WO2022190582A1 - モータ駆動装置 - Google Patents
モータ駆動装置 Download PDFInfo
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- WO2022190582A1 WO2022190582A1 PCT/JP2021/048502 JP2021048502W WO2022190582A1 WO 2022190582 A1 WO2022190582 A1 WO 2022190582A1 JP 2021048502 W JP2021048502 W JP 2021048502W WO 2022190582 A1 WO2022190582 A1 WO 2022190582A1
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- phase
- winding set
- motor
- stator
- winding
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- 238000004804 winding Methods 0.000 claims abstract description 137
- 238000005259 measurement Methods 0.000 description 28
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/493—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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Definitions
- the present invention relates to a motor drive device.
- a motor driving device for example, as described in Patent Document 1, a motor having two electrically independent winding sets is provided with one inverter for supplying an alternating current to each winding set, It is disclosed that the energization system to the motor is made redundant by two systems.
- the motor driving apparatus drives a motor having electrically independent first winding sets and second winding sets, in which a three-phase alternating current is applied to the first winding set.
- a second inverter that outputs a three-phase alternating current to the second winding set
- a controller that outputs a drive command to the first inverter and the second inverter in the form of PWM pulses, and controls
- the device is arranged so that the three-phase AC current output from the first inverter to the first winding set and the three-phase AC current output from the second inverter to the second winding set have opposite polarities in each phase. Generate a PWM pulse.
- the motor drive device According to the motor drive device according to the present invention, it is possible to reduce the number of electrical components for noise countermeasures while maintaining noise resistance performance.
- FIG. 1 is a schematic diagram showing an example of a schematic configuration of an electric steering system
- FIG. FIG. 2 is an axial cross-sectional view schematically showing a structural example of a motor
- FIG. 3 is an X-ray cross-sectional view schematically showing winding arrangement of the motor of FIG. 2
- 1 is a schematic diagram showing an example of a circuit configuration of an electric steering system
- FIG. It is a schematic diagram which shows an example of schematic structure of a controller.
- 4 is a functional block diagram showing an example of functions of a controller
- FIG. 3 is a schematic diagram showing an example of three-phase voltage command values and carrier signals for each system
- FIG. FIG. 4 is a schematic diagram showing an example of PWM pulses and common mode currents of each system
- FIG. 3 is a schematic diagram showing an example of three-phase currents of a motor; 3 is an axial sectional view schematically showing a first modification of the motor of FIG. 2; FIG. FIG. 11 schematically shows the winding arrangement of the motor of FIG. 11, where (a) is a Y-line cross-sectional view and (b) is a Z-line cross-sectional view. 3 is an axial sectional view schematically showing a second modification of the motor of FIG. 2; FIG. 3 is an X-ray cross-sectional view schematically showing a third modification of the motor of FIG. 2; FIG. FIG. 3 is a schematic diagram showing an example of conventional PWM pulses and common mode currents in each system;
- FIG. 1 shows an example of an electric steering system to which a motor driving device is applied.
- the electric steering system 1 functions as a power steering that assists the steering torque generated when the driver steers the steering wheel 1001 to steer the pair of steerable wheels 1002 .
- Steering torque generated by steering operation of steering wheel 1001 is transmitted to pinion gear 1005 connected to pinion shaft 1004 via steering shaft 1003 and the like.
- Rotational motion of the pinion gear 1005 due to the transmitted steering torque is converted into linear motion in the vehicle width direction by a rack gear 1006 that meshes with the pinion gear 1005.
- This linear motion operates a pair of steering mechanisms 1007 connected to the rack gear 1006. do.
- the steerable wheels 1002 respectively connected to the pair of steering mechanisms 1007 are steered.
- the electric steering system 1 is configured to apply an assist torque that assists the steering torque to the transmission path of the steering torque to the pair of steering mechanisms 1007 .
- the electric steering system 1 includes a motor 2 and a motor drive device 3 with a built-in computer that drives the motor 2 to generate a desired assist torque.
- the electric steering system 1 becomes operable when power is supplied from the vehicle-mounted battery 4 to the motor driving device 3 when the ignition switch IGN is turned on.
- the electric steering system 1 also includes a torque sensor 5 and a speed reducer 6 inside a steering column 1008 that supports a steering shaft 1003 .
- the torque sensor 5 is a torque measuring instrument that measures the steering torque T by various detection methods such as magnetostrictive, strain gauge, and piezoelectric, and outputs a measurement signal corresponding to the steering torque T.
- the reduction gear 6 is a speed reduction mechanism that increases the shaft torque of the motor 2 in inverse proportion to the rotation speed and transmits it to the steering shaft 1003 .
- the electric steering system 1 includes a vehicle speed sensor 7 as a vehicle speed measuring device that measures the vehicle speed ⁇ and outputs a measurement signal corresponding to the vehicle speed ⁇ .
- a vehicle speed sensor 7 a wheel speed sensor used in other control systems such as an ABS (Anti-lock Braking System) or a skid prevention device may be used.
- the motor driving device 3 receives measurement signals output from the torque sensor 5, the vehicle speed sensor 7, etc., and determines a target assist torque value (target torque ). Then, the motor driving device 3 performs energization control of the motor 2 so that the shaft torque generated by the motor 2 approaches the target torque. When the shaft torque of the motor 2 generated by such energization control is transmitted to the steering shaft 1003 via the speed reducer 6, the steering torque is assisted by the assist torque corresponding to the operating state of the vehicle 1000.
- the motor driving device 3 can also be applied when the electric steering system 1 functions as an automatic steering device that autonomously performs steering corresponding to automatic or semi-automatic driving of the vehicle 1000.
- an automatic driving controller installed separately from the motor drive device 3 calculates a target steering angle of the steering wheel 1001 based on external world information acquired by external world recognition means such as a camera, and outputs the target steering angle to the motor drive device 3 .
- the motor driving device 3 performs energization control of the motor 2 so that the current steering angle detected by the steering angle sensor approaches the target steering angle calculated by the automatic operation controller.
- the shaft torque of the motor 2 generated by such energization control is transmitted to the steering shaft 1003 via the speed reducer 6, so that the vehicle 1000 can be automatically driven.
- the motor 2 has two electrically independent winding sets as stator coils, and the motor driving device 3 has two energization systems for energizing each winding set from the vehicle-mounted battery 4.
- energization control of one winding set of the motor 2 is autonomously performed
- energization control of the other winding set of the motor 2 is autonomously performed.
- the reference characters of the components of the first system include “A”
- the reference characters of the components of the second system include “B”
- the reference characters are "A ” and “B” shall have similar meanings to each other.
- FIG. 2 shows the schematic structure of the motor 2
- FIG. 3 shows the winding arrangement of the motor 2. As shown in FIG.
- the motor 2 is a three-phase brushless motor, and includes a rotating shaft 8 that is rotatably supported, and a rotor 10 that rotates with the rotating shaft 8 and has permanent magnets 9 alternately arranged with different polarities in the direction of rotation. , one each.
- the motor 2 has one stator 12 arranged on the outer circumference of the rotor 10, and the stator 12 has a plurality of teeth facing the permanent magnets 9 of the rotor 10 with gaps therebetween in the radial direction of the rotating shaft 8. 11 is connected to the inner circumference of the annular yoke.
- the stator 12 of the motor 2 is provided with two winding sets 13 electrically independent of each other as described above.
- One winding set 13A of the two winding sets 13 is subject to energization control by the first system, and is a three-phase winding in which a U-phase coil 14A, a V-phase coil 15A, and a W-phase coil 16A are Y-connected.
- the other winding set 13B of the two winding sets 13 is subject to energization control by the second system, and is a three-phase winding in which a U-phase coil 14B, a V-phase coil 15B, and a W-phase coil 16B are Y-connected. .
- phase coils 14A, 15A and 16A of the winding group 13A are wound around half of the plurality of teeth 11 by salient pole concentrated winding, and the winding group 13B is wound around the other half of the plurality of teeth 11.
- Each phase coil 14B, 15B, 16B is wound by salient pole concentrated winding.
- a U-phase coil 14A, a V-phase coil 15A, and a W-phase coil 16A are wound in this order around three teeth 11 that are continuous in the rotation direction of the rotor 10 .
- U-phase coil 14B, V-phase coil 15B, and W-phase coil 16B are sequentially wound around three teeth 11 that are continuous in the rotational direction of rotor 10 .
- the winding directions of the phase coils 14A, 15A and 16A of the winding set 13A and the phase coils 14B, 15B and 16B of the winding set 13B are different from each other.
- FIG. 4 shows the circuit configuration of the electric steering system 1. As shown in FIG.
- the motor 2 is housed in a housing 17, and this housing 17 is electrically connected to the reference ground of the vehicle body or the like.
- Power supply lines 18A, 19A, and 20A are connected to the winding set 13A of the motor 2, that is, the U-phase coil 14A, the V-phase coil 15A, and the W-phase coil 16A, respectively.
- power supply lines 18B, 19B, and 20B are connected to the winding set 13B of the motor 2, that is, the U-phase coil 14B, the V-phase coil 15B, and the W-phase coil 16B, respectively.
- the motor drive device 3 has, as a first system, an inverter 21A, a power supply circuit 22A, various measuring instruments such as a rotation angle sensor 23A and current sensors 24A and 25A, and a controller 26A.
- the motor drive device 3 has, as a second system, an inverter 21B, a power supply circuit 22B, various measuring instruments such as a rotation angle sensor 23B and current sensors 24B and 25B, and a controller 26B.
- the motor driving device 3 is housed in a housing 27, and the housing 27 is electrically connected to the reference ground of the vehicle body or the like. In the electric steering system 1, the torque sensor 5 and the vehicle speed sensor 7 are also made redundant. A sensor 7B is provided.
- the inverter 21A is supplied with power from the vehicle-mounted battery 4 accommodated in the housing 28 when the ignition switch IGN is in the ON state.
- the housing 28 is electrically connected to the reference ground of the vehicle body or the like.
- U-phase, V-phase, and W-phase half bridge circuits are connected in parallel between a positive bus line connected to the positive electrode of the vehicle battery 4 and a negative bus line connected to the negative electrode of the vehicle battery 4.
- 3-phase bridge circuit is configured by serially connecting an upper arm switching element 30A and a lower arm switching element 30A, and the two switching elements 29A and 30A are connected to a power supply line 18A.
- the V-phase half bridge circuit is configured by serially connecting an upper arm switching element 31A and a lower arm switching element 32A, and a power supply line 19A is connected between the two switching elements 31A and 32A.
- the W-phase half-bridge circuit is configured by serially connecting an upper arm switching element 33A and a lower arm switching element 34A, and the two switching elements 33A and 34A are connected to a power supply line 20A.
- the switching elements 29A to 34A each have an antiparallel freewheeling diode and an externally controllable control electrode, and perform a switching operation to switch between an ON state and an OFF state according to a control signal input to the control electrode.
- MOSFET Metal Oxide Semiconductor Metal Field Effect Transistor
- IGBT Insulated Gate Bipolar Transistor
- N-channel MOSFETs are used as the switching elements 29A to 34A.
- the switching elements 29A to 34A electrically conduct between the drain and the source when turned on based on a high-level control signal (gate signal) equal to or higher than a predetermined threshold voltage.
- the switching elements 29A to 34A cut off electrical conduction between the drain and the source when turned off based on a low-level control signal (gate signal) below a predetermined threshold.
- the power supply circuit 22A is a circuit that adjusts the output voltage of the vehicle-mounted battery 4 and supplies operating voltage to the controller 26A when the ignition switch IGN is in the ON state. Although not shown, the power supply circuit 22A adjusts the output voltage of the vehicle-mounted battery 4 to power the torque sensor 5A, vehicle speed sensor 7A, rotation angle sensor 23A, current sensors 24A, 25A, and other measuring instruments belonging to the first system. Voltage may also be supplied as appropriate.
- the rotation angle sensor 23A is a rotation angle measuring device that measures the rotation angle (hereinafter referred to as "rotor rotation angle") ⁇ A of the rotor 10 and outputs a measurement signal corresponding to the rotor rotation angle ⁇ A .
- the rotation angle sensor 23A can measure the rotor rotation angle ⁇ A using various principles such as Hall elements, resolvers, rotary encoders, and the like.
- the current sensors 24A and 25A are provided in two phases different from each other in the U-phase to W-phase half bridge circuits of the inverter 21A or the power supply lines 18A to 20A, and measure the phase current values actually flowing in the corresponding phases. It is a phase current measuring instrument that outputs a measurement signal corresponding to a phase current value.
- the current sensor 24A is provided on the U-phase lower arm and outputs a measurement signal corresponding to the phase current value IuA that actually flows through the U-phase (hereinafter referred to as "U-phase actual current value"). .
- a current sensor 25A is provided on the lower arm of the V-phase and outputs a measurement signal corresponding to the phase current value (hereinafter referred to as "V-phase actual current value") IvA that actually flows through the V-phase.
- the current sensors 24A, 25A can measure the actual current values Iu A , Iv A using various measurement principles, such as amplifying the potential difference across the shunt resistor with an operational amplifier and outputting it.
- a phase current measuring instrument a three-phase current is measured from the inverter bus current measured by a single shunt resistor (see Japanese Patent Application Laid-Open No. 2019-071755), and a current sensor is installed for each of the three phases. It may be provided to measure the phase current.
- FIG. 5 shows an example of the schematic configuration of the controller 26A.
- the controller 26A includes a processor 35A such as a CPU (Central Processing Unit), a volatile memory 36A such as a RAM (Random Access Memory), a nonvolatile memory 37A such as a ROM (Read Only memory), and an input/output interface 38A.
- a processor 35A, a volatile memory 36A, a nonvolatile memory 37A, an input/output interface 38A, etc. are communicably connected by an internal bus 39A.
- the controller 26A inputs measurement signals output from the torque sensor 5A, the vehicle speed sensor 7A, the rotation angle sensor 23A, and the current sensors 24A and 25A via the input/output interface 38A. Then, the processor 35A reads the program stored in the nonvolatile memory 37A into the volatile memory 36A and executes it, and the controller 26A issues a drive command (control command) to the switching elements 29A to 34A based on the measurement signal. signal). As a result, the controller 26A outputs a drive command to the switching elements 29A to 34A from the input/output interface 38A via a pre-driver (not shown) or the like, and controls energization of the motor 2 by the first system.
- a pre-driver not shown
- FIG. 6 shows the functional configuration of the controllers 26A and 26B.
- the controller 26A includes, as schematic functional blocks, a rotor rotation position measurement unit 40A, a phase current measurement unit 41A, a three-phase/dq conversion unit 42A, a target torque setting unit 43A, a current command value setting unit 44A, a subtraction unit 45A, It has a current control section 46A, a dq/3 phase conversion section 47A, a clock signal generation section 48A, a timer signal generation section 49A, a triangular wave generation section 50A, and a drive command generation section 51A.
- the rotor rotational position measurement unit 40A acquires data (electrical angle) of the rotor rotational angle ⁇ A based on the measurement signal output from the rotational angle sensor 23A.
- the rotor rotational position measurement unit 40A acquires data of the rotor rotational angle ⁇ A by A /D converting the sampling value of the measurement signal using, for example, an A/D (Analog/Digital) converter.
- the rotor rotation position measurement unit 40A obtains the data of the rotor angular velocity ⁇ A corresponding to the time differential value of the rotor rotation angle ⁇ A by calculation.
- the phase current measurement unit 41A acquires data of the U-phase actual current value Iu A based on the measurement signal output from the current sensor 24A. Similarly, the phase current measurement unit 41A acquires data of the V-phase actual current value Iv A based on the measurement signal output from the current sensor 25A.
- the phase current measurement unit 41A uses an A/D (Analog/Digital) converter to A/D convert the sampled value of the measurement signal to obtain data of the U-phase and V-phase actual current values Iu A and Iv A. get.
- A/D Analog/Digital
- the phase current measurement unit 41A uses the acquired data of the U-phase actual current value Iu A and the V-phase actual current value Iv A to determine the actual current flowing through the W phase.
- the three-phase/dq converter 42A uses the data of the rotor rotation angle ⁇ A to convert the U - phase actual current value IuA , the V-phase actual current value IvA , and the W-phase actual current value IwA .
- the data is converted into a d-axis actual current value Id A and a q-axis actual current value Iq A in a two-axis rotating coordinate system (dq coordinate system).
- the target torque setting unit 43A obtains data of the steering torque TA and the vehicle speed ⁇ A based on the measurement signals output from the torque sensor 5A and the vehicle speed sensor 7A using an A/D converter or the like as appropriate. Then, the target torque setting section 43A sets the target torque T A * based on the acquired data of the steering torque T A and the vehicle speed ⁇ A.
- the current command value setting unit 44A sets the current command value based on the target torque T A * set by the target torque setting unit 43A. Specifically, the current command value setting unit 44A sets the d-axis current command value Id A * and the q-axis current command value Iq A * in the dq coordinate system as current command values in order to perform vector control. Note that the d-axis current command value Id A * and the q-axis current command value Iq A * are set to a predetermined output ratio (for example, 50%) of the inverter 21A to the total output of the inverters 21A and 20B in the target torque T A * . It is set to generate the corresponding shaft torque.
- a predetermined output ratio for example, 50%
- the subtraction unit 45A calculates the difference ⁇ Id A between the d-axis current command value Id A * and the d-axis actual current value Id A , and also calculates the difference between the q-axis current command value Iq A * and the q-axis actual current value Iq A. Calculate ⁇ Iq A.
- Current control unit 46A calculates d-axis voltage command value Vd A * and q-axis voltage command value Vq A * based on rotor angle ⁇ A , rotor angular velocity ⁇ A , difference ⁇ Id A and difference ⁇ Iq A. Specifically, the current control unit 46A converts the d-axis actual current value Id A to the d-axis current command value Id A by current feedback control using PI control or the like while considering the rotor angular velocity ⁇ A as non-interference control. * , and the d-axis voltage command value Vd A * and the q-axis voltage command value Vq A * are calculated so that the q-axis actual current value Iq A approaches the q-axis current command value Iq A * .
- the dq/three-phase converter 47A converts the d-axis voltage command value Vd A * and the q-axis voltage command value Vq A * using the data of the rotor rotation angle ⁇ A to the U-phase
- the voltage command value Vu A * , the V-phase voltage command value Vv A * , and the W-phase voltage command value Vw A * are converted into three-phase voltage command values.
- the three-phase voltage command values Vu A * , Vv A * , Vw A * change sinusoidally in accordance with changes in the rotor rotation angle ⁇ A over time, and have the same amplitude with a phase difference of 120° from each other. obtained as an alternating voltage.
- three-phase voltage command values Vu A * , Vv A * , Vw A * change at a frequency ( ⁇ A /2 ⁇ ) proportional to the rotor angular velocity ⁇ A on the time axis, and the triangular wave frequency (that is, the switching frequency) is , three-phase voltage command values Vu A * , Vv A * , Vw A * are set in advance to values higher than the frequencies thereof.
- the clock signal generation unit 48A receives an AC signal of a fundamental frequency output from an oscillation circuit (not shown) that is arranged outside the controller 26A and is unique to each system or common to the first and second systems. to generate a clock signal multiplied or divided to a predetermined frequency.
- the timer signal generation unit 49A generates a count value by up-counting and down-counting the number of pulses of the clock signal as a timer signal. Specifically, the timer signal generator 49A starts down-counting when the count value reaches a predetermined upper limit value, and starts up-counting when the count value reaches a predetermined lower limit value. and repeat.
- the upper limit value and the lower limit value are set in advance so that the reciprocal of the time between count-up start timings becomes the switching frequency of the switching elements 29A to 34A.
- the triangular wave generator 50A generates a triangular wave as a carrier signal having a predetermined voltage amplitude based on the timer signal.
- the triangular wave has a minimum voltage value when the timer signal indicates that the count value has reached the lower limit value, and has a maximum voltage value when the timer signal indicates that the count value has reached the upper limit value.
- the drive command generator 51A generates a PWM (Pulse Width Modulation) pulse as a drive command to be output to the switching elements 29A to 34A.
- the PWM pulse has a relatively different high level and low level by comparing the U-phase voltage command value Vu A *, the V-phase voltage command value Vv A *, and the W-phase voltage command value Vw A * with the triangular wave. It is generated as a pulse signal indicated by two voltage values. For example, when the U-phase voltage command value Vu A *, the V-phase voltage command value Vv A *, and the W-phase voltage command value Vw A * are equal to or higher than the voltage value of the triangular wave, the PWM pulse of each phase is generated at a high level. .
- the PWM pulse of each phase is generated at a low level.
- the drive command generator 51A determines the timing of rising from the low level to the high level and the timing of falling from the high level to the low level in the PWM pulse.
- complementary PWM may be used in order to suppress heat generation of the freewheeling diode due to the back electromotive force of the motor 2.
- the switching elements 29A, 31A, 33A of the upper arm and the switching elements 30A, 32A, 34A of the lower arm are switched so that the on period and the off period are reversed.
- the levels of the PWM pulses output to the upper arm switching elements 29A, 31A, and 33A and the PWM pulses output to the lower arm switching elements 30A, 32A, and 34A are inverted with each other. generated.
- the PWM pulses generated by the complementary PWM are output to the switching elements 29A to 34A, the on-periods of the upper arm and the lower arm of the two switching elements in the same arm momentarily overlap and short-circuit. There is a risk. For this reason, a PWM pulse generated by complementary PWM is provided with a predetermined dead time that intentionally deviates the turn-on and turn-off of two switching elements in the same arm. If complementary PWM is not used, the PWM pulse may be output to either one of the upper arm switching elements 21A, 23A and 25A or the lower arm switching elements 22A, 24A and 26A.
- the controller 26A makes one control period between the start timings of up-counting in the timer signal generation section 49A. Therefore, the controller 26A controls the steering torque T A , the vehicle speed ⁇ A , the rotor rotation angle ⁇ A and the three-phase actual current values Iu A and Iv at the start timing of up-counting (preferably also the start timing of down-counting).
- a , Iw A data acquisition is started. Then, the controller 26A calculates three-phase voltage command values VuA * , VvA * , VwA * based on the obtained data, compares them with the triangular wave, and determines the rise and fall timings of the PWM pulse.
- the controller 26B has the same functions as the controller 26A, and with regard to the functions of the controller 26B, except for some, reference is made to functional blocks and control parameters in the above description of the functions of the controller 26A. It can be explained according to what replaces the code from "A" to "B". For this reason, regarding the functions of the controller 26B, in order to avoid duplication of explanation, the explanation of the functions similar to those of the controller 26A will be omitted, and mainly the differences from the functions of the controller 26A will be explained.
- Controller 26B is configured to synchronize the control period with controller 26A. More specifically, the controller 26B is configured such that the start timings of up-counting and down-counting in the timer signal generating section 49B are synchronized with the timings of starting up-counting and down-counting in the timer signal generating section 49A. As a result, the controller 26B controls the steering torque T B , the vehicle speed ⁇ A , the rotor rotation angle ⁇ A , and the three-phase actual current values Iu A , Iv A , and Iw A at the same timing as the data acquisition. Data of vehicle speed ⁇ B , rotor rotation angle ⁇ B and three-phase actual current values Iu B , Iv B , Iw B are acquired.
- steering torque T A and steering torque T B vehicle speeds ⁇ A and ⁇ B , rotor rotation angles ⁇ A and ⁇ B , three-phase actual current values Iu A , Iv A , Iw A and Iu B , Iv B , Iw B
- the data between the respective systems are approximately equal to each other if the measurement error between the systems is ignored.
- the control cycle of the controller 26B and the control cycle of the controller 26A can be synchronized as follows, although not limited.
- the clock signal generator 48B generates a clock signal synchronized with the clock signal generated by the clock signal generator 48A based on the synchronization signal output from the controller 26A.
- the timer signal generator 49B synchronizes the start timing of up-counting and down-counting with the timer signal generator 49A based on the synchronization signal output from the controller 26A, and then generates the clock synchronized by the clock signal generator 48B.
- a signal is used to generate a timer signal.
- the triangular wave generator 50B uses this timer signal, the triangular wave generator 50B generates a triangular wave.
- the clock signal generator 48B uses an AC signal with a fundamental frequency output from an oscillation circuit (not shown) common to the first and second systems, the clock signal generator 48B is generated from the controller 26A. It is not necessary to use the output synchronization signal.
- the controller 26B has a triangular wave correcting section 52B that retards or advances the phase of the triangular wave generated by the triangular wave generating section 50B by 180° to generate an anti-phase triangular wave.
- the triangular wave correction unit 52B reverses the polarity of the triangular wave. In other words, the opposite phase triangular wave may be generated by reversing the voltage value of the triangular wave.
- controller 26B corrects the rotor rotation angle ⁇ B used in the dq/3-phase conversion unit 47B by delaying or advancing the rotor rotation angle ⁇ B by 180° in electrical angle in accordance with the phase inversion in the triangular wave correction unit 51 ( ⁇ B ⁇ ) is provided.
- the dq/three-phase converter 47B converts the d-axis voltage command value Vd B * and the q-axis voltage command value Vq B * using the data of the corrected rotor rotation angle ( ⁇ B ⁇ ) to the following formula (2): are converted into three-phase voltage command values of a U-phase voltage command value Vu B * , a V-phase voltage command value Vv B * , and a W-phase voltage command value Vw B * .
- the three-phase voltage command values Vu B * , Vv B * , Vw B * change sinusoidally according to changes in the rotor rotation angle ⁇ B over time, and have the same amplitude with a phase difference of 120° from each other. obtained as an alternating voltage.
- the three-phase voltage command values Vu B * , Vv B * , Vw B * change on the time axis at a frequency ( ⁇ B /2 ⁇ ) proportional to the rotor angular velocity ⁇ B .
- the drive command generator 51B compares the three-phase voltage command values Vu B *, Vv B *, Vw B * with the reverse phase triangular wave to generate a PWM pulse as a drive command to be output to the switching elements 29B to 33B. .
- controllers 26A and 26B may be realized by hardware configuration instead of software processing.
- FIG. 7 shows the three-phase voltage command values Vu A * , Vv A * , Vw A * and triangular waves generated by the controller 26A of the first system and the three-phase voltage command values generated by the controller 26B of the second system.
- Vu B *, Vv B *, Vw B * and anti-phase triangular waves are shown schematically.
- the triangular wave generated by the triangular wave generation unit 50A from the downward peak (see white circle) at the minimum voltage value to the upward peak (see black circle) at the maximum voltage value, The time until the downward peak is reached again corresponds to one control cycle of the controller 26A.
- the triangular wave frequency corresponds to the switching frequency of the switching elements 29A-34A.
- the upward peak (see the black circle mark) at which the maximum voltage value is reached and the downward peak (see the white circle mark) at which the minimum voltage value is obtained.
- the time until the upward peak again corresponds to one control cycle of the controller 26B.
- the frequency of the antiphase triangular wave corresponds to the switching frequency of the switching elements 29B-34B.
- the downward peak of the triangular wave generated by the triangular wave generator 50A (see the white circle in FIG. 7A) and the upward peak of the antiphase triangular wave generated by the triangular wave corrector 52B (FIG. 7B) (see the black circle in ) are synchronized. Also, the upward peak of the triangular wave generated by the triangular wave generator 50A (see the black circle in FIG. 7A) and the downward peak of the inverse phase triangular wave generated by the triangular wave corrector 52B (see the white circle in FIG. 7B) ) are synchronized.
- the triangular wave generated by the triangular wave generating section 50A and the anti-phase triangular wave generated by the triangular wave correcting section 52B have opposite phases to each other.
- the triangular wave generated by the triangular wave generating section 50B if the waveform at the positive potential and the waveform at the negative potential are symmetrical with respect to the 0 (zero) potential, the triangular wave generated by the triangular wave generating section 50A
- the anti-phase triangular wave has the opposite polarity.
- the three-phase voltage command values VuA * , VvA * , VwA * obtained by conversion by the dq/three-phase converter 47A and the The three-phase voltage command values Vu B * , Vv B * , and Vw B * (see FIG. 7(b)) obtained by the above are in opposite phases to each other.
- each value of the three-phase voltage command values Vu B * , Vv B * , Vw B * obtained by conversion by the dq/three-phase converter 47B is converted by the dq/three-phase converter 47A.
- the three-phase voltage command values Vu A * , Vv A * , and Vw A * obtained by the above are equivalent to values obtained by inverting the polarities (Vu A * ⁇ -Vu B * , Vv A * ⁇ -Vv B * , Vw A * ⁇ Vw B * ).
- FIG. 8 shows an example of PWM pulses and common mode currents of each system.
- the triangular wave voltage values and three-phase voltage command values Vu A * , Vv A * , Vw A * generated by the controller 26A and the anti-phase triangular wave voltage values and The three-phase voltage command values Vu B * , Vv B * , and Vw B * have opposite polarities to each other. Therefore, the timing at which the U-phase voltage command value Vu A * becomes equal to the voltage value of the triangular wave is the same as the timing at which the U-phase voltage command value Vu B * equals the voltage value of the anti-phase triangular wave, or become very close to Therefore, as shown in FIGS.
- the rise timing of the U-phase PWM pulse generated by the drive command generator 51A is the fall timing of the U-phase PWM pulse generated by the drive command generator 51B. It will be the same as the timing, or very close to it.
- the fall timing of the U-phase PWM pulse generated by the drive command generator 51A corresponds to the rise of the U-phase PWM pulse generated by the drive command generator 51B. It will be the same as the timing, or very close to it. In this way, the rising and falling timings of the PWM pulses are reversed between systems, and this also applies to the V phase and W phase (see FIGS. 8A and 8B).
- a parasitic capacitance C1 exists between the inverters 21A and 21B and the housing 27, and a parasitic capacitance C2 exists between the motor 2 and the housing 17 (see FIG. 4).
- the switching element 29A is turned on by the rise of the U-phase PWM pulse output from the controller 26A
- the U-phase of the inverter 21A is turned on.
- the output voltage Vu A rises significantly. Since the common mode current flowing between the inverter 21A and the housing 27 corresponds to (C1 ⁇ dVu A /dt), this common mode current becomes a positive value and leaks from the inverter 21A to the housing 27 .
- the U-phase PWM pulse output from the controller 21B falls when the U-phase PWM pulse output from the controller 21A rises, as described above.
- the switching element 29B is turned off by the fall of the U-phase PWM pulse output from the controller 26B
- the U of the inverter 21B is turned off.
- Phase output voltage Vu B drops significantly. Since the common mode current flowing between the inverter 21B and the housing 27 corresponds to (C1 ⁇ dVu B /dt), this common mode current becomes a negative value and leaks from the housing 27 to the inverter 21B. .
- the combined common mode current obtained by synthesizing the common mode currents of both systems is comparatively smaller than the common mode current of each system. values are remarkably close to zero.
- FIG. 14 shows an example of PWM pulses and common mode currents of each system in a conventional motor drive device in which the controller 26B does not have the triangular wave correction section 52B and the rotor rotation angle correction section 53B.
- the controller 26B does not have the triangular wave correction section 52B and the rotor rotation angle correction section 53B, the triangular wave and the three-phase voltage command values Vu A * , Vv in FIG. Triangular waves similar to A * and VwA * and three-phase voltage command values VuB * , VvB * and VwB * are generated. Therefore, as shown in FIGS. 14A and 14B, the PWM pulse generated by the drive command generator 51A of the controller 26A and the PWM pulse generated by the drive command generator 51B of the controller 26B are similar to each other. waveform, and the rise and fall timings of both PWM pulses are matched with each other. Therefore, as shown in FIGS.
- the combined common-mode current is superimposed on the positive common-mode current generated in each system at the rising timing of the PWM pulse, and at the falling timing of the PWM pulse. Then, the negative common mode current generated in each system is superimposed. After the positive common mode current leaks to the housings 27 and 17, the positive and negative electrodes of the vehicle battery 4 and the motor drive device pass through the parasitic capacitance C3 existing between the vehicle body, the vehicle battery 4, and the housing 28. 3 are returned in phase to the power supply line connecting . On the other hand, negative common mode current flows in the opposite direction to positive common mode current. These common mode currents have a significant effect on the operation of peripheral electrical equipment as radiation noise. Therefore, it becomes necessary to provide an electrical component for countermeasures.
- FIG. 9 shows an example of three-phase currents in each of the first system and the second system.
- the rising and falling timings of PWM pulses are reversed between systems. Therefore, the three-phase actual current values Iu A , Iv A , Iw A of the winding set 13A of the first system and the three-phase actual current values Iu B , Iv B , Iw B of the winding set 13B of the second system are , change in opposite phase or opposite polarity to each other (Iu A ⁇ Iu B , Iv A ⁇ Iv B , Iw A ⁇ Iw B ).
- the winding direction of the coils 14A to 16A of the winding set 13A and the winding direction of the coils 14B to 16B of the winding set 13B are the same, the U-phase coils 13A and 13B, the V-phase coils 14A and 14B, and the W-phase Magnetic fluxes in opposite directions are generated between the same-phase coils of the coils 15A and 15B, making it difficult to rotationally drive the motor 2 .
- the winding directions of the winding set 13A and the winding set 13B are different from each other. A magnetic flux is generated.
- the motor driving device 3 operates the motor 2 by matching the rise of the PWM pulse output from the controller 26A to the inverter 21A and the fall of the PWM pulse output from the controller 26B to the inverter 21B. It is driven to rotate. Further, in the motor driving device 3, the motor 2 is rotationally driven so that the falling edge of the PWM pulse output from the controller 26A to the inverter 21A and the rising edge of the PWM pulse output from the controller 26B to the inverter 21B coincide with each other. I am letting For this reason, the common mode currents of both systems cancel each other out and the combined common mode current is suppressed. Electric parts can be reduced. As a result, it is possible to reduce the product size of the motor drive device 3 and, in turn, the electric steering system 1 to which it is applied.
- FIG. 10 shows a schematic structure of a first modified example of the motor 2. As shown in FIG. It should be noted that the same reference numerals are given to the same configurations as in the above-described embodiment, and the description thereof will be omitted or simplified. The same applies hereinafter.
- the stator 12 of the motor 2 is divided into the stator 12A and the stator 12B in the axial direction of the rotating shaft 8, the stator 12A is provided with only the winding set 13A, and the stator 12B is provided with the winding set 13A. It differs from the motor 2 in that only the set 13B is provided.
- FIG. 11 shows the winding arrangement of the motor 53.
- the stator 12A and the stator 12B are arranged and fixed such that the teeth 11A of the stator 12A and the teeth 11B of the stator 12B are at the same position in the rotational direction of the rotor 10.
- the phase coils 14A, 15A, and 16A of the winding set 13A are sequentially arranged in this order as the teeth 11A move in the rotational direction of the rotor 10. and is wound with a salient pole concentrated winding.
- FIG. 11 shows the winding arrangement of the motor 53.
- FIG. 11 The stator 12A and the stator 12B are arranged and fixed such that the teeth 11A of the stator 12A and the teeth 11B of the stator 12B are at the same position in the rotational direction of the rotor 10.
- the phase coils 14A, 15A, and 16A of the winding set 13A are sequentially arranged in this order as the teeth 11A move in the rotational direction of the rotor 10. and is
- the teeth 11B of the stator 12B are wound around the teeth 11A of the phase coils 14B, 15B, and 16B of the winding set 13B at the same position in the rotation direction of the rotor 10.
- the coils corresponding to the phases of the coils are arranged, and are sequentially wound by salient pole concentrated winding. However, the winding directions of the phase coils 14A, 15A, 16A of the winding set 13A and the phase coils 14B, 15B, 16B of the winding set 13B are different from each other.
- the same magnetic flux is generated in the same direction in the in-phase coils of the winding set 13A and the winding set 13B.
- a rotating magnetic field is generated at Therefore, the three-phase actual current values Iu A , Iv A , and Iw A of the winding set 13A and the three-phase actual current values Iu B , Iv B , and Iw B of the winding set 13B have opposite phases or opposite polarities to each other. Even if there is, smooth rotational driving of the motor 53 is possible.
- FIG. 12 shows a schematic structure according to a second modification of the motor 2. As shown in FIG.
- the rotor 10 in the motor 2 is divided into the rotor 10A and the rotor 10B in the axial direction of the rotating shaft 8, and the rotor 10A and the rotor 10B are connected in the rotating shaft direction (for example, the rotating shaft 8).
- the stator 12 of the motor 2 is divided into the stator 12A and the stator 12B in the axial direction of the rotating shaft 8, the teeth 11A of the stator 12A face the permanent magnets 9A of the rotor 10A, and the teeth 11B of the stator 12B face each other. is arranged and fixed so as to face the permanent magnet 9B of the rotor 10B.
- the motor 54 differs from the motor 2 in that only the winding set 13A is arranged on the stator 12A and only the winding set 13B is arranged on the stator 12B.
- the phase coils 14A, 15A, and 16A of the winding set 13A are sequentially arranged in this order as the teeth 11A move in the rotation direction of the rotor 10A. They are sequentially wound.
- the phase coils 14B, 15B, and 16B of the winding set 13B are sequentially arranged in this order, and are sequentially wound by salient pole concentrated winding. ing.
- the position in the rotational direction can be individually determined by the permanent magnet 9A of the rotor 10A and the permanent magnet 9B of the rotor 10B.
- the relative positions of the permanent magnets 9A of the rotor 10A and the permanent magnets 9B of the rotor 10B in the rotational direction should be determined so that the rotating magnetic fields of the stators 12A and 12B rotate in the same direction. Therefore, the positions of the phase coils 14A, 15A and 16A of the winding set 13A and the phase coils 14B, 15B and 16B of the winding set 13B may be shifted from each other in the rotational direction. In addition to this, or apart from this, the phase coils 14A, 15A, 16A of the winding set 13A and the phase coils 14B, 15B, 16B of the winding set 13B may have the same winding direction.
- the rotating magnetic fields of the stators 12A and 12B are oriented in the same direction.
- the phase coils 14A, 15A, and 16A of the winding set 13A and the phase coils 14B, 15B, and 16B of the winding set 13B are arranged at the same position in the rotation direction, and the winding set 13A and the winding set 13B are arranged at the same position. If the winding direction of the coil is to be the same for both, the following should be done. That is, the position of the permanent magnet 9B of the rotor 10B in the rotational direction should be shifted by 180 electrical degrees with respect to the position of the permanent magnet 9A of the rotor 10A in the rotational direction.
- FIG. 13 shows a winding arrangement according to a third modified example of the motor 2.
- the phase coils 14A, 15A, 16A of the winding set 13A are arranged in this order, and by salient pole concentrated winding, is wound around.
- All the teeth 11 of the stator 12 are made to correspond to the phases of the phase coils 14A, 15A and 16A of the winding group 13A, and the phase coils 14B, 15B and 16B of the winding group 13B are salient pole concentrated winding. They are sequentially wound.
- the winding directions of the phase coils 14A, 15A and 16A of the winding set 13A and the phase coils 14B, 15B and 16B of the winding set 13B are different from each other.
- the same magnetic flux is generated in the same direction in the in-phase coils of the winding set 13A and the winding set 13B.
- a magnetic field is generated. Therefore, the three-phase actual current values Iu A , Iv A , and Iw A of the winding set 13A and the three-phase actual current values Iu B , Iv B , and Iw B of the winding set 13B have opposite phases or opposite polarities to each other. Even if there is, smooth rotational driving of the motor 2 is possible.
- the three-phase voltage command values Vu B * , Vv B * , and Vw B * are calculated from the rotor rotation angle ⁇
- the values obtained by converting the voltage command values Vd B * and Vq B * using B may simply be reversed in polarity.
- the motor drive device 3 is provided with one controller common to both systems in place of the redundant controllers 26A and 26B, and the common controller controls the winding sets 13A and 13B. You may make it carry out energization control. Since the common controller generates a common clock signal and generates a triangular wave common to both systems based on this clock signal, the synchronization performed between the controllers 26A and 26B becomes unnecessary, and the processing required for energization control. Reduced burden.
- the controller 26A When the controllers 26A and 26B use complementary PWM, the controller 26A outputs PWM pulses to the switching elements 29B, 31B and 33B of the upper arms to the switching elements 30A, 32A and 34A of the lower arms. It may be generated based on the output PWM pulse (before dead time compensation). Similarly, the PWM pulses output by the controller 26B to the switching elements 30B, 32B, and 34B of the lower arms are the PWM pulses output by the controller 26A to the switching elements 29A, 31A, and 33A of the upper arms (before dead time compensation).
- the rising edge of the PWM pulse of the first system and the falling edge of the PWM pulse of the second system can be set at the same timing without performing complicated processing in the controller 26B.
- the falling timing and the rising timing of the PWM pulse of the second system can be set at the same timing.
- Such a PWM pulse generation method can be used until an abnormality occurs in the first system and the output of the inverter 21A is stopped.
- it can be one of realistic PWM pulse generation methods.
- the controller 26B When an abnormality occurs in the first system and the output of the inverter 21A is stopped, the controller 26B independently generates a clock signal and thus a triangular wave regardless of whether or not the controller 26A outputs a synchronizing signal. good too. Also, the controller 26B may stop the functions of the triangular wave correction section 52B and the rotor rotation angle correction section 53B in order to reduce the processing load.
- the dq/three-phase converter 47A converts the d-axis voltage command value Vd B * and the q-axis voltage command value Vq B * using the data of the rotor rotation angle ⁇ B to 3
- a PWM pulse is generated by comparing the phase voltage command values Vu B * , Vv B * , Vw B * with the triangular wave generated by the triangular wave generator 50B.
- the rotation angle sensors 23A, 23B, the torque sensors 5A, 5B, and the vehicle speed sensors 7A, 7B may each be composed of one measurement sensor common to both systems.
- the vehicle-mounted battery 4 in order to improve the reliability of the system, is made redundant to provide a first vehicle-mounted battery that supplies power to the inverter 21A and a second vehicle-mounted battery that supplies power to the inverter 21B. You may have a structure provided with.
- At least one of the housings 17, 27, 28 may not be electrically connected to the reference ground of the vehicle body or the like. Even in such a case, a common mode current can flow between the housings 17, 27, 28 and the reference ground, so application of the motor drive device 3 to the electric steering system 1 is significant.
- the winding set 13A and the winding set 13B may be arranged in the stators 12, 12A, 12B by distributed winding instead of salient pole concentrated winding.
- a similar rotating magnetic field can be generated by making the winding directions of the winding sets 13A and 13B arranged by distributed winding different from each other.
- the motor 2 and the motor drive device 3 may be housed in a common housing instead of the housings 17 and 27. Also, a sawtooth wave may be used as the carrier signal instead of the triangular wave.
- the motor driving device 3 described above can be applied even if the electric steering system 1 is not a power steering but an automatic steering device that autonomously performs steering corresponding to automatic or semi-automatic driving of the vehicle 1000. . Further, in the above embodiment, the motor driving device 3 is applied to the electric steering system 1, but it can be applied to any system as long as it is an in-vehicle system in which the power supply system for the motor is made redundant by two systems. Applicable.
Abstract
Description
図1は、モータ駆動装置を適用した電動ステアリングシステムの一例を示す。電動ステアリングシステム1は、運転者がステアリングホイール1001のステアリング操作を行ったときに発生する操舵トルクで一対の操向輪1002を転舵させる際に、操舵トルクをアシストするパワーステアリングとして機能する。
電動ステアリングシステム1では、システムの信頼性を向上させるべく冗長化が図られている。具体的には、モータ2がステータコイルとして電気的に独立した2つの巻線組を有し、モータ駆動装置3は車載バッテリ4から各巻線組への通電を行う通電系統を2つ有している。第1系統では、モータ2の一方の巻線組の通電制御が自律して行われ、第2系統では、モータ2の他方の巻線組の通電制御が自律して行われる。このように冗長化した2つの系統における通電制御によりモータ2が目標トルクを発生するようにすることで、一方の系統で異常が発生した場合でも、正常な他方の系統でモータ2の通電制御を継続して、電動ステアリングシステム1の機能停止を抑制している。以下、モータ2及びモータ駆動装置3において、第1系統の構成要素の参照符号には「A」を含め、第2系統の構成要素の参照符号には「B」を含め、参照符号が「A」及び「B」を除いて共通する構成要素又はパラメータは互いに同様の意義を有するものとする。
図2及び図3を参照して、モータ2の具体的な構成について説明する。図2は、モータ2の概略構造を示し、図3は、モータ2の巻線配置を示す。
図4は、電動ステアリングシステム1の回路構成を示す。
図6は、制御器26A及び制御器26Bの機能構成を示す。制御器26Aは、概略的な機能ブロックとして、ロータ回転位置計測部40A、相電流計測部41A、3相/dq変換部42A、目標トルク設定部43A、電流指令値設定部44A、減算部45A、電流制御部46A、dq/3相変換部47A、クロック信号生成部48A、タイマ信号生成部49A、三角波生成部50A、駆動指令生成部51Aを有する。
図10及び図11を参照して、モータ2の第1変形例について説明する。図10は、モータ2の第1変形例に係る概略構造を示す。なお、上記の実施形態と同様の構成については同一の符号を付して、その説明を省略ないし簡略化する。以下、同様である。
図12を参照して、モータ2の第2変形例について説明する。図12は、モータ2の第2変形例に係る概略構造を示す。
図13を参照してモータ2の第3変形例について説明する。図13は、モータ2の第3変形例に係る巻線配置を示す。ステータ12の全てのティース11に、ロータ10の回転方向へティース11が移るに従って、順次、巻線組13Aの各相コイル14A,15A,16Aが、この順番で配置されて、突極集中巻きにより巻き回されている。また、ステータ12の全てのティース11に、巻線組13Aの各相コイル14A,15A,16Aと位相を対応させて、巻線組13Bの各相コイル14B,15B,16Bが突極集中巻きで順次巻き回されている。ただし、巻線組13Aの各相コイル14A,15A,16Aと巻線組13Bの各相コイル14B,15B,16Bとでは巻き方向が相互に異なる。
Claims (11)
- 電気的に独立した第1巻線組及び第2巻線組を備えたモータを駆動するモータ駆動装置であって、
前記第1巻線組に3相交流電流を出力する第1インバータと、
前記第2巻線組に3相交流電流を出力する第2インバータと、
前記第1インバータ及び前記第2インバータへPWMパルスで駆動指令を出力する制御器と、
を備え、
前記制御器は、前記第1インバータから前記第1巻線組へ出力される3相交流電流と前記第2インバータから前記第2巻線組へ出力される3相交流電流とが各相で互いに逆極性となるように前記PWMパルスを生成する、モータ駆動装置。 - 前記第1インバータへ出力される前記PWMパルスと前記第2インバータへ出力される前記PWMパルスとにおいて、それぞれのレベルが各相で相互に反転する、請求項1に記載のモータ駆動装置。
- 前記第1インバータへ出力する前記PWMパルスは3相電圧指令値と三角波との比較に基づいて生成され、前記第2インバータへ出力する前記PWMパルスは前記3相電圧指令値及び前記三角波をそれぞれ反転させたものどうしの比較に基づいて生成される、請求項1に記載のモータ駆動装置。
- 前記モータは、1つのロータと前記第1巻線組及び前記第2巻線組が配設された1つのステータと、を備え、前記第1巻線組及び前記第2巻線組により発生する回転磁界が同一方向となるように前記ステータに巻き回された、請求項1に記載のモータ駆動装置。
- 前記第1巻線組の各相コイルの巻き方向と前記第2巻線組の各相コイルの巻き方向とが相互に逆向きとなる、請求項4記載のモータ駆動装置。
- 前記第1巻線組の各相コイルは前記ステータの半分のティースに巻き回され、前記第2巻線組の各相コイルは前記ステータの残りの半分のティースに巻き回されている、請求項5に記載のモータ駆動装置。
- 前記ステータの各ティースには、前記第1巻線組及び前記第2巻線組のそれぞれの同相コイルが巻き回されている、請求項5に記載のモータ駆動装置。
- 前記モータは、1つのロータと、前記第1巻線組が配設された第1ステータと、前記第2巻線組が配設された第2ステータと、を備え、前記第1ステータにより発生する回転磁界と前記第2ステータにより発生する回転磁界とが同一方向となるように、前記第1巻線組の各相コイルが前記第1ステータに巻き回され、前記第2巻線組の各相コイルが前記第2ステータに巻き回された、請求項1に記載のモータ駆動装置。
- 前記第1巻線組の各相コイルの巻き方向と前記第2巻線組の各相コイルの巻き方向とが相互に逆向きとなる、請求項8に記載のモータ駆動装置。
- 前記モータは、前記第1巻線組が配設された第1ステータと、前記第2巻線組が配設された第2ステータと、前記第1ステータと対になる第1ロータと、前記第2ステータと対になる第2ロータと、を備え、前記第1ロータと前記第2ロータとが回転軸方向で互いに連結されている、請求項1に記載のモータ駆動装置。
- 前記第1ステータにより発生する回転磁界と前記第2ステータにより発生する回転磁界とが同一方向に回転するように、前記第1ロータの永久磁石と前記第2ロータの永久磁石との回転方向の相対位置が決められている、請求項10に記載のモータ駆動装置。
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