WO2019186759A1 - 駆動装置、電動車両および駆動装置の制御方法 - Google Patents

駆動装置、電動車両および駆動装置の制御方法 Download PDF

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Publication number
WO2019186759A1
WO2019186759A1 PCT/JP2018/012747 JP2018012747W WO2019186759A1 WO 2019186759 A1 WO2019186759 A1 WO 2019186759A1 JP 2018012747 W JP2018012747 W JP 2018012747W WO 2019186759 A1 WO2019186759 A1 WO 2019186759A1
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WIPO (PCT)
Prior art keywords
switch
duty ratio
pwm signal
energization
side pwm
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Application number
PCT/JP2018/012747
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English (en)
French (fr)
Japanese (ja)
Inventor
一由希 目黒
雄大 井ノ口
Original Assignee
新電元工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 新電元工業株式会社 filed Critical 新電元工業株式会社
Priority to PCT/JP2018/012747 priority Critical patent/WO2019186759A1/ja
Priority to CN201880091313.9A priority patent/CN111869096B/zh
Priority to JP2020510292A priority patent/JP7127115B2/ja
Priority to TW108110538A priority patent/TWI705656B/zh
Publication of WO2019186759A1 publication Critical patent/WO2019186759A1/ja

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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
    • 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

Definitions

  • the present invention relates to a drive device, an electric vehicle, and a drive device control method.
  • An electric motorcycle using a battery as a power source and a three-phase motor (hereinafter referred to as a motor) as a power source is known.
  • a three-phase full bridge circuit (that is, an inverter circuit) having a high-side switch and a low-side switch for each phase is used to drive the motor to each phase coil of the motor.
  • the energization was controlled.
  • the switch is subjected to PWM control with a set duty ratio, and the torque corresponding to the duty ratio is output to the motor.
  • the energization method includes 120 ° energization in which energization is performed in a continuous 120 ° energization period among energization periods assigned every 60 ° of electrical angle, and energization in a continuous 180 ° period, that is, all phases. The 180 ° energization performed was employed.
  • Japanese Patent Application Laid-Open No. 2011-147237 discloses a technique for controlling the on-time duty ratio of an inverter circuit.
  • the technique disclosed in Japanese Patent Application Laid-Open No. 2011-147237 is a technique for reducing the duty ratio in order to prevent the regenerative voltage from becoming excessive in a state where power is not supplied from the main battery. are totally unrelated.
  • the present invention provides a drive device, an electric vehicle, and a drive device control method capable of improving the utilization rate of the charging voltage charged in the battery and outputting as much torque as possible. Objective.
  • a driving device includes: A first switch having one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor; A second switch having one end connected to the first output terminal and the other end connected to a ground terminal; A third switch having one end connected to the power supply terminal and the other end connected to a second output terminal to the second phase coil of the motor; A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal; A fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal to the third phase coil of the motor; A sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal; A rotational speed detector for detecting the rotational speed of the rotor of the motor; A control unit for controlling the driving of the motor by controlling the first to sixth switches, The controller is A detection speed set by the rotation speed detection unit is lower than a preset first reference speed, and a set duty ratio set based on the detection speed and a user
  • the rotational speed detection unit has a plurality of angle sensors for detecting a rotation angle of the rotor
  • the controller is According to the angle detected by the angle sensor, continuous first to sixth energization periods each corresponding to an electrical angle of 60 ° are periodically set, In the first case, the first switch is turned on / off during the second and third energization periods while the second switch is turned off during the first to fourth energization periods, and the first switch is turned on / off.
  • the third switch is turned on / off during the fourth and fifth energization periods while the fourth switch is turned off during the third to sixth energization periods, and the fifth and sixth energization periods and the sixth Control for switching on / off the fifth switch during the sixth energization period and the first energization period of the next period while turning off the sixth switch during the first and second energization periods of the next period following the energization period.
  • 120 ° energization may be performed in which a phase current is passed during an energization period corresponding to an electrical angle of 120 °.
  • the controller is In the second case where the detection speed is slower than the first reference speed and the set duty ratio is lower than the first reference duty ratio,
  • the first phase high side PWM signal having the set duty ratio is switched on / off of the first switch, and at the same time as the first switch, the first phase high side is set so as to form a dead time that does not turn on the second switch.
  • the third phase switch is turned on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high level is set so as to form a dead time that does not turn on the fourth switch simultaneously with the third switch.
  • Control for switching on / off of the fourth switch complementarily to the third switch by a second phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal;
  • the fifth switch is turned on / off by a third phase high-side PWM signal of the set duty ratio, and the third phase high so as to form a dead time that does not turn on the sixth switch simultaneously with the fifth switch.
  • Control may be performed to turn on / off the sixth switch complementarily to the fifth switch by a third-phase low-side PWM signal whose duty ratio has been adjusted with respect to the side PWM signal.
  • the rotational speed detection unit has a plurality of angle sensors for detecting a rotation angle of the rotor
  • the controller is According to the angle detected by the angle sensor, continuous first to sixth energization periods each corresponding to an electrical angle of 60 ° are periodically set, In the second case, the first switch is turned on / off during the second and third energization periods while the second switch is turned on / off during the first to fourth energization periods.
  • the third and sixth energization periods are controlled to switch the third switch on / off during the fourth and fifth energization periods while switching the on / off of the fourth switch.
  • the fifth energization period and the first energization period of the next period are switched while the sixth switch is turned on / off in the energization period and the first and second energization periods of the next period following the sixth energization period.
  • 120 ° energization may be performed in which a phase current is passed during an energization period corresponding to an electrical angle of 120 °.
  • the controller is In a third case where the detected speed is equal to or higher than the first reference speed and is slower than a preset second reference speed and the set duty ratio is lower than a preset second reference duty ratio ,
  • Drive control of the motor with a trapezoidal energization waveform is A first phase high of an adjusted duty ratio that is adjusted to increase stepwise to the set duty ratio, maintain the set duty ratio after the increase, and decrease stepwise from the set duty ratio after the maintenance
  • a duty ratio between the first phase high-side PWM signal and the first phase high-side PWM signal so as to switch on / off of the first switch by a side PWM signal and to form a dead time that does not turn on the second switch simultaneously with the first switch Control for switching on / off of the second switch in a complementary manner to the first switch by the first phase low-side PWM signal adjusted to
  • the third phase switch is turned on / off by the second phase high side PWM signal of the adjustment duty ratio, and the second phase high level is set so as to form a
  • Control for switching on / off of the fourth switch complementarily to the third switch by a second phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal;
  • the fifth switch is turned on / off by a third phase high-side PWM signal of the adjustment duty ratio, and the third phase high so as to form a dead time during which the sixth switch is not turned on simultaneously with the fifth switch.
  • Control for switching on / off of the sixth switch complementarily to the fifth switch by a third-phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal.
  • the rotational speed detection unit has a plurality of angle sensors for detecting a rotation angle of the rotor
  • the controller is According to the angle detected by the angle sensor, continuous first to sixth energization periods each corresponding to an electrical angle of 60 ° are periodically set,
  • the first switch is turned on / off during the first to fourth energization periods, and the second switch is turned on / off, and the second switch is turned on / off.
  • the third switch is turned on / off and the fourth switch is turned on / off, and the fifth and sixth energization periods and the first and second energization periods of the next period following the sixth energization period are controlled.
  • 180 ° energization may be performed in which a phase current is passed during an energization period corresponding to an electrical angle of 180 ° by performing on / off control of the fifth switch and on / off control of the six switches.
  • the adjustment duty ratio of the first phase high-side PWM signal gradually increases to the set duty ratio during the first energization period, and is maintained at the set duty ratio during the second and third energization periods, Decreasing stepwise from the set duty ratio during the fourth energization period,
  • the adjustment duty ratio of the second phase high-side PWM signal gradually increases to the set duty ratio during the third energization period, and is maintained at the set duty ratio during the fourth and fifth energization periods
  • In the sixth energization period it gradually decreases from the set duty ratio
  • the adjustment duty ratio of the third phase high-side PWM signal gradually increases to the set duty ratio during the fifth energization period, and the set duty during the sixth energization period and the first energization period of the next period.
  • the ratio may be maintained at a ratio and gradually decreased from the set duty ratio during the second energization period of the next period.
  • the control unit The detected 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 second reference duty ratio and greater than a preset third reference duty ratio.
  • the detection speed is lower or the detection speed is equal to or higher than the second reference speed and is slower than a preset third reference speed, and the set duty ratio is lower than the third reference duty ratio.
  • the third phase switch is turned on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high level is set so as to form a dead time that does not turn on the fourth switch simultaneously with the third switch.
  • Control for switching on / off of the fourth switch complementarily to the third switch by a second phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal;
  • the fifth switch is turned on / off by a third phase high-side PWM signal of the set duty ratio, and the third phase high so as to form a dead time that does not turn on the sixth switch simultaneously with the fifth switch.
  • Control may be performed to turn on / off the sixth switch complementarily to the fifth switch by a third-phase low-side PWM signal whose duty ratio has been adjusted with respect to the side PWM signal.
  • the rotational speed detection unit has a plurality of angle sensors for detecting a rotation angle of the rotor
  • the controller is According to the angle detected by the angle sensor, continuous first to sixth energization periods each corresponding to an electrical angle of 60 ° are periodically set,
  • the first switch is turned on / off during the first to third energization periods and the second switch is turned on / off, and the second switch is turned on / off.
  • the third switch is turned on / off and the fourth switch is turned on / off, and the fifth and sixth energization periods and the first energization period of the next cycle following the sixth energization period are controlled.
  • 180 ° energization may be performed in which a phase current is passed during an energization period corresponding to an electrical angle of 180 ° by switching on / off of the 5 switches and controlling on / off of the 6 switches.
  • the controller is The detected speed is not less than the first reference speed and slower than the third reference speed, and the set duty ratio is not less than the third reference duty ratio, or the detected speed is the third reference speed.
  • the rotational speed detection unit has a plurality of angle sensors for detecting a rotation angle of the rotor
  • the controller is According to the angle detected by the angle sensor, continuous first to sixth energization periods each corresponding to an electrical angle of 60 ° are periodically set,
  • the first switch is turned on / off while the second switch is turned off during the first to third energization periods, and the second switch is turned on and off during the third to fifth energization periods.
  • the third switch is turned on / off while the four switches are turned off, and the sixth switch is turned off during the fifth and sixth energization periods and the first energization period of the next cycle following the sixth energization period.
  • 180 ° energization for supplying a phase current during an energization period corresponding to an electrical angle of 180 ° may be performed by performing control to switch on / off the fifth switch.
  • An electric vehicle includes: An electric vehicle comprising a motor and a drive device,
  • the driving device includes: A first switch having one end connected to a power supply terminal and the other end connected to a first output terminal to the first phase coil of the motor; A second switch having one end connected to the first output terminal and the other end connected to a ground terminal; A third switch having one end connected to the power supply terminal and the other end connected to a second output terminal to the second phase coil of the motor; A fourth switch having one end connected to the second output terminal and the other end connected to the ground terminal; A fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal to the third phase coil of the motor; A sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal; A rotational speed detector for detecting the rotational speed of the rotor of the motor; A control unit for controlling the driving of the motor by controlling the first to sixth switches, The controller is A detection speed set by the rotation speed detection unit is lower than a preset
  • the user operation amount may be an accelerator operation amount.
  • the controller is Based on a torque map indicating a correspondence relationship between the rotational speed of the rotor, the accelerator operation amount, and the torque of the motor, a torque corresponding to the detected speed and the accelerator operation amount is set. Based on a duty ratio map indicating a correspondence relationship between the rotational speed of the rotor, the torque, and the duty ratio, a duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio. Also good.
  • a control method of a driving device includes: A first switch with one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor, one end connected to the first output terminal, and the other end connected to the ground terminal
  • the second switch one end connected to the power supply terminal, the other end connected to the second output terminal to the second phase coil of the motor, and one end connected to the second output terminal
  • a fourth switch having the other end connected to the ground terminal, a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal to the third phase coil of the motor
  • a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal, and a control method for a drive device comprising: Detecting the rotational speed of the rotor of the motor; The drive control of the motor is performed by controlling the first to sixth switches, The drive control is A detected duty of the rotor is slower than a preset first reference speed, and a set duty ratio set based on the detected
  • the drive device includes a first switch having one end connected to the power supply terminal and the other end connected to the first output terminal to the first phase coil of the motor, and one end connected to the first output terminal.
  • a second switch connected to the ground terminal, the other end connected to the power supply terminal, the other end connected to the second output terminal to the second phase coil of the motor, and one end Is connected to the second output terminal, the other end is connected to the ground terminal, one end is connected to the power supply terminal, and the other end is connected to the third output terminal to the third phase coil of the motor.
  • a fifth switch a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal; a rotational speed detection unit for detecting the rotational speed of the rotor of the motor; and the first to sixth switches.
  • a control unit that controls the drive of the motor by controlling The set duty ratio set based on the detected speed and the user operation amount for controlling the rotation of the motor is lower than the first reference speed set in advance.
  • the first switch is turned on / off by the first-phase high-side PWM signal of the set duty ratio while turning off the second switch.
  • the low-side switch when the set duty ratio is high, the low-side switch is turned off and the PWM control is performed only on the high-side switch. There is no need to form a dead time between the two.
  • FIG. 1 is a diagram showing a power conversion unit 30 and a motor 3 in an electric motorcycle 100 according to a first embodiment.
  • a magnet provided on a rotor of a motor 3 and an angle sensor 4 are shown.
  • FIG. 3 is a flowchart showing a method for controlling the electric motorcycle 100 according to the first embodiment.
  • FIG. 3 is an explanatory diagram for explaining a rotor rotation speed detection step and a duty ratio setting step in the method for controlling the electric motorcycle 100 according to the first embodiment.
  • 4 is a graph showing an example of a torque map used for carrying out a duty ratio setting step in the method for controlling the electric motorcycle 100 according to the first embodiment.
  • 4 is a graph showing an example of a duty ratio map used for performing a duty ratio setting step in the control method for the electric motorcycle 100 according to the first embodiment.
  • 4 is a graph showing an energization control method according to a rotor rotational speed and a target torque in the control method for the electric motorcycle 100 according to the first embodiment.
  • 4 is a graph showing an energization control method according to a rotor rotational speed and a set duty ratio in the control method for the electric motorcycle 100 according to the first embodiment.
  • 4 is a timing chart showing 120 ° upper and lower rectangular wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 5 is a timing chart showing a dead time in 120 ° upper and lower rectangular wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 5 is a timing chart showing 120 ° upper-stage rectangular wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 5 is a timing chart showing 180 ° upper and lower trapezoidal wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 4 is a timing chart showing a duty ratio in 180 ° upper and lower trapezoidal wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 5 is a timing chart showing 180 ° upper and lower rectangular wave PWM control in the control method for the electric motorcycle 100 according to the first embodiment.
  • 5 is a timing chart showing upper rectangular wave PWM 180 ° energization in the control method for the electric motorcycle 100 according to the first embodiment.
  • 10 is a timing chart showing duty ratio control in 180 ° upper and lower trapezoidal wave PWM control in the control method for the electric motorcycle 100 according to the second embodiment.
  • the electric motorcycle 100 is an electric motorcycle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. More specifically, the electric motorcycle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch.
  • the electric motorcycle 100 includes an electric vehicle control device 1 that is an example of a drive device, a battery 2, a motor 3, an angle sensor 4 that is an example of a rotation speed detection unit, and an accelerator position sensor 5. And a meter 7 and wheels 8.
  • the electric vehicle control device 1 is a device that controls the electric motorcycle 100 and includes a control unit 10, a storage unit 20, and a power conversion unit 30.
  • the electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric motorcycle 100. Next, each component of the electric vehicle control apparatus 1 will be described in detail.
  • the control unit 10 inputs information from various devices connected to the electric vehicle control device 1 and drives and controls the motor 3 via the power conversion unit 30. Details of the control unit 10 will be described later.
  • the storage unit 20 stores information used by the control unit 10 and a program for operating the control unit 10.
  • the storage unit 20 is, for example, a nonvolatile semiconductor memory, but is not limited to this.
  • the power converter 30 converts the DC power of the battery 2 into AC power and supplies the AC power to the motor 3.
  • the power conversion unit 30 includes an inverter circuit, more specifically, a three-phase full bridge circuit.
  • the full bridge circuit includes a first semiconductor switch Q1 as an example of a first switch, a second semiconductor switch Q2 as an example of a second switch, a third semiconductor switch Q3 as an example of a third switch, and a fourth switch.
  • a fourth semiconductor switch Q4 as an example, 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.
  • the first semiconductor switch Q1 has one end connected to the power supply terminal 30a connected to the positive electrode of the battery 2, and the other end connected to the first output terminal 3a to the U-phase coil 31u of the motor 3, which is an example of the first-phase coil. It is connected.
  • the second semiconductor switch Q2 has one end connected to the first output terminal 3a and the other end connected to the ground terminal 30b connected to the negative electrode of the battery 2 grounded.
  • the third semiconductor switch Q3 has one end connected to the power supply terminal 30a and the other end connected to the second output terminal 3b to the V-phase coil 31v of the motor 3, which is an example of the second-phase coil.
  • the fourth semiconductor switch Q4 has one end connected to the second output terminal 3b and the other end connected to the ground terminal 30b.
  • the fifth semiconductor switch Q5 has one end connected to the power supply terminal 30a and the other end connected to the third output terminal 3c to the W-phase coil 31w of the motor 3 which is 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 supply terminal 30a and the ground terminal 30b.
  • the semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.
  • Battery 2 can be charged / discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 during discharging.
  • the battery 2 is charged with DC power obtained by converting AC power supplied from a power source with a charger (not shown) during charging with AC power supplied from an external power source such as a commercial power source. Further, the battery 2 is charged with a DC voltage obtained by converting the AC power output from the motor 3 by the power converter 100 when charging with AC power output from the motor 3 as the wheel 8 rotates.
  • This battery 2 includes a battery management unit (BMU).
  • the battery management unit transmits information regarding the voltage of the battery 2 and the state of the battery 2 (charge rate, etc.) to the control unit 10.
  • the number of the batteries 2 is not limited to one and may be plural.
  • the battery 2 is, for example, a lithium ion battery, but may be another type of battery.
  • the battery 2 may be composed of batteries of different types (for example, a lithium ion battery and a lead battery).
  • the motor 3 outputs torque for driving the wheels 8 by the electric power supplied from the battery 2. Alternatively, the motor 3 outputs electric power as the wheel 8 rotates.
  • the motor 3 is a three-phase motor having three-phase coils 31u, 31v, and 31w of U, V, and W.
  • the motor 3 outputs torque for driving the wheels 8 by being driven by AC power supplied from the power conversion unit 30.
  • the torque is controlled by the control unit 10 outputting to the semiconductor switches Q1 to Q6 of the power conversion unit 30 a PWM signal having an energization timing and a duty ratio calculated based on the target torque. That is, the torque is controlled by the control unit 10 controlling the 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.
  • the motor 3 is mechanically connected to the wheel 8 without using a clutch.
  • the angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor 3 in order to detect the rotation speed of the motor 3. As shown in FIG. 3, N-pole and S-pole magnets (sensor magnets) are alternately attached to the peripheral surface of the rotor 3 r of the motor 3.
  • the angle sensor 4 is constituted by a Hall element, for example, and detects a change in the magnetic field accompanying the rotation of the motor 3.
  • the magnet may be provided inside the flywheel (not shown).
  • the angle sensor 4 includes a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w.
  • the U-phase angle sensor 4 u and the V-phase angle sensor 4 v are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3.
  • the V-phase angle sensor 4v and the W-phase angle sensor 4w are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3.
  • the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w output a pulse signal having a phase corresponding to the rotor angle (angular position) (that is, a rotation angle detection signal). To do.
  • a number indicating a motor stage (motor stage number) is assigned for each predetermined rotor angle.
  • the motor stage indicates the angular position of the rotor 3r of the motor 3.
  • motor stage numbers 1, 2, 3, 4, 5, and 6 are assigned every 60 ° in electrical angle.
  • the motor stage is defined by a combination of output signal levels (H level or L level) of the U phase angle sensor 4u, the V phase angle sensor 4v, and the W phase angle sensor 4w.
  • the accelerator position sensor 5 detects the accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount to the control unit 10 as an electric signal.
  • the accelerator operation amount may be, for example, a throttle opening. When the user wants to accelerate, the accelerator operation amount increases.
  • the meter 7 is a display (for example, a liquid crystal panel) provided in the electric motorcycle 100 and displays various information. Specifically, information such as the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In the present embodiment, the meter 7 is provided on a handle (not shown) of the electric motorcycle 100.
  • 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 functions as a rotation speed detection unit together with the angle sensor 4 and detects the rotor rotation speed based on a detection signal from the angle sensor 4. As an example, as shown in FIG. 4, the control unit 10 calculates the rotor rotation speed based on the time t from the fall of the output of the V-phase rotor angle sensor to the rise of the output of the U-phase rotor angle sensor.
  • the controller 10 has a detected rotor rotational speed (hereinafter also referred to as a detected speed) that is slower than a preset first reference speed, and an accelerator operation amount for controlling the detected speed and the rotation of the motor 3.
  • a detected speed that is slower than a preset first reference speed
  • an accelerator operation amount for controlling the detected speed and the rotation of the motor 3.
  • the set duty ratio set based on that is, the user operation amount
  • the set duty ratio while turning off the second semiconductor switch Q2 The first semiconductor switch Q1 is controlled to be turned on / off by the U-phase high-side PWM signal (that is, the first-phase high-side PWM signal).
  • control unit 10 turns off the fourth semiconductor switch Q4 and outputs the third semiconductor switch Q3 by the V-phase high-side PWM signal (that is, the second-phase high-side PWM signal) having the set duty ratio. Control to switch on / off.
  • control unit 10 turns off the sixth semiconductor switch Q6 and turns on the fifth semiconductor switch Q5 by the W-phase high-side PWM signal (that is, the third-phase high-side PWM signal) of the set duty ratio. Control to switch on / off.
  • control unit 10 may periodically set first to sixth energization periods that each correspond to an electrical angle of 60 ° according to the detection angle by the angle sensor 4.
  • control unit 10 turns off the second semiconductor switch Q2 during the first to fourth energization periods, and uses the U-phase high-side PWM signal during the second and third energization periods. You may perform control which switches on / off of switch Q1.
  • control unit 10 turns off the fourth semiconductor switch Q4 during the third to sixth energization periods, and uses the V-phase high-side PWM signal during the fourth and fifth energization periods. You may perform control which switches on / off of Q3.
  • control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energization periods and the first and second energization periods of the next period following the sixth energization period. Control may be performed to turn on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal during the energization period and the first energization period of the next cycle.
  • 120 ° energization is performed in which a phase current is passed during an energization period corresponding to an electrical angle of 120 °.
  • the control unit 10 uses the U-phase high-side PWM signal of the set duty ratio.
  • the first semiconductor switch Q1 is turned on / off, and the second semiconductor switch Q2 is turned on complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal (that is, the first-phase low-side PWM signal). You may perform control which switches / off.
  • the U-phase low-side PWM signal in the second case has a duty ratio between the U-phase high-side PWM signal having a set duty ratio so as to form a dead time in which the second semiconductor switch Q2 is not turned on simultaneously with the first semiconductor switch Q1. This is a PWM signal whose ratio is adjusted.
  • the control unit 10 switches on / off of the third semiconductor switch Q3 by the V-phase high-side PWM signal having the set duty ratio, and the V-phase low-side PWM signal (that is, the second-phase low-side PWM signal).
  • Side PWM signal the fourth semiconductor switch Q4 may be controlled to be turned on / off complementarily to the third semiconductor switch Q3.
  • the V-phase low-side PWM signal in the second case has a duty ratio between the V-phase high-side PWM signal having a set duty ratio so as to form a dead time in which the fourth semiconductor switch Q4 is not turned on simultaneously with the third semiconductor switch Q3. This is a PWM signal whose ratio is adjusted.
  • the control unit 10 switches on / off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal having the set duty ratio, and at the same time, the W-phase low-side PWM signal (that is, the third-phase low-side PWM signal).
  • Side PWM signal the sixth semiconductor switch Q6 may be switched on / off complementarily to the fifth semiconductor switch Q5.
  • the W-phase low-side PWM signal in the second case has a duty ratio between the W-phase high-side PWM signal having a set duty ratio so as to form a dead time in which the sixth semiconductor switch Q6 is not turned on simultaneously with the fifth semiconductor switch Q5. This is a PWM signal whose ratio is adjusted.
  • control unit 10 switches the second and third energizations while switching on / off of the second semiconductor switch Q2 by the U-phase low-side PWM signal during the first to fourth energization periods.
  • control unit 10 switches the ON / OFF state of the fourth semiconductor switch Q4 by the V-phase low-side PWM signal during the third to sixth energization periods, while the V and the fifth energization periods Control for switching on / off of the third semiconductor switch Q3 may be performed by the phase high-side PWM signal.
  • control unit 10 uses the W-phase low-side PWM signal in the fifth and sixth energization periods and the first and second energization periods of the next period following the sixth energization period to perform the sixth semiconductor switch Q6. Control may be performed to turn on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal during the sixth energization period and the first energization period of the next cycle while switching on / off.
  • control unit 10 has a third detection speed that is equal to or higher than the first reference speed, slower than the preset second reference speed, and the set duty ratio is lower than the preset second reference duty ratio.
  • the drive control of the motor 3 by a trapezoidal energization waveform may be performed.
  • the drive control of the motor 3 by the trapezoidal energization waveform is adjusted so as to increase stepwise up to the set duty ratio, maintain the set duty ratio after the increase, and decrease stepwise from the set duty ratio after the maintenance.
  • the first semiconductor switch Q1 is turned on / off by the U-phase high-side PWM signal of the adjusted duty ratio
  • the second semiconductor switch Q2 is turned on complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal. Control may be included to switch off / off.
  • the U-phase low-side PWM signal in the third case has a duty ratio between the U-phase high-side PWM signal of the adjusted duty ratio so as to form a dead time that does not turn on the second semiconductor switch Q2 simultaneously with the first semiconductor switch Q1.
  • the drive control of the motor 3 by the trapezoidal energization waveform is performed by switching the third semiconductor switch Q3 on / off by the V-phase high-side PWM signal of the adjustment duty ratio, and by the V-phase low-side PWM signal. Control may be included that switches on / off the fourth semiconductor switch Q4 in a complementary manner to the switch Q3.
  • the V-phase low-side PWM signal in the third case has a duty ratio between the V-phase high-side PWM signal of the adjusted duty ratio so as to form a dead time that does not turn on the fourth semiconductor switch Q4 simultaneously with the third semiconductor switch Q3. This is a PWM signal whose ratio is adjusted.
  • the drive control of the motor 3 by the trapezoidal energization waveform is performed by switching the fifth semiconductor switch Q5 on / off by the W-phase high-side PWM signal of the adjustment duty ratio, and by the W-phase low-side PWM signal.
  • a control for switching on / off the sixth semiconductor switch Q6 in a complementary manner to the switch Q5 may be included.
  • the W-phase low-side PWM signal in the third case has a duty ratio between the W-phase high-side PWM signal of the adjusted duty ratio so as to form a dead time that does not turn on the sixth semiconductor switch Q6 simultaneously with the fifth semiconductor switch Q5. This is a PWM signal whose ratio is adjusted.
  • control unit 10 switches on / off of the first semiconductor switch Q1 by the U-phase high-side PWM signal and outputs the U-phase low-side PWM signal during the first to fourth energization periods.
  • the second semiconductor switch Q2 may be controlled to be turned on / off.
  • control unit 10 switches on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal and performs the fourth operation by the V-phase low-side PWM signal during the third to sixth energization periods. You may perform control which switches on / off of semiconductor switch Q4.
  • control unit 10 controls the fifth semiconductor switch by the W-phase high-side PWM signal during the fifth and sixth energization periods and the first and second energization periods of the next period following the sixth energization period. Control for switching on / off of Q5 and switching on / off of the sixth semiconductor switch Q6 by a W-phase low-side PWM signal may be performed.
  • 180 ° energization is performed in which a phase current is passed during an energization period corresponding to an electrical angle of 180 °.
  • the adjustment duty ratio of the U-phase high-side PWM signal gradually increases to the set duty ratio during the first energization period, and is maintained at the set duty ratio during the second and third energization periods. You may reduce in steps from a setting duty ratio in the 4th energization period.
  • the adjustment duty ratio of the V-phase high-side PWM signal increases stepwise to the set duty ratio during the third energization period, and is maintained at the set duty ratio during the fourth and fifth energization periods. You may reduce in steps from a setting duty ratio in the 6th energization period.
  • the adjustment duty ratio of the W-phase high-side PWM signal gradually increases to the set duty ratio in the fifth energization period, and is set in the sixth energization period and the first energization period of the next cycle.
  • the ratio may be maintained and may be decreased stepwise from the set duty ratio in the second energization period of the next cycle.
  • control unit 10 detects a third reference duty ratio that is set in advance with a detection speed that is equal to or higher than the first reference speed and slower than the second reference speed, and the set duty ratio is equal to or higher than the second reference duty ratio. Lower than the second reference speed or slower than the preset third reference speed and the set duty ratio is lower than the third reference duty ratio.
  • the first semiconductor switch Q1 is turned on / off by the U-phase high-side PWM signal of the set duty ratio
  • the second semiconductor switch Q2 is turned on complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal. You may perform control which switches / off.
  • the U-phase low-side PWM signal in the fourth case has a duty ratio between the U-phase high-side PWM signal having a set duty ratio so as to form a dead time that does not turn on the second semiconductor switch Q2 simultaneously with the first semiconductor switch Q1. This is a PWM signal whose ratio is adjusted.
  • the control unit 10 switches on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal having the set duty ratio, and also uses the V-phase low-side PWM signal to switch the third semiconductor switch Q3.
  • the fourth semiconductor switch Q4 may be controlled to be turned on / off in a complementary manner.
  • the V-phase low-side PWM signal in the fourth case has a duty ratio between the V-phase high-side PWM signal having a set duty ratio so as to form a dead time in which the fourth semiconductor switch Q4 is not turned on simultaneously with the third semiconductor switch Q3. This is a PWM signal whose ratio is adjusted.
  • the control unit 10 switches the fifth semiconductor switch Q5 on / off by the W-phase high-side PWM signal having the set duty ratio, and also uses the W-phase low-side PWM signal to switch the fifth semiconductor switch Q5.
  • the sixth semiconductor switch Q6 may be controlled to be turned on / off in a complementary manner.
  • the W-phase low-side PWM signal in the fourth case has a duty ratio between the W-phase high-side PWM signal having a set duty ratio so as to form a dead time in which the sixth semiconductor switch Q6 is not turned on simultaneously with the fifth semiconductor switch Q5. This is a PWM signal whose ratio is adjusted.
  • control unit 10 switches on / off of the first semiconductor switch Q1 by the U-phase high-side PWM signal and outputs the U-phase low-side PWM signal during the first to third energization periods.
  • the second semiconductor switch Q2 may be controlled to be turned on / off.
  • control unit 10 switches on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal and performs the fourth operation by the V-phase low-side PWM signal during the third to fifth energization periods. You may perform control which switches on / off of semiconductor switch Q4.
  • control unit 10 turns on the fifth semiconductor switch Q5 by the W-phase high-side PWM signal during the first energization period following the fifth and sixth energization periods and the sixth energization period. Control may be performed to switch on / off of the sixth semiconductor switch Q6 in accordance with the W-phase low-side PWM signal while switching / off.
  • the 180 ° energization is performed by the control in the fourth case.
  • control unit 10 has a detected speed that is equal to or higher than the first reference speed and slower than the third reference speed, and the set duty ratio is equal to or higher than the third reference duty ratio, or the detected speed is the third reference speed.
  • control may be performed to turn on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal of the set duty ratio while turning off the second semiconductor switch Q2.
  • control unit 10 may perform control to turn on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal having the set duty ratio while turning off the fourth semiconductor switch Q4. .
  • control unit 10 may perform control to turn on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal having the set duty ratio while turning off the sixth semiconductor switch Q6. .
  • control unit 10 turns on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal while turning off the second semiconductor switch Q2 during the first to third energization periods. You may perform control which switches.
  • control unit 10 controls to turn on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal while turning off the fourth semiconductor switch Q4 during the third to fifth energization periods. May be performed.
  • control unit 10 controls the W-phase high-side PWM while turning off the sixth semiconductor switch Q6 during the fifth and sixth energization periods and the first energization period following the sixth energization period. Control may be performed to turn on / off the fifth semiconductor switch Q5 by a signal.
  • the 180 ° energization is performed by the control in the fifth case.
  • the control unit 10 is a torque map showing a correspondence relationship between the rotational speed of the rotor 3r, the accelerator operation amount, and the torque of the motor 3. Based on the above, a target torque corresponding to the detected speed and the accelerator operation amount may be set. Then, the control unit 10 sets the duty ratio corresponding to the detected speed and the set target torque as the set duty ratio based on the duty ratio map indicating the correspondence relationship between the rotational speed of the rotor, the target torque, and the duty ratio. It may be set.
  • control unit 10 detects the accelerator operation amount based on the detection signal of the accelerator position sensor 5 (step S1).
  • control unit 10 detects the rotor rotation speed based on the detection signal of the angle sensor 4 (step S2).
  • control unit 10 After detecting the accelerator operation amount and the rotor rotation speed, the control unit 10 sets a target torque based on the detected accelerator operation amount and the detected rotor rotation speed (that is, also called the detection speed) (step S3). ).
  • control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotor rotational speed with reference to the torque map.
  • the torque map is a map showing a correspondence relationship between the rotor rotational speed, the accelerator operation amount, and the target torque.
  • the torque map may be stored in the storage unit 20 so that the control unit 10 can read the torque map.
  • control unit 10 After setting the target torque, as shown in FIG. 5, the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4).
  • the control unit 10 sets the duty ratio by obtaining the duty ratio corresponding to the detected speed and the target torque with reference to the duty ratio map.
  • the duty ratio map is a map showing a correspondence relationship between the rotor rotational speed, the target torque, and the duty ratio.
  • the duty ratio map may be stored in the storage unit 20 in a state where the control unit 10 can read the duty ratio map.
  • control unit 10 determines whether or not the detected speed is equal to or higher than a first reference speed set in advance (step S5).
  • step S6 the control unit 10 determines whether or not the set duty ratio is equal to or higher than a preset first reference duty ratio (step S6).
  • step S6 When the set duty ratio is not equal to or greater than the first reference duty ratio (step S6: No), the control unit 10 uses the first region R1 shown in FIGS. 9A and 9B (that is, the second case) as the energization method. 120 ° upper and lower rectangular wave PWM control is executed (step S11).
  • the 120 ° vertical rectangular wave PWM control is a substantially rectangular energization waveform with PWM control to both the upper or high-side semiconductor switches Q1, Q3, and Q5 and the lower or low-side semiconductor switches Q2, Q4, and Q6.
  • the resulting 120 ° energization is a substantially rectangular energization waveform with PWM control to both the upper or high-side semiconductor switches Q1, Q3, and Q5 and the lower or low-side semiconductor switches Q2, Q4, and Q6.
  • the first to sixth energization stages each having an electrical angle of 60 ° that are periodically set according to the first to sixth motor stages.
  • the first semiconductor switch Q1 is turned on by the U-phase high-side PWM signal of the set duty ratio in the first and second energization stages (that is, the second and third energization periods) in the energization period (that is, the energization period). Control to switch off / off.
  • the U-phase high-side PWM signal and the U-phase high-side PWM signal are formed so as to form a dead time in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • the second semiconductor switch Q2 is controlled to be turned on / off complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted between the first semiconductor switch Q1 and the second semiconductor switch Q2.
  • the ON / OFF of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1.
  • the high-side semiconductor switch Q1 corresponds to the high state of the signal while the low-side semiconductor switch Q2 corresponds to the low state of the signal
  • the high-side PWM is shown in FIG.
  • the signal is shown as “Hi Active”
  • the low-side PWM signal is shown as “Lo Active”.
  • the U-phase low-side PWM signal forms a dead time Dt that does not turn on the second semiconductor switch Q2 simultaneously with the first semiconductor switch Q1.
  • the duty ratio is adjusted with the U-phase high-side PWM signal.
  • the V-phase high of the set duty ratio is applied in the third and fourth energization stages (that is, the fourth and fifth energization periods).
  • the third semiconductor switch Q3 is controlled to be turned on / off by the side PWM signal.
  • the V-phase high-side PWM signal and the V-phase high-side PWM signal are formed so as to form a dead time in the second to fifth energization stages (that is, the third to sixth energization periods).
  • the fourth semiconductor switch Q4 is controlled to be turned on / off in a complementary manner with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted between.
  • the W-phase high-side PWM of the set duty ratio in the continuous fifth and sixth energization stages that is, the sixth energization period and the first energization period of the next cycle. Control to turn on / off the fifth semiconductor switch Q5 by a signal is performed.
  • the 120 ° upper and lower rectangular wave PWM control dead time is reduced in the fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle).
  • the sixth semiconductor switch Q6 is switched on / off complementarily to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted with the W-phase high-side PWM signal so as to be formed. Take control.
  • the first semiconductor switch Q1 is turned off in energization stages other than No. 1 and No. 2.
  • the second semiconductor switch Q2 is turned off.
  • the third semiconductor switch Q3 is turned off.
  • the fourth semiconductor switch Q4 is turned off.
  • the fifth semiconductor switch Q5 is turned off.
  • the sixth semiconductor switch Q6 is turned off.
  • the energization stage may have a deviation of an angle set according to the target torque and the motor rotation speed with respect to the motor stage.
  • the starting characteristics can be improved by conducting 120 ° energization during the low rotation of the rotor 3r. Further, through current can be prevented by PWM controlling the low-side switches Q2, Q4, and Q6 such that a dead time is formed between the high-side switches Q1, Q3, and Q5.
  • step S6 when the set duty ratio is equal to or higher than the first reference duty ratio (step S6: Yes), the control unit 10 performs the second region R2 (that is, the first region) shown in FIGS. 9A and 9B. ), The 120 ° upper rectangular wave PWM control is executed (step S12).
  • the 120 ° upper rectangular wave PWM control is 120 ° energization that generates a substantially rectangular energization waveform with PWM control only to the high-side semiconductor switches Q1, Q3, and Q5.
  • the U-phase high-side PWM signal having the set duty ratio in the continuous first and second energization stages (that is, the second and third energization periods). Is used to control the first semiconductor switch Q1 to be turned on / off.
  • the second semiconductor switch Q2 is continuously turned off in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • the third semiconductor switch is set by the V-phase high-side PWM signal having the set duty ratio in the third and fourth energization stages (that is, the fourth and fifth energization periods). Control to switch on / off of Q3 is performed.
  • the fourth semiconductor switch Q4 is continuously turned off in the continuous second to fifth energization stages (that is, the third to sixth energization periods).
  • the W-phase high-side PWM signal having the set duty ratio in the continuous fifth and sixth energization stages that is, the sixth energization period and the first energization period of the next cycle.
  • control is performed to switch on / off the fifth semiconductor switch Q5.
  • the sixth semiconductor switch is used in the fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle). Control is performed to keep Q6 off.
  • the 120 ° upper-stage rectangular wave PWM control as described above, when the set duty ratio is high, the low-side switches Q2, Q4, and Q6 are turned off and only the high-side switches Q1, Q3, and Q5 are subjected to PWM control. By doing so, it is not necessary to adjust the duty ratio of the PWM signals so that a dead time is formed between the high-side switches Q1, Q3, and Q5 and the low-side switches Q2, Q4, and Q6.
  • the duty ratio of the high-side PWM signal can be sufficiently increased, so that it is possible to improve the utilization rate of the charging voltage charged in the battery 2 and output as much torque as possible. Become.
  • step S5 when the detected speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether the detected speed is equal to or higher than the second reference speed (step S7). .
  • step S7 When the detected speed is not equal to or higher than the second reference speed (step S7: No), the control unit 10 determines whether or not the set duty ratio is equal to or higher than the second reference duty ratio (step S8).
  • step S8: No When the set duty ratio is not equal to or greater than the second reference duty ratio (step S8: No), the control unit 10 uses the third region R3 (that is, the third case) shown in FIGS. 9A and 9B as the energization method. 180 ° upper and lower trapezoidal wave PWM control is executed (step S13).
  • the 180 ° upper and lower trapezoidal wave PWM control generates a substantially trapezoidal energization waveform with PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6. It is.
  • the U-phase high-side PWM of the adjustment duty ratio in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • Control is performed to turn on / off the first semiconductor switch Q1 according to the signal. More specifically, in the No. 6 energization stage, it gradually increases to the set duty ratio, maintained at the set duty ratio in the No. 1 and No. 2 energization stages, and gradually from the set duty ratio in the No. 3 energization stage. Control is performed to turn on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal having a decreasing duty ratio.
  • the PWM signal is generated for each carrier period of the triangular wave based on the triangular wave generated by the control unit 10.
  • the duty ratio of the U-phase PWM signal increases stepwise as time elapses.
  • the duty ratio of the U-phase PWM signal gradually decreases with time.
  • the duty cycle between the U-phase high-side PWM signal and the dead phase is formed in the continuous energization stages No. 6 to No. 3. Control is performed to turn on / off the second semiconductor switch Q2 complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose ratio is adjusted.
  • the third semiconductor is controlled by the V-phase high-side PWM signal of the adjusted duty ratio in the continuous second to fifth energization stages (that is, the third to sixth energization periods).
  • Control to switch on / off the switch Q3 is performed. More specifically, in the second energization stage, it gradually increases to the set duty ratio, maintained at the set duty ratio in the third and fourth energization stages, and gradually from the set duty ratio in the fifth energization stage. Control is performed to turn on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal having a decreasing duty ratio.
  • the duty ratio is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal so as to form a dead time in the continuous second to fifth energization stages. Control is performed to turn on / off the fourth semiconductor switch Q4 in a complementary manner to the third semiconductor switch Q3 by the low-side PWM signal.
  • the adjustment duty ratio in the continuous fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle).
  • the fifth semiconductor switch Q5 is controlled to be turned on / off by the W-phase high-side PWM signal. More specifically, in the No. 4 energization stage, it gradually increases to the set duty ratio, and is maintained at the set duty ratio in the No. 5 and No. 6 energization stages, and gradually from the set duty ratio in the No. 1 energization stage. Control is performed to turn on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal having a decreasing duty ratio.
  • the duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase high-side PWM signal so as to form a dead time in the continuous fourth to first energization stages. Control is performed to turn on / off the sixth semiconductor switch Q6 complementarily to the fifth semiconductor switch Q5 by the low-side PWM signal.
  • ripples can be suppressed by gently raising and lowering the energization waveform.
  • step S7 when the detected speed is equal to or higher than the second reference speed (step S7: Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the third reference speed (step S9). .
  • step S9: No When the detected speed is not equal to or higher than the third reference speed (step S9: No), or when the set duty ratio is equal to or higher than the second reference duty ratio (step S8: Yes), the controller 10 sets the set duty ratio to the third It is determined whether or not the duty ratio is equal to or greater than the reference duty ratio (step S10).
  • step S10 When the set duty ratio is not equal to or greater than the third reference duty ratio (step S10: No), the control unit 10 performs the energization method in the fourth region R4 (that is, the fourth case) illustrated in FIGS. 9A and 9B. 180 ° upper and lower rectangular wave PWM control is executed (step S14).
  • the third reference duty ratio matches the first reference duty ratio.
  • the third reference duty ratio may be different from the first reference duty ratio.
  • the 180 ° upper and lower rectangular wave PWM control generates a substantially rectangular energization waveform with PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6. It is.
  • the U-phase high-side PWM of the set duty ratio in the continuous first to third energization stages that is, the first to third energization periods. Control is performed to turn on / off the first semiconductor switch Q1 according to the signal.
  • the U phase whose duty ratio is adjusted with the U phase high-side PWM signal so as to form a dead time in the continuous first to third energization stages. Control is performed to turn on / off the second semiconductor switch Q2 in a complementary manner to the first semiconductor switch Q1 by the low-side PWM signal.
  • the third semiconductor is controlled by the V-phase high-side PWM signal having the set duty ratio in the continuous third to fifth energization stages (that is, the third to fifth energization periods). Control to switch on / off the switch Q3 is performed.
  • the duty ratio is adjusted with the V-phase high-side PWM signal so as to form a dead time in the continuous third to fifth energization stages. Control is performed to turn on / off the fourth semiconductor switch Q4 in a complementary manner to the third semiconductor switch Q3 by the low-side PWM signal.
  • the W phase of the set duty ratio in the continuous fifth to first energization stages (that is, the fifth and sixth energization periods and the first energization period of the next cycle). Control to turn on / off the fifth semiconductor switch Q5 is performed by the high-side PWM signal.
  • Control is performed to turn on / off the sixth semiconductor switch Q6 complementarily to the fifth semiconductor switch Q5 by the low-side PWM signal.
  • the power supply voltage is used by applying 180 ° power so that torque can be appropriately applied to the rotor 3r rotating at high speed.
  • a sufficiently large torque can be obtained by increasing the ratio.
  • through current can be prevented by PWM controlling the low-side switches Q2, Q4, and Q6 such that a dead time is formed between the high-side switches Q1, Q3, and Q5.
  • step S9 Yes
  • step S10 Yes
  • step S15 the control unit 10 Performs 180 ° upper rectangular wave PWM control as the energization method of the fifth region R5 (that is, the fifth case) shown in FIGS. 9A and 9B (step S15).
  • 180 ° upper-stage rectangular wave PWM control is 180 ° energization that generates a substantially rectangular energization waveform with PWM control only to the high-side semiconductor switches Q1, Q3, and Q5.
  • the U-phase high-side PWM signal having the set duty ratio in the continuous first to third energization stages (that is, the first to third energization periods). Is used to control the first semiconductor switch Q1 to be turned on / off.
  • the second semiconductor switch Q2 is continuously turned off in the continuous first to third energization stages.
  • the third semiconductor switch is set by the V-phase high-side PWM signal having the set duty ratio in the third through fifth energization stages (that is, the third through fifth energization periods). Control to switch on / off of Q3 is performed.
  • the fourth semiconductor switch Q4 is continuously turned off in the continuous third to fifth energization stages.
  • the W-phase high of the set duty ratio in the continuous fifth to first energization stages (that is, the fifth and sixth energization periods and the first energization period of the next cycle).
  • the fifth semiconductor switch Q5 is controlled to be turned on / off by the side PWM signal.
  • the sixth semiconductor switch Q6 is continuously turned off in the continuous energization stages Nos. 5 to 1.
  • the 180 ° upper-stage rectangular wave PWM control as described above, as in the case of the 120 ° upper-stage rectangular wave PWM control, when the set duty ratio is high, the low-side switches Q2, Q4, Q6 are turned off and the high-side By performing PWM control only on the switches Q1, Q3, and Q5, the PWM signals of each other so that a dead time is formed between the high-side switches Q1, Q3, and Q5 and the low-side switches Q2, Q4, and Q6. It is not necessary to adjust the duty ratio.
  • the control unit 10 controls the detection speed and the rotation of the motor 3 that the detection speed by the rotation speed detection unit 4 is slower than the preset first reference speed.
  • the second switch Q2 is turned off.
  • the fifth switch Q5 is turned on / off by the control for switching on / off and the third phase high-side PWM signal of the set duty ratio while turning off the sixth switch Q6. Perform a control to change Ri.
  • control unit 10 sets the period T1 for increasing and decreasing the duty ratio in the trapezoidal wave rising period and falling period to be longer than the carrier period T2 of the triangular wave PWM signal.
  • the processing load of PWM control can be reduced.
  • At least a part of the electric vehicle control device 1 described in the embodiment described above may be configured by hardware or software.
  • a program for realizing at least a part of the functions of the electric vehicle control device 1 may be stored in a recording medium such as a flexible disk or a CD-ROM, and read and executed by a computer.
  • the recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory.
  • a program that realizes at least a part of the functions of the electric vehicle control device 1 may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be distributed in a state where the program is encrypted, modulated or compressed, and stored in a recording medium via a wired line such as the Internet or a wireless line.
  • a communication line including wireless communication
  • the program may be distributed in a state where the program is encrypted, modulated or compressed, and stored in a recording medium via a wired line such as the Internet or a wireless line.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2018/012747 2018-03-28 2018-03-28 駆動装置、電動車両および駆動装置の制御方法 WO2019186759A1 (ja)

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Application Number Priority Date Filing Date Title
PCT/JP2018/012747 WO2019186759A1 (ja) 2018-03-28 2018-03-28 駆動装置、電動車両および駆動装置の制御方法
CN201880091313.9A CN111869096B (zh) 2018-03-28 2018-03-28 驱动装置、电动车辆以及驱动装置的控制方法
JP2020510292A JP7127115B2 (ja) 2018-03-28 2018-03-28 駆動装置、電動車両および駆動装置の制御方法
TW108110538A TWI705656B (zh) 2018-03-28 2019-03-26 驅動裝置、電動車輛以及驅動裝置的控制方法

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JP2004129379A (ja) * 2002-10-02 2004-04-22 Toyota Motor Corp モータ制御装置、およびモータの駆動制御をコンピュータに実行させるためのプログラムを記録したコンピュータ読取り可能な記録媒体
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JP2017184426A (ja) * 2016-03-30 2017-10-05 ローム株式会社 三相モータの駆動回路および駆動方法、プリンタ装置

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