WO2019186760A1 - 駆動装置、電動車両および駆動装置の制御方法 - Google Patents

駆動装置、電動車両および駆動装置の制御方法 Download PDF

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Publication number
WO2019186760A1
WO2019186760A1 PCT/JP2018/012748 JP2018012748W WO2019186760A1 WO 2019186760 A1 WO2019186760 A1 WO 2019186760A1 JP 2018012748 W JP2018012748 W JP 2018012748W WO 2019186760 A1 WO2019186760 A1 WO 2019186760A1
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Prior art keywords
switch
duty ratio
pwm signal
side pwm
control
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PCT/JP2018/012748
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English (en)
French (fr)
Japanese (ja)
Inventor
一由希 目黒
雄大 井ノ口
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新電元工業株式会社
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Application filed by 新電元工業株式会社 filed Critical 新電元工業株式会社
Priority to CN201880091322.8A priority Critical patent/CN111869097B/zh
Priority to JP2020510293A priority patent/JP7135069B2/ja
Priority to PCT/JP2018/012748 priority patent/WO2019186760A1/ja
Priority to TW108110736A priority patent/TWI743462B/zh
Publication of WO2019186760A1 publication Critical patent/WO2019186760A1/ja

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present invention relates to a drive device, an electric vehicle, and a drive device control method.
  • An electric motorcycle using a battery as a power source and a three-phase motor (hereinafter referred to as a motor) as a power source is known.
  • a three-phase full bridge circuit (that is, an inverter circuit) having a high-side switch and a low-side switch for each phase is used to drive the motor to each phase coil of the motor.
  • the energization was controlled.
  • 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.
  • 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.
  • 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.
  • JP-A-8-331885 discloses a technology for making a three-phase alternating current substantially trapezoidal.
  • 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.
  • 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 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
  • 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 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.
  • 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 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.
  • a rotation speed detector for detecting the rotation speed of the rotor of the motor 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.
  • 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.
  • 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.
  • 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.
  • the first phase high side PWM signal having the set duty ratio is switched on / off of the first switch, and at the same time as the first switch, the first phase high side is set so as to form a dead time that does not turn on the second switch.
  • the third phase switch is turned on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high level is set so as to form a dead time that does not turn on the fourth switch simultaneously with the third switch.
  • Control for switching on / off of the fourth switch complementarily to the third switch by a second phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal;
  • the fifth switch is turned on / off by a third phase high-side PWM signal of the set duty ratio, and the third phase high so as to form a dead time that does not turn on the sixth switch simultaneously with the fifth switch.
  • Control may be performed to turn on / off the sixth switch complementarily to the fifth switch by a third-phase low-side PWM signal whose duty ratio has been adjusted with respect to the side PWM signal.
  • the 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.
  • 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.
  • 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 °.
  • 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.
  • the third phase switch is turned on / off by the second phase high side PWM signal of the set duty ratio, and the second phase high level is set so as to form a dead time that does not turn on the fourth switch simultaneously with the third switch.
  • Control for switching on / off of the fourth switch complementarily to the third switch by a second phase low-side PWM signal whose duty ratio is adjusted with respect to the side PWM signal;
  • the fifth switch is turned on / off by a third phase high-side PWM signal of the set duty ratio, and the third phase high so as to form a dead time that does not turn on the sixth switch simultaneously with the fifth switch.
  • Control may be performed to turn on / off the sixth switch complementarily to the fifth switch by a third-phase low-side PWM signal whose duty ratio has been adjusted with respect to the side PWM signal.
  • the 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.
  • 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 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
  • 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.
  • a rotation speed detector for detecting the rotation speed of the rotor of the motor 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.
  • 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 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
  • 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 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.
  • 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.
  • the duty ratio is increased for each pulse period. No need to decrease.
  • the processing load of PWM control for generating a trapezoidal energization waveform can be reduced.
  • FIG. 1 is a diagram showing a power conversion unit 30 and a motor 3 in an electric motorcycle 100 according to a first embodiment.
  • a magnet provided on a rotor of a motor 3 and an angle sensor 4 are shown.
  • FIG. 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.
  • FIG. 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.
  • the electric motorcycle 100 is an electric motorcycle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. More specifically, the electric motorcycle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch.
  • the electric motorcycle 100 includes an electric vehicle control device 1 that is an example of a drive device, a battery 2, a motor 3, an angle sensor 4 that is an example of a rotation speed detection unit, and an accelerator position sensor 5. And a meter 7 and wheels 8.
  • the electric vehicle control device 1 is a device that controls the electric motorcycle 100 and includes a control unit 10, a storage unit 20, and a power conversion unit 30.
  • the electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric motorcycle 100. Next, each component of the electric vehicle control apparatus 1 will be described in detail.
  • the control unit 10 inputs information from various devices connected to the electric vehicle control device 1 and drives and controls the motor 3 via the power conversion unit 30. Details of the control unit 10 will be described later.
  • the storage unit 20 stores information used by the control unit 10 and a program for operating the control unit 10.
  • the storage unit 20 is, for example, a nonvolatile semiconductor memory, but is not limited to this.
  • the power converter 30 converts the DC power of the battery 2 into AC power and supplies the AC power to the motor 3.
  • the power conversion unit 30 includes an inverter circuit, more specifically, a three-phase full bridge circuit.
  • the full bridge circuit includes a first semiconductor switch Q1 as an example of a first switch, a second semiconductor switch Q2 as an example of a second switch, a third semiconductor switch Q3 as an example of a third switch, and a fourth switch.
  • a fourth semiconductor switch Q4 as an example, a fifth semiconductor switch Q5 as an example of a fifth switch, and a sixth semiconductor switch Q6 as an example of a sixth switch.
  • the first semiconductor switch Q1 has one end connected to the power supply terminal 30a connected to the positive electrode of the battery 2, and the other end connected to the first output terminal 3a to the U-phase coil 31u of the motor 3, which is an example of the first-phase coil. It is connected.
  • the second semiconductor switch Q2 has one end connected to the first output terminal 3a and the other end connected to the ground terminal 30b connected to the negative electrode of the battery 2 grounded.
  • the third semiconductor switch Q3 has one end connected to the power supply terminal 30a and the other end connected to the second output terminal 3b to the V-phase coil 31v of the motor 3, which is an example of the second-phase coil.
  • the fourth semiconductor switch Q4 has one end connected to the second output terminal 3b and the other end connected to the ground terminal 30b.
  • the fifth semiconductor switch Q5 has one end connected to the power supply terminal 30a and the other end connected to the third output terminal 3c to the W-phase coil 31w of the motor 3 which is an example of the third-phase coil.
  • the sixth semiconductor switch Q6 has one end connected to the third output terminal 3c and the other end connected to the ground terminal 30b.
  • the control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control unit 10.
  • a smoothing capacitor C is provided between the power supply terminal 30a and the ground terminal 30b.
  • the semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.
  • Battery 2 can be charged / discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 during discharging.
  • the battery 2 is charged with DC power obtained by converting AC power supplied from a power source with a charger (not shown) during charging with AC power supplied from an external power source such as a commercial power source. Further, the battery 2 is charged with a DC voltage obtained by converting the AC power output from the motor 3 by the power converter 100 when charging with AC power output from the motor 3 as the wheel 8 rotates.
  • This battery 2 includes a battery management unit (BMU).
  • the battery management unit transmits information regarding the voltage of the battery 2 and the state of the battery 2 (charge rate, etc.) to the control unit 10.
  • the number of the batteries 2 is not limited to one and may be plural.
  • the battery 2 is, for example, a lithium ion battery, but may be another type of battery.
  • the battery 2 may be composed of batteries of different types (for example, a lithium ion battery and a lead battery).
  • the motor 3 outputs torque for driving the wheels 8 by the electric power supplied from the battery 2. Alternatively, the motor 3 outputs electric power as the wheel 8 rotates.
  • the motor 3 is a three-phase motor having three-phase coils 31u, 31v, and 31w of U, V, and W.
  • the motor 3 outputs torque for driving the wheels 8 by being driven by AC power supplied from the power conversion unit 30.
  • the torque is controlled by the control unit 10 outputting to the semiconductor switches Q1 to Q6 of the power conversion unit 30 a PWM signal having an energization timing and a duty ratio calculated based on the target torque. That is, the torque is controlled by the control unit 10 controlling the power supplied from the battery 2 to the motor 3.
  • the motor 3 is mechanically connected to the wheel 8 and rotates the wheel 8 in a desired direction by torque.
  • the motor 3 is mechanically connected to the wheel 8 without using a clutch. 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).
  • the angle sensor 4 includes a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w.
  • the U-phase angle sensor 4 u and the V-phase angle sensor 4 v are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3.
  • the V-phase angle sensor 4v and the W-phase angle sensor 4w are arranged so as to form an angle of 30 ° with respect to the rotor of the motor 3.
  • the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w output a pulse signal having a phase corresponding to the rotor angle (angular position) (that is, a rotation angle detection signal). To do.
  • a number indicating a motor stage (motor stage number) is assigned for each predetermined rotor angle.
  • the motor stage indicates the angular position of the rotor 3r of the motor 3.
  • motor stage numbers 1, 2, 3, 4, 5, and 6 are assigned every 60 ° in electrical angle.
  • the motor stage is defined by a combination of output signal levels (H level or L level) of the U phase angle sensor 4u, the V phase angle sensor 4v, and the W phase angle sensor 4w.
  • the accelerator position sensor 5 detects the accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount to the control unit 10 as an electric signal.
  • the accelerator operation amount may be, for example, a throttle opening. When the user wants to accelerate, the accelerator operation amount increases.
  • the meter 7 is a display (for example, a liquid crystal panel) provided in the electric motorcycle 100 and displays various information. Specifically, information such as the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In the present embodiment, the meter 7 is provided on a handle (not shown) of the electric motorcycle 100.
  • control unit 10 of the electric vehicle control device 1 will be described in detail.
  • the control unit 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6.
  • the control unit 10 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 (Control method of electric motorcycle 100)
  • 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.
  • 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.
  • the U-phase high-side PWM of the adjustment duty ratio in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • Control is performed to turn on / off the first semiconductor switch Q1 according to the signal. More specifically, in the No. 6 energization stage, it gradually increases to the set duty ratio, maintained at the set duty ratio in the No. 1 and No. 2 energization stages, and gradually from the set duty ratio in the No. 3 energization stage. Control is performed to turn on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal having a decreasing duty ratio.
  • the 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 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.
  • the third semiconductor is controlled by the V-phase high-side PWM signal of the adjusted duty ratio in the continuous second to fifth energization stages (that is, the third to sixth energization periods).
  • Control to switch on / off the switch Q3 is performed. More specifically, in the second energization stage, it gradually increases to the set duty ratio, maintained at the set duty ratio in the third and fourth energization stages, and gradually from the set duty ratio in the fifth energization stage. Control is performed to turn on / off the third semiconductor switch Q3 by the V-phase high-side PWM signal having a decreasing duty ratio.
  • the 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.
  • the adjustment duty ratio in the continuous fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle).
  • the fifth semiconductor switch Q5 is controlled to be turned on / off by the W-phase high-side PWM signal. More specifically, in the No. 4 energization stage, it gradually increases to the set duty ratio, and is maintained at the set duty ratio in the No. 5 and No. 6 energization stages, and gradually from the set duty ratio in the No. 1 energization stage. Control is performed to turn on / off the fifth semiconductor switch Q5 by the W-phase high-side PWM signal having a decreasing duty ratio.
  • the 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.
  • 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.
  • the PWM signal is generated for each carrier cycle of the triangular wave based on the triangular wave generated by the control unit 10.
  • the duty ratio of the U-phase PWM signal increases stepwise as time elapses.
  • the duty ratio of the U-phase PWM signal gradually decreases with time.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • control unit 10 turns on / off the first semiconductor switch Q1 by the U-phase high-side PWM signal while turning off the second semiconductor switch Q2 during the first to third energization periods. You may perform control which switches.
  • control unit 10 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • control unit 10 switches the ON / OFF state of the fourth semiconductor switch Q4 by the V-phase low-side PWM signal during the third to sixth energization periods, while the V and the fifth energization periods Control for switching on / off of the third semiconductor switch Q3 may be performed by the phase high-side PWM signal.
  • control unit 10 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.
  • 120 ° energization is performed in which a phase current is passed during an energization period corresponding to an electrical angle of 120 °.
  • the control unit 10 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.
  • 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.
  • 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.
  • 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.
  • control unit 10 turns off the fourth semiconductor switch Q4 during the third to sixth energization periods, and uses the V-phase high-side PWM signal during the fourth and fifth energization periods. You may perform control which switches on / off of Q3.
  • control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energization periods and the first and second energization periods of the next 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.
  • control unit 10 detects the accelerator operation amount based on the detection signal of the accelerator position sensor 5 (step S1).
  • control unit 10 detects the rotor rotation speed based on the detection signal of the angle sensor 4 (step S2).
  • control unit 10 After detecting the accelerator operation amount and the rotor rotation speed, the control unit 10 sets a target torque based on the detected accelerator operation amount and the detected rotor rotation speed (that is, also called the detection speed) (step S3). ).
  • control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotor rotational speed with reference to the torque map.
  • the torque map is a map showing a correspondence relationship between the rotor rotational speed, the accelerator operation amount, and the target torque.
  • the torque map may be stored in the storage unit 20 so that the control unit 10 can read the torque map.
  • control unit 10 After setting the target torque, as shown in FIG. 8, the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4).
  • the control unit 10 sets the duty ratio by obtaining a duty ratio corresponding to the detected speed and the target torque with reference to the duty ratio map.
  • the duty ratio map is a map showing a correspondence relationship between the rotor rotational speed, the target torque, and the duty ratio.
  • the duty ratio map may be stored in the storage unit 20 in a state where the control unit 10 can read the duty ratio map.
  • control unit 10 determines whether or not the detected speed is equal to or higher than a first reference speed set in advance (step S5).
  • step S6 the control unit 10 determines whether or not the set duty ratio is equal to or higher than a preset third reference duty ratio (step S6).
  • step S6 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 is a substantially rectangular energization waveform with PWM control to both the upper or high-side semiconductor switches Q1, Q3, and Q5 and the lower or low-side semiconductor switches Q2, Q4, and Q6.
  • the first to sixth energization stages each having an electrical angle of 60 ° 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.
  • the U-phase high-side PWM signal and the U-phase high-side PWM signal are formed so as to form a dead time in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • the second semiconductor switch Q2 is controlled to be turned on / off complementarily to the first semiconductor switch Q1 by the U-phase low-side PWM signal whose duty ratio is adjusted between the first semiconductor switch Q1 and the second semiconductor switch Q2.
  • the ON / OFF of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1.
  • the high-side semiconductor switch Q1 corresponds to the on state of the high signal level
  • the low-side semiconductor switch Q2 corresponds to the on state of the low level signal.
  • the signal is shown as “Hi Active”
  • the low-side PWM signal is shown as “Lo Active”.
  • the U-phase low-side PWM signal forms a dead time Dt that does not turn on the second semiconductor switch Q2 simultaneously with the first semiconductor switch Q1.
  • the duty ratio is adjusted with the U-phase high-side PWM signal.
  • the V-phase high of the set duty ratio is applied in the third and fourth energization stages (that is, the fourth and fifth energization periods).
  • the third semiconductor switch Q3 is controlled to be turned on / off by the side PWM signal.
  • the V-phase high-side PWM signal and the V-phase high-side PWM signal are formed so as to form a dead time in the second to fifth energization stages (that is, the third to sixth energization periods).
  • the fourth semiconductor switch Q4 is controlled to be turned on / off in a complementary manner with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal whose duty ratio is adjusted between.
  • the W-phase high-side PWM of the set duty ratio in the continuous fifth and sixth energization stages that is, the sixth energization period and the first energization period of the next cycle. Control to turn on / off the fifth semiconductor switch Q5 by a signal is performed.
  • the 120 ° upper and lower rectangular wave PWM control dead time is reduced in the fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle).
  • the sixth semiconductor switch Q6 is switched on / off complementarily to the fifth semiconductor switch Q5 by the W-phase low-side PWM signal whose duty ratio is adjusted with the W-phase high-side PWM signal so as to be formed. Take control.
  • the first semiconductor switch Q1 is turned off in energization stages other than No. 1 and No. 2.
  • the second semiconductor switch Q2 is turned off.
  • the third semiconductor switch Q3 is turned off.
  • the fourth semiconductor switch Q4 is turned off.
  • the fifth semiconductor switch Q5 is turned off.
  • the sixth semiconductor switch Q6 is turned off.
  • the energization stage may have a deviation of an angle set according to the target torque and the motor rotation speed with respect to the motor stage.
  • the starting characteristics can be improved by conducting 120 ° energization during the low rotation of the rotor 3r. Further, through current can be prevented by PWM controlling the low-side switches Q2, Q4, and Q6 such that a dead time is formed between the high-side switches Q1, Q3, and Q5.
  • step S6 when the set duty ratio is 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).
  • 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.
  • 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.
  • the second semiconductor switch Q2 is continuously turned off in the continuous sixth to third energization stages (that is, the first to fourth energization periods).
  • the third semiconductor switch is set by the V-phase high-side PWM signal having the set duty ratio in the third and fourth energization stages (that is, the fourth and fifth energization periods). Control to switch on / off of Q3 is performed.
  • the fourth semiconductor switch Q4 is continuously turned off in the continuous second to fifth energization stages (that is, the third to sixth energization periods).
  • the W-phase high-side PWM signal having the set duty ratio in the continuous fifth and sixth energization stages that is, the sixth energization period and the first energization period of the next cycle.
  • control is performed to switch on / off the fifth semiconductor switch Q5.
  • the sixth semiconductor switch is used in the fourth to first energization stages (that is, the fifth and sixth energization periods and the first and second energization periods of the next cycle). Control is performed to keep Q6 off.
  • the 120 ° upper-stage rectangular wave PWM control as described above, when the set duty ratio is high, the low-side switches Q2, Q4, and Q6 are turned off and only the high-side switches Q1, Q3, and Q5 are subjected to PWM control. By doing so, it is not necessary to adjust the duty ratio of the PWM signals so that a dead time is formed between the high-side switches Q1, Q3, and Q5 and the low-side switches Q2, Q4, and Q6.
  • step S5 when the detected speed is equal to or higher than the first reference speed (step S5: Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the second reference speed (step S7). .
  • step S7 When the detected speed is not equal to or higher than the second reference speed (step S7: No), the control unit 10 determines whether or not the set duty ratio is equal to or higher than the first reference duty ratio (step S8).
  • step S8: No 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.
  • step S7 when the detected speed is equal to or higher than the second reference speed (step S7: Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the third reference speed (step S9). .
  • step S9: No When the detected speed is not equal to or higher than the third reference speed (step S9: No), or when the set duty ratio is equal to or higher than the 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).
  • 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.
  • the U-phase high-side PWM of the set duty ratio in the continuous first to third energization stages that is, the first to third energization periods. Control is performed to turn on / off the first semiconductor switch Q1 according to the signal.
  • the U phase whose duty ratio is adjusted with the U phase high-side PWM signal so as to form a dead time in the continuous first to third energization stages. Control is performed to turn on / off the second semiconductor switch Q2 in a complementary manner to the first semiconductor switch Q1 by the low-side PWM signal.
  • the third semiconductor is controlled by the V-phase high-side PWM signal having the set duty ratio in the continuous third to fifth energization stages (that is, the third to fifth energization periods). Control to switch on / off the switch Q3 is performed.
  • the duty ratio is adjusted with the V-phase high-side PWM signal so as to form a dead time in the continuous third to fifth energization stages. Control is performed to turn on / off the fourth semiconductor switch Q4 in a complementary manner to the third semiconductor switch Q3 by the low-side PWM signal.
  • the W phase of the set duty ratio in the continuous fifth to first energization stages (that is, the fifth and sixth energization periods and the first energization period of the next cycle). Control to turn on / off the fifth semiconductor switch Q5 is performed by the high-side PWM signal.
  • Control is performed to turn on / off the sixth semiconductor switch Q6 complementarily to the fifth semiconductor switch Q5 by the low-side PWM signal.
  • the power supply voltage is used by applying 180 ° power so that torque can be appropriately applied to the rotor 3r rotating at high speed.
  • a sufficiently large torque can be obtained by increasing the ratio.
  • through current can be prevented by PWM controlling the low-side switches Q2, Q4, and Q6 such that a dead time is formed between the high-side switches Q1, Q3, and Q5.
  • step S9 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.
  • the U-phase high-side PWM signal having the set duty ratio in the continuous first to third energization stages (that is, the first to third energization periods). Is used to control the first semiconductor switch Q1 to be turned on / off.
  • the second semiconductor switch Q2 is continuously turned off in the continuous first to third energization stages.
  • the third semiconductor switch is set by the V-phase high-side PWM signal having the set duty ratio in the third through fifth energization stages (that is, the third through fifth energization periods). Control to switch on / off of Q3 is performed.
  • the fourth semiconductor switch Q4 is continuously turned off in the continuous third to fifth energization stages.
  • the W-phase high of the set duty ratio in the continuous fifth to first energization stages (that is, the fifth and sixth energization periods and the first energization period of the next cycle).
  • the fifth semiconductor switch Q5 is controlled to be turned on / off by the side PWM signal.
  • the sixth semiconductor switch Q6 is continuously turned off in the continuous energization stages Nos. 5 to 1.
  • the 180 ° upper-stage rectangular wave PWM control as described above, as in the case of the 120 ° upper-stage rectangular wave PWM control, when the set duty ratio is high, the low-side switches Q2, Q4, Q6 are turned off and the high-side By performing PWM control only on the switches Q1, Q3, and Q5, the PWM signals of each other so that a dead time is formed between the high-side switches Q1, Q3, and Q5 and the low-side switches Q2, Q4, and Q6. It is not necessary to adjust the duty ratio.
  • 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.
  • a program for realizing at least a part of the functions of the electric vehicle control device 1 may be stored in a recording medium such as a flexible disk or a CD-ROM, and read and executed by a computer.
  • the recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory.
  • a program that realizes at least a part of the functions of the electric vehicle control device 1 may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be distributed in a state where the program is encrypted, modulated or compressed, and stored in a recording medium via a wired line such as the Internet or a wireless line.
  • a communication line including wireless communication
  • the program may be distributed in a state where the program is encrypted, modulated or compressed, and stored in a recording medium via a wired line such as the Internet or a wireless line.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2018/012748 2018-03-28 2018-03-28 駆動装置、電動車両および駆動装置の制御方法 WO2019186760A1 (ja)

Priority Applications (4)

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JP2011142721A (ja) * 2010-01-06 2011-07-21 Sunstar Engineering Inc 三相ブラシレスモータの制御装置

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