WO2022045400A1 - Motor driving device, and vehicle having same - Google Patents

Abstract

The present invention relates to a motor driving device, and a vehicle having same. The motor driving device according to an embodiment of the present invention comprises: a motor; and an inverter for outputting alternating-current power to the motor, wherein the motor comprises a six-phase motor, and the inverter comprises three legs connected in parallel to each other, each leg including three switching elements connected in series. Accordingly, the size of the inverter and the number of times the inverter switches can be reduced.

Description

Motor drive device and vehicle having same

The present invention relates to a motor driving device and a vehicle having the same, and more particularly, to a motor driving device capable of reducing the size of an inverter and the number of switching of the inverter, and a vehicle having the same.

BACKGROUND ART An electric vehicle powered by electricity, an internal combustion engine and a hybrid vehicle combining these, etc. use a motor and a battery to generate the output.

On the other hand, for driving the motor, a motor driving device for driving the motor with an AC power is required.

On the other hand, a motor drive device is provided with the inverter etc. which are provided with a some switching element.

On the other hand, the inverter requires the number of switching elements according to the number of phases when the motor is a polyphase motor.

For example, in the case of a three-phase motor, since the inverter requires three legs corresponding to three phases, and an upper switching element and a lower switching element in one leg, a total of six switching elements are required.

As another example, in the case of a six-phase motor, since the inverter requires six legs corresponding to six phases, and an upper switching element and a lower switching element in one leg, a total of 12 switching elements are required.

As described above, as the number of phases of the polyphase motor increases, the number of switching elements increases significantly, so the size of the inverter increases, and since switching must be performed for each phase, there is a problem in that the number of switching increases.

An object of the present invention is to provide a motor driving apparatus capable of reducing the size of an inverter and the number of switching of the inverter, and a vehicle having the same.

Another object of the present invention is to provide a motor driving device capable of reducing the signal processing burden of an inverter controller, and a vehicle having the same.

A motor driving apparatus and a vehicle having the same according to an embodiment of the present invention for achieving the above object include a motor and an inverter for outputting AC power to the motor, the motor includes a 6-phase motor, and the inverter includes three legs connected in parallel to each other, and each leg includes three switching elements connected in series.

On the other hand, the inverter, the first switching element arranged on the first leg, the second switching element arranged on the second leg, the third switching element arranged on the third leg, the first end is connected to one end of the first switching element 4 switching element, a fifth switching element having one end connected to one end of the second switching element, a sixth switching element having one end connected to one end of the third switching element, a seventh switching element connected to the other end of the fourth switching element, It may include an eighth switching element connected to the other end of the fifth switching element, and a ninth switching element connected to the other end of the sixth switching element.

On the other hand, the first node between the first switching element and the fourth switching element, the second node between the second switching element and the fifth switching element, and the third node between the third switching element and the sixth switching element, connected to the first terminal of the motor, a fourth node between the fourth switching element and the seventh switching element, a fifth node between the fifth switching element and the eighth switching element, and a sixth switching element and a ninth switching element The sixth node between may be connected to the second terminal of the motor.

On the other hand, the motor includes a first node between the first switching element and the fourth switching element, and between the neutral point of the motor, a first winding wound and a second node between the second switching element and the fifth switching element, Between the neutral point of the motor, a second winding wound, a third node between the third switching element and the sixth switching element, and between the neutral point of the motor, a third winding wound, a fourth switching element and a seventh switching element a fourth winding wound between the fourth node between the elements and the neutral point of the motor, a fifth node between the fifth switching element and the eighth switching element and a fifth winding wound between the neutral point of the motor; Between the sixth node between the sixth switching element and the ninth switching element and the neutral point of the motor, a sixth winding may be wound.

On the other hand, when the first switching element of the first leg is off, the fourth switching element is on, and the seventh switching element is on, the first phase voltage of the first winding is a low level, and the fourth phase voltage of the fourth winding is It may be a low level.

On the other hand, when the first switching element of the first leg is on, the fourth switching element is off, and the seventh switching element is on, the first phase voltage of the first winding is a high level, and the fourth phase voltage of the fourth winding is It may be a low level.

On the other hand, when the first switching element of the first leg is on, the fourth switching element is on, and the seventh switching element is off, the first phase voltage of the first winding is a high level, and the fourth phase voltage of the fourth winding is may be a high level.

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter control unit for controlling the inverter, the inverter control unit, based on the input AC voltage, the DC offset, and the reference voltage waveform , a first comparator and a second comparator each outputting a first comparison signal and a second comparison signal, and an exclusive OR based on the first comparison signal from the first comparator and the second comparison signal from the second comparator It may include a logic operator for performing an (exclusive OR) operation, a first inverter for inverting an output signal from the logic operator, and a second inverter for inverting the second comparison signal.

On the other hand, the inverter control unit outputs the first comparison signal to the first switching element, the output signal from the first inverter to the fourth switching element, and the output signal from the second inverter to the seventh switching element can be printed on

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter controller for controlling the inverter, wherein the inverter controller includes a six-phase voltage converter that converts an input voltage of three phases into a voltage of six phases. and a 9-phase switching signal output unit for outputting a 9-phase switching control signal based on the voltage of the 6-phase.

Meanwhile, the six-phase voltage converter includes a first comparator and a second comparator each outputting a first comparison signal and a second comparison signal based on a 3-phase input voltage, a DC offset, and a reference voltage waveform, 9 The phase switching signal output unit includes a logic operator performing an exclusive OR operation based on a first comparison signal from the first comparator and a second comparison signal from the second comparator, and an output from the logic operator It may include a first inverter for inverting the signal, and a second inverter for inverting the second comparison signal.

On the other hand, the 9-phase switching signal output unit outputs the first comparison signal to the first switching element, the second switching element, or the third switching element, and outputs the output signal from the first inverter to the fourth switching element or the fifth switching element It is output to the element or the sixth switching element, and the output signal from the second inverter may be output to the seventh switching element, the eighth switching element, or the ninth switching element.

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter controller for controlling the inverter, and the inverter controller may control the inverter based on 27 pattern signals.

A motor driving apparatus and a vehicle having the same according to an embodiment of the present invention include a motor and an inverter outputting AC power to the motor, the motor includes a 6-phase motor, and the inverter is connected in parallel to each other It comprises three legs, each leg comprising three switching elements connected in series. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, the inverter, the first switching element arranged on the first leg, the second switching element arranged on the second leg, the third switching element arranged on the third leg, the first end is connected to one end of the first switching element 4 switching element, a fifth switching element having one end connected to one end of the second switching element, a sixth switching element having one end connected to one end of the third switching element, a seventh switching element connected to the other end of the fourth switching element, It may include an eighth switching element connected to the other end of the fifth switching element, and a ninth switching element connected to the other end of the sixth switching element. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, the first node between the first switching element and the fourth switching element, the second node between the second switching element and the fifth switching element, and the third node between the third switching element and the sixth switching element, connected to the first terminal of the motor, a fourth node between the fourth switching element and the seventh switching element, a fifth node between the fifth switching element and the eighth switching element, and a sixth switching element and a ninth switching element The sixth node between may be connected to the second terminal of the motor. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, the motor includes a first node between the first switching element and the fourth switching element, and between the neutral point of the motor, a first winding wound and a second node between the second switching element and the fifth switching element, Between the neutral point of the motor, a second winding wound, a third node between the third switching element and the sixth switching element, and between the neutral point of the motor, a third winding wound, a fourth switching element and a seventh switching element a fourth winding wound between the fourth node between the elements and the neutral point of the motor, a fifth node between the fifth switching element and the eighth switching element and a fifth winding wound between the neutral point of the motor; Between the sixth node between the sixth switching element and the ninth switching element and the neutral point of the motor, a sixth winding may be wound. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, when the first switching element of the first leg is off, the fourth switching element is on, and the seventh switching element is on, the first phase voltage of the first winding is a low level, and the fourth phase voltage of the fourth winding is It may be a low level. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, when the first switching element of the first leg is on, the fourth switching element is off, and the seventh switching element is on, the first phase voltage of the first winding is a high level, and the fourth phase voltage of the fourth winding is It may be a low level. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, when the first switching element of the first leg is on, the fourth switching element is on, and the seventh switching element is off, the first phase voltage of the first winding is a high level, and the fourth phase voltage of the fourth winding is may be a high level. Accordingly, it is possible to reduce the size of the inverter and the number of times the inverter is switched.

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter control unit for controlling the inverter, the inverter control unit, based on the input AC voltage, the DC offset, and the reference voltage waveform , a first comparator and a second comparator each outputting a first comparison signal and a second comparison signal, and an exclusive OR based on the first comparison signal from the first comparator and the second comparison signal from the second comparator It may include a logic operator for performing an (exclusive OR) operation, a first inverter for inverting an output signal from the logic operator, and a second inverter for inverting the second comparison signal. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

On the other hand, the inverter control unit outputs the first comparison signal to the first switching element, the output signal from the first inverter to the fourth switching element, and the output signal from the second inverter to the seventh switching element can be printed on Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter controller for controlling the inverter, wherein the inverter controller includes a six-phase voltage converter that converts an input voltage of three phases into a voltage of six phases. and a 9-phase switching signal output unit for outputting a 9-phase switching control signal based on the voltage of the 6-phase. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

Meanwhile, the six-phase voltage converter includes a first comparator and a second comparator each outputting a first comparison signal and a second comparison signal based on a 3-phase input voltage, a DC offset, and a reference voltage waveform, 9 The phase switching signal output unit includes a logic operator performing an exclusive OR operation based on a first comparison signal from the first comparator and a second comparison signal from the second comparator, and an output from the logic operator It may include a first inverter for inverting the signal, and a second inverter for inverting the second comparison signal. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

On the other hand, the 9-phase switching signal output unit outputs the first comparison signal to the first switching element, the second switching element, or the third switching element, and outputs the output signal from the first inverter to the fourth switching element or the fifth switching element It is output to the element or the sixth switching element, and the output signal from the second inverter may be output to the seventh switching element, the eighth switching element, or the ninth switching element. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

On the other hand, the motor driving apparatus according to an embodiment of the present invention, and a vehicle having the same, further include an inverter controller for controlling the inverter, and the inverter controller may control the inverter based on 27 pattern signals. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit.

1 is a schematic diagram illustrating a body of a vehicle according to an embodiment of the present invention.

2 is an example of a motor driving system according to an embodiment of the present invention.

3 illustrates an example of an internal block diagram of the motor driving apparatus of FIG. 2 .

FIG. 4 is an example of an internal circuit diagram of the motor driving device of FIG. 3 .

5 is an example of an internal block diagram of the inverter control unit of FIG. 4 .

6 is an example of an internal circuit diagram of a motor driving apparatus related to the present invention.

7 is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention.

8 to 11C are diagrams referred to in the description of FIG. 6 or FIG. 7 .

Hereinafter, the present invention will be described in more detail with reference to the drawings.

The suffixes “module” and “part” for the components used in the following description are given simply in consideration of the ease of writing the present specification, and do not impart a particularly important meaning or role by themselves. Accordingly, the terms “module” and “unit” may be used interchangeably.

1 is a schematic diagram illustrating a body of a vehicle according to an embodiment of the present invention.

Referring to the drawings, a vehicle 100 according to an embodiment of the present invention includes a battery 205 for supplying power, a motor driving device 200 receiving power from the battery 205 , and a motor driving device 200 . The motor 250 driven and rotated by the motor 250, the front wheel 150 and the rear wheel 155 rotated by the motor 250, the front wheel suspension 160 and the rear wheel suspension for blocking vibration of the road surface from being transmitted to the vehicle body A 165, an inclination angle detection unit 190 for detecting an inclination angle of the vehicle body may be included. Meanwhile, a driving gear (not shown) for converting the rotation speed of the motor 250 based on the gear ratio may be additionally provided.

The inclination angle detection unit 190 detects an inclination angle of the vehicle body, and the detected inclination angle is input to an electronic control unit 410 to be described later. The inclination angle detection unit 190 may be implemented as a gyro sensor or a horizontal gauge sensor.

Meanwhile, in the drawings, the inclination angle detection unit 190 is illustrated as being disposed on the battery 205 , but is not limited thereto, and may be disposed on the front wheel 150 , the rear wheel 155 , or both the front wheel 150 and the rear wheel 155 . there is.

The battery 205 supplies power to the motor driving device 200 . In particular, DC power is supplied to the capacitor C in the motor driving device 200 .

The battery 205 may be formed as a set of a plurality of unit cells. The plurality of unit cells may be managed by a battery management system (BMS) to maintain a constant voltage, and may emit a constant voltage by the battery management system.

For example, the battery management system may detect the voltage Vbat of the battery 205 and transmit it to an electronic control unit (not shown) or the inverter control unit 250 in the motor driving device 200, and the battery voltage When (Vbat) falls below the lower limit, the DC power stored in the capacitor C in the motor driving apparatus 200 may be supplied to the battery. Also, when the battery voltage Vbat rises above the upper limit, DC power may be supplied to the capacitor C in the motor driving apparatus 200 .

The battery 205 is preferably composed of a rechargeable battery capable of charging and discharging, but is not limited thereto.

The motor driving device 200 receives DC power from the battery 205 through the power input cable 120 . The motor driving device 200 converts DC power received from the battery 205 into AC power and supplies it to the motor 250 .

On the other hand, when the motor 250 is a three-phase motor, the converted AC power is preferably a three-phase AC power. The motor driving device 200 supplies three-phase AC power to the motor 250 through the three-phase output cable 125 provided in the motor driving device 200 .

On the other hand, when the motor 250 is a 6-phase motor, the converted AC power is preferably a 6-phase AC power. The motor driving device 200 may supply 6-phase AC power to the motor 250 through the 6-phase output cable 125 provided in the motor driving device 200 .

Although the motor driving apparatus 200 of FIG. 1 illustrates the three-phase output cable 125 composed of three cables, the present invention is not limited thereto, and a corresponding number of cables may be provided according to the number of phases of the polyphase motor. Alternatively, a plurality of cables may be provided in a single cable.

Meanwhile, the motor driving apparatus 200 according to the embodiment of the present invention will be described later with reference to FIG. 3 .

The motor 250 includes a stator 130 that is fixed without rotating and a rotor 135 that rotates. The motor 250 is provided with an input cable 140 to receive AC power supplied from the motor driving device 200 . The motor 250 may be, for example, a polyphase motor, and when each phase AC power of variable voltage/frequency variable is applied to the coils of the stator of each phase, the rotational speed of the rotor is variable based on the applied frequency will do

The motor 250 may have various forms, such as an induction motor, a blushless DC motor, and a reluctance motor.

Meanwhile, a driving gear (not shown) may be provided on one side of the motor 250 . The driving gear converts the rotational energy of the motor 250 based on the gear ratio. The rotational energy output from the driving gear is transmitted to the front wheel 150 and/or the rear wheel 155 so that the vehicle 100 moves.

The front wheel suspension 160 and the rear wheel suspension 165 support the front wheel 150 and the rear wheel 155 with respect to the vehicle body, respectively. The vertical direction of the front wheel suspension 160 and the rear wheel suspension 165 is supported by a spring or a damping mechanism to prevent vibration of the road surface from contacting the vehicle body.

A steering device (not shown) may be further provided on the front wheel 150 . The steering device is a device for controlling the direction of the front wheel 150 in order to drive the vehicle 100 in a direction intended by the driver.

Meanwhile, although not shown in the drawings, the vehicle 100 may further include an electronic controller for controlling electronic devices throughout the vehicle. The electronic control unit (not shown) controls each device to operate, display, and the like. In addition, the above-described battery management system may be controlled.

In addition, the electronic control unit (not shown) includes an inclination angle detecting unit (not shown) for detecting the inclination angle of the vehicle 100 , a speed detecting unit detecting the speed of the vehicle 100 (not shown), and a brake detecting unit according to the operation of the brake pedal ( (not shown), a driving command value according to various driving modes (driving mode, reverse mode, neutral mode, and parking mode, etc.) can In this case, the driving command value may be, for example, a torque command value or a torque command value.

Meanwhile, the vehicle 100 according to the embodiment of the present invention may be a concept including a pure electric vehicle using a battery and a motor, of course, a hybrid electric vehicle using a battery and a motor while using an engine.

In this case, the hybrid electric vehicle may further include a switching means for selecting at least one of a battery and an engine, and a transmission.

On the other hand, hybrid electric vehicles include a series method for driving a motor by converting mechanical energy output from an engine into electrical energy, a parallel method using mechanical energy output from the engine and electrical energy from a battery at the same time, and a direct method for mixing them. can be divided in a parallel fashion.

2 is an example of a motor driving system according to an embodiment of the present invention.

Referring to the drawings, the motor driving system 10 according to an embodiment of the present invention may include a vehicle 100 and a server 500 .

Here, the server 500 may be a server operated by the manufacturer of the motor driving device 200 or the vehicle 100 , or may correspond to a mobile terminal of the driver of the motor driving device 200 or the vehicle 100 .

Meanwhile, the vehicle 100 may include an input unit 120 , a communication unit 130 , a memory 140 , a control unit 170 , and a motor driving unit 200 .

The input unit 120 includes a manipulation button, a key, and the like, and may output an input signal for turning on/off the power of the vehicle 100 , setting an operation, and the like.

The communication unit 130 may exchange data with a peripheral device, for example, the server 500 by wire or wirelessly, or wirelessly exchange data with a remote server or the like. For example, mobile communication such as 4G or 5G, infrared (IR) communication, RF communication, Bluetooth communication, Zigbee communication, WiFi communication, etc. may be performed.

Meanwhile, the memory 140 of the vehicle 100 may store data necessary for the operation of the vehicle 100 . For example, data about an operation time, an operation mode, and the like when the driving unit 200 is operated may be stored.

Also, the memory 140 of the vehicle 100 may store management data including vehicle power consumption information, recommended driving information, current driving information, and management information.

Also, the memory 140 of the vehicle 100 may store diagnostic data including vehicle operation information, driving information, and error information.

The controller 170 may control each unit in the vehicle 100 . For example, the control unit 170 may control the input unit 120 , the communication unit 130 , the memory 140 , the driving unit 200 , and the like.

The motor driving unit 200 may be referred to as a motor driving device as a driving unit to drive the motor 250 .

The motor driving apparatus 200 according to the embodiment of the present invention includes a plurality of switching elements, an inverter 420 for outputting AC power to the motor 250 , and an output current io flowing through the motor 250 . ^Based on the output current detection unit E for detecting It may include an inverter control unit 430 that outputs a switching control signal.

On the other hand, the current information (id,iq) and the torque command value (T ^* ) based on the output current (io) may be transmitted to the external server 500, and the current command value (i ^* d,i) from the server 500 ^* q) may be received. Also, based on the current command value received from the communication unit 130 , the inverter control unit 430 may output a switching control signal to the inverter 420 .

Accordingly, it is possible to drive the motor 250 based on the current command value corresponding to the maximum torque calculated in real time by the server 500 . Accordingly, the maximum torque driving of the motor 250 is possible.

On the other hand, the communication unit 130 in the motor driving device 200 according to the embodiment of the present invention, current information (id, iq), the torque command value (T ^* ), and voltage information related to the detected dc terminal voltage (Vdc) may be transmitted to the server 500 . Accordingly, it is possible to drive the maximum torque of the motor 250 under various conditions.

Meanwhile, a detailed operation of the motor driving device 200 will be described with reference to FIG. 3 .

3 illustrates an example of an internal block diagram of the motor driving apparatus of FIG. 2 .

Referring to the drawings, the motor driving device 200 according to the embodiment of the present invention is a driving device for driving the motor 250 and includes a plurality of switching elements Sa to Sc and S'a to S'c. and may include an inverter 420 that outputs AC power to the motor 250 and an inverter control unit 430 that controls the inverter 420, and provides various stored data to the inverter control unit 430 It may include a memory 270 that does.

On the other hand, the motor driving apparatus 200 according to the embodiment of the present invention, the capacitor C for storing the dc terminal voltage (Vdc) that is the input terminal of the inverter 420, and the dc terminal for detecting the dc terminal voltage (Vdc) It may further include a voltage detecting unit (B) and an output current detecting unit (E) detecting an output current flowing through the motor 250 .

According to an embodiment of the present invention, the motor 250 may be a three-phase motor driven by the inverter 420 .

Meanwhile, the inverter control unit 430 may output the switching control signal Sic to the inverter 420 based on the current command value (i ^* d, i ^* q) corresponding to the calculated maximum torque. Maximum torque driving of the motor 250 is enabled.

The inverter control unit 430 according to an embodiment of the present invention calculates the current information (id,iq) and the torque command value (T ^* ) in real time, and based on the torque command value (T ^* ), the current command value (i ^* d) , i ^* q) is calculated, and the motor 250 is driven using the current command value (i ^* d, i ^* q). Accordingly, the accuracy for high-efficiency driving is improved.

On the other hand, the motor driving device 200, the capacitor (C) for storing the dc terminal voltage (Vdc) that is the input terminal of the inverter 420, and the dc terminal voltage detection unit (B) for detecting the dc terminal voltage (Vdc) further may include

The inverter control unit 430 calculates the current command value (i ^* d, i ^* q) based on the current information (id,iq), the torque command value (T ^* ), and the detected dc terminal voltage (Vdc), The motor 250 is driven using the current command value (i ^* d, i ^* q). Accordingly, the accuracy for high-efficiency driving is improved.

FIG. 4 is an example of an internal circuit diagram of the motor driving device of FIG. 3 .

Referring to the drawings, the motor driving apparatus 200 according to an embodiment of the present invention includes an inverter 420 , an inverter control unit 430 , an output current detection unit E, a dc terminal voltage detection unit Vdc, and a position detection unit. It may include a sensor 105 .

Meanwhile, the motor driving device 200 converts electric power and drives the motor, so it may be referred to as a power change device.

The dc terminal capacitor C stores power input to the dc terminal (a-b terminals). In the drawing, one element is exemplified as a dc terminal capacitor (C), but a plurality of elements may be provided to ensure element stability.

Meanwhile, the input power supplied to the dc terminal capacitor C may be power stored in the battery 205 or power level-converted in a converter (not shown).

On the other hand, since DC power is stored at both ends of the dc terminal capacitor C, this may be referred to as a dc terminal or a dc link terminal.

The dc terminal voltage detector B may detect the dc terminal voltage Vdc that is both ends of the dc terminal capacitor C. To this end, the dc terminal voltage detection unit B may include a resistance element, an amplifier, and the like. The detected dc terminal voltage Vdc may be input to the inverter controller 430 as a discrete signal in the form of a pulse.

The inverter 420 includes three legs connected in parallel to each other, and each leg includes three switching elements connected in series.

Specifically, the inverter 420 includes a first switching device S1 disposed on a first leg, a second switching device S2 disposed on a second leg, and a third switching device S3 disposed on a third leg. , a fourth switching element S4 having one end connected to one end n14 of the first switching element S1 , and a fifth switching element S5 having one end connected to one end n25 of the second switching element S2 , a sixth switching element S6 having one end connected to one end n36 of the third switching element S3, a seventh switching element S7 connected to the other end of the fourth switching element S4, and a fifth switching element An eighth switching element S8 connected to the other end of S5 and a ninth switching element S9 connected to the other end of the sixth switching element S6 may be included.

A first switching element (S1), a fourth switching element (S4), and a seventh switching element (S7) are disposed on the first leg, and the second switching element (S2) and the fifth switching element (S5) are disposed on the second leg ), an eighth switching element S8 is disposed, and a third switching device S3 , a sixth switching device S6 , and a ninth switching device S9 may be disposed on the third leg.

On the other hand, the inverter 420 is provided with a plurality of inverter switching elements (S1 to S9), the DC power supply (Vdc) by the on / off operation of the switching elements (S1 to S9) a six-phase AC power supply of a predetermined frequency ( Va, Vb, Vc, Vd, Ve, Vf) can be converted and output to the 6-phase synchronous motor 250 .

The switching elements in the inverter 420 turn on/off the respective switching elements based on the inverter switching control signal Sic from the inverter controller 430 . Accordingly, the six-phase AC power having a predetermined frequency is output to the six-phase synchronous motor 250 .

The inverter controller 430 may control the switching operation of the inverter 420 based on the sensorless method.

To this end, the inverter control unit 430 may receive the output current io detected by the output current detection unit E as an input.

The inverter controller 430 may output the inverter switching control signal Sic to each gate terminal of the inverter 420 in order to control the switching operation of the inverter 420 . Accordingly, the inverter switching control signal Sic may be referred to as a gate driving signal.

Meanwhile, the inverter switching control signal Sic is a pulse width modulation (PWM) switching control signal, and is generated and output based on the output current io detected by the output current detection unit E. FIG.

The output current detection unit E detects an output current io flowing between the inverter 420 and the six-phase motor 250 . That is, the current flowing through the motor 250 may be detected.

The output current detection unit E may detect all of the output currents ia, ib, ic, id, ie, if of each phase, or may detect the output currents of some phases using six-phase balance.

The output current detection unit E may be located between the inverter 420 and the motor 250 , and a current transformer (CT), a shunt resistor, or the like may be used to detect the current.

The detected output current io may be applied to the inverter controller 430 as a discrete signal in the form of a pulse, and a switching control signal Sic is generated based on the detected output current io .

On the other hand, the six-phase motor 250 includes a stator and a rotor, and each phase AC power supply of a predetermined frequency to the coil of the stator of each phase (a, b, c, d, e, f phase) This is applied, and the rotor rotates.

The motor 250 includes, for example, a Surface-Mounted Permanent-Magnet Synchronous Motor (SMPMSM), an Interior Permanent Magnet Synchronous Motor (IPMSM), and a synchronous relay. It may include a Synchronous Reluctance Motor (Synrm) and the like. Among them, SMPMSM and IPMSM are Permanent Magnet Synchronous Motors (PMSM) to which permanent magnets are applied, and Synrm is characterized by not having permanent magnets.

Meanwhile, in the present invention, the motor 250 is a six-phase motor, and in particular, a current superimposition variable flux reluctance motor (CSVFM) will be mainly described.

5 is an example of an internal block diagram of the inverter control unit of FIG. 4 .

Referring to the drawings, the inverter control unit 430 of FIG. 5 receives the detected output current io from the output current detection unit 320 , and receives the rotor position information of the motor 250 from the position detection sensor 105 . (θ) can be received.

The position detection sensor 105 may detect the magnetic pole position θ of the rotor of the motor 250 . That is, the position detection sensor 105 may detect the position of the rotor of the motor 250 .

To this end, the position detection sensor 105 may include an encoder or a resolver.

The coordinate system and coordinate axes used in the following description are defined here.

The αβ coordinate system is a two-dimensional fixed coordinate system having α and β axes as fixed axes as axes. The α and β axes are orthogonal to each other, and the β axis leads from the α axis by an electrical angle of 90°.

The dq coordinate system is a two-dimensional rotational coordinate system with d and q axes as the rotation axes. In the rotational coordinate system that rotates at the same speed as the rotational speed of the magnetic flux created by the permanent magnet of the motor 250, the axis according to the direction of the magnetic flux created by the permanent magnet is the d-axis, and the axis with an electrical angle of 90˚ from the d-axis is q wet.

Referring to FIG. 5 , the inverter control unit 430 includes a speed calculating unit 320 , a shaft converting unit 310 , a torque calculating unit 325 , a current command generating unit 330 , a voltage command generating unit 340 , and an axis converting unit. It may include a unit 350 and a switching control signal output unit 360 .

The axis conversion unit 310 in the inverter control unit 430 receives the three-phase output current (ia, ib, ic, id, ie, if) detected by the output current detection unit E, and receives the two-phase current ( iα,iβ).

Meanwhile, the axis conversion unit 310 may convert the two-phase currents (iα, iβ) of the stationary coordinate system into the two-phase currents (id, iq) of the rotational coordinate system.

The speed calculating unit 320 in the inverter control unit 430 estimates the rotor position ( . In addition, based on the estimated rotor position (), it is possible to output the calculated speed ().

The torque calculator 325 in the inverter controller 430 may calculate the current torque T based on the calculated speed ?

The current command generating unit 330 in the inverter control unit 430 generates a current command value (i ^* d, i ^* q) based on the calculated current torque T and the torque command value T ^* .

For example, the current command generation unit 330 performs PI control in the PI controller 335 based on the calculated current torque T and the torque command value T ^* , and the current command value i ^* d ,i ^* q) can be created. On the other hand, the value of the d-axis current command value (i ^* d) may be set to 0.

On the other hand, the current command generation unit 330, the current command value (i ^* d, i ^* q) may further include a limiter (not shown) for limiting the level so as not to exceed the allowable range.

Next, the voltage command generation unit 340 includes the d-axis and q-axis currents (id, iq) that are axis-transformed into the two-phase rotational coordinate system by the axis transformation unit, and the current command value (i ^* ) from the current command generation unit 330 , etc. d,i ^* q), d-axis and q-axis voltage command values (V ^* d, V ^* q) are generated.

For example, the voltage command generation unit 340 performs PI control in the PI controller 344 based on the difference between the q-axis current iq and the q-axis current command value (i ^* q), and the q-axis current command value (i * q). A voltage setpoint (V ^* q) can be generated. In addition, the voltage command generation unit 340 performs PI control in the PI controller 348 based on the difference between the d-axis current id and the d-axis current command value (i ^* d), and the d-axis voltage command value (V ^* d) can be created. On the other hand, the value of the d-axis voltage command value (V ^* d) may be set to 0 corresponding to the case where the value of the d-axis current command value (i ^* d) is set to 0.

On the other hand, the voltage command generation unit 340, d-axis, q-axis voltage command values (V ^* d, V ^* q) may further include a limiter (not shown) for limiting the level so as not to exceed the allowable range. .

On the other hand, the generated d-axis and q-axis voltage command values (V ^* d, V ^* q) are input to the axis conversion unit 350 .

The axis conversion unit 350 receives the position ( ) calculated by the speed calculating unit 320 and the d-axis and q-axis voltage command values (V ^* d, V ^* q), and performs the axis conversion.

First, the axis transformation unit 350 performs transformation from a two-phase rotational coordinate system to a two-phase stationary coordinate system. In this case, the position ( ) calculated by the speed calculating unit 320 may be used.

Then, the axis transformation unit 350 performs transformation from the two-phase stationary coordinate system to the six-phase stationary coordinate system. Through this conversion, the shaft conversion unit 350 outputs a six-phase output voltage command value (V ^* a, V ^* b, V ^* c, V ^* d, V ^* e, V ^* f).

The switching control signal output unit 360 is a pulse width modulation (PWM) method based on the six-phase output voltage command value (V ^* a,V ^* b, V ^* c, V ^* d, V ^* e, V ^* f) It is possible to generate and output a switching control signal Sic according to

The output inverter switching control signal Sic may be converted into a gate driving signal by a gate driver (not shown) and input to the gate of each switching element in the inverter 420 . Accordingly, each of the switching elements S1 to S9 in the inverter 420 performs a switching operation.

6 is an example of an internal circuit diagram of a motor driving apparatus related to the present invention.

Referring to the drawings, the motor driving device 200x related to the present invention may include an inverter 420x having 12 switching elements and a 6-phase motor 2500 .

The inverter 420x includes a plurality of inverter switching elements Sa to Sf, S'a to S'f, and by on/off operation of the switching elements Sa to Sf, S'a to S'f The DC power supply (Vdc) may be converted into 6-phase AC power supply (Va, Vb, Vc, Vd, Ve, Vf) of a predetermined frequency, and output to the 6-phase synchronous motor 250 .

Inverter 420x, upper-arm switching elements (Sa, Sb, Sc, Sd, Se, Sf) and lower-arm switching elements (S'a, S'b, S'c, S'd, S') connected in series with each other, respectively e,S'f) becomes a pair, and a total of 6 pairs of upper and lower arm switching elements are connected in parallel (Sa&S'a, Sb&S'b, Sc&S'c, Sd&S'd, Se&S'e, Sf&S'f). do. A diode is connected in antiparallel to each of the switching elements Sa, S'a, Sb, S'b, Sc, S'c, Sd, S'd, Se, S'e, Sf, S'f.

Between the node na between the first upper-arm switching element Sa and the first lower-arm switching element S'a and the central island nn of the motor 250, the first winding La as the a-phase winding This winding, between the node nb between the second upper-arm switching element Sb and the second lower-arm switching element S'b and the midpoint nn of the motor 250, the second winding as the b-phase winding (Lb) is wound, between the node (nc) between the third upper arm switching element (Sc) and the third lower arm switching element (S'c) and the midpoint (nn) of the motor 250, the c-phase winding The third winding Lc is wound, and between the node nd between the fourth upper arm switching element Sd and the fourth lower arm switching element S'd and the midpoint nn of the motor 250, d The fourth winding Ld, which is a phase winding, is wound, and between the node ne between the fifth upper-arm switching element Se and the fifth lower-arm switching element S'e and the mid-point nn of the motor 250 In, the fifth winding Le, which is the e-phase winding, is wound, and the node nf between the sixth upper-arm switching element Sf and the sixth lower-arm switching element S'f and the middle point of the motor 250 ( nn), the sixth winding Lf, which is an f-phase winding, is wound.

According to the inverter 420x, 12 switching elements are required, and 64 switching patterns are required for switching of the 12 switching elements. Accordingly, the size of the inverter 420x is increased, and the switching pattern of the inverter 420x is significant.

To this end, the present invention proposes an inverter 420 capable of efficiently driving the six-phase motor 250 . This will be described below with reference to FIG. 7 .

7 is an example of an internal circuit diagram of a motor driving apparatus according to an embodiment of the present invention.

Referring to the drawings, the motor driving apparatus 200 according to an embodiment of the present invention includes a motor 250 and an inverter 420 for outputting AC power to the motor 250, and the motor 250 includes: A six-phase motor 250 is included, and the inverter 420 includes three legs connected in parallel to each other, and each leg includes three switching elements connected in series.

Since the inverter 420 of FIG. 7 includes nine switching elements, the number of switching is reduced compared to the inverter 420x of FIG. 6 , and consequently, the size of the inverter 420 can be reduced.

On the other hand, the switching pattern of the inverter 420 of FIG. 7 has 27 switching patterns for 9 switching elements, but the switching pattern of the inverter 420x of FIG. 6 has 64 switching patterns for 12 switching elements have a pattern. As a result, according to the inverter 420 of FIG. 7 , it is possible to reduce the switching pattern and reduce the number of switching.

On the other hand, the inverter 420, the first switching device (S1) disposed on the first leg, the second switching device (S2) disposed on the second leg, the third switching device (S3) disposed on the third leg, A fourth switching element (S4) having one end connected to one end (n14) of the first switching element (S1), a fifth switching element (S5) having one end connected to one end (n25) of the second switching element (S2); A sixth switching element S6 having one end connected to one end n36 of the third switching element S3, a seventh switching element S7 connected to the other end of the fourth switching element S4, a fifth switching element ( It may include an eighth switching element S8 connected to the other end of S5 and a ninth switching element S9 connected to the other end of the sixth switching element S6. Accordingly, the size of the inverter 420 and the number of times the inverter 420 is switched can be reduced.

On the other hand, the first node n14 between the first switching element S1 and the fourth switching element S4 and the second node n25 between the second switching element S2 and the fifth switching element S5 and the third node n36 between the third switching element S3 and the sixth switching element S6 is connected to the first terminal of the motor 250, and the fourth switching element S4 and the seventh switching element S4 The fourth node n47 between the elements S7, the fifth node n58 between the fifth switching element S5 and the eighth switching element S8, and the sixth switching element S6 and the ninth switching element A sixth node n69 between the elements S9 may be connected to a second terminal of the motor 250 . Accordingly, the size of the inverter 420 and the number of times the inverter 420 is switched can be reduced.

Meanwhile, in the motor 250 , between the first node n14 between the first switching element S1 and the fourth switching element S4 and the neutral point nn of the motor 250 , the first winding wound (La) and the second node (n25) between the second switching element (S2) and the fifth switching element (S5), and between the neutral point (nn) of the motor 250, the winding second winding (Lb) And, between the third node (n36) between the third switching element (S3) and the sixth switching element (S6) and the neutral point (nn) of the motor 250, the winding third winding (Lc), Between the fourth node n47 between the fourth switching element S4 and the seventh switching element S7 and the neutral point nn of the motor 250 , the fourth winding Ld wound and the fifth switching element Between the fifth node n58 between ( S5 ) and the eighth switching element S8 and the neutral point nn of the motor 250 , the fifth winding Le and the sixth switching element S6 are wound A sixth winding Lf wound between the sixth node n69 between the and the ninth switching element S9 and the neutral point nn of the motor 250 may be included.

The first winding La is an a-phase winding, and an a-phase voltage Va may be applied thereto, and the second winding Lb is a b-phase winding, and a b-phase voltage Vb may be applied thereto. The third winding Lc is a c-phase winding, and a c-phase voltage Vc may be applied thereto, and the fourth winding Ld is a d-phase winding, and a d-phase voltage Vd may be applied thereto. The fifth winding Le is an e-phase winding, and an e-phase voltage Ve may be applied thereto, and the sixth winding Lf is an f-phase winding and an f-phase voltage Vf may be applied thereto.

The motor driving apparatus 200 according to the embodiment of the present invention may further include an inverter control unit 430 for controlling the inverter 420 , and the inverter control unit 430 is configured to be connected to each of the phase windings La to Lf. , the inverter 420 may be controlled to apply the respective phase voltages Va to Vf.

In particular, the inverter controller 430 may output a switching control signal for controlling the nine switching elements S1 to S9 . Accordingly, it is possible to reduce the signal processing burden of the inverter control unit 430 .

8 to 11C are diagrams referred to in the description of FIG. 6 or FIG. 7 .

First, FIG. 8 is a diagram illustrating an a-phase voltage waveform Va and a d-phase voltage waveform Vd applied to the motor 250 .

Referring to the drawing, at Ar1, the a-phase voltage Va applied to the motor 250 is at a low level, the d-phase voltage Vd is at a low level, and at Ar2, the a-phase voltage Va applied to the motor 250 is a The phase voltage Va is a high level, the d-phase voltage Vd is a low level, at a time Ar3, the a-phase voltage Va applied to the motor 250 is a high level, and the d-phase voltage Vd is high level

FIG. 9A is a diagram illustrating a switching operation of the inverter 420x of FIG. 6 corresponding to the Ar1 time point.

Referring to the drawing, at the time Ar1, the first upper-arm switching element Sa of the inverter 420x is off, the first lower-arm switching element S'a is on, the fourth upper-arm switching element Sd is off, the second 4 The lower arm switching element S'd is turned on.

Accordingly, the a-phase voltage Va of the low level and the d-phase voltage Vd of the low level are applied to the motor 250 .

FIG. 9B is a diagram illustrating a switching operation of the inverter 420x of FIG. 6 corresponding to the Ar2 time point.

Referring to the drawing, at Ar2 time, the first upper-arm switching element Sa of the inverter 420x is on, the first lower-arm switching element S'a is off, the fourth upper-arm switching element Sd is off, the second 4 The lower arm switching element S'd is turned on.

Accordingly, a high-level a-phase voltage Va and a low-level d-phase voltage Vd are applied to the motor 250 .

9C is a diagram illustrating a switching operation of the inverter 420x of FIG. 6 corresponding to the Ar3 time point.

Referring to the drawing, at Ar3 time, the first upper-arm switching element Sa of the inverter 420x is on, the first lower-arm switching element S'a is off, and the fourth upper-arm switching element Sd is on, the second 4 The lower arm switching element S'd is turned off.

Accordingly, a high-level a-phase voltage Va and a low-level d-phase voltage Vd are applied to the motor 250 .

10A is a diagram illustrating a switching operation of the inverter 420 of FIG. 7 corresponding to the Ar1 time point.

Referring to the drawings, at a time Ar1 , the first switching element S1 of the first leg is turned off, the fourth switching element S4 is turned on, and the seventh switching element S7 is turned on.

Accordingly, the a-phase voltage Va of the low level and the d-phase voltage Vd of the low level are applied to the motor 250 .

Meanwhile, as compared with FIG. 9A, only the switching elements of the first leg are turned on and off. Accordingly, the size of the inverter 420 and the number of times the inverter 420 is switched can be reduced.

FIG. 10B is a diagram illustrating a switching operation of the inverter 420 of FIG. 7 corresponding to the Ar2 time point.

Referring to the drawing, at a time Ar2, the first switching element S1 of the first leg of the inverter 420 is on, the fourth switching element S4 is off, and the seventh switching element S7 is on.

Accordingly, a high-level a-phase voltage Va and a low-level d-phase voltage Vd are applied to the motor 250 .

Meanwhile, as compared with FIG. 9B, only the switching elements of the first leg are turned on and off. Accordingly, the size of the inverter 420 and the number of times the inverter 420 is switched can be reduced.

FIG. 10C is a diagram illustrating a switching operation of the inverter 420 of FIG. 7 corresponding to the Ar3 time point.

Referring to the drawing, at a time Ar3, the first switching element S1 of the first leg of the inverter 420 is on, the fourth switching element S4 is on, and the seventh switching element S7 is off.

Accordingly, a high-level a-phase voltage Va and a low-level d-phase voltage Vd are applied to the motor 250 .

Meanwhile, as compared with FIG. 9C, only the switching elements of the first leg are turned on and off. Accordingly, the size of the inverter 420 and the number of times the inverter 420 is switched can be reduced.

11A is a diagram illustrating a switching pattern of the inverter 420x of FIG. 6 .

Referring to the drawings, 64 switching patterns of the inverter 420x of FIG. 6 are exemplified.

11B is a diagram illustrating a switching pattern of the inverter 420 of FIG. 7 .

Referring to the drawings, the switching pattern of the inverter 420 of FIG. 7 is illustrated as 27 .

11A and 11B, the inverter 420 of FIG. 7 arranges three switching elements on one leg and includes a total of three legs, so that one leg of the inverter 420x of FIG. Compared to disposing two switching elements and disposing a total of 6 legs, it is possible to reduce the size of the inverter 420 and the number of switching of the inverter 420 .

11C is an example of an internal block diagram of the inverter control unit 430 according to an embodiment of the present invention.

Referring to the drawing, the inverter control unit 430 outputs a first comparison signal and a second comparison signal, respectively, based on an input AC voltage Vacr, a DC offset, and a reference voltage waveform vref. Based on the first comparator 1014 and the second comparator 1016 , the first comparison signal from the first comparator 1014 and the second comparison signal from the second comparator 1016 , an exclusive or OR) includes a logic operator 1022 for performing an operation, a first inverter 1024 for inverting the output signal from the logic operator 1022, and a second inverter 1026 for inverting the second comparison signal. can do.

On the other hand, the inverter control unit 43, an adder 1011 for adding the three-phase input AC voltage Vacr and the DC offset, and the three-phase input AC voltage Vacr to subtract the DC offset (DCoffset) A subtractor 1012 may be further provided.

The first comparator 1014 compares the output of the adder 1011 with the reference voltage waveform vref, which is a sawtooth waveform, and outputs a first comparison signal a.

The second comparator 1016 compares the output of the subtractor 1012 with the reference voltage waveform vref, which is a sawtooth waveform, and outputs a second comparison signal d.

The logic operator 1022 receives the first comparison signal (a) and the second comparison signal (d), and when the first comparison signal (a) and the second comparison signal (d) are at the same level, a low level (eg, For example, 0) may be output, and if it is a different level, a high level (eg, 1) may be output.

In addition, the first inverter 1024 may invert the output signal from the logical operator 1022 .

Meanwhile, the second inverter 1026 may invert the second comparison signal d.

Accordingly, the first comparison signal (a) is output to the first switching element S1 or the second switching element S2 or the third switching element S3 in the inverter 420, and the first inverter ( The output signal from 1024 is output to the fourth switching element S4 or the fifth switching element S5 or the sixth switching element S6, and the output signal from the second inverter 1026 is the seventh It may be output to the switching element S7, the eighth switching element S8, or the ninth switching element S9.

On the other hand, the inverter control unit 430 according to the embodiment of the present invention, the six-phase voltage converter 1010 for converting the input voltage of three phases to the voltage of six phases, and outputting the 9-phase switching control signal based on the voltage of the six-phase A 9-phase switching signal output unit 1020 may be included. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit 430 .

On the other hand, the six-phase voltage converter 1010, the first comparison signal (a) and the second comparison signal (d) based on the three-phase input voltage, the DC offset, and the reference voltage waveform (vref) It includes a first comparator 1014 and a second comparator 1016 respectively outputting, the 9-phase switching signal output unit 1020, the first comparison signal (a) from the first comparator 1014, the second A logic operator 1022 that performs an exclusive OR operation based on the second comparison signal from the comparator 1016 and a first inverter 1024 that inverts the output signal from the logic operator 1022 ) and a second inverter 1026 for inverting the second comparison signal d. Accordingly, it is possible to reduce the signal processing burden of the inverter control unit 430 .

On the other hand, the 9-phase switching signal output unit 1020 outputs the first comparison signal (a) to the first switching element (S1), the second switching element (S2), or the third switching element (S3), The output signal from the first inverter 1024 is output to the fourth switching element S4, the fifth switching element S5, or the sixth switching element S6, and the output signal from the second inverter 1026 is It may output to the seventh switching element (S7), the eighth switching element (S8), or the ninth switching element (S9). Accordingly, it is possible to reduce the signal processing burden of the inverter control unit 430 .

Meanwhile, the inverter controller 430 according to an embodiment of the present invention may control the inverter 420 based on the 27 pattern signals of FIG. 11B . Accordingly, it is possible to reduce the signal processing burden of the inverter control unit 430 .

In the motor driving device according to the embodiment of the present invention, and the vehicle having the same, the configuration and method of the embodiments described above are not limitedly applicable, but the embodiments are each so that various modifications can be made. All or some of the embodiments may be selectively combined and configured.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

INDUSTRIAL APPLICABILITY The present invention is applicable to a motor driving device and a vehicle having the same, and particularly, to a motor driving device capable of reducing the size of an inverter and the number of switching of the inverter, and a vehicle having the same.

Claims (14)

1. motor;

   Including; inverter for outputting AC power to the motor;

   The motor includes a 6-phase motor,

   The inverter is

   It includes three legs connected in parallel with each other,

   Each leg comprises three switching elements connected in series.
2. According to claim 1,

   The inverter is

   A first switching element disposed on the first leg, a second switching element disposed on the second leg, a third switching element disposed on the third leg, a fourth switching element having one end connected to one end of the first switching element; A fifth switching element having one end connected to one end of the second switching element, a sixth switching element having one end connected to one end of the third switching element, a seventh switching element connected to the other end of the fourth switching element, a fifth switching element A motor driving apparatus comprising: an eighth switching element connected to the other end of the element; and a ninth switching element connected to the other end of the sixth switching element.
3. 3. The method of claim 2,

   a first node between the first switching element and the fourth switching element, a second node between the second switching element and the fifth switching element, and a second node between the third switching element and the sixth switching element 3 node is connected to the first terminal of the motor,

   a fourth node between the fourth switching element and the seventh switching element, a fifth node between the fifth switching element and the eighth switching element, and a fourth node between the sixth switching element and the ninth switching element 6 nodes are connected to the second terminal of the motor.
4. 3. The method of claim 2,

   The motor is

   a first winding wound between a first node between the first switching element and the fourth switching element and a neutral point of the motor;

   a second winding wound between the second node between the second switching element and the fifth switching element and the neutral point of the motor;

   a third winding wound between the third node between the third switching element and the sixth switching element and the neutral point of the motor;

   a fourth winding wound between the fourth node between the fourth switching element and the seventh switching element and the neutral point of the motor;

   a fifth winding wound between a fifth node between the fifth switching element and the eighth switching element and a neutral point of the motor;

   and a sixth winding wound between the sixth node between the sixth switching element and the ninth switching element and the neutral point of the motor.
5. 5. The method of claim 4,

   When the first switching element of the first leg is off, the fourth switching element is on, and the seventh switching element is on, the first phase voltage of the first winding is at a low level, and the first phase voltage of the fourth winding is on. A motor driving device, characterized in that the four-phase voltage is at a low level.
6. 5. The method of claim 4,

   When the first switching element of the first leg is on, the fourth switching element is off, and the seventh switching element is on, the first phase voltage of the first winding is at a high level, and the first phase voltage of the fourth winding is on. A motor driving device, characterized in that the four-phase voltage is at a low level.
7. 5. The method of claim 4,

   When the first switching element of the first leg is on, the fourth switching element is on, and the seventh switching element is off, the first phase voltage of the first winding is at a high level, The fourth phase voltage is a motor driving device, characterized in that the high level.
8. 3. The method of claim 2,

   Further comprising; an inverter control unit for controlling the inverter;

   The inverter control unit,

   a first comparator and a second comparator respectively outputting a first comparison signal and a second comparison signal based on the input AC voltage, the DC offset, and the reference voltage waveform;

   a logic operator configured to perform an exclusive OR operation based on the first comparison signal from the first comparator and the second comparison signal from the second comparator;

   a first inverter for inverting the output signal from the logic operator;

   and a second inverter for inverting the second comparison signal.
9. 9. The method of claim 8,

   The inverter control unit,

   outputting the first comparison signal to the first switching element,

   outputting the output signal from the first inverter to the fourth switching element,

   and outputting an output signal from the second inverter to the seventh switching element.
10. 3. The method of claim 2,

    Further comprising; an inverter control unit for controlling the inverter;

    The inverter control unit,

    a six-phase voltage converter that converts an input voltage of three phases to a voltage of six phases;

    and a 9-phase switching signal output unit for outputting a 9-phase switching control signal based on the voltage of the 6-phase.
11. 11. The method of claim 10,

    The six-phase voltage converter,

    a first comparator and a second comparator each outputting a first comparison signal and a second comparison signal based on the three-phase input voltage, a DC offset, and a reference voltage waveform;

    The 9-phase switching signal output unit,

    a logic operator configured to perform an exclusive OR operation based on the first comparison signal from the first comparator and the second comparison signal from the second comparator;

    a first inverter for inverting the output signal from the logic operator;

    and a second inverter for inverting the second comparison signal.
12. 12. The method of claim 11,

    The 9-phase switching signal output unit,

    outputting the first comparison signal to the first switching element or the second switching element or the third switching element;

    outputting an output signal from the first inverter to the fourth switching element or the fifth switching element or the sixth switching element;

    and outputting an output signal from the second inverter to the seventh switching element, the eighth switching element, or the ninth switching element.
13. 3. The method of claim 2,

    Further comprising; an inverter control unit for controlling the inverter;

    The inverter control unit,

    A motor driving device, characterized in that the inverter is controlled based on 27 pattern signals.
14. A vehicle comprising the motor driving device according to any one of claims 1 to 13.

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