WO2019186760A1

WO2019186760A1 - Drive device, electric vehicle, and drive device control method

Info

Publication number: WO2019186760A1
Application number: PCT/JP2018/012748
Authority: WO
Inventors: 一由希目黒; 雄大井ノ口
Original assignee: 新電元工業株式会社
Priority date: 2018-03-28
Filing date: 2018-03-28
Publication date: 2019-10-03
Also published as: JP7135069B2; CN111869097A; TWI743462B; JPWO2019186760A1; TW201945242A; CN111869097B

Abstract

A control unit performs drive control of a motor by using a trapezoidal-shaped energization waveform, wherein said drive control includes: control for switching the on/off of a first switch by using a first phase high-side PWM signal having an adjusted duty ratio which is adjusted so as to increase in stages up to a preset set duty ratio, maintain the set duty ratio after increasing, and decrease in stages from the set duty ratio after maintaining; control for switching the on/off of a third switch by using a second phase high-side PWM signal having the adjusted duty ratio; and control for switching the on/off of a fifth switch by using a third phase high-side PWM signal having the adjusted duty ratio. Increasing in stages up to the set duty ratio and decreasing in stages from the set duty ratio are performed in a set period which is set longer than the pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal.

Description

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

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.

In this type of electric motorcycle, in order to drive the motor, 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.

In the energization control, PWM control is performed on the switch with a set duty ratio, and the motor drive is controlled with an energization waveform corresponding to the duty ratio.

In PWM control, a trapezoidal energization waveform with a gentle rise and fall was generated by gradually increasing or decreasing the duty ratio in order to prevent ripples in the energization waveform.

However, the timing of PWM control is determined by a constant carrier cycle by a triangular wave. If the duty ratio is continuously increased or decreased for each carrier cycle to generate a trapezoidal energization waveform, the PWM control timing is There has been a problem that the processing load becomes excessive.

Incidentally, JP-A-8-331885 discloses a technology for making a three-phase alternating current substantially trapezoidal. However, the technique disclosed in Japanese Patent Laid-Open No. 8-331885 does not mention anything about reducing the processing load of PWM control for generating a trapezoidal wave, and is a technique completely different from the present invention.

Therefore, an object of the present invention is to provide a drive device, an electric vehicle, and a drive device control method capable of reducing the processing load of PWM control for generating a trapezoidal energization waveform.

A driving device according to one embodiment of the present invention 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 control unit for controlling the driving of the motor by controlling the first to sixth switches,
The control unit performs drive control of the motor with a trapezoidal energization waveform,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. It is performed at a set cycle set longer than the pulse cycle.

In the driving device,
The controller is
The duty ratio in each of a plurality of pulse periods included in the same set period may be controlled to be constant.

In the driving device,
The control for switching on / off of the first switch by the first-phase high-side PWM signal of the adjustment duty ratio forms the first phase so as to form a dead time that does not turn on the second switch simultaneously with the first switch. The first phase low-side PWM signal whose duty ratio is adjusted between the high-side PWM signal and the first switch are complementarily switched to turn on / off the second switch.
The control to switch on / off the third switch by the second phase high-side PWM signal of the adjustment duty ratio is performed so as to form a dead time in which the fourth switch is not turned on simultaneously with the third switch. The second phase low-side PWM signal, the duty ratio of which is adjusted with respect to the high-side PWM signal, is performed together with the control to turn on / off the fourth switch complementarily to the third switch,
The control to switch on / off the fifth switch by the third phase high-side PWM signal of the adjustment duty ratio is performed so as to form a dead time in which the sixth switch is not turned on simultaneously with the fifth switch. The control may be performed together with a 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 the high-side PWM signal.

In the driving device,
A rotation speed detector for detecting the rotation speed of the rotor of the motor;
The set duty ratio may be set based on a detection speed by the rotation speed detection unit and a user operation amount for controlling the rotation of the motor.

In the driving device,
The controller is
First detection speed is equal to or higher than a preset first reference speed and is slower than a preset second reference speed, and the set duty ratio is lower than a preset first reference duty ratio. In this case, the drive control may be performed.

In the driving device,
The controller is
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 first reference duty ratio and greater than a preset second reference duty ratio. In a second case where 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 second reference duty ratio. Is
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. Control for switching on / off of the second switch in a complementary manner to the first switch by a first phase low-side PWM signal whose duty ratio is adjusted with the side PWM signal;
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.

In the driving device,
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 second reference duty ratio, or the detected speed is the third reference speed. In the third case above,
Control to turn on / off the first switch by a first phase high-side PWM signal of the set duty ratio while turning off the second switch;
Control to turn on / off the third switch by a second-phase high-side PWM signal of the set duty ratio while turning off the fourth switch;
Control may be performed to turn on / off the fifth switch by a third-phase high-side PWM signal having the set duty ratio while turning off the sixth switch.

In the driving device,
The controller is
In the first to third cases, 180 ° energization may be performed in which a phase current flows during an energization period corresponding to an electrical angle of 180 °.

In the driving device,
The controller is
In the fourth case where the detection speed is slower than the first reference speed and the set duty ratio is lower than a preset third 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. Control for switching on / off of the second switch in a complementary manner to the first switch by a first phase low-side PWM signal whose duty ratio is adjusted with the side PWM signal;
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.

In the driving device,
The controller is
In the fifth case where the detection speed is slower than the first reference speed and the set duty ratio is greater than or equal to the third reference duty ratio,
Control to turn on / off the first switch by a first phase high-side PWM signal of the set duty ratio while turning off the second switch;
Control to turn on / off the third switch by a second-phase high-side PWM signal of the set duty ratio while turning off the fourth switch;
Control may be performed to turn on / off the fifth switch by a third-phase high-side PWM signal having the set duty ratio while turning off the sixth switch.

In the driving device,
The controller is
In the fourth and fifth cases, 120 ° energization may be performed such that a phase current flows during an energization period corresponding to an electrical angle of 120 °.

An electric vehicle according to an aspect of the present invention 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 control unit for controlling the driving of the motor by controlling the first to sixth switches,
The control unit performs drive control of the motor with a trapezoidal energization waveform,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. It is performed at a set cycle set longer than the pulse cycle.

In the electric vehicle,
A rotation speed detector for detecting the rotation speed of the rotor of the motor;
The set duty ratio may be set based on a detection speed by the rotation speed detection unit and an accelerator operation amount by a user.

In the electric vehicle,
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.
The duty ratio corresponding to the detected speed and the set torque may be set as the set duty ratio based on a duty map indicating a correspondence relationship between the rotational speed of the rotor, the torque, and the duty ratio. Good.

A control method of a driving device according to an aspect of the present invention 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 control method for a drive device comprising a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal,
By controlling the first to sixth switches, drive control of the motor by a trapezoidal energization waveform is performed,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. It is performed at a set cycle set longer than the pulse cycle.

The drive device according to one aspect of the present invention 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; and a control unit that controls driving of the motor by controlling the first to sixth switches. Equipped, the controller performs drive control of the motor with a trapezoidal energization waveform, The dynamic control increases in steps up to a preset set duty ratio, maintains the set duty ratio after the increase, and adjusts the duty ratio adjusted to decrease gradually from the set duty ratio after the maintenance. Control for switching on / off of the first switch by the one-phase high-side PWM signal, control for switching on / off of the third switch by the second-phase high-side PWM signal of the adjustment duty ratio, and third phase of the adjustment duty ratio Control to switch on / off of the fifth switch by the high-side PWM signal, and the stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are the first phase high-side PWM signal, the second This is performed at a set cycle that is set longer than the pulse cycle of the phase high-side PWM signal and the third phase high-side PWM signal.

Thus, according to the present invention, by increasing and decreasing the duty ratio for generating the trapezoidal energization waveform at a set period longer than the pulse period of the PWM signal, the duty ratio is increased for each pulse period. No need to decrease.

Therefore, according to the present invention, the processing load of PWM control for generating a trapezoidal energization waveform can be reduced.

It is a figure showing electric motorcycle 100 concerning a 1st embodiment. 1 is a diagram showing a power conversion unit 30 and a motor 3 in an electric motorcycle 100 according to a first embodiment. In the electric motorcycle 100 according to the first embodiment, a magnet provided on a rotor of a motor 3 and an angle sensor 4 are shown. In the electric motorcycle 100 according to the first embodiment, it is a diagram showing the relationship between the rotor angle and the output of the angle sensor 4. FIG. 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 duty ratio control 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 flowchart showing a control method of the electric motorcycle 100 according to the second embodiment. FIG. 6 is an explanatory diagram for explaining a rotor rotation speed detection step and a duty ratio setting step in the control method for the electric motorcycle 100 according to the second embodiment. 6 is a graph showing an example of a torque map used for carrying out a duty ratio setting step in the control method for the electric motorcycle 100 according to the second embodiment. 6 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 second embodiment. 6 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 second embodiment. 6 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 second embodiment. 10 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 second embodiment. 10 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 second embodiment. 6 is a timing chart showing 120 ° upper rectangular wave PWM control in the control method for the electric motorcycle 100 according to the second embodiment. 10 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 second embodiment. 6 is a timing chart showing upper rectangular wave PWM 180 ° energization in the control method for the electric motorcycle 100 according to the second embodiment.

Embodiments according to the present invention will be described below with reference to the drawings. In addition, embodiment shown below does not limit this invention. In the drawings referred to in the embodiments, the same portions or portions having similar functions are denoted by the same or similar reference numerals, and the repeated description thereof is omitted.

(First embodiment)
First, an electric motorcycle 100 according to a first embodiment as an example of an electric vehicle will be described with reference to FIG.

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.

As shown in FIG. 1, 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.

Hereinafter, each component of the electric motorcycle 100 will be described in detail.

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. As shown in FIG. 2, 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.

Note that 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. In the present embodiment, the motor 3 is mechanically connected to the wheel 8 without using a clutch. Note that the type of the motor 3 is not particularly limited.

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).

As shown in FIG. 3, the angle sensor 4 includes a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w. In the present embodiment, 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. Similarly, 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.

As shown in FIG. 4, the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w output a pulse signal having a phase corresponding to the rotor angle (angular position) (that is, a rotation angle detection signal). To do.

Further, as shown in FIG. 4, 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. In this embodiment,

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. For example, motor stage number 1 is (U phase, V phase, W phase) = (H, L, H), and motor stage number 2 is (U phase, V phase, W phase) = (H, L, L). ).

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.

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

The control unit 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6. The control unit 10 performs drive control of the motor 3 with a trapezoidal energization waveform.

The drive control of the motor 3 by the trapezoidal energization waveform increases in a stepwise manner from a duty ratio of zero (that is, an OFF state) to a preset set duty ratio, maintains the set duty ratio after the increase, The first semiconductor switch Q1 is turned on / off by a U-phase high-side PWM signal (that is, a first-phase high-side PWM signal) having an adjusted duty ratio adjusted so as to decrease stepwise from the set duty ratio to zero. Includes control to switch.

Further, the drive control of the motor 3 by the trapezoidal energization waveform is a control for switching on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal (that is, the second-phase high-side PWM signal) of the adjustment duty ratio. Including.

Further, the drive control of the motor 3 with the trapezoidal energization waveform is a control for switching on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal (that is, the third-phase high-side PWM signal) of the adjustment duty ratio. Including.

In the adjustment duty ratio, a gradual increase to the set duty ratio and a gradual decrease from the set duty ratio are caused by the U-phase high-side PWM signal, the V-phase high-side PWM signal, and the W-phase high-side PWM signal. It is performed at a set cycle set longer than the pulse cycle.

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

The control for switching on / off of the first semiconductor switch Q1 by the U-phase high-side PWM signal of the adjustment duty ratio is performed on the first semiconductor switch Q1 by the U-phase low-side PWM signal (that is, the first-phase low-side PWM signal). The second semiconductor switch Q2 may be complementarily controlled to switch on / off. The U-phase low-side PWM signal here has a duty ratio between the U-phase high-side PWM signal of the adjusted 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. It is the adjusted PWM signal.

The control for switching on / off of the third semiconductor switch Q3 by the V-phase high-side PWM signal of the adjustment duty ratio is performed on the third semiconductor switch Q3 by the V-phase low-side PWM signal (that is, the second-phase low-side PWM signal). The fourth semiconductor switch Q4 may be complementarily controlled to switch on / off. The duty ratio between the V-phase low-side PWM signal and the V-phase high-side PWM signal of the adjusted duty ratio is set 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. It is the adjusted PWM signal.

Control for switching on / off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal of the adjustment duty ratio is performed on the fifth semiconductor switch Q5 by the W-phase low-side PWM signal (that is, the third-phase low-side PWM signal). Thus, it may be performed together with the control for switching on / off the sixth semiconductor switch Q6 in a complementary manner. Here, the duty ratio between the W-phase low-side PWM signal and the W-phase high-side PWM signal of the adjustment duty ratio is so set as to form a dead time in which the sixth semiconductor switch Q6 is not turned on simultaneously with the fifth semiconductor switch Q5. It is the adjusted PWM signal.

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 set duty ratio is based on a rotor rotation speed (hereinafter also referred to as a detection speed) detected by the control unit 10 (rotation speed detection unit) and an accelerator operation amount (user operation amount) for controlling the rotation of the motor 3. May be set. More specifically, the control unit 10 sets a target torque corresponding to the detected speed and the accelerator operation amount based on a torque map indicating the correspondence relationship between the rotation speed of the rotor 3r, the accelerator operation amount, and the torque of the motor 3. May be. 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.

The 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.

The drive control of the motor 3 by the trapezoidal energization waveform is performed by switching the first semiconductor switch Q1 on / off by the U-phase high-side PWM signal and by the U-phase low-side PWM signal during the first to fourth energization periods. A control for switching on / off of the second semiconductor switch Q2 may be included.

Further, 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 and by the V-phase low-side PWM signal during the third to sixth energization periods. A control for switching on / off of the fourth semiconductor switch Q4 may be included.

The drive control of the motor 3 by the trapezoidal energization waveform is performed by the W-phase high-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. Control may be included in which the semiconductor switch Q5 is turned on / off and the sixth semiconductor switch Q6 is turned on / off by the W-phase low-side PWM signal.

By such control, 180 ° energization is performed so that the phase current flows during the energization period corresponding to the electrical angle of 180 ° as drive control of the motor 3 by the trapezoidal energization waveform.

Further, the adjustment duty ratio of the U-phase high-side PWM signal gradually increases to the set duty ratio in the first energization period, is maintained at the set duty ratio in the second and third energization periods, and is set in the fourth energization period. The duty ratio may be decreased stepwise.

Further, the adjustment duty ratio of the V-phase high-side PWM signal gradually increases to the set duty ratio in the third energization period, is maintained at the set duty ratio in the fourth and fifth energization periods, and is set in the sixth energization period. The duty ratio may be decreased stepwise.

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 maintained at the set duty ratio in the sixth energization period and the first energization period of the next cycle. You may reduce in steps from a setting duty ratio in the 2nd electricity supply period of a period.

(Control method of electric motorcycle 100)
Hereinafter, the control method of the electric motorcycle 100 according to the first embodiment will be described as an example of the control method of the drive device.

<180 ° vertical trapezoidal wave PWM control>
As shown in FIG. 5, the control unit 10 executes 180 ° upper and lower trapezoidal wave PWM control as drive control of the motor 3 with a trapezoidal energization waveform.

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.

As shown in FIG. 5, in the 180 ° upper and lower trapezoidal wave PWM control, 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.

Further, as shown in FIG. 5, in the 180 ° upper and lower trapezoidal wave PWM control, the dead time during which the second semiconductor switch Q2 is not turned on simultaneously with the first semiconductor switch Q1 in the continuous sixth to third energization stages. The second semiconductor switch Q2 is switched on / off complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted with the U-phase high-side PWM signal so as to be formed. Take control.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, 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.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, the V-phase high level is set 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 in the continuous second to fifth energization stages. The fourth semiconductor switch Q4 is controlled to be turned on / off complementarily to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal.

Further, in the 180 ° upper and lower trapezoidal wave PWM control, 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.

Also, in the 180 ° upper and lower trapezoidal wave PWM control, the W phase high 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 in the continuous fourth to first energization stages. The sixth semiconductor switch Q6 is controlled to be turned on / off complementarily to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted with the side PWM signal.

In FIG. 5, the energization waveform is shown superimposed on the PWM signal so that the correspondence between the rise and fall of the trapezoidal wave and the energization stage is easily understood. FIG. 5 also shows the UV phase voltage, the VW phase voltage, and the WU phase voltage corresponding to each energization stage.

Further, as shown in FIG. 6 in which the broken-line frame in FIG. 5 is enlarged, the PWM signal is generated for each carrier cycle of the triangular wave based on the triangular wave generated by the control unit 10. In the sixth energization stage in which the U-phase trapezoidal wave rises, the duty ratio of the U-phase PWM signal increases stepwise as time elapses. Although not shown, in the third energization stage in which the U-phase trapezoidal wave falls, the duty ratio of the U-phase PWM signal gradually decreases with time.

More specifically, as shown in FIG. 7, the control unit 10 sets the period T1 of increase and decrease of the duty ratio in the rising and falling periods of the trapezoidal wave to be higher than the carrier period T2 of the PWM signal by the triangular wave. It is set long.

According to the 180 ° upper and lower trapezoidal wave PWM control as described above, ripples can be suppressed by gently raising and lowering the energization waveform. The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are longer than the pulse periods of the U-phase high-side PWM signal, the V-phase high-side PWM signal, and the W-phase high-side PWM signal. By performing with the set setting cycle, the processing load of PWM control for generating the trapezoidal energization waveform can be reduced.

As described above, in the electric motorcycle 100 according to the first embodiment, the control unit 10 performs drive control of the motor 3 with a trapezoidal energization waveform. The drive control gradually increases to a preset set duty ratio, maintains the set duty ratio after the increase, and adjusts the duty ratio adjusted to decrease gradually from the set duty ratio after the maintenance. This includes control for switching on / off of the first switch (first semiconductor switch Q1) by a one-phase high-side PWM signal (U-phase high-side PWM signal). The drive control includes control for switching on / off of the third switch (third semiconductor switch Q3) by the second-phase high-side PWM signal (V-phase high-side PWM signal) of the adjustment duty ratio. Further, the drive control includes control for turning on / off the fifth switch (fifth semiconductor switch Q5) by the third phase high-side PWM signal (W-phase high-side PWM signal) of the adjustment duty ratio. The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are the pulse periods of the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. It is performed at a set cycle that is set longer.

According to such a configuration, it is not necessary to increase or decrease the duty ratio for each pulse period, so that it is possible to reduce the processing load of PWM control for generating a trapezoidal energization waveform.

(Second Embodiment)
Next, a second embodiment in which the energization method is selected according to the traveling state will be described.

In the second embodiment, the control unit 10 determines that the detected speed of the rotor 3r is equal to or higher than the preset first reference speed and is slower than the preset second reference speed, and the set duty ratio is preset. In the first case, which is lower than the first reference duty ratio, the drive control of the motor 3 by the trapezoidal energization waveform is performed.

Details of the drive control of the motor 3 by the trapezoidal energization waveform are as described in the first embodiment.

In addition, the control unit 10 has a preset second reference duty ratio in which the detected speed 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 first reference duty ratio. In the second case where the detected speed is equal to or higher than the second reference speed, slower than the preset third reference speed, and the set duty ratio is lower than the second reference duty ratio, The following control is performed.

In the second case, the control unit 10 switches on / off of the first semiconductor switch Q1 by the U-phase high-side PWM signal having the set duty ratio, and also controls the first semiconductor switch Q1 by the U-phase low-side PWM signal. Complementary control is performed to turn on / off the second semiconductor switch Q2. 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.

In the second case, 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 switches the third semiconductor switch Q3 to the third semiconductor switch Q3 by the V-phase low-side PWM signal. On the other hand, the fourth semiconductor switch Q4 is controlled to be turned on / off in a complementary manner. 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. In the second case, 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 switches the fifth semiconductor switch Q5 to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal. On the other hand, the sixth semiconductor switch Q6 is controlled to be turned on / off in a complementary manner. The duty ratio of the W-phase low-side PWM signal in the second case is adjusted with the W-phase high-side PWM signal 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. PWM signal.

More specifically, in the second case, the control unit 10 switches on / off 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.

In the second case, the control unit 10 switches the third semiconductor switch Q3 on / off 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.

In the second case, the 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 second case.

In addition, the 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 second reference duty ratio, or the detected speed is the third reference speed. In the third case as described above, the following control is performed.

In the third case, the control unit 10 performs control 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.

In the third case, the control unit 10 performs 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.

In the third case, the control unit 10 performs 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.

More specifically, in the third case, the 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.

In the third case, the control unit 10 performs control to switch 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.

Further, in the third case, the 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 of the next 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 third case.

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

In the fourth case, the control unit 10 switches on / off of the first semiconductor switch Q1 by the U-phase high-side PWM signal having the set duty ratio, and controls the first semiconductor switch Q1 by the U-phase low-side PWM signal. Complementary control is performed to turn on / off the second semiconductor switch Q2. 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.

In the fourth case, the control unit 10 switches the third semiconductor switch Q3 on / off by the V-phase high-side PWM signal having the set duty ratio, and switches the third semiconductor switch Q3 to the third semiconductor switch Q3 by the V-phase low-side PWM signal. On the other hand, the fourth semiconductor switch Q4 is 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.

In the fourth case, 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 switches the fifth semiconductor switch Q5 to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal. On the other hand, the sixth semiconductor switch Q6 is 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.

More specifically, in the fourth case, the control unit 10 switches the second and third energizations while switching on / off the second semiconductor switch Q2 by the U-phase low-side PWM signal during the first to fourth energization periods. You may perform control which switches on / off of the 1st semiconductor switch Q1 with a U-phase high side PWM signal in a period.

Further, in the fourth case, the 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.

In the fourth case, the control unit 10 controls the sixth semiconductor switch Q6 by the W-phase low-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 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.

By such control in the fourth case, 120 ° energization is performed in which a phase current is passed during an energization period corresponding to an electrical angle of 120 °.

Further, in the fifth case where the detection speed is slower than the first reference speed and the set duty ratio is equal to or greater than the third reference duty ratio, the control unit 10 turns off the second semiconductor switch Q2 and sets the set duty Control is performed to turn on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal of the ratio.

In the fifth case, the control unit 10 performs 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.

In the fifth case, the control unit 10 performs 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.

More specifically, in the fifth case, the control unit 10 turns off the second semiconductor switch Q2 in the first to fourth energization periods, and outputs the first and second energization periods by the U-phase high-side PWM signal. 1 Control to switch on / off of the semiconductor switch Q1 may be performed.

In the fifth case, the 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.

Further, in the fifth case, the 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 cycle 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 by the control in the fifth case.

(Control method of electric motorcycle 100)
Hereinafter, a control method of the electric motorcycle 100 according to the second embodiment will be described with reference to the flowchart of FIG. 8. Note that the flowchart of FIG. 8 is repeated as necessary.

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

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

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). ).

Specifically, as shown in FIG. 9, the 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.

As shown in FIG. 10, 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.

After setting the target torque, as shown in FIG. 8, the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4).

Specifically, as shown in FIG. 9, the control unit 10 sets the duty ratio by obtaining a duty ratio corresponding to the detected speed and the target torque with reference to the duty ratio map. As shown in FIG. 11, 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.

After setting the duty ratio, as shown in FIG. 8, the 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).

When the detected speed is not equal to or higher than the first reference speed (step S5: No), the control unit 10 determines whether or not the set duty ratio is equal to or higher than a preset third reference duty ratio (step S6).

<120 ° upper and lower rectangular wave PWM control>
When the set duty ratio is not equal to or greater than the third reference duty ratio (step S6: No), the control unit 10 performs the energization method in the first region R1 (that is, the fourth case) illustrated in FIGS. 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.

As shown in FIG. 13, in the 120 ° up-and-down rectangular wave PWM control, the first to sixth energization stages each having an electrical angle of 60 ° which 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.

In the 120 ° upper and lower rectangular wave PWM control, 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.

In addition, since the first semiconductor switch Q1 is turned off at the energization stages No. 6 and No. 3, the ON / OFF of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1. These are the first and second energization stages of the continuous 6th to 3rd energization stages.

Further, the high-side semiconductor switch Q1 corresponds to the on state of the high signal level, while the low-side semiconductor switch Q2 corresponds to the on state of the low level signal. The signal is shown as “Hi Active”, and the low-side PWM signal is shown as “Lo Active”.

Further, as shown in FIG. 14 in which the broken-line frame portion in FIG. 13 is enlarged, 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.

Further, as shown in FIG. 13, in the 120 ° upper and lower rectangular wave PWM control, 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.

In addition, in the 120 ° upper and lower rectangular wave PWM control, 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.

Further, in the 120 ° upper and lower rectangular wave PWM control, 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.

Further, in 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. In energization stages other than No. 6 to No. 3, the second semiconductor switch Q2 is turned off. In energization stages other than No. 3 and No. 4, the third semiconductor switch Q3 is turned off. In energization stages other than No. 2 to No. 5, the fourth semiconductor switch Q4 is turned off. In energization stages other than No. 5 and No. 6, the fifth semiconductor switch Q5 is turned off. In energization stages other than Nos. 4 to 1, 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.

According to the 120 ° upper and lower rectangular wave PWM control as described above, 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.

<120 ° upper rectangular wave PWM control>
As shown in FIG. 8, when the set duty ratio is greater than or equal to the third reference duty ratio (step S6: Yes), the control unit 10 uses the second region R2 (ie, the fifth region) shown in FIGS. 12A and 12B. ), The 120 ° upper rectangular wave PWM control is executed (step S12). In the example of FIG. 12B, the third reference duty ratio matches the second reference duty ratio, but the third reference duty ratio may be different from the second reference duty ratio.

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.

As shown in FIG. 15, in the 120 ° upper-stage rectangular wave PWM control, the U-phase high-side PWM signal having a 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.

In the 120 ° upper rectangular wave PWM control, 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).

Further, in the 120 ° upper rectangular wave PWM control, 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.

Further, in the 120 ° upper rectangular wave PWM control, 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).

Further, in the 120 ° upper rectangular wave PWM control, 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). Thus, control is performed to switch on / off the fifth semiconductor switch Q5.

In the 120 ° upper-stage rectangular wave PWM control, 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.

According to 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.

This makes it possible to sufficiently increase the duty ratio of the high-side PWM signal, so that as much torque as possible can be output using the charging voltage of the battery 2 as much as possible.

<180 ° vertical trapezoidal wave PWM control>
As shown in FIG. 8, when the detected speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the second reference speed (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 first reference duty ratio (step S8).

When the set duty ratio is not equal to or greater than the first reference duty ratio (step S8: No), the control unit 10 performs the energization method in the third region R3 (that is, the first case) illustrated in FIGS. 12A and 12B. 180 ° upper and lower trapezoidal wave PWM control is executed (step S13).

The waveforms in the 180 ° upper and lower trapezoidal wave PWM control are as shown in FIGS. 5 to 7 in the first embodiment. According to the 180 ° upper / lower trapezoidal wave PWM control, ripples can be suppressed by gently raising and lowering the energization waveform.

<180 ° vertical rectangular PWM control>
As shown in FIG. 8, 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). .

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 first reference duty ratio (step S8: Yes), the control unit 10 sets the second set duty ratio to the second reference duty ratio. It is determined whether or not the duty ratio is equal to or greater than the reference duty ratio (step S10).

When the set duty ratio is not equal to or greater than the second reference duty ratio (step S10: No), the control unit 10 performs the energization method in the fourth region R4 (that is, the second case) illustrated in FIGS. 12A and 12B. 180 ° upper and lower rectangular wave PWM control is executed (step S14).

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.

As shown in FIG. 16, in the 180 ° upper and lower rectangular wave PWM control, 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.

In the 180 ° upper and lower rectangular wave PWM control, 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.

Further, in the 180 ° upper and lower rectangular wave PWM control, 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.

In the 180 ° upper and lower rectangular wave PWM control, 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.

Further, in the 180 ° upper and lower rectangular wave PWM control, 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.

Also, in the 180 ° upper and lower rectangular wave PWM control, the W phase in which the duty ratio is adjusted with the W phase high-side PWM signal so as to form a dead time in the continuous energization stages of No. 5 to No. 1. 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.

According to the 180 ° upper and lower rectangular wave PWM control as described above, when the rotor 3r rotates at high speed, 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. 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.

<180 ° upper rectangular wave PWM control>
As shown in FIG. 8, when the detected speed is greater than or equal to the third reference speed (step S9: Yes), or when the set duty ratio is greater than or equal to the second reference duty ratio (step S10: Yes), the control unit 10 Executes 180 ° upper rectangular wave PWM control as the energization method of the fifth region R5 (that is, the third case) shown in FIGS. 12A and 12B (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.

As shown in FIG. 17, in the 180 ° upper-stage rectangular wave PWM control, 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.

In the 180 ° upper-stage rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the continuous first to third energization stages.

In the 180 ° upper rectangular wave PWM control, 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.

In the 180 ° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously turned off in the continuous third to fifth energization stages.

Further, in the 180 ° upper-stage rectangular wave PWM control, 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.

In the 180 ° upper-stage rectangular wave PWM control, the sixth semiconductor switch Q6 is continuously turned off in the continuous energization stages Nos. 5 to 1.

According to 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.

According to the second embodiment, a suitable PWM control can be selected in accordance with the detection speed and the set duty ratio, and therefore, as much torque as possible is output by efficiently using the charging voltage of the battery 2. It becomes possible to do.

At least a part of the electric vehicle control device 1 described in the embodiment described above may be configured by hardware or software. When configured by 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.

Further, 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.

Based on the above description, those skilled in the art may be able to conceive additional effects and various modifications of the present invention, but the aspects of the present invention are not limited to the individual embodiments described above. . You may combine suitably the component covering different embodiment. Various additions, modifications, and partial deletions can be made without departing from the concept and spirit of the present invention derived from the contents defined in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Electric vehicle control apparatus 3 Motor 10 Control part

Claims

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 control unit for controlling the driving of the motor by controlling the first to sixth switches,
The control unit performs drive control of the motor with a trapezoidal energization waveform,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. A driving apparatus characterized by being performed at a set cycle set longer than the pulse cycle.
The controller is
2. The driving apparatus according to claim 1, wherein the duty ratio in each of a plurality of pulse periods included in the same set period is controlled to be constant.
The control for switching on / off of the first switch by the first-phase high-side PWM signal of the adjustment duty ratio forms the first phase so as to form a dead time that does not turn on the second switch simultaneously with the first switch. The first phase low-side PWM signal whose duty ratio is adjusted between the high-side PWM signal and the first switch are complementarily switched to turn on / off the second switch.
The control to switch on / off the third switch by the second phase high-side PWM signal of the adjustment duty ratio is performed so as to form a dead time in which the fourth switch is not turned on simultaneously with the third switch. The second phase low-side PWM signal, the duty ratio of which is adjusted with respect to the high-side PWM signal, is performed together with the control to turn on / off the fourth switch complementarily to the third switch,
The control to switch on / off the fifth switch by the third phase high-side PWM signal of the adjustment duty ratio is performed so as to form a dead time in which the sixth switch is not turned on simultaneously with the fifth switch. The control is performed together with the control to switch on / off the sixth switch in a complementary manner to the fifth switch by a third phase low-side PWM signal whose duty ratio is adjusted with the high-side PWM signal. The drive device according to claim 1.
A rotation speed detector for detecting the rotation speed of the rotor of the motor;
The drive device according to claim 1, wherein the set duty ratio is set based on a detection speed by the rotation speed detection unit and a user operation amount for controlling rotation of the motor.
The controller is
First detection speed is equal to or higher than a preset first reference speed and is slower than a preset second reference speed, and the set duty ratio is lower than a preset first reference duty ratio. The drive device according to claim 4, wherein the drive control is performed.
The controller is
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 first reference duty ratio and greater than a preset second reference duty ratio. In a second case where 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 second reference duty ratio. Is
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. Control for switching on / off of the second switch in a complementary manner to the first switch by a first phase low-side PWM signal whose duty ratio is adjusted with the side PWM signal;
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 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 the side PWM signal. The drive device according to claim 5.
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 second reference duty ratio, or the detected speed is the third reference speed. In the third case above,
Control to turn on / off the first switch by a first phase high-side PWM signal of the set duty ratio while turning off the second switch;
Control to turn on / off the third switch by a second-phase high-side PWM signal of the set duty ratio while turning off the fourth switch;
7. The driving device according to claim 6, wherein the fifth switch is controlled to be turned on / off by a third-phase high-side PWM signal having the set duty ratio while the sixth switch is turned off.
The controller is
8. The driving apparatus according to claim 7, wherein in the first to third cases, 180 ° energization is performed so that a phase current flows during an energization period corresponding to an electrical angle of 180 °.
The controller is
In the fourth case where the detection speed is slower than the first reference speed and the set duty ratio is lower than a preset third 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. Control for switching on / off of the second switch in a complementary manner to the first switch by a first phase low-side PWM signal whose duty ratio is adjusted with the side PWM signal;
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 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 the side PWM signal. The drive device according to claim 8.
The controller is
In the fifth case where the detection speed is slower than the first reference speed and the set duty ratio is greater than or equal to the third reference duty ratio,
Control to turn on / off the first switch by a first phase high-side PWM signal of the set duty ratio while turning off the second switch;
Control to turn on / off the third switch by a second-phase high-side PWM signal of the set duty ratio while turning off the fourth switch;
5. The driving device according to claim 4, wherein the fifth switch is controlled to be turned on / off by a third-phase high-side PWM signal having the set duty ratio while the sixth switch is turned off.
The controller is
11. The driving apparatus according to claim 10, wherein in the fourth and fifth cases, 120 ° energization is performed so that a phase current flows during an energization period corresponding to an electrical angle of 120 °.
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 control unit for controlling the driving of the motor by controlling the first to sixth switches,
The control unit performs drive control of the motor with a trapezoidal energization waveform,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. An electric vehicle characterized by being performed at a set cycle set longer than the pulse cycle.
A rotation speed detector for detecting the rotation speed of the rotor of the motor;
The electric vehicle according to claim 12, wherein the set duty ratio is set based on a detection speed detected by the rotation speed detection unit and an accelerator operation amount by a user.
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.
The duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio based on a duty map indicating a correspondence relationship between the rotational speed of the rotor, the torque, and the duty ratio. The electric vehicle according to claim 13.
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 control method for a drive device comprising a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal,
By controlling the first to sixth switches, drive control of the motor by a trapezoidal energization waveform is performed,
The drive control is
The adjustment duty ratio is adjusted to increase stepwise to a preset setting duty ratio, maintain the setting duty ratio after the increase, and decrease stepwise from the setting duty ratio after the maintenance. Control for switching on / off of the first switch by a one-phase high-side PWM signal, control for switching on / off of the third switch by a second-phase high-side PWM signal of the adjustment duty ratio, and the adjustment duty ratio Control to switch on / off the fifth switch by the third phase high-side PWM signal of
The stepwise increase to the set duty ratio and the stepwise decrease from the set duty ratio are caused by the first phase high-side PWM signal, the second phase high-side PWM signal, and the third phase high-side PWM signal. A control method for a driving device, wherein the control method is performed at a set cycle set longer than a pulse cycle.