches the on/off of the fifth switch, and the third-phase high-end PWM signal is adjusted by the duty cycle between it and the third-phase high-end PWM signal. Phase low-side PWM signal, the sixth switch is switched on/off complementary to that of the fifth switch, so as to form a deadlock that does not turn on the sixth switch and the fifth switch at the same time. District time. The driving device according to claim 6, wherein 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 ratio is greater than or equal to the first reference speed two In the third case where the reference duty ratio or the detection speed is greater than or equal to the third reference speed, the control unit turns off the second switch while using the first phase high-side PWM of the set duty ratio The signal switches the on/off control of the first switch, while turning off the fourth switch, the third switch is switched on/off by the second-phase high-side PWM signal with the set duty cycle Control, while turning off the sixth switch, the fifth switch is switched on/off by the third-phase high-side PWM signal of the set duty ratio. The drive device according to claim 7, wherein, in the first to third cases, the control unit performs energization of 180° in which a phase current flows in an energization period corresponding to an electrical angle of 180°. The driving device according to claim 8, wherein when the detection speed is slower than the first reference speed, and the set duty ratio is lower than the preset third reference duty ratio in the fourth situation Next, the control section uses the first-phase high-side PWM signal of the set duty cycle to switch the on/off of the first switch, and at the same time borrows between the first-phase high-side PWM signal and the first-phase high-side PWM signal. The first phase low-side PWM signal after the 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. While on/off is switched, the on/off of the fourth switch is relative to the second phase low-end PWM signal after the duty cycle is adjusted between the second-phase high-end PWM signal and the second-phase high-end 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. While switching the on/off of the fifth switch, the sixth switch is switched between the third-phase high-end PWM signal and the third-phase low-end PWM signal after the duty cycle is adjusted. The turn-on/turn-off of is complementary to the fifth switch, so as to form a dead time that does not turn on the sixth switch and the fifth switch at the same time. The driving device according to claim 4, wherein when in the fifth case: the detection speed is slower than the first reference speed, and the set duty ratio is greater than or equal to the third reference duty ratio , The control unit, while turning off the second switch, uses the first-phase high-side PWM signal of the set duty cycle to switch on/off the first switch, and turns off the fourth switch The switching control of the on/off of the third switch is performed by the second-phase high-end PWM signal of the set duty cycle, while turning off the sixth switch, the third-phase high-end of the set duty cycle is used The PWM signal performs switching control on the on/off of the fifth switch. The drive device according to claim 10, wherein, in the fourth and fifth cases, the control unit performs 120° energization in which a phase current flows in an energization period corresponding to an electrical angle of 120°. An electric vehicle includes a motor and a driving device, wherein the 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 the 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 The second output terminal of the second phase coil of the motor 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 The power terminal is connected, and the other end is connected to the third output terminal of the third phase coil leading to the motor; the sixth switch, one end is connected to the third output terminal, and the other end is connected to the ground The terminals are connected; and a control unit that controls the drive of the motor by controlling the first to sixth switches, wherein the control unit controls the drive of the motor by a trapezoidal current waveform, and the drive control ,Include: Adjustment to increase to a preset duty ratio in stages by being adjusted, and maintain the set duty ratio after the increase, and stepwise decrease from the set duty ratio after the maintenance The first-phase high-end PWM signal of the duty cycle performs switching control on the on/off of the first switch; the second-phase high-side PWM signal that adjusts the duty cycle performs the on/off of the third switch Switching control; and the switching control of the on/off of the fifth switch by the third-phase high-end PWM signal for adjusting the duty cycle, which is gradually increased to the set duty cycle and from the set duty cycle The gradual reduction of the empty ratio is carried out according to the set period, which is set to be longer than the pulse period of the first-phase high-end PWM signal, the second-phase high-end PWM signal, and the third-phase high-end PWM signal The PWM signal is generated based on a triangular wave generated by a control unit for each carrier cycle in the triangular wave, and the control unit will stepwise increase to the cycle of the set duty ratio and from the set duty cycle. The period of the stepwise decrease of the empty ratio is set to be longer than the carrier period of the PWM signal in the triangular wave. The electric vehicle according to claim 12, further comprising: a rotation speed detection unit for detecting the rotation speed of the rotor of the motor, and the set duty ratio is based on the detection speed of the rotation speed detection unit and the user The amount of throttle operation is set. The electric vehicle according to claim 13, wherein the control unit The torque corresponding to the detected speed and the throttle operation amount is set according to the torque diagram showing the corresponding relationship between the rotation speed of the rotor, the throttle operation amount, and the torque of the motor. The duty ratio schematic diagram of the correspondence between the rotation speed of the rotor, the torque, and the duty ratio, and the duty ratio corresponding to the detected speed and the set torque is taken as the set duty Set up later. A control method of a driving device, the driving device comprising: 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 a first phase coil leading to a motor; and a second switch, which One end is connected to the first output terminal, and the other end is connected to the ground terminal; a third switch, one end is connected to the power terminal, and the other end is connected to the second phase coil leading to the motor. The two output terminals are connected; 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 has one end connected to the power terminal and the other end 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, wherein The drive control of the motor is performed by controlling the first to sixth switches by the trapezoidal current waveform, and the drive control includes: being adjusted to stepwise increase to a preset duty ratio, and After the increase, the set duty ratio is maintained, and after the maintenance, the first phase high-side PWM signal that adjusts the duty ratio gradually decreases from the set duty ratio on/off of the first switch Perform switching control; use the second-phase high-end PWM signal for adjusting the duty cycle to turn on/off the third switch Switching control; and the switching control of the on/off of the fifth switch by the third-phase high-end PWM signal for adjusting the duty cycle, which is gradually increased to the set duty cycle and from the set duty cycle The gradual reduction of the empty ratio is carried out according to a set period, which is set to be longer than the pulse period of the first-phase high-end PWM signal, the second-phase high-end PWM signal, and the third-phase high-end PWM signal, The PWM signal is based on a triangular wave and is generated according to each carrier cycle in the triangular wave. The carrier cycle of the PWM signal in the triangular wave is longer.

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