WO2021059741A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2021059741A1 WO2021059741A1 PCT/JP2020/029353 JP2020029353W WO2021059741A1 WO 2021059741 A1 WO2021059741 A1 WO 2021059741A1 JP 2020029353 W JP2020029353 W JP 2020029353W WO 2021059741 A1 WO2021059741 A1 WO 2021059741A1
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- duty ratio
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- control device
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0048—Circuits or arrangements for reducing losses
- H02M1/0054—Transistor switching losses
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/38—Means for preventing simultaneous conduction of switches
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/38—Means for preventing simultaneous conduction of switches
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
Definitions
- Patent Document 1 discloses a motor driving device for driving a motor including a three-phase inverter.
- the three-phase inverter includes a U-phase transistor pair (transistor UH, UL), a V-phase transistor pair (transistor VH, VL), and a W-phase transistor pair (transistor WH, WL).
- Each transistor pair is connected to a power supply, and the transistor pairs are connected in parallel.
- the transistors UH, VH, and WH are connected to the high voltage side, and the transistors UL, VL, and WL are connected to the low voltage side.
- Patent Document 1 for example, when the transistor UH and the transistor VL are on, one of the transistor UH and the transistor VL (specifically, the transistor UH) is switched based on the duty ratio (hereinafter, referred to as PWM control). .. Further, in Patent Document 1, while the transistor UH is off, the transistor UL connected in series with the transistor UH is turned on (hereinafter, referred to as complementary PWM control). In Patent Document 1, when the duty ratio exceeds the threshold value (that is, when the off time of the transistor UH is short), the transistor UL is not turned on and the transistor UL is kept in the off state. That is, when the duty ratio exceeds the threshold value, the complementary PWM control is not performed and only the PWM control is performed.
- PWM control the threshold value
- Patent Document 1 by stopping the complementary PWM control when the duty ratio exceeds the threshold value, it is prevented that both U-phase transistor pairs (transistors UH, UL) are turned on at the same time.
- the complementary PWM control is stopped, the amount of heat generated by each transistor increases, and it is necessary to provide a structure, a device, or the like for taking measures against heat generation. If the heat generation of each transistor can be suppressed, the structure, device, and the like for taking measures against heat generation can be omitted (or simplified), and a great advantage can be obtained.
- the present specification provides a technique for realizing a motor drive device capable of suppressing heat generation of transistors constituting an inverter.
- the first technology disclosed in this specification is a motor control device that drives a motor connected to an inverter.
- the inverter may have a plurality of switching element pairs in which an upper arm element connected to the high voltage side of the power supply and a lower arm element connected to the low voltage side of the power supply are connected in series.
- PWM control may be performed in which the first element of one of the upper arm element and the lower arm element selected on to energize the motor is switched based on the duty ratio.
- the motor control device sets a duty command value for switching the second element so that the second element connected in series with the first element performs complementary PWM control in which the second element is turned on for a predetermined time during the off period of the first element.
- complementary PWM control may be performed.
- the first element is subjected to a first period in which it is continuously turned on for a plurality of carrier cycles and a modified duty ratio in which the first element is turned off for a longer period of time not turned off in the first period.
- the average duty ratio in the total period of the first period and the second period is the same as the set duty ratio, and the average PWM control is performed, and the first element is turned off in the second period.
- the second element may be turned on while it is on.
- the second technique disclosed in the present specification is the motor control device of the first technique, and when the correction duty ratio is smaller than the threshold value, average PWM control is performed over the entire period in which the motor is driven to correct the motor.
- average PWM control is performed until the third element, which is different from the first element of the on-selected upper arm element and lower arm element, is turned off, and the third element is turned off.
- the duty ratio may be 100% for the period from that time until the first element is turned off.
- the third technique disclosed in the present specification is the motor control device of the first or second technique described above, and when the modified duty ratio is set, the third period is the second period when the first period extends over n carrier cycles.
- the nth modified duty ratio is compared with the threshold value, and when the nth modified duty ratio is larger than the threshold value, the n + 1 modified duty ratio of the second period when the first period extends over the n + 1 carrier cycle is calculated. It may be repeated (n ⁇ 2, n is an integer).
- the complementary PWM control can be performed.
- the first element and the second element for example, transistors UH, UL
- the second element is not turned on immediately before the next turning on. That is, it is necessary to provide a period (dead time) in which both the first element and the second element are turned off.
- the duty ratio of the first element becomes large (exceeds the threshold value)
- the dead time cannot be secured. Therefore, the complementary PWM control is not performed and only the PWM control is performed.
- the ratio (duty ratio) of the on-time and the off-time of the first element is not changed, the time for turning on at one time is lengthened (the original number of carrier cycles are kept on in the first period), and the turning is continued. Increase the off time in the second period. That is, the first element is switched by average PWM control. As a result, even if the duty ratio of the first element is a large value that originally cannot perform complementary PWM control, the off time of the first element can be secured for a long time, and the second element can be switched by complementary PWM control. it can.
- the complementary PWM control can be performed up to a range in which the duty ratio of the first element is larger than in the conventional case. As a result, heat generation of the transistor can be suppressed as compared with the conventional case.
- the duty command value is the time from the timing when the first element is turned on to the timing when the second element is turned on. As the duty ratio of the first element increases, the time from when the first element turns on to when it turns off becomes longer, and the duty command value also increases.
- the control that performs the complementary PWM control in the second period of the average PWM control period is referred to as the complementary average PWM control.
- the frequency of transistor switching can be reduced. It is possible to suppress the switching loss of the transistor and suppress heat generation, and it is also possible to suppress hunting of the current flowing through the motor.
- complementary average PWM control can be performed without making the first period (the period during which the first element continues to be on) excessive.
- the shortest first period during which complementary average PWM control can be performed can be set.
- the circuit diagram of the inverter is shown.
- the timing table of the inverter when driving the motor is shown.
- the figure explaining the complementary PWM control is shown.
- the figure explaining the relationship between the duty ratio and the duty command value is shown.
- the timing table in which the switching timing of the upper arm element is changed is shown.
- the timing table in which the switching timing of the upper arm element is changed is shown.
- the timing at which the complementary average PWM control is performed is shown.
- the timing at which the complementary average PWM control is performed is shown.
- the flowchart of the control executed by the motor control device is shown.
- the flowchart of the control executed by the motor control device is shown.
- the flowchart of the control executed by the motor control device is shown.
- the inverter 100 will be described with reference to FIG.
- the inverter 100 is connected to the motor M and supplies a drive current to the motor M.
- the inverter 100 is a gate control that switches (switches) the power supply 12, the inverter circuit 5 that changes the frequency of the power supply 12, and the transistors (UH, UL, VH, VL, WH, WL) that make up the inverter circuit 5.
- a circuit 8 and a motor control device 10 for controlling the gate control circuit 8 are provided.
- the gate control circuit 8 and the motor control device 10 are connected to the power supply 12.
- the motor control device 10 includes a CPU and a memory. Further, signals from a circuit for detecting the rotor position of the motor M, a circuit for detecting the current flowing through the motor M, and the like are input to the motor control device 10.
- the inverter 100 is a three-phase inverter, and the inverter circuit 5 includes three switching element pairs (U-phase switching element vs. 6, V-phase switching element vs. 4, W-phase switching element pair 2).
- the inverter circuit 5 is sometimes called a bridge circuit.
- Each switching element pair 2, 4, 6 is connected to the power supply 12, and the switching element pairs 2, 4, 6 are connected in parallel.
- Each of the switching element pairs 2, 4 and 6 is connected in series with the upper arm element (transistor UH, VH, WH) connected to the high voltage side of the power supply 12 and the upper arm element, and is connected to the low voltage side of the power supply 12. It is equipped with lower arm elements (transistors UL, VL, WL) connected to.
- Transistor UH and transistor UL are connected in series, transistor VH and transistor VL are connected in series, and transistor WH and transistor WL are connected in series.
- Three wires 14, 16 and 18 are connected between the upper arm element and the lower arm element.
- the wirings 14, 16 and 18 are connected to the terminals of the motor M. Specifically, the wiring 14 is connected to the intermediate portion between the transistor UH and the transistor UL, the wiring 16 is connected to the intermediate portion between the transistor VH and the transistor VL, and the wiring 18 is connected to the intermediate portion between the transistor WH and the transistor WL. It is connected to the.
- the motor control device 10 drives the motor M by switching the transistors UH, VH, WH, UL, VL, and WL and changing the currents flowing through the wirings 14, 16, and 18.
- the gates of the transistors UH, VH, WH, UL, VL, and WL are connected to the gate control circuit 8 via gate wiring (not shown).
- the timing table 20 shows the rotation angle of the motor M (rotor phase) and the switching state (on / off state) of each transistor.
- the motor control device 10 controls the gate control circuit 8, selects one of the upper arm elements (transistors UH, VH, WH) on, and turns on the selected upper arm element.
- One of the lower arm elements (transistors UL, VL, WL) not connected in series is selected on and a current is supplied to the motor M.
- the transistor UH and the transistor VL are selected on when the rotation angle is 0 to 60 degrees
- the transistor UH and the transistor WL are selected on when the rotation angle is 60 to 120 degrees
- the transistor is selected when the rotation angle is 120 to 180 degrees.
- Each transistor keeps on while the motor M (rotor) rotates 120 degrees, and the combination of the upper arm element and the lower arm element changes every time the motor M rotates 60 degrees.
- the motor control device 10 switches the transistor UH based on the duty ratio between, for example, an angle of rotation of 0 to 60 degrees, and adjusts the rotation speed of the motor M.
- the transistor VL is kept on while the rotation angle is 0 to 60 degrees.
- the transistor UH is an example of the first element during the rotation angle of 0 to 60 degrees.
- the motor control device 10 switches one of the two on-selected transistors based on the duty ratio. That is, the motor control device 10 performs PWM control and adjusts the rotation speed of the motor M.
- the period of driving by PWM control is indicated by “D1”.
- Each transistor with "D1" is an example of the first element during the period (rotation angle) with "D1".
- the first element turns off the transistor (transistor UL when the rotation angle is 0 to 60 degrees) connected in series with the transistor (first element) that switches based on the duty ratio. While it is on, turn it on for a specified period of time.
- the transistor UL is an example of the second element.
- the motor control device 10 controls each transistor so as to perform complementary PWM control while the motor M is being driven. In FIG. 2, the period during which the second element and the second element perform complementary PWM control at each rotation angle is indicated by “D2”.
- the motor control device 10 does not always perform complementary PWM control. Depending on the duty ratio of the first element, complementary PWM control and / or PWM control may not be performed. The conditions under which the motor control device 10 performs complementary PWM control and PWM control will be described later.
- FIG. 3 shows a switching state (a part of the timing table) between the transistor UH (first element) and the transistor UL (second element) at a rotation angle of 0 to 60 degrees.
- the duty ratios of the transistors UH are different.
- FIG. 3 shows a part of the switching states of the transistors UH and UL at a rotation angle of 0 to 60 degrees. In reality, a large number of waveforms shown in FIG. 3 repeatedly appear between the rotation angles of 0 to 60 degrees.
- the transistor UH repeats the operation of turning on the time T1 and then turning off the time T2.
- the duty ratio of the transistor UH is "time T1 / (time T1 + time T2) x 100%".
- the transistor UL is turned on after the time b0 after the transistor UH is turned off, and is turned off after the time a0 is turned on (before the time b0 when the transistor UH is turned on). That is, in order to avoid a state in which the transistor UH and the transistor UL are turned on at the same time, a period (time b0) in which both are turned off is provided. Time b0 is called dead time.
- the duty ratio of the transistor UH is increased to "time T11 / (time T11 + time T12) x 100%" as compared with the timing table 30. Even if the duty ratio of the transistor UH is increased, the dead time (time b0) does not change. Therefore, the on-time (time a1) is shorter than the on-time (time a0) of the transistor UL in the timing table 30. As the duty ratio of the transistor UH increases, the time from when the transistor UH is turned on to when the transistor UL is turned on also becomes longer.
- the motor control device 10 determines the timing (duty command value) for turning on the transistor UL based on the duty ratio of the transistor UH and the length of the dead time. As the duty ratio of the transistor UH increases, so does the duty command value for the transistor UL. In the timing tables 30 and 40, the transistor UH is driven by PWM control, and the transistor UL is driven by complementary PWM control.
- the duty ratio of the transistor UH is further increased, and the off time (time T22) of the transistor UH is equal to or less than the dead time (time T22 ⁇ 2 ⁇ b0). Therefore, if the duty ratio of the transistor UH increases to "time T21 / (time T21 + time T22) x 100%", the transistor UL cannot be turned on during the period when the transistor UH is off (time T22). .. That is, in the conventional motor control device, if the duty ratio of the transistor UH becomes too large, complementary PWM control cannot be performed.
- the motor control device 10 changes the timing table 50 and performs complementary PWM control. The control performed by the motor control device 10 when the duty ratio of the transistor UH becomes too large as in the timing table 50 will be described.
- FIG. 4 is a part of the timing table 50 and shows more cycle cycles than FIG. 3 (c).
- the off time (time T22) of the transistor UH is shown wider than it actually is.
- the motor control device 10 determines the duty command value A1 for turning on the transistor UL based on the duty ratio and the dead time of the transistor UH.
- the "threshold value” is set to a value slightly smaller than the duty command value A1 that makes it impossible to turn on the transistor UL.
- the motor control device 10 When the duty command value A1 is larger than the preset threshold value, the motor control device 10 performs a process of changing the switching timing of the transistor UH. 5 and 6 show a timing table 50a and a timing table 50b in which the switching timing of the transistor UH is changed. When the duty ratio of the transistor UH is small and the duty command value A1 is less than the set threshold value as in the timing table 30, the motor control device 10 does not change the switching timing of the transistor UH and performs complementary PWM control. (See also the timing table 20 in FIG. 2).
- the timing table 50a shown in FIG. 5 shows a control in which the transistor UH is turned on twice the time T21 and then turned off twice the time T22. That is, in the timing table 50a, the transistors UH are continuously built and turned on for the two carrier cycles shown in the timing table 50, and then turned off continuously for the two carrier cycles (see also FIG. 4). In other words, in the timing table 50a, the transistor UH keeps turning on C1 for the first period (driving the transistor UH at a duty ratio of 100%), and the timing table 50 does not turn off in the first period C1 in the second period C2. Drive the transistor UH with a modified duty ratio that turns off longer than.
- the length of the first period C1 (the carrier period of the first period C1) is the same as the value of the duty command value A1.
- the duty ratio (corrected duty ratio) of the second period C2 is (2 ⁇ A1-100)%.
- the transistor UH is turned on continuously for two carrier cycles and then the transistor UH is turned off continuously for two carrier cycles.
- the average duty ratio of the transistor UH in the total period of the second period C2 is the same as the duty ratio of the transistor UH in the timing table 50.
- the control of driving the transistor UL with different duty ratios in the first period C1 and the second period C2 while keeping the average duty ratio the same as the set (original) duty ratio is referred to as complementary average PWM control. ..
- the timing table 50b shown in FIG. 6 shows a control in which the transistor UH is turned on three times the time T21 and then turned off three times the time T22.
- the length of the first period C1 is "2 x A1”
- the duty ratio of the second period C2 is (3 x A1-2 x 100)%.
- the motor control device 10 controls the transistor UH to be turned on n times the time T21 (n> 3, n is an integer) and then turned off n times the time T22 according to the value of the duty command value A1. You can also.
- the off time of the transistor UH in the second period C2 is longer than that in the timing table 50. Therefore, the transistor UL can be turned on during the period when the transistor UH is off while ensuring the dead time.
- the motor control device 10 drives the transistor UH by average PWM control, secures a sufficient off period, and turns on the transistor UL (transistor UL is complemented by PWM control). Drive).
- the control of driving the lower arm element (transistor UL) by the complementary PWM control by driving the upper arm element (transistor UH) by the average PWM control is referred to as a complementary average PWM control.
- the motor control device 10 performs complementary PWM control (complementary PWM control) on the transistor UL by driving the transistor UH with average PWM control even when the duty ratio of the transistor UH is so large that conventional complementary PWM control cannot be performed. It is realized to be driven by average PWM control).
- timing tables 60 and 70 show the rotation angle (rotor phase) of the motor M and the switching state (on / off state) of each transistor when the complementary average PWM control is performed (timing tables 60 and 70).
- the period for driving the transistor under the average PWM control is indicated by "D51”.
- the period for driving by the complementary PWM control is indicated by "D52”.
- the duty ratio of the transistor to be PWM-controlled is small, and the duty command value A1 is less than the set threshold value.
- Transistors can be switched for the same duration and duration as in the case (see comparison in FIG. 2).
- the motor control device 10 performs a period in which the transistor is driven by average PWM control (that is, complementary average PWM control is performed) and PWM control (average PWM control).
- periods for driving the target transistor at a duty ratio of 100% are alternately provided. For example, at a rotation angle of 0 to 120 degrees, the period until the transistor VL of the on-selected transistor UH and the transistor VL that is not driven by the average PWM control is turned off (rotation angle 0 to 60 degrees) is the transistor UH. Is driven by average PWM control.
- the transistor UH is controlled with a duty ratio of 100%.
- the transistor VL is an example of the third element.
- the transistor WL is an example of the third element at a rotation angle of 120 to 240 degrees
- the transistor UL is an example of the third element at a rotation angle of 240 to 360 degrees.
- the timing table 70 repeats the control of performing the average PWM control every 60 degrees and the control of not performing the PWM control and the average PWM control. Although the details will be described later, in the control such as the timing table 70, the duty ratio of the on-selected transistor (transistor switching based on the duty ratio) is very large (that is, the duty command value A1 is very large). ) Sometimes done.
- the duty command value A1 is determined based on the duty ratio of the transistor UH and the dead time when complementary PWM control is performed (steps S2 and FIG. 4).
- the threshold value TA1 is set based on a value in which the duty ratio of the transistor UH is smaller than the duty ratio (state as shown in FIG. 3C) at which complementary PWM control cannot be performed.
- step S4 NO
- the duty command value A1 is compared with the value obtained by subtracting the switching hysteresis ⁇ 1 of the transistor UH from the threshold value TA1 (TA1- ⁇ 1), and the duty command value A1 is compared. Is smaller than (TA1- ⁇ 1) (step S12). That is, it is determined whether or not the dead time can be surely secured.
- step S12 When the duty command value A1 is (TA1- ⁇ 1) or more (step S12: NO), the process returns to step S2 to determine the duty command value A1 and compares the duty command value A1 with the threshold value TA1 (step S4). On the other hand, when the duty command value A1 is less than (TA1- ⁇ 1) (step S12: YES), normal complementary PWM control is performed (step S14, FIG. 2).
- step S4 YES
- the process proceeds to step S6, and the conditions for driving the transistor UH by the average PWM control are calculated. Specifically, the duty ratio (corrected duty ratio) C3 of the second period C2 is calculated (step S6).
- step S24 it is determined whether or not the value of "n” has reached the upper limit. That is, it is determined whether or not the number of carrier cycles used to form the first period C1 and the second period C2 has reached a preset upper limit number. If the value of "n” has not reached the upper limit (step S24: NO), the value of "n” is counted up in step S28 (that is, "1" is added to n), and the process returns to step S20. The process of calculating the duty ratio C3 and comparing the duty ratio C3 with the threshold value TA1 (step S22) is repeated until the value of “n” reaches the upper limit.
- step S24 YES
- step S24: YES even if the obtained duty ratio C3 is larger than the threshold value TA1 (step S22: NO)
- step S26 the process proceeds to step S26.
- the duty ratio C3 is determined. For example, when the duty ratio of the transistor UH is extremely large, the duty ratio C3 may not be equal to or less than the threshold value TA1 even if the calculation of the duty ratio C3 is repeated. Alternatively, it may be necessary to repeat many operations before the duty ratio C3 becomes equal to or less than the threshold value TA1. By setting the upper limit of "n", the load on the motor control device 10 can be reduced.
- step S8 After determining the duty ratio C3, the process proceeds to step S8, and the determined duty ratio C3 and the threshold value TA1 are compared.
- step S10 When the duty ratio C3 is equal to or less than the threshold value TA1 (step S8: YES), the process proceeds to step S10, and as shown in FIG. 7, average PWM control is performed over the entire period during which the motor M is driven (complementary average PWM control). I do).
- step S8: NO the process proceeds to step S16, and as shown in FIG. 8, the period during which the average PWM control is performed (complementary average PWM control is performed) and the duty of the transistor UH are increased.
- Periods for controlling at a ratio of 100% are alternately provided. That is, when the duty ratio C3, which is smaller than the duty command value A1, is still larger than the threshold value TA1, the period for switching the transistor UH by average PWM control and the duty ratio 100 for the transistor UH in order to reduce the number of transistor switchings. Periods controlled by% (without PWM control) are alternately provided every 60 degrees.
- step S8 NO
- the period during which the transistor UH is switched by the average PWM control and the transistor UH An example was described in which a period for controlling the duty ratio of 100% was alternately provided every 60 degrees.
- normal PWM control without complementary PWM control
- a second period (a period in which the second element is driven by complementary average PWM control) is provided after the first period (a period in which the first element is driven at a duty ratio of 100%) has been described.
- the first period may be provided after the second period.
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Abstract
Description
図1を参照し、インバータ100について説明する。インバータ100は、モータMに接続され、モータMに対して駆動電流を供給する。インバータ100は、電源12と、電源12の周波数を変化させるインバータ回路5と、インバータ回路5を構成するトランジスタ(UH,UL,VH,VL,WH,WL)のオンオフを切換える(スイッチングする)ゲート制御回路8と、ゲート制御回路8を制御するモータ制御装置10を備えている。ゲート制御回路8及びモータ制御装置10は、電源12に接続されている。なお、図示は省略するが、モータ制御装置10は、CPU及びメモリを備えている。また、モータ制御装置10には、モータMのロータ位置を検出する回路、モータMに流れている電流を検出する回路等からの信号が入力される。
図2を参照し、モータMを駆動するときの、各トランジスタのスイッチング状態について説明する。タイミングテーブル20は、モータMの回転角(ロータの位相)と各トランジスタのスイッチング状態(オンオフ状態)を示している。モータMを駆動する際、モータ制御装置10は、ゲート制御回路8を制御し、上アーム素子(トランジスタUH,VH,WH)のうちの1個をオン選択し、オン選択された上アーム素子と直列に接続されていない下アーム素子(トランジスタUL,VL,WL)のうちの1個をオン選択し、モータMに電流を供給する。例えば、回転角0~60度の間はトランジスタUHとトランジスタVLをオン選択し、回転角60~120度の間はトランジスタUHとトランジスタWLをオン選択し、回転角120~180度の間はトランジスタVHとトランジスタWLをオン選択する。各トランジスタは、モータM(ロータ)が120度回転する間オンし続け、モータMが60度回転する毎に上アーム素子と下アーム素子の組合せが変わる。
図3は、回転角0~60度におけるトランジスタUH(第1素子)とトランジスタUL(第2素子)のスイッチング状態(タイミングテーブルの一部)を示している。図3の(a)~(c)は、トランジスタUHのデューティ比が異なる。なお、図3では、回転角0~60度におけるトランジスタUH,ULのスイッチング状態の一部を示している。実際は、回転角0~60度の間に、図3に示す波形が繰り返し多数出現する。(a)に示すタイミングテーブル30では、トランジスタUHは時間T1オンした後に時間T2オフする動作を繰り返す。すなわち、トランジスタUHのデューティ比は「時間T1/(時間T1+時間T2)×100%」である。トランジスタULは、トランジスタUHがオフしてから時間b0後にオンし、時間a0オンした後(トランジスタUHがオンする時間b0前)にオフする。すなわち、トランジスタUHとトランジスタULが同時にオンする状態を避けるため、両者がオフしている期間(時間b0)を設ける。時間b0はデッドタイムと呼ばれる。
図4から図6を参照し、トランジスタUHのデューティ比がタイミングテーブル50のように増大したときにモータ制御装置10が行う制御について説明する。図4は、タイミングテーブル50の一部であり、図3(c)より多くのサイクル周期を示している。なお、図4から図6では、モータ制御装置10が行う制御を明瞭に説明するため、トランジスタUHのオフ時間(時間T22)を実際より広く示している。図4に示すように、モータ制御装置10は、トランジスタUHのデューティ比及びデッドタイムに基づき、トランジスタULをオンさせるためのデューティ指令値A1を決定する。しかしながら、トランジスタUHのデューティ比が大きく、デューティ指令値A1が予め設定した閾値より大きくなるので、トランジスタULをオンさせることができない。なお、「閾値」は、トランジスタULをオンさせることができなくなるデューティ指令値A1よりも僅かに小さい値が設定されている。
以下、図9及び図10を参照し、モータ制御装置10で行われる演算処理についてフローチャートを参照して説明する。なお、フローチャートの説明では、説明を容易にするため、オン選択されたトランジスタがトランジスタUHとトランジスタVLである期間(回転角0~0度)について説明する。また、必要に応じて、適宜図4から図8も参照する。
図9及び図10で説明したフローでは、決定したデューティ比C3と閾値TA1を比較し、「C3>TA1」の場合(ステップS8:NO)、トランジスタUHを平均PWM制御でスイッチングする期間とトランジスタUHをデューティ比100%で制御する期間を60度毎に交互に設ける例について説明した。しかしながら、図11に示すように、「C3>TA1」の場合(ステップS8:NO)、通常のPWM制御(相補PWM制御なし)を行ってもよい。
Claims (3)
- インバータに接続されるモータを駆動するモータ制御装置であり、
インバータは、電源の高圧側に接続される上アーム素子と電源の低圧側に接続される下アーム素子とが直列に接続されたスイッチング素子対を複数個有しており、
モータ制御装置は、
モータに通電するためにオン選択された上アーム素子と下アーム素子の一方の第1素子をデューティ比に基づいてスイッチングするPWM制御を行い、
第1素子に直列に接続されている第2素子が第1素子のオフ期間に所定時間オンする相補PWM制御を行うように、第2素子をスイッチングさせるデューティ指令値を決定し、決定したデューティ指令値が閾値以下の場合は相補PWM制御を行い、
決定したデューティ指令値が閾値より大きい場合は、第1素子に対し、複数のキャリア周期に亘ってオンし続ける第1期間と、第1期間でオフしない分長くオフする修正デューティ比を実行する第2期間とを設けるとともに、第1期間と第2期間の合計期間における平均デューティ比が設定されたデューティ比と同一である平均PWM制御を行い、
第2期間において第1素子がオフしている間に第2素子をオンさせるモータ制御装置。 - 請求項1に記載のモータ制御装置であって、
修正デューティ比が閾値より小さいときは、モータを駆動している期間全体に亘って平均PWM制御を行い、
修正デューティ比が閾値以上のときは、オン選択された上アーム素子と下アーム素子のうちの第1素子とは異なる第3素子がオフするまでの期間は平均PWM制御を行い、第3素子がオフしてから第1素子がオフするまでの期間はデューティ比100%で制御を行うモータ制御装置。 - 請求項1または2に記載のモータ制御装置であって、
修正デューティ比を設定するときに、第1期間がnキャリア周期に亘っているときの第2期間の第n修正デューティ比と閾値を比較し、第n修正デューティ比が閾値より大きいときは、第1期間がn+1キャリア周期に亘っているときの第2期間の第n+1修正デューティ比を算出することを繰り返すモータ制御装置(n≧2,nは整数)。
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