WO2022153941A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

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Publication number
WO2022153941A1
WO2022153941A1 PCT/JP2022/000348 JP2022000348W WO2022153941A1 WO 2022153941 A1 WO2022153941 A1 WO 2022153941A1 JP 2022000348 W JP2022000348 W JP 2022000348W WO 2022153941 A1 WO2022153941 A1 WO 2022153941A1
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WIPO (PCT)
Prior art keywords
phase
motor
circuit
current
voltage
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PCT/JP2022/000348
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English (en)
Japanese (ja)
Inventor
淳 藤井
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株式会社デンソー
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Publication of WO2022153941A1 publication Critical patent/WO2022153941A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • 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
    • H02M7/493—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 the static converters being arranged for operation in parallel
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step

Definitions

  • This disclosure relates to a motor control device.
  • a motor control device that shares a circuit for driving a multi-phase motor and a DC motor.
  • the motor control device disclosed in Patent Document 1 drives a three-phase AC motor and two DC motors by one three-phase inverter drive circuit.
  • this motor control device is applied to a vehicle steering device, and drives a three-phase motor for electric power steering (EPS) and a direct current motor used around the driver's seat.
  • EPS electric power steering
  • the power converter is downsized.
  • Two-phase stepping motors may be used in actuators that require accurate positioning. For example, around the driver's seat of a vehicle, a two-phase stepping motor may be used to operate a head-up display or the like.
  • a two-phase stepping motor When driving a two-phase stepping motor with an independent circuit, it is necessary to connect an H-bridge circuit to each phase, so that a large number of switching elements are required. Furthermore, it is necessary to provide a dedicated microcomputer and miscellaneous protection element.
  • Patent Document 1 does not mention anything about driving a two-phase motor, not limited to a stepping motor.
  • An object of the present disclosure is to provide a motor control device that shares a circuit for driving a multi-phase motor and a two-phase motor.
  • the motor control device of the present disclosure includes a first circuit, a second circuit, and a control unit.
  • the first circuit is a two-system power conversion circuit that energizes a multi-phase motor having two sets of three-phase or more multi-phase winding sets.
  • the second circuit is a power conversion circuit that is provided in the same housing as the first circuit and energizes one or more two-phase motors having two-phase windings that are independent of each other.
  • the control unit operates the first circuit and the second circuit, and controls the operation of the multi-phase motor and the two-phase motor in common. Therefore, in the motor control device of the present disclosure, the circuit for driving the multi-phase motor and the two-phase motor is shared.
  • the motor control device of the present disclosure applies a voltage to a two-phase motor and a multi-phase motor to energize a current.
  • the two-phase motor is, for example, a two-phase stepping motor.
  • a set of high-potential side and low-potential side switching elements connected in series is used as a leg. More preferably, the circuit of each phase in the second circuit is composed of one leg for each two-phase motor added to the inverters of each system constituting the first circuit.
  • control unit can drive the two-phase motor by turning on and off the switching element of the added leg together with driving the inverter of each system.
  • the number of switching elements for driving the two-phase motor can be halved.
  • a dedicated component for the two-phase motor becomes unnecessary.
  • FIG. 1 is a diagram of a column type EPS system to which the motor control device of the present embodiment is applied.
  • FIG. 2 is a diagram of a rack type EPS system to which the motor control device of the present embodiment is applied.
  • FIG. 3 is a diagram of an SBW system to which the motor control device of the present embodiment is applied.
  • FIG. 4 is a block diagram of the first circuit and the second circuit according to the present embodiment.
  • FIG. 5 is a schematic view showing the configuration of a three-phase double winding rotary machine.
  • FIG. 6 is a block diagram showing the control algorithm of the first embodiment.
  • FIG. 1 is a diagram of a column type EPS system to which the motor control device of the present embodiment is applied.
  • FIG. 2 is a diagram of a rack type EPS system to which the motor control device of the present embodiment is applied.
  • FIG. 3 is a diagram of an SBW system to which the motor control device of the present embodiment is applied.
  • FIG. 4 is a block diagram of the first
  • FIG. 7 is a waveform diagram showing a three-phase voltage command after the operation when the two-phase stepping motor is stopped.
  • FIG. 8 is a waveform diagram showing a three-phase voltage command after operation when the two-phase stepping motor is driven.
  • FIG. 9 is a block diagram showing the control algorithm of the second embodiment.
  • FIG. 10 is a circuit diagram for explaining that the A-phase current is superimposed on the phase current of the connection phase of the first system of the three-phase motor as the principle of estimating the two-phase current value according to the second embodiment.
  • FIG. 11 is a diagram showing a configuration of two-phase current estimation according to the second embodiment.
  • FIG. 12 is a waveform diagram illustrating the estimation of the A-phase current according to the second embodiment.
  • EPS system electric power steering system
  • SBW system steer-by-wire system
  • ECU steer-by-wire system
  • ECU steer-by-wire system
  • FIGS. 1 to 3 show an EPS system 901 in which a steering mechanism and a steering mechanism are mechanically connected.
  • FIG. 1 shows a column type
  • FIG. 2 shows a rack type EPS system 901.
  • the code of the column type EPS system is described as 901C
  • the code of the rack type EPS system is described as 901R.
  • FIG. 3 shows the SBW system 902 in which the steering mechanism and the steering mechanism are mechanically separated. In FIGS. 1 to 3, only one side of the wheel 99 is shown, and the other side of the wheel 99 is not shown.
  • the EPS system 901 and the SBW system 902 commonly include a three-phase motor 800 as a "multi-phase motor” and a two-phase stepping motor 700.
  • the three-phase motor 800 in the EPS system 901 is a steering assist motor that assists the steering of the driver
  • the three-phase motor 800 in the SBW system 902 is a reaction force motor that applies a reaction force to the steering of the driver.
  • the two-phase stepping motor 700 is used, for example, as a motor for operating a head-up display that displays information on a windshield with high accuracy.
  • the EPS system 901 includes a steering wheel 91, a steering shaft 92, an intermediate shaft 95, a steering rack 97, and the like.
  • the steering shaft 92 is included in the steering column 93, and the steering wheel 91 is connected to one end and the intermediate shaft 95 is connected to the other end.
  • the two-phase stepping motor 700 is provided inside, for example, the steering column 93.
  • a steering rack 97 is provided that converts rotation into reciprocating motion by a rack and pinion mechanism and transmits it.
  • the wheels 99 are steered via the tie rod 98 and the knuckle arm 985.
  • universal joints 961 and 962 are provided in the middle of the intermediate shaft 95.
  • the three-phase motor 800 is arranged on the steering column 93.
  • the output torque of the three-phase motor 800 is transmitted to the steering shaft 92.
  • the torque sensor 94 is provided in the middle of the steering shaft 92, detects torque based on the torsional displacement of the torsion bar, and outputs the torque sensor value T_sns.
  • the three-phase motor 800 is arranged in the steering rack 97.
  • the reciprocating motion of the steering rack 97 is assisted by the output torque of the three-phase motor 800.
  • the torque sensor 94 detects the torque transmitted to the steering rack 97 and outputs the torque sensor value T_sns.
  • the ECU 10 is activated by an ON / OFF signal of the vehicle switch 11.
  • the vehicle switch 11 corresponds to an ignition switch or a push switch of an engine vehicle, a hybrid vehicle, or an electric vehicle.
  • Each signal to the ECU 10 is communicated using CAN, serial communication, or the like, or is sent as an analog voltage signal. Further, in the present embodiment, it may be considered that the operation switch of the head-up display is included in the vehicle switch 11.
  • the intermediate shaft 95 does not exist with respect to the EPS system 901.
  • Driver input information such as the steering torque of the driver or the angle of the steering wheel 91 is electrically transmitted to the steering motor 890 via the ECU 10.
  • the rotation of the steering motor 890 is converted into the reciprocating motion of the steering rack 97, and the wheels 99 are steered via the tie rod 98 and the knuckle arm 985.
  • the ECU 10 controls the drive of the three-phase motor 800, which is a reaction force motor, rotates the steering wheel 91 so as to apply a reaction force to steering, and gives the driver an appropriate steering feeling.
  • the EPS system 901 and the SBW system 902.
  • the control unit 400 applies a voltage to the three-phase motor 800 and the two-phase stepping motor 700 having two sets of three-phase winding sets, and energizes the current.
  • a unit including a three-phase winding set and a three-phase inverter corresponding to the winding set is referred to as a "system".
  • the first circuit 68 is a power conversion circuit that energizes the three-phase motor 800, and includes two systems of three-phase inverters 681 and 682.
  • the second circuit 67 is a power conversion circuit that energizes the two-phase stepping motor 700, and includes an A-phase leg 671 and a B-phase leg 672.
  • the “leg” means a set of high-potential side and low-potential side switching elements connected in series.
  • the control unit 400 includes a CPU, a ROM, a RAM, an I / O, and a bus line connecting these configurations, and is composed of a microcomputer, a drive circuit, and the like, and is a substantial memory device (that is, a ROM and the like) such as a ROM. , Software processing by executing a program stored in advance in a readable non-temporary tangible recording medium) by the CPU, and control by hardware processing by a dedicated electronic circuit are executed.
  • the control unit 400 operates the first circuit 68 and the second circuit 67 to commonly control the operations of the three-phase motor 800 and the two-phase stepping motor 700.
  • the control unit 400 operates the first circuit 68 based on the torque sensor value T_sns detected by the torque sensor 94 and the vehicle speed V detected by the vehicle speed sensor 14, and controls the operation of the three-phase motor 800. Further, the control unit 400 operates the second circuit 67 to control the operation of the two-phase stepping motor 700.
  • first circuit 68 and the second circuit 67 are provided in the same housing 600 together with the control unit 400.
  • the ECU 10 can be miniaturized and the number of wiring parts such as harnesses and connectors can be reduced.
  • the circuits of the A phase and the B phase in the second circuit 67 are composed of one leg 671 and 672 added to the inverters 681 and 682 of each system constituting the first circuit 68.
  • the three-phase motor 800 to be driven by the first circuit 68 has two sets of three-phase winding sets 801 and 802.
  • the three-phase winding set 801 of the first system is configured by connecting the U1 phase, V1 phase, and W1 phase windings 811, 812, and 813 at the neutral point N1.
  • a voltage is applied to the windings 811, 812, and 813 of each phase of the three-phase winding set 801 of the first system from the three-phase inverter 681 of the first system.
  • the three-phase winding set 802 of the second system is configured by connecting U2 phase, V2 phase, and W2 phase windings 821, 822, and 823 at the neutral point N2.
  • a voltage is applied to the windings 821, 822, and 823 of each phase of the three-phase winding set 802 of the second system from the three-phase inverter 682 of the second system.
  • first system three-phase winding set 801" and “second system three-phase winding set 802" are omitted, and "first three-phase winding set 801" and “second three-phase winding set 801" are omitted. It is also written as "802".
  • the three-phase motor 800 having a two-system configuration is a double-winding rotary machine in which two sets of three-phase winding sets 801 and 802 are coaxially provided.
  • the two sets of three-phase winding sets 801 and 802 have the same electrical characteristics, and are arranged, for example, on a common stator with an electric angle of 30 [deg] shifted from each other.
  • the counter electromotive voltage generated in each phase of the first system and the second system is based on the voltage amplitude A, the rotation speed ⁇ , and the phase ⁇ , for example, equations (1.1) to (1.3), (2). It is represented by .1a) to (2.3a).
  • the phase ⁇ can also be rephrased as the electric angle ⁇ .
  • phase ( ⁇ + 30) of the U2 phase becomes ( ⁇ -30).
  • the counter electromotive voltage generated in each phase of the second system is represented by the formulas (2.1b) to (2.3b) instead of the formulas (2.1a) to (2.3a).
  • the phase difference equivalent to 30 [deg] is generally expressed as (30 ⁇ 60 ⁇ k) [deg] (k is an integer).
  • the second system may be arranged in phase with the first system.
  • FIG. 4 shows a configuration in the case where one two-phase stepping motor 700, which is the drive target of the second circuit 67, is used.
  • the two-phase stepping motor 700 has two-phase windings of an A-phase winding 714 and a B-phase winding 724 that are independent of each other. Voltage pulses are alternately applied to the A-phase winding 714 and the B-phase winding 724 to energize a direct current, and the rotor rotates by a constant angle accordingly.
  • the direct current energized in the A-phase winding 714 is referred to as the A-phase current Idc1, and the direct current energized in the B-phase winding 724 is referred to as the B-phase current Idc2.
  • the voltage between both terminals Tj1 and Tm1 of the A-phase winding 714 is referred to as Vx1
  • the voltage between both terminals Tj2 and Tm2 of the B-phase winding 724 is referred to as Vx2.
  • the first circuit 68 is composed of two systems of three-phase inverters 681 and 682.
  • the first system inverter 681 is connected to the U1 phase, V1 phase, and W1 phase windings 811, 812, and 813 of the first three-phase winding set 801.
  • the second system inverter 682 is connected to the U2 phase, V2 phase, and W2 phase windings 821, 822, and 823 of the second three-phase winding set 802.
  • the code of the component of the second system and the symbol of the current are represented by replacing "1" of the code of the component of the first system and the symbol of the current with "2".
  • the first system inverter 681 and the second system inverter 682 are connected in parallel with the power supply Bt.
  • the inverters 681 and 682 of each system are connected to the positive electrode of the power supply Bt via the high potential line Lp and connected to the negative electrode of the power supply Bt via the low potential line Lg.
  • the power supply Bt is, for example, a battery having a reference voltage of 12 [V].
  • the DC voltage input from the power supply Bt to the first system inverter 681 is referred to as an input voltage Vr1
  • the DC voltage input to the second system inverter 682 is referred to as an input voltage Vr2.
  • a capacitor C1 is provided between the high potential line Lp and the low potential line Lg on the power supply Bt side of the inverter 681.
  • the power supply relay P1r is connected in series on the power supply Bt side, and the reverse connection protection relay P1R is connected in series on the capacitor C1 side.
  • the power supply relay P1r and the reverse connection protection relay P1R are composed of a semiconductor switching element such as a MOSFET, a mechanical relay, or the like, and can cut off the energization from the power supply Bt to the inverter 681 when the power supply Bt is off.
  • the power relay P1r cuts off the current in the flowing direction when the electrodes of the power supply Bt are connected in the normal direction.
  • the reverse connection protection relay P1R cuts off the current in the flowing direction when the electrodes of the power supply Bt are connected in the direction opposite to the normal direction.
  • the inverter 681 converts the DC power of the power supply Bt into three-phase AC power by the operation of a plurality of bridge-connected inverter switching elements IU1H, IU1L, IV1H, IV1L, IW1H, and IW1L on the high potential side and the low potential side. 1
  • the three-phase winding set 801 is energized.
  • the inverter switching elements IU1H, IV1H, and IW1H are upper arm elements provided on the high potential side of the U1 phase, V1 phase, and W1 phase, respectively, and the inverter switching elements IU1L, IV1L, and IW1L are U1 phase and V1 respectively.
  • Current sensors SAU1, SAV1, and SAW1 for detecting the phase currents Iu1, Iv1, and Iw1 flowing through each phase are installed between the lower arm elements IU1L, IV1L, and IW1L of each phase of the inverter 681 and the low potential line Lg. There is.
  • the current sensors SAU1, SAV1, and SAW1 are composed of, for example, a shunt resistor.
  • the second circuit 67 is composed of an A-phase leg 671 and a B-phase leg 672.
  • the A-phase leg 671 and the B-phase leg 672 are connected to the first system inverter 681 and the second system inverter 682 in the first circuit 68, respectively.
  • the A-phase leg 671 is composed of a set of high-potential side switching element MU1H and low-potential side switching element MU1L added to the first system inverter 681.
  • the B-phase leg 672 is composed of a set of high-potential side switching element MU2H and low-potential side switching element MU2L added to the second system inverter 682.
  • a leg is added" to the inverters 681 and 682 means that a set of high-potential side and low-potential side switching elements are connected between the high-potential line Lp and the low-potential line Lg common to the inverters 681 and 682. Means to be done.
  • the A-phase leg 671 and the B-phase leg 672 added to the inverters 681 and 682 are also referred to as “additional legs”.
  • the high-potential side and low-potential side switching elements in the A-phase leg 671 and the B-phase leg 672 are collectively referred to as "MU1H / L, MU2H / L". Further, the points between the high-potential side and low-potential side switching elements in the additional leg are referred to as "leg midpoints M1 and M2".
  • the switching elements IU1H / L, IV1H / L, IW1H / L, IU2H / L, IV2H / L, IW2H / L of each system inverter 681 and 682, and the switching elements MU1H / L and MU2H / L of the additional legs are, for example. It is a MOSFET.
  • the switching element may be a field effect transistor other than the MOSFET, an IGBT, or the like.
  • the current energized in the two-phase stepping motor 700 is smaller than the phase current flowing in the three-phase motor 800. Therefore, a switching element having a current capacity smaller than that of the inverter switching element may be used for the additional leg.
  • a branch point side terminal Tj1 which is one terminal of the A phase winding 714 is connected to the branch point Ju1 of the U1 phase current path of the first three-phase winding set 801.
  • the leg-side terminal Tm1 which is the other terminal of the A-phase winding 714 is connected to the leg midpoint M1 of the A-phase leg 671.
  • a branch point side terminal Tj2, which is one terminal of the B-phase winding 724 is connected to the branch point Ju2 of the U2 phase current path of the second three-phase winding set 802.
  • the leg-side terminal Tm2, which is the other terminal of the B-phase winding 724 is connected to the leg midpoint M2 of the B-phase leg 672.
  • connection phase The phase in which the A-phase winding 714 and the B-phase winding 724 are connected in the three-phase winding sets 801 and 802 of each system of the three-phase motor 800 is defined as a "connection phase".
  • "U1" of the code "MU1H / L" of the switching element of the additional leg means the U1 phase which is the connection phase of the first system.
  • the U1 phase of the first system and the U2 phase of the second system are the connection phases, but any phase of each system may be the connection phase.
  • phase currents energized in the three-phase winding set 801 are referred to as Iu1 #, Iv1 #, and Iw1 # with respect to the phase currents Iu1, Iv1, and Iw1 flowing through the inverter 681.
  • a part of the phase current Iu1 is separated as the A phase current Idc1 at the branch point Ju1 of the U1 phase current path which is the connection phase.
  • the direction of the current Idc1 from the branch point side terminal Tj1 to the leg side terminal Tm1 is the positive direction
  • the direction of the current Idc1 from the leg side terminal Tm1 to the branch point side terminal Tj1 is the negative direction.
  • the sign of the terminal voltage Vx1 is positive when the voltage of the branch point side terminal Tj1 is higher than the voltage of the leg side terminal Tm1. The same applies to the B-phase winding 724.
  • the control unit 400 has phase current detection values Iu1, Iv1, Iw1, Iu2, Iv2, Iw2 detected by the current sensors SAU1, SAV1, SAW1, SAU2, SAV2, and SAW2 of each system, and an electric angle ⁇ of the three-phase motor 800.
  • the operation of the three-phase motor 800 is controlled based on the above. Further, the control unit 400 outputs a gate signal to the inverters 681 and 682 of each system while operating the center voltage of the three-phase voltage command value of the three-phase motor 800.
  • control unit 400 outputs a two-phase motor drive command so as to turn on one of the switching element MU1H / L of the A-phase leg 671 and the switching element MU2H / L of the B-phase leg 672 and turn off the other.
  • the control unit 400 when the A-phase winding 714 is energized in the positive direction, the control unit 400 turns on the low-potential side switching element MU1L of the A-phase leg 671, turns off the high-potential side switching element MU1H, and turns off the voltage of the branch point Ju1. Is set higher than the voltage at the midpoint M1 of the leg, and the voltage between terminals Vx1 is adjusted to a positive value. Further, when the A-phase winding 714 is energized in the negative direction, the control unit 400 turns on the high-potential side switching element MU1H of the A-phase leg 671, turns off the low-potential side switching element MU1L, and at the branch point Ju1. The voltage is set lower than the voltage at the midpoint M1 of the leg, and the voltage between terminals Vx1 is adjusted to a negative value.
  • the control unit 400 sequentially adjusts the voltage Vx1 and Vx2 between the terminals of the A phase and the B phase, and alternately applies the voltage pulses to the A phase winding 714 and the B phase winding 724 while overlapping them, thereby performing two phases.
  • the stepping motor 700 is rotated by a constant angle.
  • the rotor rotation angle is calculated accurately based on the count of the number of voltage pulses applied to each phase. Further, since the two-phase stepping motor 700 is brushless and the brush is not consumed, the number of times of durable use is increased as compared with the DC motor with a brush.
  • control unit 400 drives the three-phase motor 800 and the two-phase stepping motor 700.
  • the control unit 400 controls the current flowing through the two-phase windings 714 and 724 of the two-phase stepping motor 700 in a feed-forward manner.
  • the control unit 400 controls the current by operating the inter-terminal voltages Vx1 and Vx2 of the two-phase windings 714 and 724 based on the current actually flowing through the two-phase windings 714 and 724. That is, feedback control is performed by the current of the two-phase stepping motor 700.
  • FIG. 6 shows the control algorithm of the first embodiment.
  • the upper side of FIG. 6 shows a block that outputs the gate signal of the first system
  • the lower side of FIG. 6 shows a block that outputs the gate signal of the second system.
  • the code of the blocks of both systems "481, 482" and "491, 492" are assigned a code for each system.
  • the distinction of the code for each system is omitted, and a common code is attached.
  • the current or voltage symbol “1" at the end indicates the value of the first system, and "2" indicates the value of the second system. In the following description, the symbols of the current and voltage of the first system will be described as representatives.
  • the control unit 400 includes a q-axis current deviation calculator 43, a q-axis current controller 44, a d-axis current deviation calculator 45, a d-axis current controller 46, a dq / three-phase conversion unit 47, and a neutral point for each system. It includes voltage control units 481 and 482 and PWM modulators 491 and 492.
  • the q-axis current deviation calculator 43 calculates the q-axis current deviation ⁇ Iq1 between the q-axis current command Iq1 * and the fed-back q-axis current Iq1.
  • the q-axis current controller 44 calculates the q-axis voltage command Vq1 * so that the q-axis current deviation ⁇ Iq1 approaches 0, in other words, the q-axis current Iq1 follows the q-axis current command Iq1 * .
  • the q-axis current command Iq1 * is calculated by torque control, position control, speed control, current control, voltage control, and the like. Further, it may be limited to the current limit value or less, if necessary.
  • the d-axis current deviation calculator 45 calculates the d-axis current deviation ⁇ Id1 between the d-axis current command Id1 * and the fed-back d-axis current Id1.
  • the d-axis current controller 46 calculates the d-axis voltage command Vd1 * so that the d-axis current deviation ⁇ Id1 approaches 0, in other words, the d-axis current Id1 follows the d-axis current command Id1 * .
  • the dq / three-phase conversion unit 47 converts the dq-axis voltage commands Vq1 * and Vd1 * into the three-phase voltage commands Vu1 * , Vv1 * and Vw1 * .
  • the signal of the electric angle ⁇ input to the dq / three-phase conversion unit 47 for the coordinate conversion calculation is omitted.
  • the center voltage of the three-phase voltage commands Vu1 * , Vv1 * , and Vw1 * output by the dq / three-phase conversion unit 47 is 0 [V].
  • the center voltage operation unit 481 of the first system operates the center voltages of the three-phase voltage commands Vu1 * , Vv1 * , and Vw1 * using the offset voltage Vm1 * .
  • the voltage at the neutral point N1 of the three-phase winding set 801 is shifted.
  • FIG. 7 shows the waveforms of the three-phase voltage commands Vu1 * #, Vv1 * #, and Vw1 * # after the operation when only the three-phase motor 800 is driven and the two-phase stepping motor 700 is stopped.
  • the horizontal axis represents one cycle of the electric angle ⁇ . For example, when the input voltage Vr1 is 12 [V], the center voltage is offset to 6 [V].
  • FIG. 8 shows the waveforms of the three-phase voltage commands Vu1 ****, Vv1 ****, and Vw1 ## after the operation when the two-phase stepping motor 700 is driven while driving the three-phase motor 800 .
  • the upper side of FIG. 8 shows the waveform when the A-phase winding 714 is energized in the positive direction
  • the lower side of FIG. 8 shows the waveform when the A-phase winding 714 is energized in the negative direction.
  • These waveform diagrams are treated as a set of related diagrams.
  • the thick solid arrow in FIG. 8 represents the voltage applied to the A-phase winding 714.
  • the control unit 400 When the A-phase winding 714 is energized in the positive direction, the control unit 400 turns on the low-potential side switching element MU1L of the A-phase leg 671. Further, the control unit 400 calculates the offset voltage Vm1 * so that the post-operation voltage command Vu1 * # of the U1 phase, which is the connection phase, becomes constant at a voltage VH (for example, 10 [V]) close to 12 [V]. As a result, a positive voltage is applied to the A-phase winding 714 as indicated by the thick solid arrow pointing upward.
  • the sine wave amplitude of the post-operation voltage commands Vv1 ## and Vw1 ## of the V1 phase and W1 phase is ⁇ 3 times the amplitude before the operation (that is, the amplitude of the line voltage).
  • the control unit 400 When the A-phase winding 714 is energized in the negative direction, the control unit 400 turns on the high-potential side switching element MU1H of the A-phase leg 671. Further, the control unit 400 calculates the offset voltage Vm1 * so that the post-operation voltage command Vu1 * # of the U1 phase, which is the connection phase, becomes constant at a voltage VL (for example, 2 [V]) close to 0 [V]. As a result, a negative voltage is applied to the A-phase winding 714 as indicated by the thick solid arrow pointing downward.
  • VL for example, 2 [V]
  • the first system PWM modulator 491 PWM-modulates the three-phase voltage command after the center voltage operation to generate a gate signal.
  • the gate signal output by the first system PWM modulator 491 is input to each gate of the switching elements IU1H / L, IV1H / L, and IW1H / L of the first system inverter 681.
  • the same control is performed for the second system, and the B-phase terminal voltage Vx2 is operated to a positive voltage or a negative voltage by the offset voltage Vm2 * calculated by the center voltage operation unit 482.
  • the gate signal output by the PWM modulator 492 of the second system is input to each gate of the switching elements IU2H / L, IV2H / L, and IW2H / L of the second system inverter 682.
  • FIG. 9 shows the control algorithm of the second embodiment.
  • the control unit 400 of the second embodiment turns on either one of the high-potential side or low-potential side switching elements of the A-phase leg 671 and the B-phase leg 672, and sets the phase voltage command value of the three-phase motor 800.
  • the inter-terminal voltages Vx1 and Vx2 applied to the phase windings 714 and 724 of the two-phase stepping motor 700 are determined.
  • control unit 400 includes an A-phase current deviation calculator 551, an A-phase current controller 561, a B-phase current deviation calculator 552, and a B-phase current controller 562.
  • Phase A will be described as a representative.
  • the A-phase current deviation calculator 551 calculates the A-phase current deviation ⁇ Idc1 between the A-phase current command value Idc1 * and the fed-back A-phase current value Idc1.
  • the presence or absence of a "value” may coexist, such as "A-phase current” and "A-phase current value”.
  • "current value” is a word that emphasizes that it is a "value”, but it does not make a strict distinction.
  • the A-phase current controller 561 calculates the offset voltage Vm1 * of the first system so that the A-phase current deviation ⁇ Idc1 approaches 0, in other words, the A-phase current Idc1 follows the A-phase current command Idc1 * . Operate the center voltage of the phase voltage command values Vu1 * , Vv1 * , and Vw1 * . As described above, the center voltage is manipulated according to the ON / OFF of the switching element MU1H / L of the A-phase leg 671, and the A-phase terminal voltage Vx1 changes. Then, the A-phase current value Idc1 changes with the A-phase terminal voltage Vx1. The changed A-phase current value Idc1 is fed back to the A-phase current deviation calculator 551.
  • control unit 400 controls the A-phase current value Idc1 and the B-phase current value Idc2 by feedback control using the center voltage of the phase voltage command values of the three-phase winding sets 801 and 802 of each system as the operation amount.
  • This control is based on the idea of accurately controlling the torque of the two-phase stepping motor 700, similar to the control of the three-phase motor 800.
  • the two-phase current values Idc1 and Idc2 that are fed back may be detected values or estimated values. That is, the control unit 400 applies a voltage to the three-phase winding sets 801 and 802 of each system based on the detected value or the estimated value of the current flowing in each phase of the two-phase motor.
  • a current sensor is provided in each current path of the A-phase winding 714 and the B-phase winding 724. In this configuration, the control unit 400 does not perform the estimation calculation of the current values Idc1 and Idc2, so that the calculation load is reduced.
  • a current sensor for two-phase current is not required, which is advantageous in terms of mounting space and component cost reduction.
  • the estimation principle of the A-phase current value Idc1 will be described with reference to FIG. Due to the Duty operation of the first system inverter 681, the U1 phase current Iu1 # flows from the V1 phase or the W1 phase to the low potential line Lg in the path of the thick solid line arrow via the neutral point N1. Further, when the high potential side switching element MU1H of the A phase leg 671 is turned on and the low potential side switching element MU1L is turned off, the A phase current Idc1 flows in the path indicated by the thick broken line arrow.
  • the control unit 400 estimates the A-phase current Idc1 by extracting the A-phase current Idc1 from the U1 phase current detection value Iu1 which is the connection phase.
  • the control unit 400 estimates the B-phase current Idc2 by extracting the B-phase current Idc2 from the U2 phase current detection value Iu2, which is the connection phase.
  • the control unit 400 estimates the A-phase current Idc1 and the B-phase current Idc2.
  • the control unit 400 includes a two-phase current estimation unit 50.
  • the sum of the three-phase currents Iu1 #, Iv1 #, and Iw1 # flowing through the phase windings 811, 812, and 813 of the first three-phase winding set 801 is theoretically zero. Therefore, as shown in the above equation (3.4), the difference between the sum of the three-phase phase current detection values Iu1, Iv1, and Iw1 and zero corresponds to the A-phase current value Idc1.
  • FIG. 12 shows the waveform of the U1 phase current detection value Iu1 on which the positive A phase current value Idc1 is superimposed at the start of energization of the two-phase stepping motor 700.
  • the two-phase current estimation unit 50 adds the U1 phase current detection value Iu1, the V1 phase current detection value Iv1, and the W1 phase current detection value Iw1 for the first system to calculate the A phase current estimation value Idc1_est. Similarly, the two-phase current estimation unit 50 adds the U2-phase current detection value Iu2, the V2-phase current detection value Iv2, and the W2-phase current detection value Iw2 for the second system to calculate the B-phase current estimation value Idc2_est. In this way, the control unit 400 estimates the sum of the three-phase current detection values in each system of the first circuit 68 as the current values Idc1 and Idc2 flowing in each phase of the two-phase stepping motor 700.
  • the two-phase current values Idc1 and Idc2 usually change to the same extent, and the offset voltage Vm1 * of each system, Vm2 * is a value that correlates with each other.
  • the offset voltages Vm1 * and Vm2 * of the two systems and the three-phase voltage after operation are used. Mediation by cooperative control or the like between the two systems may be performed so that the command value does not deviate by more than a predetermined value.
  • the two-phase current estimation unit 50 uses the sum of the three-phase phase current detection values, a method of obtaining the difference between the phase current detection value of the connected phase and the phase current command value, and a DC component by filtering.
  • the two-phase current values Idc1 and Idc2 may be estimated by using an extraction method or the like.
  • the two-phase motor is not limited to the stepping motor, and may be any motor having two-phase windings independent of each other. Further, the number of two-phase motors is not limited to one, and two or more may be provided. For example, when two two-phase motors are provided, two A-phase legs are added to the first system inverter 681 and two B-phase legs are added to the second system inverter 682 as the second circuit. That is, the A-phase and B-phase circuits in the second circuit are composed of "one for each two-phase motor" leg added to the first system inverter 681 and the second system inverter 682. To.
  • connection point side terminals of the A-phase windings of each two-phase motor are connected to the phase current paths of the same phase or different phases of the first three-phase winding set 801.
  • connection point side terminals of the B-phase windings of each two-phase motor are connected to the same-phase or different-phase phase current paths of the second-three-phase winding set 802.
  • the control unit 400 commonly controls the operation of the multi-phase motor and each of the two-phase motors.
  • the two-phase stepping motor may be used for a tilt actuator, a telescopic actuator, or the like in addition to the head-up display.
  • the position accuracy is improved as compared with the case of using a general DC motor, and the number of times of durable use is increased by brushless.
  • a brake hydraulic pump motor may be used in addition to the steering assist motor and the reaction force motor.
  • the present disclosure may be applied to motors other than those for automobiles.
  • the "multi-phase motor” is not limited to a three-phase motor, but may be a four-phase or higher-phase motor. In that case, the "sum of the current detection values of the three phases in each system" in the second embodiment is generalized to the "sum of the current detection values of all phases in each system".
  • the power supply relay and the reverse connection protection relay may not be provided in the two-system circuit configuration shown in FIG. Further, a three-phase motor relay or a two-phase motor relay may be added, or an LC filter circuit which is a miscellaneous protection element may be added to the input unit.
  • the two inverters 681 and 682 may be connected to individual power sources instead of being connected to a common power source Bt.
  • the controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done.
  • the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
  • the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured.
  • the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Multiple Motors (AREA)
  • Inverter Devices (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un dispositif de commande de moteur (10) pourvu d'un premier circuit (68), d'un deuxième circuit (67) et d'une unité de commande (400). Le premier circuit (68) est un circuit convertisseur de puissance à deux systèmes permettant d'alimenter un moteur polyphasé (800) ayant deux ensembles d'enroulements à phases multiples (801, 802) de trois phases ou plus. Le deuxième circuit (67) est un circuit convertisseur de puissance qui est situé à l'intérieur du même boîtier (600) que le premier circuit (68), et alimente un moteur à deux phases (700) ayant des enroulements (714, 724) de deux phases qui sont indépendants l'un de l'autre. L'unité de commande (400) actionne le premier circuit (68) et le deuxième circuit (67), et commande le fonctionnement du moteur polyphasé (800) et du moteur à deux phases (700) ensemble.
PCT/JP2022/000348 2021-01-13 2022-01-07 Dispositif de commande de moteur WO2022153941A1 (fr)

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JP2021-003216 2021-01-13
JP2021003216A JP7444083B2 (ja) 2021-01-13 2021-01-13 モータ制御装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024071024A1 (fr) * 2022-09-30 2024-04-04 ニデック株式会社 Dispositif de conversion de puissance et module de moteur

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007202364A (ja) * 2006-01-30 2007-08-09 Sanyo Electric Co Ltd モータ駆動集積回路
JP2007244159A (ja) * 2006-03-10 2007-09-20 Sanyo Electric Co Ltd モータ駆動集積回路
JP6758460B1 (ja) * 2019-07-30 2020-09-23 三菱電機株式会社 回転電機装置および電動パワーステアリング装置
JP2020195240A (ja) * 2019-05-29 2020-12-03 株式会社デンソー 多相回転機の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007202364A (ja) * 2006-01-30 2007-08-09 Sanyo Electric Co Ltd モータ駆動集積回路
JP2007244159A (ja) * 2006-03-10 2007-09-20 Sanyo Electric Co Ltd モータ駆動集積回路
JP2020195240A (ja) * 2019-05-29 2020-12-03 株式会社デンソー 多相回転機の制御装置
JP6758460B1 (ja) * 2019-07-30 2020-09-23 三菱電機株式会社 回転電機装置および電動パワーステアリング装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024071024A1 (fr) * 2022-09-30 2024-04-04 ニデック株式会社 Dispositif de conversion de puissance et module de moteur

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