WO2020121368A1 - Dispositif de pilotage de moteur et procédé de pilotage de moteur - Google Patents

Dispositif de pilotage de moteur et procédé de pilotage de moteur Download PDF

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Publication number
WO2020121368A1
WO2020121368A1 PCT/JP2018/045253 JP2018045253W WO2020121368A1 WO 2020121368 A1 WO2020121368 A1 WO 2020121368A1 JP 2018045253 W JP2018045253 W JP 2018045253W WO 2020121368 A1 WO2020121368 A1 WO 2020121368A1
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WO
WIPO (PCT)
Prior art keywords
phase
period
dead time
switching element
side switching
Prior art date
Application number
PCT/JP2018/045253
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English (en)
Japanese (ja)
Inventor
哲也 西嶋
Original Assignee
サンケン電気株式会社
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Publication date
Application filed by サンケン電気株式会社 filed Critical サンケン電気株式会社
Priority to PCT/JP2018/045253 priority Critical patent/WO2020121368A1/fr
Publication of WO2020121368A1 publication Critical patent/WO2020121368A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

Definitions

  • the present invention relates to a motor drive device and a motor drive method for driving a brushless motor without a sensor.
  • the drive control of a brushless motor that combines a permanent magnet rotor and a stator winding must be performed by relating the position of the permanent magnet rotor and the position of the stator winding to be energized.
  • a sensorless method that uses a back electromotive force (BEMF) induced in the stator winding by interaction with the permanent magnet rotor is used (for example, Patent Document 1 and 2).
  • the rotor position is detected by detecting the zero-cross of the phase voltage in the non-energized period, but when the brushless motor is driven by the PWM method, the counter electromotive force is generated due to the switching of other phases.
  • the power zero crossing is not correctly detected. For example, in the case of the 120-degree conduction method, even if the U phase is in the non-conduction state, switching is performed in the V phase or the W phase, and the zero cross may be erroneously detected due to the influence of noise caused by this switching.
  • An object of the present invention is to solve the above problems of the prior art, and to provide a motor drive device and a motor drive method capable of correctly detecting the zero-cross of the back electromotive force without being affected by switching of other phases. It is in.
  • a motor drive device of the present invention is a motor drive device that detects a rotational position of a rotor at a timing when a back electromotive force is zero-crossed to drive a multi-phase motor, and includes a high-side switching element and a low-side switching element.
  • Inverter circuits that respectively include arms configured to have the plurality of phases, and that apply AC power converted from DC power to the plurality of phases, respectively, the high-side switching element and the low-side switching element.
  • a PWM generation unit that generates a PWM control signal that is driven by upper and lower complementary switching across a dead time
  • a back electromotive force detection unit that detects the phase voltages of the plurality of phases, and a mask period that includes the dead time.
  • the motor driving method of the present invention is a motor driving method for driving a multi-phase motor by detecting the rotational position of the rotor at the timing when the back electromotive force is zero-crossed, and includes a high-side switching element and a low-side switching element.
  • an inverter circuit respectively provided with the arm configured with and corresponding to each of the plurality of phases, AC power converted from DC power is supplied to each of the plurality of phases, the control unit for controlling the inverter circuit, A PWM control signal for driving the high-side switching element and the low-side switching element by upper and lower complementary switching with a dead time interposed is generated, a mask period including the dead time is generated, and a phase voltage of a non-conduction period is generated. Based on the above, the zero cross of the back electromotive force is detected during a period other than the mask period.
  • the present invention at the time of zero-cross detection of the back electromotive force in the detection phase, by masking the noise caused by the switching of the phase other than the detection phase, it is possible to minimize the external filter circuit, switching to other phases. Since the zero cross of the back electromotive force can be detected accurately and at high speed without being affected, the position and speed of the rotor can be accurately estimated.
  • FIG. 3 is an enlarged view of a period Ta shown in FIG. 2.
  • FIG. 5 is an enlarged view of a period Tb shown in FIG. 4.
  • the motor drive device 1 of the present embodiment is a device for driving a motor 2 having a plurality of phases, and referring to FIG. 1, an inverter circuit 3, a back electromotive force detection circuit 4, a control unit 5, and a drive circuit 6 are provided. With.
  • the motor 2 is a U-phase, V-phase, and W-phase three-phase motor that does not have a sensor for detecting the rotational position, and the switching of the current by the rotor equipped with a magnet and the stator winding is replaced by switching by an electronic circuit. It is a 3-phase sensorless brushless motor.
  • the motor 2 has three-phase stator coils 21 U , 21 V , and 21 W including U-phase, V-phase, and W-phase that generate a magnetic field for applying a rotational force to the permanent magnet type rotor.
  • One end of each of the stator coils 21 U , 21 V , and 21 W is Y-connected to the neutral point, and the other end is connected to the inverter circuit 3.
  • the inverter circuit 3 converts the power supply power supplied from the DC power supply 7 into AC power based on the PWM control signal from the control unit 5, and supplies the AC power to the stator coils 21 U , 21 V , and 21 W of the motor 2.
  • the inverter circuit 3 is provided between the positive side and the negative side of the DC power source 7, the high-side switching element Q UH, Q VH, Q WH and low-side switching element Q UL, Q VL, and Q WL, respectively It constitutes a half-bridge circuit having arms connected in series.
  • Each switching element of the inverter circuit 3 is composed of a power MOSFET, an IGBT and the like.
  • Counter electromotive force detecting circuit 4 includes a U-phase, V-phase, comparator CP U provided for each W-phase, CP V, CP W.
  • the inverting input terminal of the comparator CP U, the other end of the stator coil 21 V, 21 W are connected via a detection resistor, V-phase, the phase voltage of the W-phase are inputted to synthesize.
  • the inverting input terminal of the comparator CP U, the other end of the stator coil 21 V, 21 W are connected via a detection resistor, V-phase, the phase voltage of the W-phase are inputted to synthesize.
  • the inverting input terminal of the comparator CP V, the other end of the stator coil 21 U, 21 W are connected via a detection resistor, U-phase, the phase voltage of the W-phase are inputted to synthesize.
  • the other ends of the stator coils 21 U and 21 V are connected via a detection resistor to the inverting input terminal of the comparator CP W , and the phase voltages of the U phase and V phase are combined and input.
  • An output terminal of the comparator CP U, CP V, CP W is connected to the control unit 5, the comparator CP U, CP V, the output of the CP W is input to the controller 5 as a phase voltage comparison signal.
  • the control unit 5 is an information processing device that operates by program control or a hardware logic circuit, and is configured by, for example, a microcomputer or HDL (Hardware Description Language).
  • the control unit 5 performs control calculation based on the phase and cycle of the rotor obtained from the speed command input from an external unit (not shown) and the phase voltage comparison signal input from the back electromotive force detection circuit 4, and the inverter A PWM control signal that controls switching of each switching element of the circuit 3 is generated and output.
  • the drive circuit 6 generates a drive signal for each switching element of the inverter circuit 3 based on the PWM control signal output from the control unit 5, and supplies the drive signal to the control terminal (gate) of each switching element.
  • the control unit 5 functions as a zero cross detection unit 51, a speed calculation unit 52, an adder 53, a PWM generation unit 54, a dead time detection unit 55, and a mask generation unit 56.
  • the zero-cross detector 51 detects the timing of zero-crossing of the back electromotive force (back electromotive force thickness phase) based on the phase voltage comparison signal in the non-energized period, and detects the rotational position of the rotor.
  • the zero-cross detector 51 outputs the timing at which the zero-cross is detected to the speed calculator 52 and the PWM generator 54 as a zero-cross detection signal.
  • the counter electromotive force is used to detect the rotor position during rotation of the motor, the switching of all the switching elements of the inverter circuit 3 or the switching elements of the phase to be detected is turned off for the rotating motor 2.
  • the counter electromotive force can be detected by setting the stator coils 21 U , 21 V , and 21 W to Hi-Z (high impedance).
  • zero-cross detecting unit 51 detects the timing at which the output of the comparator CP U is inverted as the zero crossing of the counter electromotive force.
  • the zero-cross detection unit 51 sets the mask period generated by the mask generation unit 56 to the dead zone (ignored) in the zero-cross detection of the back electromotive force. That is, the zero-cross detector 51 detects the zero-cross of the back electromotive force during the period other than the mask period generated by the mask generator 56.
  • the speed calculator 52 calculates the rotation speed of the motor 2 based on the zero-cross detection signal output from the zero-cross detector 51.
  • the adder 53 generates a speed control signal based on the speed command input from an external unit (not shown) and the rotation speed calculated by the speed calculator 52, and outputs the generated speed control signal to the PWM generator 54. To do.
  • the PWM generation unit 54 determines the drive timing (commutation timing) for switching the switching element of each phase based on the zero-cross detection signal input from the zero-cross detection unit 51, and the speed control signal input from the adder 53. Based on the above, a PWM control signal for switching the phase switching element, which is the drive timing, is generated and output.
  • the PWM generation unit 54 vertically complements the high-side switching element and the low-side switching element with a dead time (a period in which both the high-side switching element and the low-side switching element are off). A PWM control signal driven by switching is generated. Note that, in the present embodiment, an example in which the dead time is generated by software has been shown, but it may be generated by hardware by HDL.
  • the dead time detector 55 detects the dead time in the PWM control signal generated by the PWM generator 54, and outputs the detected dead time to the mask generator 56 as a dead time signal.
  • the mask generation unit 56 generates and generates a mask signal in which the dead time detected by the dead time detection unit 55 and a preset extension period subsequent to the dead time are set as a mask period (dead time+extension period).
  • the mask signal is output to the zero-cross detector 51.
  • the detection phase in which the zero-cross detector 51 detects the zero-cross of the back electromotive force is the non-energization period. Therefore, the mask period is generated based on the dead time in the PWM control signal of a phase other than the detection phase (for example, V and W phases when the zero-cross of the back electromotive force is detected in the U phase).
  • FIG. 2 shows the U-phase phase voltage waveform and the V-phase and W-phase PWM control signal waveforms during the non-energization period.
  • FIG. 3A shows a result of NOR (negative OR) the PWM control signal waveforms (Q VH , Q VL ) of the V phase in the enlarged view of the phase voltage waveform of the U phase in the period Ta shown in FIG. 2. Shows the results of NOR (negative OR) the W-phase PWM control signal waveforms (Q WH , Q WL ). Referring to FIGS. 2 and 3, it can be seen that even in the vicinity of the zero-cross of the U-phase voltage, the V-phase and the W-phase are switching with the dead time Td in between.
  • FIG. 4 is a phase voltage waveform of the U phase when the motor 2 is driven by the 120-degree conduction method.
  • the phase voltage waveform of the detection phase (U phase) includes the back electromotive force and noise caused by switching of phases other than the detection phase (V phase, W phase). You can see that they are superimposed.
  • the dead time detecting unit 55 detects the dead time Td of the PWM control signal in the phases other than the detection phase (V phase, W phase), and the mask generating unit 56 , A dead time Td and a preset extension period ⁇ subsequent to the dead time Td as a mask period (Td+ ⁇ ). Then, the zero-cross detection unit 51 sets the mask period (Td+ ⁇ ) generated by the mask generation unit 56 to the dead zone (ignored) in the zero-cross detection of the back electromotive force. As a result, it is possible to prevent erroneous detection due to noise caused by switching of phases (V phase, W phase) other than the detection phase, and it is possible to correctly detect the zero cross of the back electromotive force at high speed.
  • the dead time Td is set by hardware or software. Therefore, even if the switching frequency of PWM changes, the information of the dead time Td can be easily used.
  • the mask generation unit 56 may control the length of the extension period ⁇ according to the output current of the inverter circuit 3, or the rotation speed of the motor 2 and the duty ratio of the PWM control signal that are correlated with the output current. .. In this case, the mask generation unit 56 controls so that the extension period ⁇ becomes longer as the output current increases.
  • the 120-degree energization method has been described, but it is also effective in other modulation modes and the non-energization period can be shortened.
  • the dead time detection unit 55 may detect the rise of the dead time, and the mask generation unit 56 may set a preset mask period from the rise of the dead time.
  • the motor drive device 1 that detects the rotational position of the rotor at the timing when the back electromotive force crosses zero and drives the motor 2 of a plurality of phases (U phase, V phase, W phase).
  • an arm configured to include the high-side switching elements Q UH , Q VH , and Q WH and the low-side switching elements Q UL , Q VL , and Q WL corresponds to a plurality of phases of the motor 2.
  • An inverter circuit 3 for respectively supplying AC power converted from DC power to the plurality of phases, a high-side switching element Q UL , Q VL , Q WL and a low-side switching element Q UH , Q VH , Includes a PWM generation unit 54 that generates a PWM control signal that drives Q WH by vertical complementary switching across the dead time Td, a counter electromotive force detection circuit 4 that detects phase voltages of a plurality of phases, and a dead time Td.
  • a mask generation unit 56 that generates a mask period and a zero-cross detection unit 51 that detects a zero-cross of the back electromotive force in a period other than the mask period based on the phase voltage of the non-energized period are provided.
  • the dead time Td is set by hardware or software. Therefore, even if the PWM switching frequency changes, the information on the dead time Td can be easily used.
  • the mask generation unit 56 generates the dead time Td and the extension period ⁇ subsequent to the dead time Td as the mask period.
  • the extension period ⁇ subsequent to the dead time Td serves as the mask period, so that erroneous detection can be further reduced.
  • the mask generation unit 56 generates a longer mask period according to the output current of the inverter circuit 3 as the output current increases.
  • a current detection circuit (not shown) may be provided in the inverter circuit 3 and the current signal detected by the current detection circuit may be output to the mask generation unit 56.
  • the rotation speed of the motor 2 and the duty ratio of the PWM control signal which are correlated with the output current of the inverter circuit 3, may be output to the mask generation unit 56.
  • the present embodiment is a motor driving method in which the rotational position of the rotor is detected at the timing when the counter electromotive force is zero-crossed to drive the motor 2 of a plurality of phases (U phase, V phase, W phase).
  • the arm is configured to have a Q WL corresponding to the plurality of phases of the motor 2
  • the control unit 5 that controls the inverter circuit 3 by energizing the plurality of phases of the motor 2 with the AC power converted from the DC power by the inverter circuits 3 provided respectively, controls the high-side switching elements QUH , QVH , Q.
  • a PWM control signal for driving the switching elements Q UL , Q VL , and Q WL on the WH side and the low side by vertical complementary switching across the dead time Td is generated, and a mask period including the dead time Td is generated to turn off the current. Based on the phase voltage of the period, the zero-cross of the back electromotive force is detected during the period other than the mask period.
  • controller 6 drive circuit 7 the DC power source 21 U, 21 V, 21 W stator coil 51 zero-cross detector 52 speed calculator 53 an adder 54 PWM generator 55 dead time detecting unit 56 mask generator CP U, CP V, CP W comparator Q UH, Q VH, Q WH , Q UL, Q VL, Q WL switching element Td dead time ⁇ extended period

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un dispositif de pilotage de moteur et un procédé de pilotage de moteur capables de détecter correctement un passage par zéro d'une force contre-électromotrice sans être affecté par la commutation d'une autre phase.　Le dispositif de pilotage de moteur comprend : un circuit inverseur (3) équipé de bras correspondant à une pluralité de phases respectives d'un moteur (2), lesdits bras étant configurés en ayant des éléments de commutation côté haut QUH, QVH, QWH et des éléments de commutation côté bas QUL, QVL, QWL ; une unité de génération de PWM (54) destinée à générer des signaux de commande PWM pour l'attaque des éléments de commutation côté haut QUL, QVL, QWL et des éléments de commutation côté bas QUH, QVH, QWH par commutation complémentaire haut/bas avec un temps mort Td entre les deux ; une unité de génération de masque (56) destinée à générer une période de masque incluant le temps mort Td ; et une unité de détection de passage par zéro (51) destinée à détecter un passage par zéro de la force contre-électromotrice dans une période autre que la période de masque en se basant de la tension de phase dans une période de non-conduction.
PCT/JP2018/045253 2018-12-10 2018-12-10 Dispositif de pilotage de moteur et procédé de pilotage de moteur WO2020121368A1 (fr)

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PCT/JP2018/045253 WO2020121368A1 (fr) 2018-12-10 2018-12-10 Dispositif de pilotage de moteur et procédé de pilotage de moteur

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024025982A1 (fr) * 2022-07-28 2024-02-01 Microchip Technology Incorporated Utilisation d'un intervalle de temps mort pour l'acquisition et la mesure de la force contre-électromotrice

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11299283A (ja) * 1998-02-16 1999-10-29 Rohm Co Ltd センサレスモ―タドライバ
JP2007195313A (ja) * 2006-01-18 2007-08-02 Aisin Seiki Co Ltd ブラシレスモータの駆動装置
JP2008236842A (ja) * 2007-03-16 2008-10-02 Rohm Co Ltd モータ駆動回路、駆動方法ならびにそれらを用いたディスク装置
JP2014023257A (ja) * 2012-07-17 2014-02-03 Aisin Seiki Co Ltd センサレスブラシレスモータの駆動装置
JP2016032372A (ja) * 2014-07-29 2016-03-07 株式会社富士通ゼネラル モータ制御装置およびそれを用いた空気調和機
JP2017163637A (ja) * 2016-03-07 2017-09-14 アスモ株式会社 モータ制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11299283A (ja) * 1998-02-16 1999-10-29 Rohm Co Ltd センサレスモ―タドライバ
JP2007195313A (ja) * 2006-01-18 2007-08-02 Aisin Seiki Co Ltd ブラシレスモータの駆動装置
JP2008236842A (ja) * 2007-03-16 2008-10-02 Rohm Co Ltd モータ駆動回路、駆動方法ならびにそれらを用いたディスク装置
JP2014023257A (ja) * 2012-07-17 2014-02-03 Aisin Seiki Co Ltd センサレスブラシレスモータの駆動装置
JP2016032372A (ja) * 2014-07-29 2016-03-07 株式会社富士通ゼネラル モータ制御装置およびそれを用いた空気調和機
JP2017163637A (ja) * 2016-03-07 2017-09-14 アスモ株式会社 モータ制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024025982A1 (fr) * 2022-07-28 2024-02-01 Microchip Technology Incorporated Utilisation d'un intervalle de temps mort pour l'acquisition et la mesure de la force contre-électromotrice

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