WO2011024339A1 - Motor driving device and motor driving method - Google Patents

Motor driving device and motor driving method Download PDF

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Publication number
WO2011024339A1
WO2011024339A1 PCT/JP2010/002247 JP2010002247W WO2011024339A1 WO 2011024339 A1 WO2011024339 A1 WO 2011024339A1 JP 2010002247 W JP2010002247 W JP 2010002247W WO 2011024339 A1 WO2011024339 A1 WO 2011024339A1
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Prior art keywords
rotational speed
motor
signal
pwm frequency
drive device
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PCT/JP2010/002247
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French (fr)
Japanese (ja)
Inventor
福田大祐
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パナソニック株式会社
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Publication of WO2011024339A1 publication Critical patent/WO2011024339A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed

Definitions

  • the present invention relates to a motor drive device, and more particularly to a technique for PWM driving a motor.
  • a motor driving device that drives a motor at a low PWM frequency during the startup period and drives the motor at a high PWM frequency during the steady rotation period (see, for example, Patent Document 1). .
  • FIG. 15 shows operation waveforms of a conventional motor driving device.
  • the motor rotation speed gradually increases during the start-up period, increases and decreases in the vicinity of the target rotation speed during the pull-in period after the motor rotation speed reaches the target rotation speed, and becomes constant at the target rotation speed during the steady rotation period.
  • the torque voltage is at the maximum level during the startup period, rises and falls near the low level during the pull-in period, and is constant at a low level during the steady rotation period.
  • the PWM frequency is set low during the start-up period, and is set high during the pull-in period and the steady rotation period.
  • the problem here is that, although the torque voltage is at the maximum level during the start-up period, the rotational acceleration decreases as the motor rotational speed increases, and the motor rotational speed is sluggish in the high rotational speed range. Considering the cause, the current ripple generated due to the back electromotive force generated in the motor coil increases as the motor speed increases, and the effect of canceling the current supplied to the motor coil increases. It has been found that the average electrical energy supplied to is reduced. Therefore, it is expected that the startup period of the motor can be shortened if current can be efficiently supplied to the motor coil even if the motor rotation speed increases.
  • an object of the present invention is to improve the current supply efficiency to the motor coil during the startup period.
  • the present invention has taken the following solution. That is, as a motor driving device that drives the motor by PWM, the number of rotations of the motor is detected during the start-up period from when the motor is started until the number of rotations of the motor reaches the target number of rotations. It is assumed that a rotation speed detecting means for outputting a control signal and a PWM frequency changing means for increasing the PWM frequency according to the control signal are provided.
  • the current ripple caused by the counter electromotive force generated in the motor coil is reduced by increasing the PWM frequency as the motor speed increases. Even if the rotational speed of the motor increases, the average electrical energy supplied to the motor coil can be increased.
  • the rotation speed detection means switches the control signal every time the rotation speed of the motor exceeds a set value.
  • the rotation speed detection means performs hysteresis control on the control signal.
  • the rotation speed detection means includes a rotation speed calculation means for calculating the rotation speed of the motor, and a rotation speed ratio calculation means for calculating a ratio between the rotation speed calculated by the rotation speed calculation means and the target rotation speed.
  • the rotation speed ratio calculation means switches the control signal every time the calculated ratio exceeds a set value. According to this, uniform control can be performed for any motor regardless of the target rotational speed for each motor.
  • the PWM frequency changing means sets the PWM frequency to a predetermined value when the rotational speed of the motor reaches the target rotational speed. More specifically, the rotational speed detection means outputs a detected rotational speed signal that is a pulse train having a period corresponding to the detected rotational speed, and the motor driving device uses a pulse train having a period corresponding to the target rotational speed. Synchronization detection means for detecting phase synchronization between a certain target rotation speed signal and a detected rotation speed signal is provided, and the PWM frequency changing means sets the PWM frequency to a predetermined value when the synchronization detection means detects phase synchronization. May be.
  • the motor drive device includes torque command means for outputting a torque voltage for controlling the torque of the motor, and torque voltage comparison means for comparing the torque voltage with a predetermined voltage.
  • the PWM frequency may be set to a predetermined value when the output of the comparison means indicates that the torque voltage has fallen below the predetermined voltage.
  • the rotational speed detection means outputs a detected rotational speed signal, and the motor driving device compares the phases of the target rotational speed signal and the detected rotational speed signal, and the phase of the detected rotational speed signal is the target rotational speed.
  • a phase comparison unit that outputs a deceleration signal when the phase is more than the phase of the number signal, and a latch circuit that latches the deceleration signal, and the PWM frequency changing unit performs PWM when the output of the latch circuit becomes active
  • the frequency may be set to a predetermined value.
  • the motor can be driven with high resolution.
  • the startup period of the motor can be shortened.
  • FIG. 1 is a circuit diagram showing the configuration of the motor drive device according to the first embodiment.
  • FIG. 2 is a diagram illustrating an example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor.
  • FIG. 3 is an operation waveform diagram of the motor drive device according to the first embodiment.
  • FIG. 4 is a diagram illustrating another example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor.
  • FIG. 5 is a diagram illustrating still another example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor.
  • FIG. 6 is a circuit diagram showing a configuration of a motor drive device according to the second embodiment.
  • FIG. 7 is a diagram illustrating an example of the relationship between the control value of the motor drive device according to the second embodiment and the ratio of the rotational speed.
  • FIG. 8 is an operation waveform diagram of the motor drive device according to the second embodiment.
  • FIG. 9 is a circuit diagram showing a configuration of a motor drive device according to the third embodiment.
  • FIG. 10 is an operation waveform diagram of the motor drive device according to the third embodiment.
  • FIG. 11 is a circuit diagram illustrating a configuration of a motor drive device according to the fourth embodiment.
  • FIG. 12 is an operation waveform diagram of the motor drive device according to the fourth embodiment.
  • FIG. 13 is a circuit diagram showing a configuration of a motor drive device according to the fifth embodiment.
  • FIG. 14 is an operation waveform diagram of the motor drive device according to the fifth embodiment.
  • FIG. 15 is an operation waveform diagram of the conventional motor driving device.
  • FIG. 1 is a circuit diagram showing the configuration of the motor drive device according to the first embodiment.
  • the motor drive device performs PWM control on the current supplied to the motor coils 21 to 23 of the three-phase motor, for example.
  • the position detection means 31 detects the relative position between the rotor and the stator (not shown), for example, by a position detection element such as a Hall element or a back electromotive force induced in the motor coils 21 to 23.
  • the energization switching unit 32 outputs a timing signal for switching the phases of the motor coils 21 to 23 based on the detection result of the position detection unit 31.
  • the PWM control means 33 receives the output of the energization switching means 32 and the pulse signal 74 that is the output of the pulse width control means 54, and receives the upper switching elements 41 ⁇ connected in series between the power supply VM and the power supply GND, respectively. 43 and the lower switching elements 44 to 46 are on / off controlled. Flywheel diodes 24 to 29 are connected in parallel to the upper switching elements 41 to 43 and the lower switching elements 44 to 46, respectively.
  • the torque command means 51 receives a torque control signal for controlling the torque of the motor from the outside, for example, and outputs a torque voltage 71.
  • the rotational speed detection means 52 receives a motor rotational speed detection signal such as an FG signal, for example, detects the rotational speed of the motor, and outputs a control signal 72 corresponding to the detected rotational speed.
  • a motor rotational speed detection signal such as an FG signal
  • n1-n3 are set in advance in the rotation speed detection means 52 as the rotation speed.
  • the rotational speed detection means 52 outputs a control signal 72 having a control value c1 when the rotational speed is n1 or less, and outputs a control signal 72 having a control value c2 when the rotational speed exceeds n1.
  • rotational speed detection means 52 outputs control signals 72 of control values c3 and c4, respectively.
  • the PWM frequency changing means 53 receives the control signal 72 and increases the PWM frequency according to the control value. For example, when receiving the control signal 72 of the control value c1, the PWM frequency changing means 53 sets the PWM frequency to the lowest f1, and when receiving the control signal 72 of the control value c2, the PWM frequency is changed to f2 higher than f1. Set to. Similarly, when control signals 72 of control values c3 and c4 are received, the PWM frequency is set to f3 and f4 higher than f2, respectively.
  • the PWM frequency changing means 53 outputs a PWM signal 73 corresponding to the frequencies f1 to f4.
  • the pulse width control means 54 receives the torque voltage 71 and the PWM signal 73 and generates and outputs a pulse signal 74.
  • a current detecting means for detecting a current flowing in a resistor (not shown) between the connection point of the lower switching elements 44 to 46 and the power supply GND may be provided.
  • the pulse width control means 54 receives a detection signal from the current detection means and outputs a pulse signal 74 for controlling on / off of the upper switching elements 41 to 43 and the lower switching elements 44 to 46.
  • FIG. 3 is an operation waveform diagram of the motor drive device according to the present embodiment.
  • the maximum level torque voltage 71 is output, and the PWM frequency is set to f1.
  • the PWM frequency is set to f2.
  • the PWM frequency is set to f3
  • the PWM frequency is set to f4.
  • the present embodiment it is possible to reduce the current ripple generated by the counter electromotive force generated in the motor coils 21 to 23 in the high rotation range during the motor start-up period. As a result, even if the rotational speed of the motor increases, current can be efficiently supplied to the motor coils 21 to 23, so that the motor start-up period can be shortened.
  • the rotation speed detection means 52 may change the control value of the control signal 72 linearly. Further, as shown in FIG. 5, the rotational speed detection means 52 may perform hysteresis control on the control value of the control signal 72. According to this, it is possible to suppress fluttering of the control signal 72 due to slight fluctuations in the rotational speed of the motor at the switching point of the control signal 72.
  • the rotational speed detection means 52 may receive the output of the position detection means 31 and detect the rotational speed of the motor. Further, the rotational speed detection means 52 may receive the torque voltage 71 and output a control signal corresponding to the torque voltage 71. Alternatively, the rotation speed detection means 52 may output a control signal corresponding to the elapsed time after the motor is started.
  • the on time may be gradually shortened.
  • the PWM frequency can be substantially increased gradually.
  • the on-time may be made constant.
  • FIG. 6 is a circuit diagram showing a configuration of a motor drive device according to the second embodiment. Only the differences from the first embodiment will be described below.
  • the rotation speed detection means 52 has a rotation speed calculation means 52a and a rotation speed ratio calculation means 52b.
  • the rotational speed calculation means 52a receives the motor rotational speed detection signal and calculates the rotational speed of the motor.
  • the rotation speed ratio calculation means 52b calculates the ratio of the rotation speed of the motor to the target rotation speed from the rotation speed calculated by the rotation speed calculation means 52a and the target rotation speed recorded in, for example, a register. For example, as shown in FIG. 7, m1 to m3 are set in advance as the rotation speed ratio in the rotation speed ratio calculation means 52b.
  • the rotation speed ratio calculation means 52b outputs a control signal 72 having a control value c1 when the rotation speed ratio is less than or equal to m1, and each time the rotation speed ratio exceeds m1 to m3, the rotation speed ratio calculation means 52b responds accordingly.
  • a control signal 72 having control values c2 to c4 is output.
  • the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 accordingly.
  • FIG. 8 is an operation waveform diagram of the motor drive device according to the present embodiment.
  • the PWM frequency is first set to f1.
  • the rotational speed of the motor increases and the rotational speed ratio exceeds m1
  • the PWM frequency is set to f2.
  • the rotation speed ratio exceeds m2 and m3
  • the PWM frequency is set to f3 and f4, respectively.
  • each motor can be controlled uniformly by setting a predetermined rotation speed ratio in the rotation speed ratio calculation means 52b. .
  • the rotation speed ratio calculation means 52b may replace with the rotation speed ratio calculation means 52b, and may provide a means for calculating the rotation speed difference between the target rotation speed and the rotation speed of the motor.
  • the difference between the target rotational speed and the rotational speed of the motor is set in advance, and the control value is switched every time the rotational speed difference exceeds the set value.
  • the rotation speed ratio may be calculated as an analog value.
  • the rotation speed ratio calculation means 52b compares the voltage according to the target rotation speed with the voltage according to the motor rotation speed, and outputs a control signal 72 based on the ratio.
  • FIG. 9 is a circuit diagram showing a configuration of a motor drive device according to the third embodiment. Only the differences from the first embodiment will be described below.
  • the rotation speed detection means 52 outputs a control signal 72 and a detected rotation speed signal 75.
  • the detected rotational speed signal 75 is a pulse train having a period corresponding to the rotational speed detected by the rotational speed detecting means 52.
  • the synchronization detection means 56 receives the detected rotation speed signal 75 and the target rotation speed signal 76, detects that these phases are synchronized, and outputs a synchronization detection signal 77.
  • the target rotational speed signal 76 is a pulse train having a period corresponding to the target rotational speed.
  • the synchronization detecting means 56 sets the synchronization detection signal 77 to L level, for example.
  • the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 according to the control value.
  • the PWM frequency changing means 53 sets the PWM frequency to f5 higher than f4 when the synchronization detection signal 77 becomes L level.
  • FIG. 10 is an operation waveform diagram of the motor drive device according to the present embodiment.
  • the PWM frequency is first set to f1.
  • the PWM frequency is set to f2 to f4 accordingly.
  • phase synchronization is detected and the synchronization detection signal 77 becomes L level.
  • the PWM frequency is set to f5.
  • the motor can be driven with high resolution by setting the PWM frequency to a high frequency when the rotational speed of the motor is equal to the target rotational speed.
  • the PWM frequency is set to f5 when the synchronization detection signal 77 becomes L level, the motor may be driven with the PWM frequency maintained at f5.
  • FIG. 11 is a circuit diagram illustrating a configuration of a motor drive device according to the fourth embodiment. Only the differences from the first embodiment will be described below.
  • the torque voltage comparison means 57 compares the torque voltage 71 with a predetermined voltage VA set in advance.
  • the torque voltage comparison unit 57 outputs, for example, an H level torque voltage comparison signal 78 when the torque voltage 71 exceeds the voltage VA.
  • the PWM frequency changing unit 53 sets the PWM frequency to f1 to f4 accordingly, and when the torque voltage comparison signal 78 becomes L level, sets it to f5 higher than f4.
  • FIG. 12 is an operation waveform diagram of the motor drive device according to the present embodiment.
  • the PWM frequency is first set to f1.
  • the PWM frequency is set to f2 to f4 accordingly.
  • torque voltage 71 starts to decrease.
  • torque voltage comparison signal 78 becomes L level.
  • the PWM frequency is set to f5.
  • the motor can be driven with high resolution in the steady rotational period. If the PWM frequency is set to f5 when the torque voltage 71 falls below the voltage VA, the motor may be driven while maintaining the PWM frequency at f5.
  • FIG. 13 is a circuit diagram showing a configuration of a motor drive device according to the fifth embodiment. Only the differences from the first embodiment will be described below.
  • the rotation speed detection means 52 outputs a control signal 72 and a detected rotation speed signal 75.
  • the detected rotational speed signal 75 is a pulse train having a period corresponding to the rotational speed detected by the rotational speed detecting means 52.
  • the phase comparison means 61 compares the phase of the detected rotational speed signal 75 with the phase of the target rotational speed signal 76.
  • the target rotational speed signal 76 is a pulse train having a period corresponding to the target rotational speed.
  • the phase comparison means 61 outputs an acceleration signal 81 when the phase of the target rotational speed signal 76 is ahead of the phase of the detected rotational speed signal 75, that is, when the rotational speed of the motor is slower than the target rotational speed.
  • the deceleration signal 82 is output.
  • the latch circuit 62 latches the deceleration signal 82.
  • the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 accordingly, and sets the PWM frequency to f5 higher than f4 when the deceleration detection signal 83 becomes active. .
  • FIG. 14 is an operation waveform diagram of the motor drive device according to the present embodiment.
  • the PWM frequency is first set to f1.
  • the PWM frequency is set to f2 to f4 accordingly.
  • a deceleration signal 82 is output.
  • the deceleration detection signal 83 becomes active, and the PWM frequency is set to f5.
  • the PWM frequency changing means 53 can drive the motor with high resolution by setting a high PWM frequency when the deceleration detection signal 83 becomes active.
  • the motor may be driven while maintaining the PWM frequency at f5.
  • the torque command means 51 may output a torque voltage 71 based on the acceleration signal 81 and the deceleration signal 82.
  • the motor drive device can be driven with high resolution in the steady rotation period while shortening the motor start period, and thus is useful for information equipment and the like that require quick and stable drive.
  • Torque command means Rotational speed detection means 52a Rotational speed calculation means 52b Rotational speed ratio calculation means 53 PWM frequency change means 54 Pulse width control means 56 Synchronization detection means 57 Torque voltage comparison means 61 Phase comparison means 62 Latch circuit 71 Torque voltage 72 Control signal 75 Detected rotation speed signal 76 Target rotation speed signal 77 Synchronization detection signal 78 Torque voltage comparison signal 82 Deceleration signal

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A motor driving device is provided with: a rotational-speed detecting means (52) for detecting the rotational speed of a motor during a start-up period, which is from when the motor is started up to when the rotational speed of the motor reaches a target rotational speed, and outputs a control signal (72) corresponding to the detected rotational speed; and a PWM-frequency changing means (53) for increasing the PWM-frequency according to the control signal (72).

Description

モータ駆動装置およびモータ駆動方法Motor driving apparatus and motor driving method
　本発明は、モータ駆動装置に関し、特に、モータをＰＷＭ駆動する技術に関する。 The present invention relates to a motor drive device, and more particularly to a technique for PWM driving a motor.
　従来、モータをＰＷＭ（Pulse Width Modulation）駆動するモータ駆動装置において、モータを迅速に起動して、起動後には回転むらを抑制する駆動制御が行われている。モータを迅速に起動するためには、モータの回転数が目標回転数に達するまでの起動期間において、大電流をモータコイルに供給する。また、回転むらを抑制するためには、モータが起動した後の定常回転期間において、高い分解能でモータを駆動する。高い分解能でモータを駆動するためには、ＰＷＭ周波数を高くすることが望ましい。ところが、起動期間においてＰＷＭ周波数を高くするとスイッチング素子が頻繁にオン・オフすることによるスイッチングロスが発生して発熱してしまう。 Conventionally, in a motor drive device that drives a motor by PWM (Pulse Width Modulation), drive control is performed to quickly start the motor and suppress rotation unevenness after startup. In order to quickly start the motor, a large current is supplied to the motor coil during the starting period until the rotational speed of the motor reaches the target rotational speed. Further, in order to suppress the rotation unevenness, the motor is driven with high resolution in the steady rotation period after the motor is started. In order to drive the motor with high resolution, it is desirable to increase the PWM frequency. However, if the PWM frequency is increased during the start-up period, a switching loss due to frequent switching on and off of the switching element occurs and heat is generated.
　このような問題を解決するものとして、起動期間では低いＰＷＭ周波数でモータを駆動し、定常回転期間では高いＰＷＭ周波数でモータを駆動するモータ駆動装置が開示されている（例えば、特許文献１参照）。 As a solution to such a problem, a motor driving device is disclosed that drives a motor at a low PWM frequency during the startup period and drives the motor at a high PWM frequency during the steady rotation period (see, for example, Patent Document 1). .
特開２００４－７８９４号公報JP 2004-7894 A
　図１５は、従来のモータ駆動装置の動作波形を示す。モータ回転数は、起動期間では徐々に上昇し、モータ回転数が目標回転数に達した後の引き込み期間では目標回転数の近傍で上下し、定常回転期間では目標回転数で一定となる。トルク電圧は、起動期間では最大レベルであり、引き込み期間では低レベル近傍で上下し、定常回転期間では低レベルで一定となる。ＰＷＭ周波数は、起動期間では低く設定され、引き込み期間および定常回転期間では高く設定される。 FIG. 15 shows operation waveforms of a conventional motor driving device. The motor rotation speed gradually increases during the start-up period, increases and decreases in the vicinity of the target rotation speed during the pull-in period after the motor rotation speed reaches the target rotation speed, and becomes constant at the target rotation speed during the steady rotation period. The torque voltage is at the maximum level during the startup period, rises and falls near the low level during the pull-in period, and is constant at a low level during the steady rotation period. The PWM frequency is set low during the start-up period, and is set high during the pull-in period and the steady rotation period.
　ここで問題なのは、起動期間においてトルク電圧を最大レベルにしているにもかかわらず、モータ回転数が上昇するにつれて回転加速度が減少し、高回転域ではモータ回転数が伸び悩むという点である。その原因について考察したところ、モータ回転数が上昇するにつれてモータコイルに生じる逆起電力に起因して発生する電流リップルが大きくなることでモータコイルに供給される電流の相殺効果が大きくなり、モータコイルに供給される平均電気エネルギが減少することがわかった。したがって、モータ回転数が上昇してもモータコイルに効率よく電流を供給できればモータの起動期間が短縮できると期待される。 The problem here is that, although the torque voltage is at the maximum level during the start-up period, the rotational acceleration decreases as the motor rotational speed increases, and the motor rotational speed is sluggish in the high rotational speed range. Considering the cause, the current ripple generated due to the back electromotive force generated in the motor coil increases as the motor speed increases, and the effect of canceling the current supplied to the motor coil increases. It has been found that the average electrical energy supplied to is reduced. Therefore, it is expected that the startup period of the motor can be shortened if current can be efficiently supplied to the motor coil even if the motor rotation speed increases.
　そこで、本発明は、起動期間においてモータコイルへの電流供給効率を向上することを課題とする。 Therefore, an object of the present invention is to improve the current supply efficiency to the motor coil during the startup period.
　上述課題を解決するため本発明によって次のような解決手段を講じた。すなわち、モータをＰＷＭ駆動するモータ駆動装置として、モータが起動してからモータの回転数が目標回転数に達するまでの起動期間において、モータの回転数を検出し、当該検出した回転数に応じた制御信号を出力する回転数検出手段と、制御信号に応じてＰＷＭ周波数を高くするＰＷＭ周波数変更手段とを備えているものとする。 In order to solve the above problems, the present invention has taken the following solution. That is, as a motor driving device that drives the motor by PWM, the number of rotations of the motor is detected during the start-up period from when the motor is started until the number of rotations of the motor reaches the target number of rotations. It is assumed that a rotation speed detecting means for outputting a control signal and a PWM frequency changing means for increasing the PWM frequency according to the control signal are provided.
　これによると、モータを起動させるために大電流を要する起動期間において、モータの回転数が上昇するにつれてＰＷＭ周波数を高くすることで、モータコイルに生じる逆起電力に起因する電流リップルが小さくなるため、モータの回転数が上昇してもモータコイルに供給される平均電気エネルギを大きくすることができる。 According to this, in the start-up period that requires a large current to start the motor, the current ripple caused by the counter electromotive force generated in the motor coil is reduced by increasing the PWM frequency as the motor speed increases. Even if the rotational speed of the motor increases, the average electrical energy supplied to the motor coil can be increased.
　具体的には、回転数検出手段は、モータの回転数が設定値を超える毎に制御信号を切り替える。好ましくは、回転数検出手段は、制御信号をヒステリシス制御するものとする。 Specifically, the rotation speed detection means switches the control signal every time the rotation speed of the motor exceeds a set value. Preferably, the rotation speed detection means performs hysteresis control on the control signal.
　好ましくは、回転数検出手段は、モータの回転数を算出する回転数算出手段と、回転数算出手段で算出された回転数と目標回転数との比を算出する回転数比算出手段とを有するものであり、回転数比算出手段は、算出した比が設定値を超える毎に制御信号を切り替えるものとする。これによると、モータ毎の目標回転数にかかわらず、どのモータについても一様の制御をすることができる。 Preferably, the rotation speed detection means includes a rotation speed calculation means for calculating the rotation speed of the motor, and a rotation speed ratio calculation means for calculating a ratio between the rotation speed calculated by the rotation speed calculation means and the target rotation speed. The rotation speed ratio calculation means switches the control signal every time the calculated ratio exceeds a set value. According to this, uniform control can be performed for any motor regardless of the target rotational speed for each motor.
　具体的には、ＰＷＭ周波数変更手段は、モータの回転数が目標回転数に達したときにＰＷＭ周波数を所定値に設定するものである。より具体的に、回転数検出手段は、検出した回転数に応じた周期のパルス列である検出回転数信号を出力するものであり、上記モータ駆動装置は、目標回転数に応じた周期のパルス列である目標回転数信号と検出回転数信号との位相同期を検出する同期検出手段を備え、ＰＷＭ周波数変更手段は、同期検出手段が位相同期を検出したときにＰＷＭ周波数を所定値に設定するようにしてもよい。あるいは、上記モータ駆動装置は、モータのトルクを制御するトルク電圧を出力するトルク指令手段と、トルク電圧と所定の電圧とを比較するトルク電圧比較手段とを備え、ＰＷＭ周波数変更手段は、トルク電圧比較手段の出力がトルク電圧が所定の電圧よりも下回ったことを示すときにＰＷＭ周波数を所定値に設定するようにしてもよい。あるいは、回転数検出手段は、検出回転数信号を出力するものであり、上記モータ駆動装置は、目標回転数信号と検出回転数信号との位相を比較し、検出回転数信号の位相が目標回転数信号の位相よりも進んでいるときに減速信号を出力する位相比較手段と、減速信号をラッチするラッチ回路とを備え、ＰＷＭ周波数変更手段は、ラッチ回路の出力がアクティブになったときにＰＷＭ周波数を所定値に設定するようにしてもよい。 Specifically, the PWM frequency changing means sets the PWM frequency to a predetermined value when the rotational speed of the motor reaches the target rotational speed. More specifically, the rotational speed detection means outputs a detected rotational speed signal that is a pulse train having a period corresponding to the detected rotational speed, and the motor driving device uses a pulse train having a period corresponding to the target rotational speed. Synchronization detection means for detecting phase synchronization between a certain target rotation speed signal and a detected rotation speed signal is provided, and the PWM frequency changing means sets the PWM frequency to a predetermined value when the synchronization detection means detects phase synchronization. May be. Alternatively, the motor drive device includes torque command means for outputting a torque voltage for controlling the torque of the motor, and torque voltage comparison means for comparing the torque voltage with a predetermined voltage. The PWM frequency may be set to a predetermined value when the output of the comparison means indicates that the torque voltage has fallen below the predetermined voltage. Alternatively, the rotational speed detection means outputs a detected rotational speed signal, and the motor driving device compares the phases of the target rotational speed signal and the detected rotational speed signal, and the phase of the detected rotational speed signal is the target rotational speed. A phase comparison unit that outputs a deceleration signal when the phase is more than the phase of the number signal, and a latch circuit that latches the deceleration signal, and the PWM frequency changing unit performs PWM when the output of the latch circuit becomes active The frequency may be set to a predetermined value.
　これらによると、モータの回転数が目標回転数に達した後は、高い分解能でモータを駆動することができる。 According to these, after the motor speed reaches the target speed, the motor can be driven with high resolution.
　本発明によると、起動期間においてモータコイルへの電流供給効率を向上することができるため、モータの起動期間を短縮することができる。 According to the present invention, since the current supply efficiency to the motor coil can be improved during the startup period, the startup period of the motor can be shortened.
図１は、第１の実施形態に係るモータ駆動装置の構成を示す回路図である。FIG. 1 is a circuit diagram showing the configuration of the motor drive device according to the first embodiment. 図２は、第１の実施形態に係るモータ駆動装置の制御値とモータの回転数との関係の例を示す図である。FIG. 2 is a diagram illustrating an example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor. 図３は、第１の実施形態に係るモータ駆動装置の動作波形図である。FIG. 3 is an operation waveform diagram of the motor drive device according to the first embodiment. 図４は、第１の実施形態に係るモータ駆動装置の制御値とモータの回転数との関係の別の例を示す図である。FIG. 4 is a diagram illustrating another example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor. 図５は、第１の実施形態に係るモータ駆動装置の制御値とモータの回転数との関係のさらに別の例を示す図である。FIG. 5 is a diagram illustrating still another example of the relationship between the control value of the motor drive device according to the first embodiment and the rotational speed of the motor. 図６は、第２の実施形態に係るモータ駆動装置の構成を示す回路図である。FIG. 6 is a circuit diagram showing a configuration of a motor drive device according to the second embodiment. 図７は、第２の実施形態に係るモータ駆動装置の制御値と回転数の比との関係の例を示す図である。FIG. 7 is a diagram illustrating an example of the relationship between the control value of the motor drive device according to the second embodiment and the ratio of the rotational speed. 図８は、第２の実施形態に係るモータ駆動装置の動作波形図である。FIG. 8 is an operation waveform diagram of the motor drive device according to the second embodiment. 図９は、第３の実施形態に係るモータ駆動装置の構成を示す回路図である。FIG. 9 is a circuit diagram showing a configuration of a motor drive device according to the third embodiment. 図１０は、第３の実施形態に係るモータ駆動装置の動作波形図である。FIG. 10 is an operation waveform diagram of the motor drive device according to the third embodiment. 図１１は、第４の実施形態に係るモータ駆動装置の構成を示す回路図である。FIG. 11 is a circuit diagram illustrating a configuration of a motor drive device according to the fourth embodiment. 図１２は、第４の実施形態に係るモータ駆動装置の動作波形図である。FIG. 12 is an operation waveform diagram of the motor drive device according to the fourth embodiment. 図１３は、第５の実施形態に係るモータ駆動装置の構成を示す回路図である。FIG. 13 is a circuit diagram showing a configuration of a motor drive device according to the fifth embodiment. 図１４は、第５の実施形態に係るモータ駆動装置の動作波形図である。FIG. 14 is an operation waveform diagram of the motor drive device according to the fifth embodiment. 図１５は、従来のモータ駆動装置の動作波形図である。FIG. 15 is an operation waveform diagram of the conventional motor driving device.
　以下、本発明を実施するための形態について、図面を参照しながら説明する。 Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
　＜第１の実施形態＞
　図１は、第１の実施形態に係るモータ駆動装置の構成を示す回路図である。モータ駆動装置は、例えば３相モータのモータコイル２１～２３に供給する電流をＰＷＭ制御する。位置検出手段３１は、例えばホール素子等の位置検出素子あるいはモータコイル２１～２３に誘起される逆起電力等によりロータとステータ（図示省略）との相対位置を検出する。通電切替手段３２は、位置検出手段３１の検出結果に基づいて、モータコイル２１～２３の相を切り替えるためのタイミング信号を出力する。ＰＷＭ制御手段３３は、通電切替手段３２の出力とパルス幅制御手段５４の出力であるパルス信号７４とを受けて、電源ＶＭと電源ＧＮＤとの間にそれぞれ直列に接続された上側スイッチング素子４１～４３と下側スイッチング素子４４～４６とをオンオフ制御する。上側スイッチング素子４１～４３および下側スイッチング素子４４～４６にはフライホイールダイオード２４～２９がそれぞれ並列接続されている。トルク指令手段５１は、モータのトルクを制御するためのトルク制御信号を例えば外部から受けて、トルク電圧７１を出力する。 <First Embodiment>
FIG. 1 is a circuit diagram showing the configuration of the motor drive device according to the first embodiment. The motor drive device performs PWM control on the current supplied to the motor coils 21 to 23 of the three-phase motor, for example. The position detection means 31 detects the relative position between the rotor and the stator (not shown), for example, by a position detection element such as a Hall element or a back electromotive force induced in the motor coils 21 to 23. The energization switching unit 32 outputs a timing signal for switching the phases of the motor coils 21 to 23 based on the detection result of the position detection unit 31. The PWM control means 33 receives the output of the energization switching means 32 and the pulse signal 74 that is the output of the pulse width control means 54, and receives the upper switching elements 41˜ connected in series between the power supply VM and the power supply GND, respectively. 43 and the lower switching elements 44 to 46 are on / off controlled. Flywheel diodes 24 to 29 are connected in parallel to the upper switching elements 41 to 43 and the lower switching elements 44 to 46, respectively. The torque command means 51 receives a torque control signal for controlling the torque of the motor from the outside, for example, and outputs a torque voltage 71.
　回転数検出手段５２は、例えばＦＧ信号などのモータ回転数検出信号を受けて、モータの回転数を検出するとともに、その検出した回転数に応じた制御信号７２を出力する。例えば回転数検出手段５２には図２に示すように、あらかじめ回転数としてｎ１～ｎ３が設定されている。回転数検出手段５２は、回転数がｎ１以下である場合には、制御値がｃ１の制御信号７２を出力し、回転数がｎ１を超えると制御値ｃ２の制御信号７２を出力する。同様に回転数がｎ２およびｎ３を超えると、回転数検出手段５２は、それぞれ制御値ｃ３およびｃ４の制御信号７２を出力する。 The rotational speed detection means 52 receives a motor rotational speed detection signal such as an FG signal, for example, detects the rotational speed of the motor, and outputs a control signal 72 corresponding to the detected rotational speed. For example, as shown in FIG. 2, n1-n3 are set in advance in the rotation speed detection means 52 as the rotation speed. The rotational speed detection means 52 outputs a control signal 72 having a control value c1 when the rotational speed is n1 or less, and outputs a control signal 72 having a control value c2 when the rotational speed exceeds n1. Similarly, when the rotational speed exceeds n2 and n3, rotational speed detection means 52 outputs control signals 72 of control values c3 and c4, respectively.
　ＰＷＭ周波数変更手段５３は、制御信号７２を受けて、その制御値に応じてＰＷＭ周波数を高くする。例えば、ＰＷＭ周波数変更手段５３は、制御値ｃ１の制御信号７２を受けているときはＰＷＭ周波数を最も低いｆ１に設定し、制御値ｃ２の制御信号７２を受けるとＰＷＭ周波数をｆ１よりも高いｆ２に設定する。同様に、制御値ｃ３およびｃ４の制御信号７２を受けると、それぞれに応じてＰＷＭ周波数をｆ２よりも高いｆ３およびｆ４にそれぞれ設定する。ＰＷＭ周波数変更手段５３は、周波数ｆ１～ｆ４に応じたＰＷＭ信号７３を出力する。 The PWM frequency changing means 53 receives the control signal 72 and increases the PWM frequency according to the control value. For example, when receiving the control signal 72 of the control value c1, the PWM frequency changing means 53 sets the PWM frequency to the lowest f1, and when receiving the control signal 72 of the control value c2, the PWM frequency is changed to f2 higher than f1. Set to. Similarly, when control signals 72 of control values c3 and c4 are received, the PWM frequency is set to f3 and f4 higher than f2, respectively. The PWM frequency changing means 53 outputs a PWM signal 73 corresponding to the frequencies f1 to f4.
　パルス幅制御手段５４は、トルク電圧７１とＰＷＭ信号７３とを受けて、パルス信号７４を生成して出力する。なお、下側スイッチング素子４４～４６の接続点と電源ＧＮＤとの間の図示しない抵抗に流れる電流を検出する電流検出手段を設けてもよい。この場合、パルス幅制御手段５４は、電流検出手段の検出信号を受けて上側スイッチング素子４１～４３および下側スイッチング素子４４～４６をオンオフ制御するパルス信号７４を出力する。 The pulse width control means 54 receives the torque voltage 71 and the PWM signal 73 and generates and outputs a pulse signal 74. A current detecting means for detecting a current flowing in a resistor (not shown) between the connection point of the lower switching elements 44 to 46 and the power supply GND may be provided. In this case, the pulse width control means 54 receives a detection signal from the current detection means and outputs a pulse signal 74 for controlling on / off of the upper switching elements 41 to 43 and the lower switching elements 44 to 46.
　次に、本実施形態に係るモータ駆動装置の動作について説明する。図３は、本実施形態に係るモータ駆動装置の動作波形図である。まず、起動期間において、最大レベルのトルク電圧７１が出力され、ＰＷＭ周波数はｆ１に設定される。モータの回転数がｎ１を超えると、ＰＷＭ周波数はｆ２に設定される。回転数がｎ２を超えると、ＰＷＭ周波数はｆ３に設定され、回転数がｎ３を超えると、ＰＷＭ周波数はｆ４に設定される。 Next, the operation of the motor drive device according to this embodiment will be described. FIG. 3 is an operation waveform diagram of the motor drive device according to the present embodiment. First, during the start-up period, the maximum level torque voltage 71 is output, and the PWM frequency is set to f1. When the rotational speed of the motor exceeds n1, the PWM frequency is set to f2. When the rotational speed exceeds n2, the PWM frequency is set to f3, and when the rotational speed exceeds n3, the PWM frequency is set to f4.
　モータの回転数が目標回転数に達すると引き込み期間に遷移する。引き込み期間では、モータの回転数のオーバーシュートやアンダーシュートが発生するためトルク電圧７１が上下する不安定な状態となる。また、引き込み期間では、ＰＷＭ周波数はｆ４で固定される。引き込み期間が終了し、モータの回転数が一定となる定常回転期間に遷移すると、トルク電圧７１は低レベルになる。 と Transition to the pull-in period when the motor speed reaches the target speed. In the pull-in period, an overshoot or undershoot of the motor rotation speed occurs, so that the torque voltage 71 is in an unstable state in which it rises and falls. In the pull-in period, the PWM frequency is fixed at f4. When the pull-in period ends and a transition is made to a steady rotation period in which the rotation speed of the motor is constant, the torque voltage 71 becomes a low level.
　以上、本実施形態によると、モータの起動期間において高回転域におけるモータコイル２１～２３に生じる逆起電力によって発生する電流リップルを小さくすることができる。これにより、モータの回転数が上昇してもモータコイル２１～２３に効率よく電流を供給することができるため、モータの起動期間を短縮することができる。 As described above, according to the present embodiment, it is possible to reduce the current ripple generated by the counter electromotive force generated in the motor coils 21 to 23 in the high rotation range during the motor start-up period. As a result, even if the rotational speed of the motor increases, current can be efficiently supplied to the motor coils 21 to 23, so that the motor start-up period can be shortened.
　なお、図４に示すように、回転数検出手段５２は、制御信号７２の制御値をリニアに変化させてもよい。また、図５に示すように、回転数検出手段５２は、制御信号７２の制御値をヒステリシス制御してもよい。これによると、制御信号７２の切り替わり点でモータの回転数が微少に変動することによる制御信号７２のばたつきを抑制することができる。 In addition, as shown in FIG. 4, the rotation speed detection means 52 may change the control value of the control signal 72 linearly. Further, as shown in FIG. 5, the rotational speed detection means 52 may perform hysteresis control on the control value of the control signal 72. According to this, it is possible to suppress fluttering of the control signal 72 due to slight fluctuations in the rotational speed of the motor at the switching point of the control signal 72.
　また、回転数検出手段５２は、位置検出手段３１の出力を受けてモータの回転数を検出するようにしてもよい。また、回転数検出手段５２は、トルク電圧７１を受けてトルク電圧７１に応じた制御信号を出力するようにしてもよい。あるいは、回転数検出手段５２は、モータが起動してからの経過時間に応じた制御信号を出力するようにしてもよい。 Further, the rotational speed detection means 52 may receive the output of the position detection means 31 and detect the rotational speed of the motor. Further, the rotational speed detection means 52 may receive the torque voltage 71 and output a control signal corresponding to the torque voltage 71. Alternatively, the rotation speed detection means 52 may output a control signal corresponding to the elapsed time after the motor is started.
　また、上側スイッチング素子４１～４３および下側スイッチング素子４４～４６のオフ時間を一定にしてモータを駆動制御する場合には、オン時間を徐々に短くすればよい。これにより、実質的にＰＷＭ周波数を徐々に高くすることができる。これとは逆に、オン時間を一定にするようにしてもよい。 In addition, when the motor is driven and controlled while the off times of the upper switching elements 41 to 43 and the lower switching elements 44 to 46 are constant, the on time may be gradually shortened. Thereby, the PWM frequency can be substantially increased gradually. On the contrary, the on-time may be made constant.
　＜第２の実施形態＞
　図６は、第２の実施形態に係るモータ駆動装置の構成を示す回路図である。以下、第１の実施形態との相違点についてのみ説明する。 <Second Embodiment>
FIG. 6 is a circuit diagram showing a configuration of a motor drive device according to the second embodiment. Only the differences from the first embodiment will be described below.
　回転数検出手段５２は、回転数算出手段５２ａと回転数比算出手段５２ｂとを有している。回転数算出手段５２ａは、モータ回転数検出信号を受けてモータの回転数を算出する。回転数比算出手段５２ｂは、回転数算出手段５２ａで算出された回転数および例えばレジスタなどに記録された目標回転数から目標回転数に対するモータの回転数の比を算出する。例えば回転数比算出手段５２ｂには、図７に示すように、あらかじめ回転数の比としてｍ１～ｍ３が設定されている。回転数比算出手段５２ｂは、回転数の比がｍ１以下である場合には制御値がｃ１である制御信号７２を出力し、回転数の比がｍ１～ｍ３を超える毎に、それぞれに応じた制御値ｃ２～ｃ４の制御信号７２を出力する。ＰＷＭ周波数変更手段５３は、起動期間において制御信号７２を受けると、それに応じてＰＷＭ周波数をｆ１～ｆ４にそれぞれ設定する。 The rotation speed detection means 52 has a rotation speed calculation means 52a and a rotation speed ratio calculation means 52b. The rotational speed calculation means 52a receives the motor rotational speed detection signal and calculates the rotational speed of the motor. The rotation speed ratio calculation means 52b calculates the ratio of the rotation speed of the motor to the target rotation speed from the rotation speed calculated by the rotation speed calculation means 52a and the target rotation speed recorded in, for example, a register. For example, as shown in FIG. 7, m1 to m3 are set in advance as the rotation speed ratio in the rotation speed ratio calculation means 52b. The rotation speed ratio calculation means 52b outputs a control signal 72 having a control value c1 when the rotation speed ratio is less than or equal to m1, and each time the rotation speed ratio exceeds m1 to m3, the rotation speed ratio calculation means 52b responds accordingly. A control signal 72 having control values c2 to c4 is output. When receiving the control signal 72 during the startup period, the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 accordingly.
　次に、本実施形態に係るモータ駆動装置の動作について説明する。図８は、本実施形態に係るモータ駆動装置の動作波形図である。起動期間において、まずＰＷＭ周波数はｆ１に設定される。モータの回転数が上昇して回転数の比がｍ１を超えるとＰＷＭ周波数はｆ２に設定される。同様に回転数の比がｍ２およびｍ３を超えると、それぞれに応じてＰＷＭ周波数はｆ３およびｆ４に設定される。 Next, the operation of the motor drive device according to this embodiment will be described. FIG. 8 is an operation waveform diagram of the motor drive device according to the present embodiment. In the start-up period, the PWM frequency is first set to f1. When the rotational speed of the motor increases and the rotational speed ratio exceeds m1, the PWM frequency is set to f2. Similarly, when the rotation speed ratio exceeds m2 and m3, the PWM frequency is set to f3 and f4, respectively.
　以上、本実施形態によると、目標回転数が異なるモータを制御する場合でも、回転数比算出手段５２ｂに所定の回転数の比を設定することで、各モータを一様に制御することができる。 As described above, according to the present embodiment, even when motors with different target rotation speeds are controlled, each motor can be controlled uniformly by setting a predetermined rotation speed ratio in the rotation speed ratio calculation means 52b. .
　なお、回転数比算出手段５２ｂに代えて、目標回転数とモータの回転数との回転数差を算出する手段を設けてもよい。この場合には、目標回転数とモータの回転数との差をあらかじめ設定しておき、回転数差がその設定値を超える毎に制御値を切り替えるようにする。 In addition, it may replace with the rotation speed ratio calculation means 52b, and may provide a means for calculating the rotation speed difference between the target rotation speed and the rotation speed of the motor. In this case, the difference between the target rotational speed and the rotational speed of the motor is set in advance, and the control value is switched every time the rotational speed difference exceeds the set value.
　また、回転数の比をアナログ値で算出してもよい。この場合、回転数比算出手段５２ｂは目標回転数に応じた電圧とモータの回転数に応じた電圧とを比較して、その比に基づいて制御信号７２を出力する。 Also, the rotation speed ratio may be calculated as an analog value. In this case, the rotation speed ratio calculation means 52b compares the voltage according to the target rotation speed with the voltage according to the motor rotation speed, and outputs a control signal 72 based on the ratio.
　＜第３の実施形態＞
　図９は、第３の実施形態に係るモータ駆動装置の構成を示す回路図である。以下、第１の実施形態との相違点についてのみ説明する。 <Third Embodiment>
FIG. 9 is a circuit diagram showing a configuration of a motor drive device according to the third embodiment. Only the differences from the first embodiment will be described below.
　回転数検出手段５２は、制御信号７２と検出回転数信号７５とを出力する。検出回転数信号７５は、回転数検出手段５２で検出した回転数に応じた周期のパルス列である。同期検出手段５６は、検出回転数信号７５と目標回転数信号７６とを受けて、これらの位相が同期したことを検出して同期検出信号７７を出力する。目標回転数信号７６は、目標回転数に応じた周期のパルス列である。同期検出手段５６は、位相同期を検出すると同期検出信号７７を例えばＬレベルにする。ＰＷＭ周波数変更手段５３は、制御信号７２を受けると、その制御値に応じてＰＷＭ周波数をｆ１～ｆ４にそれぞれ設定する。ＰＷＭ周波数変更手段５３は、同期検出信号７７がＬレベルになるとＰＷＭ周波数をｆ４よりも高いｆ５に設定する。 The rotation speed detection means 52 outputs a control signal 72 and a detected rotation speed signal 75. The detected rotational speed signal 75 is a pulse train having a period corresponding to the rotational speed detected by the rotational speed detecting means 52. The synchronization detection means 56 receives the detected rotation speed signal 75 and the target rotation speed signal 76, detects that these phases are synchronized, and outputs a synchronization detection signal 77. The target rotational speed signal 76 is a pulse train having a period corresponding to the target rotational speed. When detecting the phase synchronization, the synchronization detecting means 56 sets the synchronization detection signal 77 to L level, for example. When receiving the control signal 72, the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 according to the control value. The PWM frequency changing means 53 sets the PWM frequency to f5 higher than f4 when the synchronization detection signal 77 becomes L level.
　次に、本実施形態に係るモータ駆動装置の動作について説明する。図１０は、本実施形態に係るモータ駆動装置の動作波形図である。起動期間において、まずＰＷＭ周波数はｆ１に設定される。モータの回転数が上昇して回転数がｎ１～ｎ３のそれぞれを超える毎に、それぞれに応じてＰＷＭ周波数はｆ２～ｆ４に設定される。 Next, the operation of the motor drive device according to this embodiment will be described. FIG. 10 is an operation waveform diagram of the motor drive device according to the present embodiment. In the start-up period, the PWM frequency is first set to f1. Each time the number of rotations of the motor increases and the number of rotations exceeds n1 to n3, the PWM frequency is set to f2 to f4 accordingly.
　モータの回転数が目標回転数に達すると、位相同期が検出されて同期検出信号７７がＬレベルになる。同期検出信号７７がＬレベルになると、ＰＷＭ周波数はｆ５に設定される。 When the rotational speed of the motor reaches the target rotational speed, phase synchronization is detected and the synchronization detection signal 77 becomes L level. When the synchronization detection signal 77 becomes L level, the PWM frequency is set to f5.
　以上、本実施形態によると、モータの回転数と目標回転数とが等しくなったときにＰＷＭ周波数を高い周波数に設定することで、高い分解能でモータを駆動することができる。なお、同期検出信号７７がＬレベルになった時点でＰＷＭ周波数がｆ５に設定されている場合には、ＰＷＭ周波数をｆ５に維持してモータを駆動してもよい。 As described above, according to the present embodiment, the motor can be driven with high resolution by setting the PWM frequency to a high frequency when the rotational speed of the motor is equal to the target rotational speed. When the PWM frequency is set to f5 when the synchronization detection signal 77 becomes L level, the motor may be driven with the PWM frequency maintained at f5.
　＜第４の実施形態＞
　図１１は、第４の実施形態に係るモータ駆動装置の構成を示す回路図である。以下、第１の実施形態との相違点についてのみ説明する。 <Fourth Embodiment>
FIG. 11 is a circuit diagram illustrating a configuration of a motor drive device according to the fourth embodiment. Only the differences from the first embodiment will be described below.
　トルク電圧比較手段５７は、トルク電圧７１とあらかじめ設定された所定の電圧ＶＡとを比較する。トルク電圧比較手段５７は、トルク電圧７１が電圧ＶＡを上回る場合に例えばＨレベルのトルク電圧比較信号７８を出力する。ＰＷＭ周波数変更手段５３は、起動期間において制御信号７２を受けると、それに応じてＰＷＭ周波数をｆ１～ｆ４にそれぞれ設定し、トルク電圧比較信号７８がＬレベルになるとｆ４よりも高いｆ５に設定する。 The torque voltage comparison means 57 compares the torque voltage 71 with a predetermined voltage VA set in advance. The torque voltage comparison unit 57 outputs, for example, an H level torque voltage comparison signal 78 when the torque voltage 71 exceeds the voltage VA. When receiving the control signal 72 during the start-up period, the PWM frequency changing unit 53 sets the PWM frequency to f1 to f4 accordingly, and when the torque voltage comparison signal 78 becomes L level, sets it to f5 higher than f4.
　次に、本実施形態に係るモータ駆動装置の動作について説明する。図１２は、本実施形態に係るモータ駆動装置の動作波形図である。起動期間において、まずＰＷＭ周波数はｆ１に設定される。モータの回転数が上昇して回転数がｎ１～ｎ３のそれぞれを超える毎に、それぞれに応じてＰＷＭ周波数はｆ２～ｆ４に設定される。 Next, the operation of the motor drive device according to this embodiment will be described. FIG. 12 is an operation waveform diagram of the motor drive device according to the present embodiment. In the start-up period, the PWM frequency is first set to f1. Each time the number of rotations of the motor increases and the number of rotations exceeds n1 to n3, the PWM frequency is set to f2 to f4 accordingly.
　モータの回転数が上昇を続けて目標回転数を超えると、トルク電圧７１は低下し始める。そして、トルク電圧７１が電圧ＶＡを下回ると、トルク電圧比較信号７８がＬレベルになる。トルク電圧比較信号７８がＬレベルになると、ＰＷＭ周波数はｆ５に設定される。 When the motor rotation speed continues to increase and exceeds the target rotation speed, the torque voltage 71 starts to decrease. When torque voltage 71 falls below voltage VA, torque voltage comparison signal 78 becomes L level. When the torque voltage comparison signal 78 becomes L level, the PWM frequency is set to f5.
　以上、本実施形態によると、トルク電圧７１と電圧ＶＡとを比較することでモータの回転数が目標回転数を超えたことを検出できる。これにより、目標回転数に応じた信号が得られない場合であっても、定常回転期間において高い分解能でモータを駆動することができる。なお、トルク電圧７１が電圧ＶＡを下回った時点でＰＷＭ周波数がｆ５に設定されている場合には、ＰＷＭ周波数をｆ５に維持してモータを駆動してもよい。 As described above, according to the present embodiment, it is possible to detect that the rotational speed of the motor has exceeded the target rotational speed by comparing the torque voltage 71 and the voltage VA. As a result, even when a signal corresponding to the target rotational speed cannot be obtained, the motor can be driven with high resolution in the steady rotational period. If the PWM frequency is set to f5 when the torque voltage 71 falls below the voltage VA, the motor may be driven while maintaining the PWM frequency at f5.
　＜第５の実施形態＞
　図１３は、第５の実施形態に係るモータ駆動装置の構成を示す回路図である。以下、第１の実施形態との相違点についてのみ説明する。 <Fifth Embodiment>
FIG. 13 is a circuit diagram showing a configuration of a motor drive device according to the fifth embodiment. Only the differences from the first embodiment will be described below.
　回転数検出手段５２は、制御信号７２と検出回転数信号７５とを出力する。検出回転数信号７５は、回転数検出手段５２で検出した回転数に応じた周期のパルス列である。位相比較手段６１は、検出回転数信号７５の位相と目標回転数信号７６の位相とを比較する。目標回転数信号７６は、目標回転数に応じた周期のパルス列である。位相比較手段６１は、目標回転数信号７６の位相が検出回転数信号７５の位相よりも進んでいる場合、すなわちモータの回転数が目標回転数よりも遅い場合に加速信号８１を出力する。目標回転数信号７６の位相が検出回転数信号７５の位相よりも遅れている場合、すなわちモータの回転数が目標回転数よりも早い場合に減速信号８２を出力する。 The rotation speed detection means 52 outputs a control signal 72 and a detected rotation speed signal 75. The detected rotational speed signal 75 is a pulse train having a period corresponding to the rotational speed detected by the rotational speed detecting means 52. The phase comparison means 61 compares the phase of the detected rotational speed signal 75 with the phase of the target rotational speed signal 76. The target rotational speed signal 76 is a pulse train having a period corresponding to the target rotational speed. The phase comparison means 61 outputs an acceleration signal 81 when the phase of the target rotational speed signal 76 is ahead of the phase of the detected rotational speed signal 75, that is, when the rotational speed of the motor is slower than the target rotational speed. When the phase of the target rotational speed signal 76 is delayed from the phase of the detected rotational speed signal 75, that is, when the rotational speed of the motor is earlier than the target rotational speed, the deceleration signal 82 is output.
　ラッチ回路６２は、減速信号８２をラッチする。ＰＷＭ周波数変更手段５３は、起動期間において制御信号７２を受けると、それに応じてＰＷＭ周波数をｆ１～ｆ４にそれぞれ設定し、減速検出信号８３がアクティブになるとＰＷＭ周波数をｆ４よりも高いｆ５に設定する。 The latch circuit 62 latches the deceleration signal 82. When receiving the control signal 72 during the startup period, the PWM frequency changing means 53 sets the PWM frequency to f1 to f4 accordingly, and sets the PWM frequency to f5 higher than f4 when the deceleration detection signal 83 becomes active. .
　次に、本実施形態に係るモータ駆動装置の動作について説明する。図１４は、本実施形態に係るモータ駆動装置の動作波形図である。起動期間において、まずＰＷＭ周波数はｆ１に設定される。モータの回転数が上昇して回転数がｎ１～ｎ３のそれぞれを超える毎に、それぞれに応じてＰＷＭ周波数はｆ２～ｆ４に設定される。 Next, the operation of the motor drive device according to this embodiment will be described. FIG. 14 is an operation waveform diagram of the motor drive device according to the present embodiment. In the start-up period, the PWM frequency is first set to f1. Each time the number of rotations of the motor increases and the number of rotations exceeds n1 to n3, the PWM frequency is set to f2 to f4 accordingly.
　モータの回転数が目標回転数を超えると、減速信号８２が出力される。減速信号８２がラッチされると減速検出信号８３がアクティブになり、ＰＷＭ周波数がｆ５に設定される。 When the motor speed exceeds the target speed, a deceleration signal 82 is output. When the deceleration signal 82 is latched, the deceleration detection signal 83 becomes active, and the PWM frequency is set to f5.
　以上、本実施形態によると、ＰＷＭ周波数変更手段５３は減速検出信号８３がアクティブとなったときに高いＰＷＭ周波数に設定することで、高い分解能でモータを駆動することができる。なお、減速検出信号８３がアクティブになった時点でＰＷＭ周波数がｆ５に設定されている場合には、ＰＷＭ周波数をｆ５に維持してモータを駆動してもよい。また、トルク指令手段５１は、加速信号８１および減速信号８２に基づいたトルク電圧７１を出力するようにしてもよい。 As described above, according to the present embodiment, the PWM frequency changing means 53 can drive the motor with high resolution by setting a high PWM frequency when the deceleration detection signal 83 becomes active. When the PWM frequency is set to f5 when the deceleration detection signal 83 becomes active, the motor may be driven while maintaining the PWM frequency at f5. Further, the torque command means 51 may output a torque voltage 71 based on the acceleration signal 81 and the deceleration signal 82.
　本発明に係るモータ駆動装置は、モータの起動期間を短縮しつつ、定常回転期間において高い分解能で駆動できるため、迅速かつ安定した駆動が求められる情報機器等に有用である。 The motor drive device according to the present invention can be driven with high resolution in the steady rotation period while shortening the motor start period, and thus is useful for information equipment and the like that require quick and stable drive.
　５１　　　　　トルク指令手段
　５２　　　　　回転数検出手段
　５２ａ　　　　回転数算出手段
　５２ｂ　　　　回転数比算出手段
　５３　　　　　ＰＷＭ周波数変更手段
　５４　　　　　パルス幅制御手段
　５６　　　　　同期検出手段
　５７　　　　　トルク電圧比較手段
　６１　　　　　位相比較手段
　６２　　　　　ラッチ回路
　７１　　　　　トルク電圧
　７２　　　　　制御信号
　７５　　　　　検出回転数信号
　７６　　　　　目標回転数信号
　７７　　　　　同期検出信号
　７８　　　　　トルク電圧比較信号
　８２　　　　　減速信号 51 Torque command means 52 Rotational speed detection means 52a Rotational speed calculation means 52b Rotational speed ratio calculation means 53 PWM frequency change means 54 Pulse width control means 56 Synchronization detection means 57 Torque voltage comparison means 61 Phase comparison means 62 Latch circuit 71 Torque voltage 72 Control signal 75 Detected rotation speed signal 76 Target rotation speed signal 77 Synchronization detection signal 78 Torque voltage comparison signal 82 Deceleration signal

Claims (9)

  1. 　モータをＰＷＭ（Pulse Width Modulation）駆動するモータ駆動装置であって、
    　前記モータが起動してから前記モータの回転数が目標回転数に達するまでの起動期間において、前記モータの回転数を検出し、当該検出した回転数に応じた制御信号を出力する回転数検出手段と、
    　前記制御信号に応じてＰＷＭ周波数を高くするＰＷＭ周波数変更手段とを備えている
    ことを特徴とするモータ駆動装置。     A motor driving device that drives a motor by PWM (Pulse Width Modulation),
    Rotational speed detection means for detecting the rotational speed of the motor and outputting a control signal corresponding to the detected rotational speed during the startup period from when the motor is started until the rotational speed of the motor reaches the target rotational speed When,
    A motor drive device comprising: PWM frequency changing means for increasing the PWM frequency according to the control signal.
  2. 　請求項１のモータ駆動装置において、
    　前記回転数検出手段は、前記モータの回転数が設定値を超える毎に前記制御信号を切り替える
    ことを特徴とするモータ駆動装置。     The motor driving device according to claim 1,
    The motor drive device according to claim 1, wherein the rotation number detection means switches the control signal every time the rotation number of the motor exceeds a set value.
  3. 　請求項２のモータ駆動装置において、
    　前記回転数検出手段は、前記制御信号をヒステリシス制御する
    ことを特徴とするモータ駆動装置。     In the motor drive device of Claim 2,
    The rotational speed detection means performs hysteresis control on the control signal.
  4. 　請求項１のモータ駆動装置において、
    　前記回転数検出手段は、
    　　前記モータの回転数を算出する回転数算出手段と、
    　　前記回転数算出手段で算出された回転数と前記目標回転数との比を算出する回転数比算出手段とを有するものであり、
    　前記回転数比算出手段は、前記算出した比が設定値を超える毎に前記制御信号を切り替える
    ことを特徴とするモータ駆動装置。     The motor driving device according to claim 1,
    The rotation speed detecting means is
    A rotational speed calculating means for calculating the rotational speed of the motor;
    A rotational speed ratio calculating means for calculating a ratio between the rotational speed calculated by the rotational speed calculating means and the target rotational speed;
    The motor drive apparatus characterized in that the rotation speed ratio calculation means switches the control signal every time the calculated ratio exceeds a set value.
  5. 　請求項１のモータ駆動装置において、
    　前記ＰＷＭ周波数変更手段は、前記モータの回転数が前記目標回転数に達したときに前記ＰＷＭ周波数を所定値に設定する
    ことを特徴とするモータ駆動装置。     The motor driving device according to claim 1,
    The PWM frequency changing means sets the PWM frequency to a predetermined value when the rotational speed of the motor reaches the target rotational speed.
  6. 　請求項５のモータ駆動装置において、
    　前記回転数検出手段は、前記検出した回転数に応じた周期のパルス列である検出回転数信号を出力するものであり、
    　当該モータ駆動装置は、
    　　前記目標回転数に応じた周期のパルス列である目標回転数信号と前記検出回転数信号との位相同期を検出する同期検出手段を備え、
    　前記ＰＷＭ周波数変更手段は、前記同期検出手段が前記位相同期を検出したときに前記ＰＷＭ周波数を前記所定値に設定する
    ことを特徴とするモータ駆動装置。     In the motor drive device of Claim 5,
    The rotational speed detection means outputs a detected rotational speed signal that is a pulse train having a period according to the detected rotational speed,
    The motor drive device is
    Synchronization detecting means for detecting phase synchronization between the target rotational speed signal and the detected rotational speed signal, which is a pulse train having a period according to the target rotational speed,
    The PWM frequency changing means sets the PWM frequency to the predetermined value when the synchronization detecting means detects the phase synchronization.
  7. 　請求項５のモータ駆動装置において、
    　前記モータのトルクを制御するトルク電圧を出力するトルク指令手段と、
    　前記トルク電圧と所定の電圧とを比較するトルク電圧比較手段とを備え、
    　前記ＰＷＭ周波数変更手段は、前記トルク電圧比較手段の出力が前記トルク電圧が前記所定の電圧よりも下回ったことを示すときに前記ＰＷＭ周波数を前記所定値に設定する
    ことを特徴とするモータ駆動装置。     In the motor drive device of Claim 5,
    Torque command means for outputting a torque voltage for controlling the torque of the motor;
    A torque voltage comparison means for comparing the torque voltage with a predetermined voltage;
    The PWM frequency changing means sets the PWM frequency to the predetermined value when the output of the torque voltage comparing means indicates that the torque voltage is lower than the predetermined voltage. .
  8. 　請求項５のモータ駆動装置において、
    　前記回転数検出手段は、前記検出した回転数に応じた周期のパルス列である検出回転数信号を出力するものであり、
    　当該モータ駆動装置は、
    　　前記目標回転数に応じた周期のパルス列である目標回転数信号と前記検出回転数信号との位相を比較し、前記検出回転数信号の位相が前記目標回転数信号の位相よりも進んでいるときに減速信号を出力する位相比較手段と、
    　　前記減速信号をラッチするラッチ回路とを備え、
    　前記ＰＷＭ周波数変更手段は、前記ラッチ回路の出力がアクティブになったときに前記ＰＷＭ周波数を前記所定値に設定する
    ことを特徴とするモータ駆動装置。     In the motor drive device of Claim 5,
    The rotational speed detection means outputs a detected rotational speed signal that is a pulse train having a period according to the detected rotational speed,
    The motor drive device is
    When the phase of the target rotational speed signal, which is a pulse train having a period corresponding to the target rotational speed, is compared with the detected rotational speed signal, and the phase of the detected rotational speed signal is ahead of the phase of the target rotational speed signal Phase comparison means for outputting a deceleration signal to
    A latch circuit for latching the deceleration signal,
    The PWM frequency changing means sets the PWM frequency to the predetermined value when the output of the latch circuit becomes active.
  9. 　モータをＰＷＭ駆動するモータ駆動方法であって、
    　前記モータが起動してから前記モータの回転数が目標回転数に達するまでの起動期間において、前記モータの回転数を検出するステップと、
    　前記検出した回転数に応じた制御信号を出力するステップと、
    　前記制御信号に応じてＰＷＭ周波数を高くするステップとを備えている
    ことを特徴とするモータ駆動方法。     A motor driving method for PWM driving a motor,
    Detecting the rotational speed of the motor in a startup period from when the motor is started until the rotational speed of the motor reaches a target rotational speed;
    Outputting a control signal according to the detected number of revolutions;
    And a step of increasing the PWM frequency according to the control signal.
PCT/JP2010/002247 2009-08-24 2010-03-29 Motor driving device and motor driving method WO2011024339A1 (en)

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JPWO2014168205A1 (en) * 2013-04-11 2017-02-16 株式会社根本杏林堂 Chemical injection device and chemical injection system
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JPWO2014168205A1 (en) * 2013-04-11 2017-02-16 株式会社根本杏林堂 Chemical injection device and chemical injection system
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EP3343759A1 (en) * 2017-01-02 2018-07-04 LG Electronics Inc. Motor control device and method for controlling motor control device
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US10651768B2 (en) 2017-01-02 2020-05-12 Lg Electronics Inc. Motor control device and method for controlling motor control device

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