CN111903051A - Drive device, electric vehicle, and control method for drive device - Google Patents

Abstract

The driving device includes a control unit that controls driving of the motor by controlling the first to sixth switches, wherein the control unit periodically sets first to sixth energization periods each corresponding to 60 ° in electrical angle in accordance with first to sixth detection periods, and performs PWM control of the first to sixth switches so as to switch between 120 ° energization in which phase current flows in two consecutive energization periods among the first to sixth energization periods and 180 ° energization in which phase current flows in three consecutive energization periods among the first to sixth energization periods, and the energization period at the time of switching among the first to sixth energization periods is shifted by a period corresponding to the arrangement angle of the angle sensor with respect to the detection period at the time of switching among the first to sixth detection periods.

Description

Drive device, electric vehicle, and control method of drive device

technical field

The present invention relates to a drive device, an electric vehicle, and a control method of the drive device.

Background technique

Conventionally, electric two-wheeled vehicles using a battery as a power source and a three-phase motor (hereinafter simply referred to as a motor) as a power source have been widely known.

In such an electric two-wheeled vehicle, in order to drive the motor, a three-phase full-bridge circuit (ie, an inverter circuit) including a high-side switch and a low-side switch for each phase is used to realize each phase from the battery to the motor. Power-on control of the coil.

During energization control, the switch is PWM-controlled by the set duty ratio, and the torque corresponding to the duty ratio is output to the motor. In addition, as the energization method, 120° energization in which the energization is performed in a continuous 120° energization cycle among the energization cycles allocated for every 60° electrical angle, and a continuous 180° cycle, that is, a full-phase cycle are used. 180° energization for energization inside.

Conventionally, the 120° energization and the 180° energization are switched at the timing when the detected rotation angle is switched while the rotation angle of the rotor is detected by the angle sensor of the motor.

However, when the installation position of the angle sensor is deviated from the coil of the motor, once the 120° energization and the 180° energization are switched at the time when the angle sensor detects the switching of the rotation angle of the rotor, the installation of the angle sensor will cause problems due to the installation of the angle sensor. The amount of deviation in position causes the phase of the energization pattern to shift accordingly from the ideal phase, resulting in larger torque fluctuations when switching between 120° energization and 180° energization.

In addition, Japanese Patent Laid-Open No. 2002-186274 discloses a technique for selecting between 120° energization and 180° energization. However, since the technique disclosed in Japanese Patent Laid-Open No. 2002-186274 does not take into account the deviation of the installation position of the angle sensor, the technique is completely irrelevant to the present invention.

Therefore, an object of the present invention is to provide a drive device, an electric vehicle, and a control method for the drive device, which can suppress fluctuations in torque when switching between 120° energization and 180° energization.

SUMMARY OF THE INVENTION

The drive device according to one aspect of the present invention is characterized by comprising:

a first switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the first output terminal leading to the first phase coil of the motor;

a second switch, one end of which is connected to the first output terminal, and the other end of which is connected to the ground terminal;

a third switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the second output terminal leading to the second phase coil of the motor;

a fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal;

a fifth switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the third output terminal leading to the third phase coil of the motor;

a sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal;

The angle sensors of at least one phase are staggered with respect to the in-phase coils of the first to third phase coils at a preset angle, and are periodically repeated in response to the rotation of the rotor of the motor. Detecting the rotation angle of the rotor in each successive first to sixth detection cycles with an electrical angle of 60°; and

A control unit controls the driving of the motor by controlling the first to sixth switches,

Among them, the control unit

According to the first to sixth detection cycles, the continuous first to sixth energization cycles each corresponding to an electrical angle of 60° are periodically set,

The first to sixth switches are PWM-controlled so that 120° energization of the circulating phase current in two consecutive energization periods in the first to sixth energization periods and 120° energization of the first to sixth energization periods The cycle switches between 180° energization of the circulating phase current during three consecutive energization cycles,

The energization period at the time of switching among the first to sixth energization periods is shifted from the detection period at the time of switching among the first to sixth detection periods by a period corresponding to the arrangement angle.

In the drive device,

The control unit detects the rotational speed of the rotor based on the angle detected by the angle sensor, and in a first situation where the detected speed of the rotor is slower than a preset first reference speed, controls the rotational speed of the rotor. The first to sixth switches are PWM controlled, so as to carry out the 120° energization,

In the second case where the detection speed is equal to or higher than the first reference speed, the 180° energization is performed by performing PWM control on the first to sixth switches.

In the drive device,

The angle sensor is staggered toward the delay angle side with respect to the in-phase coil,

The control unit sets the energization cycle at the time of switching to be shifted to the advance angle side with respect to the detection cycle at the time of switching.

In the drive device,

the control unit

The energization period immediately after the energization period at the time of switching is set to be shifted from the detection period immediately after the detection period during the switching period, and the staggered period is: the period corresponding to the arrangement angle is The detected speed is a cycle obtained by adding a cycle corresponding to a set angle set by a user operation amount for controlling the rotation of the motor.

In the drive device,

the control unit

When switching between the 120° energization and the 180° energization, the duty cycle of the PWM control is switched.

In the drive device,

The first situation means that the set duty ratio set according to the detection speed and the user operation amount for controlling the rotation of the motor is lower than a preset first reference duty ratio.

In the drive device,

The second situation refers to: the detection speed is slower than a preset second reference speed, and the set duty cycle is lower than the first reference duty cycle and greater than or equal to a preset second reference speed. The reference duty cycle is lower than a preset third reference duty cycle, or the detection speed is greater than or equal to the second reference speed and slower than a preset third reference speed, and the set duty cycle lower than the third reference duty cycle.

In the drive device,

When in the first situation, the control unit

While switching on/off of the first switch by the first-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the first-phase high-side PWM signal and the first-phase high-side PWM signal The first-phase low-side PWM signal performs complementary switching control on/off of the second switch relative to the first switch, so that the second switch and the first switch will not be simultaneously switched turn-on dead time,

While switching on/off of the third switch by the second-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the second-phase high-side PWM signal and the second-phase high-side PWM signal The second-phase low-side PWM signal performs complementary switching control on/off of the fourth switch relative to the third switch, so that the fourth switch and the third switch will not be simultaneously switched turn-on dead time,

While the on/off of the fifth switch is switched by the third-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the third-phase high-side PWM signal and the third-phase high-side PWM signal The third-phase low-side PWM signal performs complementary switching control on/off of the sixth switch relative to the fifth switch, so that the sixth switch and the fifth switch will not be simultaneously turn-on dead time.

In the drive device,

When in the first situation, the control unit

Switching on/off of the first switch in the second and third energization periods while switching on/off of the second switch in the first to fourth energization periods ,

While switching on/off of the fourth switch in the third to sixth energization periods, switching control of on/off of the third switch in the fourth and fifth energization periods ,

while switching on/off of the sixth switch during the fifth and sixth energizing periods and the first and second energizing periods immediately following the sixth energizing period, during the sixth energizing period and performing switching control on on/off of the fifth switch in the subsequent first power-on period.

In the drive device,

When in the second situation, the control unit

While switching on/off of the first switch by the first-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the first-phase high-side PWM signal and the first-phase high-side PWM signal The first-phase low-side PWM signal performs complementary switching control on/off of the second switch relative to the first switch, so that the second switch and the first switch will not be simultaneously switched turn-on dead time,

While switching on/off of the third switch by the second-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the second-phase high-side PWM signal and the second-phase high-side PWM signal The second-phase low-side PWM signal performs complementary switching control on/off of the fourth switch relative to the third switch, so that the fourth switch and the third switch will not be simultaneously switched turn-on dead time,

While the on/off of the fifth switch is switched by the third-phase high-side PWM signal with the set duty ratio, after being adjusted by the duty ratio between the third-phase high-side PWM signal and the third-phase high-side PWM signal The third-phase low-side PWM signal performs complementary switching control on/off of the sixth switch relative to the fifth switch, so that the sixth switch and the fifth switch will not be simultaneously turn-on dead time.

In the drive device,

When in the second situation, the control unit

performing switching control on on/off of the second switch while switching on/off of the first switch in the first to third power-on periods,

performing switching control on on/off of the fourth switch while switching on/off of the third switch in the third to fifth power-on periods,

On/off of the sixth switch while switching on/off of the fifth switch in the fifth and sixth power-on periods and the first power-on period immediately after the sixth power-on period Switch control.

An electric vehicle according to one aspect of the present invention includes a motor and a drive device, and is characterized in that:

Wherein, the drive device includes:

a first switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the first output terminal leading to the first phase coil of the motor;

a second switch, one end of which is connected to the first output terminal, and the other end of which is connected to the ground terminal;

a third switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the second output terminal leading to the second phase coil of the motor;

a fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal;

a fifth switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the third output terminal leading to the third phase coil of the motor;

a sixth switch, one end of which is connected to the third output terminal, and the other end of which is connected to the ground terminal;

The angle sensors of at least one phase are staggered with respect to the in-phase coils of the first to third phase coils at a preset angle, and are periodically repeated in response to the rotation of the rotor of the motor. Detecting the rotation angle of the rotor in each successive first to sixth detection cycles with an electrical angle of 60°; and

A control unit controls the driving of the motor by controlling the first to sixth switches,

Among them, the control unit

According to the first to sixth detection cycles, the continuous first to sixth energization cycles each corresponding to an electrical angle of 60° are periodically set,

The first to sixth switches are PWM-controlled so that 120° energization of the circulating phase current in two consecutive energization periods in the first to sixth energization periods and 120° energization of the first to sixth energization periods The cycle switches between 180° energization of the circulating phase current during three consecutive energization cycles,

The energization period at the time of switching among the first to sixth energization periods is shifted from the detection period at the time of switching among the first to sixth detection periods by a period corresponding to the arrangement angle.

In the electric vehicle,

the control unit

The rotational speed of the rotor is detected according to the detection angle of the angle sensor,

When the detection speed of the rotor is slower than the preset first reference speed, and the set duty ratio set according to the detection speed and the user's accelerator operation amount is lower than the preset first reference speed In the first case of the duty cycle, PWM control is performed on the first to sixth switches, so that the 120° energization is performed,

When: the detection speed is greater than or equal to the first reference speed and slower than the second reference speed, and the set duty cycle is greater than or equal to the second reference duty cycle and lower than the preset first Three reference duty ratios, or the detection speed is greater than or equal to the second reference speed and slower than a preset third reference speed, and the set duty ratio is lower than the third reference duty cycle. In the second case, the 180° energization is performed by performing PWM control on the first to sixth switches.

In the electric vehicle,

the control unit

The torque corresponding to the detected speed and the accelerator operation amount is set according to a torque diagram representing the correspondence relationship between the rotational speed of the rotor, the accelerator operation amount, and the torque of the motor,

From a duty ratio schematic diagram showing the correspondence between the rotational speed of the rotor, the torque, and the duty ratio, the duty ratio corresponding to the detected speed and the set torque is defined as The set duty ratio is set.

One aspect of the present invention relates to a control method of a drive device, wherein the drive device includes a first switch, one end of which is connected to a power supply terminal, and the other end of which is connected to a first output terminal of a first phase coil leading to a motor. connection; a second switch, one end of which is connected to the first output terminal, and the other end of which is connected to a ground terminal; a third switch, one end of which is connected to the power supply terminal, and the other end of which is connected to the motor The second output terminal of the second phase coil of the fourth switch is connected with the second output terminal; a terminal is connected, the other end of which is connected with a third output terminal leading to the third phase coil of the motor; and a sixth switch, one end of which is connected with the third output terminal, and the other end of which is connected with the ground The terminals are connected and characterized in that:

With the angle sensors of at least one phase arranged at a predetermined arrangement angle with respect to the same-phase coils of the first to third phase coils, the respective equivalents that are periodically repeated in accordance with the rotation of the rotor of the motor Detecting the rotation angle of the rotor in each successive first to sixth detection cycles with an electrical angle of 60°,

According to the first to sixth detection cycles, the continuous first to sixth energization cycles each corresponding to an electrical angle of 60° are periodically set,

The first to sixth switches are PWM-controlled so that 120° energization of the circulating phase current in two consecutive energization periods in the first to sixth energization periods and 120° energization of the first to sixth energization periods The cycle switches between 180° energization of the circulating phase current during three consecutive energization cycles,

The energization period at the time of switching among the first to sixth energization periods is shifted from the detection period at the time of switching among the first to sixth detection periods by a period corresponding to the arrangement angle.

Invention effect

A drive device according to one aspect of the present invention includes: a first switch, one end of which is connected to a power supply terminal, and the other end of which is connected to a first output terminal leading to a first phase coil of the motor; a second switch, which is One end of the switch is connected to the first output terminal, and the other end is connected to the ground terminal; one end of the third switch is connected to the power supply terminal, and the other end of the switch is connected to the second output terminal of the second phase coil leading to the motor; a fourth switch, one end of which is connected to the second output terminal, and the other end of which is connected to the ground terminal;

The fifth switch has one end connected to the power supply terminal and the other end connected to the third output terminal leading to the third phase coil of the motor; the sixth switch has one end connected to the third output terminal and the other end connected to the third output terminal. The ground terminals are connected to each other; the angle sensors of at least one phase are staggered with respect to the in-phase coils in the first to third phase coils at a preset configuration angle, and are periodically repeated corresponding to the rotation of the rotor of the motor. In each successive first to sixth detection cycles of 60° electrical angle, the rotation angle of the rotor is detected; and the control part controls the driving of the motor by controlling the first to sixth switches, wherein the control part From the sixth detection period to the sixth detection period, the continuous first to sixth energization periods each corresponding to an electrical angle of 60° are periodically set, and the first to sixth switches are PWM-controlled, so that the first to sixth energization periods are performed. Switching between 120° energization in which the phase current flows in two consecutive energization cycles in the cycle and 180° energization in which the phase current flows in three consecutive energization cycles in the first to sixth energization cycles, the first The energization period at the time of switching in the sixth energization period is shifted from the detection period at the time of switching in the first to sixth detection periods by a period corresponding to the arrangement angle.

According to the present invention, when switching between 120° energization and 180° energization, by shifting the energization period with respect to the detection period by the period corresponding to the arrangement angle of the angle sensor, it is possible to prevent the difference between the arrangement angle of the angle sensor and the coil. The phase shift of the power-on mode caused by the offset between the two.

Therefore, according to the present invention, it is possible to suppress fluctuation of torque when switching between 120° energization and 180° energization.

Description of drawings

FIG. 1 is a schematic diagram of an electric motorcycle 100 according to the first embodiment.

FIG. 2 is a schematic diagram of the electric power conversion unit 30 and the motor 3 in the electric motorcycle 100 according to the first embodiment.

3 is a schematic diagram of the magnet and the angle sensor 4 provided on the rotor of the motor 3 in the electric motorcycle 100 according to the first embodiment.

4 is a schematic diagram showing the relationship between the rotor angle and the output of the angle sensor 4 in the electric motorcycle 100 according to the first embodiment.

5 is a timing chart showing the 120° upper and lower rectangular wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

6 is a timing chart showing the dead time in the 120° upper and lower rectangular wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

7 is a timing chart showing the 180° upper and lower rectangular wave PWM control in the control method of the electric motorcycle 100 according to the first embodiment.

8 is a timing chart showing switching from 120° energization to 180° energization in the control method of the electric motorcycle 100 according to the first embodiment.

9 is a timing chart showing switching from 180° energization to 120° energization in the control method of the electric motorcycle 100 according to the first embodiment.

10 is an explanatory diagram for explaining a detection process of the rotational speed of the rotor and a setting process of the duty ratio in the control method of the electric motorcycle 100 according to the first embodiment.

FIG. 11 is a graph showing an example of a torque schematic diagram for carrying out the step of setting the duty ratio in the control method of the electric motorcycle 100 according to the first embodiment.

FIG. 12 is a graph showing an example of a duty ratio schematic diagram for carrying out a step of setting the duty ratio in the control method of the electric motorcycle 100 according to the first embodiment.

FIG. 13 is a graph showing an example of an angle schematic diagram for implementing an angle setting process in the control method of the electric motorcycle 100 according to the first embodiment.

FIG. 14 is a flowchart showing a control method of the electric motorcycle 100 according to the second embodiment.

15A is a graph showing an energization control method according to the rotational speed of the rotor and the target torque in the control method of the electric motorcycle 100 according to the second embodiment.

15B is a graph showing the energization control method according to the rotational speed of the rotor and the set duty ratio in the control method of the electric motorcycle 100 according to the second embodiment.

16 is a timing chart showing the 120° upper-stage rectangular wave PWM control in the control method of the electric motorcycle 100 according to the second embodiment.

17 is a timing chart showing the 180° upper and lower stage trapezoidal wave PWM control in the control method of the electric motorcycle 100 according to the second embodiment.

18 is a timing chart showing the duty ratio in the 180° upper and lower stage trapezoidal wave PWM control in the control method of the electric motorcycle 100 according to the second embodiment.

19 is a timing chart showing the 180° upper-stage rectangular wave PWM control in the control method of the electric motorcycle 100 according to the second embodiment.

Detailed ways

Hereinafter, embodiments according to the present invention will be described with reference to the accompanying drawings. However, the embodiments shown below do not limit the present invention. In addition, in the drawings referred to in the embodiments, the same symbols or similar symbols are added to the same parts or parts having the same functions, and repeated explanations thereof are omitted.

(first embodiment)

First, an electric motorcycle 100 according to the first embodiment as an example of an electric vehicle will be described with reference to FIG. 1 .

The electric two-wheeled vehicle 100 is an electric two-wheeled vehicle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. Specifically, the electric two-wheeled vehicle 100 is a clutchless electric two-wheeled vehicle in which a motor and wheels are mechanically connected without a clutch.

As shown in FIG. 1 , an electric two-wheeled vehicle 100 includes an electric vehicle control device 1 as an example of a drive device, a battery 2, a motor 3, an angle sensor 4 as an example of a rotational speed detection unit, an accelerator position sensor 5, a device 7, and wheel 8.

Hereinafter, each constituent element of the electric motorcycle 100 will be described in detail.

The electric vehicle control device 1 is a device that controls the electric two-wheeled vehicle 100 , and includes a control unit 10 , a memory unit 20 , and a power conversion unit 30 . Here, the electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric motorcycle 100 . Next, each constituent element of the electric vehicle control device 1 will be described in detail.

The control unit 10 controls the drive of the motor 3 through the power conversion unit 30 while inputting information from various devices connected to the electric vehicle control device 1 . Details of the control unit 10 will be described later.

The memory unit 20 stores information used by the control unit 10 and programs for the control unit 10 to operate. The memory unit 20 may be, for example, a nonvolatile semiconductor memory, but may not be limited thereto.

The power conversion unit 30 converts the DC power of the battery 2 into AC power, and supplies it to the motor 3 . As shown in FIG. 2 , the power conversion unit 30 is constituted by an inverter circuit, specifically, a three-phase full-bridge circuit.

The full bridge circuit includes a first semiconductor switch Q1 as an example of a first switch, a second semiconductor switch Q2 as an example of a second switch, a third semiconductor switch Q3 as an example of a third switch, and a fourth semiconductor switch as an example of a fourth switch The semiconductor switch Q4, the fifth semiconductor switch Q5 as an example of the fifth switch, and the sixth semiconductor switch Q6 as an example of the sixth switch.

The first semiconductor switch Q1 has one end connected to the power supply terminal 30a connected to the positive electrode of the battery 2 and the other end connected to the first output terminal 3a leading to the U-phase coil 31u of the motor 3 which is an example of the first phase coil. .

The second semiconductor switch Q2 has one end connected to the first output terminal 3a and the other end connected to the ground terminal 30b to which the negative electrode of the battery 2 is connected to the ground.

The third semiconductor switch Q3 has one end connected to the power supply terminal 30a and the other end connected to the second output terminal 3b leading to the V-phase coil 31v of the motor 3 as an example of the second-phase coil.

The fourth semiconductor switch Q4 has one end connected to the second output terminal 3b and the other end connected to the ground terminal 30b.

The fifth semiconductor switch Q5 has one end connected to the power supply terminal 30a and the other end connected to the third output terminal 3c leading to the W-phase coil 31w of the motor 3 as an example of the third-phase coil.

The sixth semiconductor switch Q6 has one end connected to the third output terminal 3c and the other end connected to the ground terminal 30b.

The control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control section 10 . A smoothing capacitor C is provided between the power supply terminal 30a and the ground terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs, IGBTs, or the like.

The battery 2 can be charged and discharged. Specifically, when the battery 2 is discharged, the DC power is supplied to the power conversion unit 30 . Further, when the battery 2 is charged with AC power supplied from an external power source such as a commercial power source, the AC power supplied from the power source is charged with DC power after conversion by a charger not shown. In addition, when the battery 2 is charged by the AC power output by the motor 3 along with the rotation of the wheel 8 , the AC power output by the motor 3 is charged with the converted DC voltage by the power conversion device 100 .

The battery 2 contains a battery management unit (BMU). The battery management unit transmits information on the voltage and state (charging rate, etc.) of the battery 2 to the control unit 10 .

The number of batteries 2 is not limited to one, but may be plural. The battery 2 is, for example, a lithium-ion battery, but other types of batteries may be used. The battery 2 may also be composed of batteries of different types (eg, lithium-ion batteries and lead batteries).

The motor 3 outputs torque for driving the wheels 8 by electric power supplied from the battery 2 . Alternatively, the motor 3 outputs electric power in accordance with the rotation of the wheel 8 .

Specifically, the motor 3 is driven by the AC power supplied from the power conversion unit 30 to output torque for driving the wheels 8 . The torque is controlled by the control section 10 outputting a PWM signal having an energization time point and a duty ratio calculated based on the target torque to the semiconductor switches Q1 to Q6 of the power conversion section 30 . That is, the torque is controlled by the control unit 10 controlling the electric power supplied from the battery 2 to the motor 3 .

The motor 3 is mechanically connected to the wheel 8 and rotates the wheel 8 in the desired direction with torque. In this embodiment, the motor 3 is mechanically connected to the wheel 8 without a clutch. However, the type of the motor 3 is not particularly limited.

The angle sensor 4 detects the rotation angle of the rotor of the motor 3 in order to detect the rotation speed of the motor 3 . As shown in FIG. 3 , magnets (sensor magnets) of N poles and S poles are alternately attached to the outer peripheral surface of the rotor 3r of the motor 3 . The angle sensor 4 is constituted by, for example, a Hall element, and detects a change in the magnetic field accompanying the rotation of the motor 3 . Among them, the magnet may be provided inside a fly wheel (not shown).

As shown in FIG. 3 , the angle sensor 4 includes a U-phase angle sensor 4u as an example of a first phase angle sensor, a V-phase angle sensor 4v as an example of a second phase angle sensor, and a W-phase angle as an example of a third phase angle sensor Sensor 4w. In the present embodiment, the U-phase angle sensor 4u and the V-phase angle sensor 4v are arranged to form an angle of 30° with respect to the rotor of the motor 3 . Similarly, the V-phase angle sensor 4v and the W-phase angle sensor 4w are arranged to form an angle of 30° with respect to the rotor of the motor 3 .

Further, as shown in FIG. 3 , the angle sensors 4u, 4v, and 4w are shifted by a predetermined arrangement angle θ with respect to the coils 31u, 31v, and 31w of the same phase. The arrangement angle θ may be shifted to the retard angle side by 30° with respect to the coils 31u, 31v, and 31w, for example, but is not limited to this.

As shown in FIG. 4 , the U-phase angle sensor 4u, V-phase angle sensor 4v, and W-phase angle sensor 4w output pulse signals (ie, rotation angle detection signals) of phases corresponding to the rotor angle (angular position).

In addition, as shown in FIG. 4 , numbers (motor stage numbers) representing motor stages are assigned for each predetermined rotor angle. The motor stage indicates the angular position of the rotor 3r of the motor 3, and in the present embodiment, motor stage numbers 1, 2, 3, 4, 5, and 6 are assigned for every 60° electrical angle. The motor level is defined by the combination of levels (H level or L level) of the output signals of the U-phase angle sensor 4u, V-phase angle sensor 4v, and W-phase angle sensor 4w. For example, motor stage number 1 is (U-phase, V-phase, W-phase)=(H, L, H), and motor-stage number 2 is (U-phase, V-phase, W-phase)=(H, L, L).

As shown in FIG. 4 , the angle sensors 4u to 4w detect the rotation of the rotor at each motor stage (detection cycle) of No. 1 to No. 6 corresponding to an electrical angle of 60°, which is periodically repeated according to the rotation angle of the rotor 3r. Rotation angle.

The control unit 10 functions as a rotational speed detection unit together with the angle sensors 4u to 4w, and detects the rotational speed of the rotor based on detection signals (detected angles) of the angle sensors 4u to 4w. As an example, as shown in FIG. 4 , the control unit 10 calculates the rotational speed of the rotor based on the time t from the fall of the output of the V-phase rotor angle sensor 4v until the output of the U-phase rotor angle sensor 4u rises.

The accelerator position sensor 5 detects the accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount to the control unit 10 as an electric signal. The accelerator operation amount is, for example, the throttle opening degree. When the user wants to accelerate, the accelerator operation amount is increased.

The device 7 is a display (eg, a liquid crystal panel) provided on the electric two-wheeled vehicle 100, and displays various information. Specifically, the instrument 7 displays information such as the running speed of the electric two-wheeled vehicle 100 , the remaining amount of the battery 2 , the current time, and the running distance. In the present embodiment, the device 7 is provided on the steering wheel (not shown) of the electric motorcycle 100 .

Next, the control unit 10 of the electric vehicle control device 1 will be described in detail.

The control unit 10 periodically sets the continuous first to sixth energization cycles corresponding to the electrical angle of 60° based on the motor poles No. 1 to No. 6 .

The control section 10 performs PWM control on the first semiconductor switches Q1 to the sixth semiconductor switches Q6 so that the 120° energization of the phase current in two consecutive energization cycles in the first to sixth energization cycles and the 120° energization of the first to sixth energization cycles Switching between 180° energization of the circulating phase current in three consecutive energization cycles of the six energization cycles.

The control section 10 switches the energization cycle when switching between 120° energization and 180° energization in the first to sixth energization cycles relative to when switching between 120° energization and 180° energization in the motor stages No. 1 to No. 6 The motor stages are staggered by a period corresponding to the configuration angle θ.

In the first case where the rotational speed of the rotor detected based on the detection angles of the angle sensors 4u to 4w (hereinafter referred to as the detection speed) is slower than the preset first reference speed, the control unit 10 controls the semiconductor switch Q1 to PWM control is performed to Q6, so that 120° energization is performed. The first case may further be a case where the set duty ratio set according to the detection speed and the accelerator operation amount is lower than the preset first reference duty ratio.

On the other hand, in the second case where the detection speed is equal to or higher than the first reference speed, the control unit 10 performs PWM control on the semiconductor switches Q1 to Q6 to perform 180° energization. In the second case, the detection speed may be further slower than the preset second reference speed, and the set duty ratio is lower than the first reference duty ratio and greater than or equal to the preset second reference duty ratio and lower than the preset second reference duty ratio. The preset third reference duty ratio or the detection speed is greater than or equal to the second reference speed and slower than the preset third reference speed, and the set duty ratio is lower than the third reference duty ratio.

When the angle sensors 4u to 4w are shifted to the retarded angle side with respect to the coils 31u, 31v, and 31w, the control unit 10 sets the energization period at the time of switching to be shifted to the advanced angle side with respect to the motor stage at the time of switching.

The control unit 10 sets the energization period immediately after the energization period at the time of switching with respect to the period of the motor stage immediately after the motor stage at the time of switching. A period after adding the period corresponding to the set angle set by the accelerator operation amount (ie, the user operation amount) for controlling the rotation of the motor 3 .

In the first case of 120° energization, the control unit 10 turns on/off the first semiconductor switch Q1 by using the U-phase high-side PWM signal (ie, the first-phase high-side PWM signal) with the set duty ratio. At the same time of switching, the on/off of the second semiconductor switch Q2 is complementarily switched with respect to the first semiconductor switch Q1 through the U-phase low-side PWM signal (ie, the first-phase low-side PWM signal). The U-phase low-side PWM signal in the first case is a PWM signal whose duty cycle is adjusted between the U-phase low-side PWM signal and the U-phase high-side PWM signal of the set duty cycle, so that the second semiconductor switch Q2 and the first semiconductor switch Q2 are not connected. Dead time during which the semiconductor switches Q1 are simultaneously turned on.

In addition, in the first case, the control section 10 switches on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal (ie, the second-phase high-side PWM signal) of the set duty ratio while switching on/off the third semiconductor switch Q3. The ON/OFF of the fourth semiconductor switch Q4 is controlled to be complementarily switched with respect to the third semiconductor switch Q3 by the V-phase low-side PWM signal (ie, the second-phase low-side PWM signal). The V-phase low-side PWM signal in the first case is the PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal of the set duty cycle, so that the fourth semiconductor switch Q4 and the third semiconductor switch Q4 are not connected. Dead time during which the semiconductor switches Q3 are simultaneously turned on.

In addition, in the first case, the control section 10 switches on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal (ie, the third-phase high-side PWM signal) of the set duty ratio while switching on/off the fifth semiconductor switch Q5. By the W-phase low-side PWM signal (ie, the third-phase low-side PWM signal), the ON/OFF of the sixth semiconductor switch Q6 is switched complementary to the fifth semiconductor switch Q5. The W-phase low-side PWM signal in the first case is a PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal and the W-phase high-side PWM signal of the set duty cycle, so that the sixth semiconductor switch Q6 and the fifth semiconductor switch Q6 are not connected. Dead time during which the semiconductor switches Q5 are simultaneously turned on.

In addition, in the first case, the control unit 10 switches on/off of the second semiconductor switch Q2 in the first to fourth energization periods, and controls the first semiconductor switch Q1 in the second and third energization periods The on/off switching control is performed.

In addition, in the first case, the control unit 10 switches on/off of the fourth semiconductor switch Q4 in the third to sixth energization periods, and controls the third semiconductor switch Q3 in the fourth and fifth energization periods The on/off switching control is performed.

Further, in the first case, the control section 10 switches on/off of the sixth semiconductor switch Q6 during the fifth and sixth energization periods and the first and second energization periods immediately following the sixth energization period, On/off switching control of the fifth semiconductor switch Q5 is performed during the sixth power-on period and the subsequent first power-on period.

On the other hand, in the second case where 180° energization is performed, the control unit 10 switches on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal of the set duty ratio, and simultaneously switches the on/off state of the first semiconductor switch Q1 by the U-phase high-side PWM signal of the set duty ratio. The low-side PWM signal controls the on/off of the second semiconductor switch Q2 to complementarily switch the first semiconductor switch Q1. The U-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the U-phase high-end PWM signal and the U-phase high-end PWM signal of the set duty cycle, so that the The dead time during which the two semiconductor switches Q2 and the first semiconductor switch Q1 are simultaneously turned on.

In addition, in the second case, the control unit 10 switches on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal with the set duty ratio, and simultaneously switches the fourth semiconductor switch Q3 on/off by the V-phase low-side PWM signal. The ON/OFF of the semiconductor switch Q4 is controlled to complement the switching of the third semiconductor switch Q3. The V-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal with the set duty cycle, so that the Dead time during which the four semiconductor switches Q4 and the third semiconductor switch Q3 are simultaneously turned on.

In addition, in the second case, the control unit 10 switches on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal of the set duty ratio, and simultaneously switches the sixth semiconductor switch Q5 on/off by the W-phase low-side PWM signal. The ON/OFF of the semiconductor switch Q6 is controlled to be complementarily switched with respect to the fifth semiconductor switch Q5. The W-phase low-side PWM signal in the second case is also the same as the first case. It is a PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal and the W-phase high-end PWM signal with the set duty cycle, so that the Dead time during which the six semiconductor switches Q6 and the fifth semiconductor switch Q5 are simultaneously turned on.

In addition, in the second case, the control section 10 switches on/off of the second semiconductor switch Q2 while switching on/off of the first semiconductor switch Q1 in the first to third energization periods.

In addition, in the second case, the control section 10 switches on/off of the fourth semiconductor switch Q4 while switching on/off of the third semiconductor switch Q3 in the third to fifth energization periods.

In addition, in the second case, the control section 10 switches on/off of the fifth semiconductor switch Q5 during the fifth and sixth energization periods and the first energization period immediately following the sixth energization period, and controls the The turn-on/turn-off of the six semiconductor switches Q6 is controlled by switching.

(The control method of the electric two-wheeled vehicle 100)

Next, the control method of the electric motorcycle 100 according to the first embodiment will be described as an example of the control method of the drive device.

《120°Upper and lower rectangular wave PWM control》

As shown in FIG. 5 , the control unit 10 performs 120° upper and lower rectangular wave PWM control as 120° energization.

The 120° upper and lower rectangular wave PWM control is a 120° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control leading to both the upper, high-side semiconductor switches Q1, Q3, and Q5 and the lower, low-side semiconductor switches Q2, Q4, and Q6. .

As shown in FIG. 5 , in the 120° upper and lower rectangular wave PWM control, the energization stages ( In the continuous power-on stages (ie, the second and third power-on periods) of No. 1 and No. 2 in the power-on cycle), the conduction / Close for toggle control.

The set duty ratio is set according to the torque schematic diagram and the duty ratio schematic diagram shown in FIG. 10 . Specifically, as shown in FIG. 10 , the control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotational speed of the rotor by referring to the torque map.

The torque schematic diagram is shown in FIG. 11 , which shows the correspondence between the rotational speed of the rotor, the accelerator operation amount, and the target torque. The torque map is stored in the memory unit 20 in a state where the control unit 10 can read it. The torque diagram differs for 120° energization and 180° energization.

After the target torque is set, the control unit 10 sets the duty ratio based on the detected speed and the set target torque.

Specifically, as shown in FIG. 10 , the control unit 10 sets the duty ratio by obtaining the duty ratio corresponding to the detected speed and the target torque by referring to the duty ratio schematic diagram.

A schematic diagram of the duty cycle is shown in FIG. 12 , which shows the correspondence between the rotational speed of the rotor, the target torque, and the duty cycle. The duty ratio map is stored in the memory unit 20 in a state in which the control unit 10 can read it, and the duty ratio map is different for 120° energization and 180° energization.

In addition, as shown in Figure 5, in the 120° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 6 to No. 3 (ie, the first to fourth energization cycles), the difference between the U-phase high-end PWM signal and the U-phase high-end PWM signal The on/off of the second semiconductor switch Q2 is complementarily switched with respect to the first semiconductor switch Q1 through the U-phase low-side PWM signal whose duty ratio is adjusted, thereby forming a dead time.

Among them, since the first semiconductor switch Q1 is turned off in the power-on stages of No. 6 and No. 3, strictly speaking, the turn-on/turn-off of the second semiconductor switch Q2 is complementary to the first semiconductor switch Q1 in a continuous process. Among the energization stages of No. 6 to No. 3, and the energization stage of No. 2.

In addition, since the high-side semiconductor switch Q1 is equivalent to a high-level (high-level) signal being in an on state, and the low-side semiconductor switch Q2 is equivalent to a low-level (low level) signal being in a conductive state, so in FIG. 5 In the middle, the high-side PWM signal is shown as "Hi Active", and the low-side PWM signal is shown as "Lo Active".

In addition, as shown in FIG. 6 after enlarging the dashed-line frame in FIG. 5 , the duty ratio between the U-phase low-side PWM signal and the U-phase high-side PWM signal is adjusted so that the second semiconductor switch Q2 and the second semiconductor switch Q2 are not connected to each other. The dead time Dt during which the first semiconductor switches Q1 are simultaneously turned on.

In addition, as shown in FIG. 5 , in the 120° upper and lower rectangular wave PWM control, in successive energization stages (ie, the fourth and fifth energization periods) of the third and fourth successive energization stages, the duty ratio is set by the The V-phase high-side PWM signal is used to switch on/off the third semiconductor switch Q3.

In addition, in the 120° upper and lower rectangular wave PWM control, in the successive energization stages No. 2 to No. 5 (ie, the third to sixth energization periods), the duty ratio is passed between the V-phase high-side PWM signal and the V-phase high-side PWM signal. The adjusted V-phase low-side PWM signal performs complementary switching control on/off of the fourth semiconductor switch Q4 with respect to the third semiconductor switch Q3, thereby forming a dead time.

In addition, in the 120° upper and lower rectangular wave PWM control, in the continuous energization stages of No. 5 and No. 6 (ie, the sixth energization period and the first energization period after that), the W phase of the duty ratio is set by setting the duty cycle. The high-side PWM signal is used to switch on/off the fifth semiconductor switch Q5.

In addition, in the 120° upper and lower rectangular wave PWM control, in successive energization stages No. 4 to No. 1 (that is, the fifth and sixth energization periods and the first and second energization periods after that) Between the phase high-side PWM signals, the W-phase low-side PWM signals whose duty cycle is adjusted, the on/off of the sixth semiconductor switch Q6 is complementarily switched with respect to the fifth semiconductor switch Q5, thereby forming a dead zone. time.

Among them, in the power-on stages other than No. 1 and No. 2, the first semiconductor switch Q1 is turned off. In the energization stages other than No. 6 to No. 3, the second semiconductor switch Q2 is turned off. In the energization stages other than No. 3 and No. 4, the third semiconductor switch Q3 is turned off. In the energization stages other than No. 2 to No. 5, the fourth semiconductor switch Q4 is turned off. In the energization stages other than No. 5 and No. 6, the fifth semiconductor switch Q5 is turned off. In the energization stages other than No. 4 to No. 1, the sixth semiconductor switch Q6 is turned off.

The energization stage has a deviation of the angle amount set according to the target torque and the motor rotation speed with respect to the motor stage.

According to the above-mentioned 120° upper and lower rectangular wave PWM control, when the rotor 3r rotates at a low speed, the startup characteristics can be improved by 120° energization. In addition, by performing PWM control on the low-side switches Q2, Q4, and Q6 so as to form a dead time with the high-side switches Q1, Q3, and Q5, shoot-through current can be prevented.

《180°Upper and lower rectangular wave PWM control》

As shown in FIG. 7 , the control unit 10 performs 180° upper and lower rectangular wave PWM control as 180° energization.

The 180° upper and lower rectangular wave PWM control is a 180° energization that generates a substantially rectangular current waveform, which is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in FIG. 7 , in the 180° upper and lower rectangular wave PWM control, in successive energization stages No. 1 to No. 3 (ie, the first to third energization periods), the U-phase of the duty ratio is set by setting the duty cycle. The high-side PWM signal switches on/off of the first semiconductor switch Q1.

In addition, in the 180° upper and lower rectangular wave PWM control, the U-phase low-side PWM signal adjusted by the duty ratio between the U-phase high-side PWM signal and the U-phase high-side PWM signal in the continuous energization stages of No. 1 to No. 3, The ON/OFF of the second semiconductor switch Q2 is controlled to be complementarily switched with respect to the first semiconductor switch Q1, thereby forming a dead time.

In addition, in the 180° upper and lower rectangular wave PWM control, in successive energization stages No. 3 to No. 5 (ie, the third to fifth energization periods), the V-phase high-side PWM signal pair with the set duty ratio On/off of the third semiconductor switch Q3 is switched control.

In addition, in the 180° upper and lower rectangular wave PWM control, the V-phase low-side PWM signal adjusted by the duty ratio between the V-phase high-side PWM signal and the V-phase high-side PWM signal in the continuous energization stages of No. 3 to No. 5, Turning on/off of the fourth semiconductor switch Q4 is performed complementary switching control with respect to the third semiconductor switch Q3, thereby forming a dead time.

In addition, in the 180° upper and lower rectangular wave PWM control, in the successive energization stages from No. 5 to No. 1 (ie, the fifth and sixth energization periods and the first energization period after that), the duty ratio is set by setting the duty ratio. The W-phase high-side PWM signal of the W-phase switch controls the on/off of the fifth semiconductor switch Q5.

In addition, in the 180° upper and lower rectangular wave PWM control, the W-phase low-side PWM signal adjusted by the duty ratio between the W-phase high-side PWM signal and the W-phase high-side PWM signal in the continuous energization stages of No. 5 to No. 1, The turn-on/turn-off of the sixth semiconductor switch Q6 is complementarily switched with respect to the fifth semiconductor switch Q5, thereby forming a dead time.

According to the above-mentioned 180° upper and lower rectangular wave PWM control, when the rotor 3r rotates at a high speed, the utilization rate of the power supply voltage can be improved by 180° energization, and a large torque can be sufficiently obtained, and torque can be appropriately applied to the high rotation rotor 3r. In addition, by performing PWM control on the low-side switches Q2, Q4, and Q6 so as to form a dead time with the high-side switches Q1, Q3, and Q5, shoot-through current can be prevented.

"120°—180° Power-on Switching"

When switching from 120° energization (ie, 120° upper and lower rectangular wave PWM control) to 180° energization (ie, 180° upper and lower rectangular wave PWM control), the control unit 10, based on the arrangement angle θ of the angle sensors 4u to 4w, Set the energization stage, that is, the energization mode, in a staggered setting relative to the motor stage.

In the illustration of FIG. 8 , when switching from the motor stage No. 6 to the first motor stage in the next cycle, that is, when switching from the power-on stage No. 6 to the power-on stage No. 1 after that, the control unit 10 Switch from 120° energization to 180° energization. That is, the motor stage No. 1 in the next cycle is the motor stage at the time of switching, and the energization stage No. 1 in the next cycle is the energization stage at the time of switching.

The control unit 10 shifts the energization stage No. 1 in the next cycle by a cycle corresponding to the arrangement angle θ with respect to the motor stage No. 1 in the next cycle.

Specifically, the control unit 10 shifts the energization stage in the advance angle direction by a period corresponding to the arrangement angle θ. That is, the control unit 10 advances the energization mode by an angle corresponding to the arrangement angle θ.

After switching to 180° energization, the control unit 10 sets the energization stage immediately after the energization stage at the time of switching with respect to the motor stage immediately after the motor stage at the time of switching. The cycle corresponding to θ is the cycle obtained by adding the cycle corresponding to the set angle (for example, DEG1 and DEG2 in FIG. 8 ) set according to the angle diagram shown in FIG. 10 .

That is, the cycle at which the control unit 10 shifts the energization stage relative to the motor stage corresponds to the angle (θ+DEG1, θ+DEG1+DEG2) obtained by adding the arrangement angle θ to the set angle (DEG1, DEG2).

Among them, as shown in FIG. 13 , a schematic diagram of an angle shows: the corresponding relationship between the rotation speed of the rotor, the target torque and the angle. The angle map is stored in the memory unit 20 in a state where the control unit 10 can read it, and the angle map is different for 120° energization and 180° energization.

As shown in FIG. 9 , even when switching from 180° energization to 120° energization, the control unit 10 shifts the energization stage in the advance angle direction by a period corresponding to the arrangement angle θ.

By staggering the energization levels when switching between 120° energization and 180° energization in this way, it is possible to suppress fluctuations in torque when switching between 120° energization and 180° energization, as shown in FIGS. 8 and 9 . . In addition, after switching between 120° energization and 180° energization, by shifting the energization stage according to the angle set based on the angle diagram, it is possible to output an appropriate torque corresponding to the driving state.

However, when switching between 120° energization and 180° energization, the control unit 10 switches the duty ratio. For example, when switching from 120° energization to 180° energization, the duty cycle is decreased, and conversely, when switching from 180° energization to 120° energization, the duty cycle is increased. By switching the duty ratio when switching between 120° energization and 180° energization, it is possible to suppress the generation of overcurrent while further suppressing fluctuations in torque.

As described above, in the electric motorcycle 100 according to the first embodiment, the control unit 10 controls the driving of the motor 3 by controlling the semiconductor switches Q1 to Q6 . The control unit 10 periodically sets successive first to sixth energization cycles (energization stages) corresponding to an electrical angle of 60° based on the first to sixth detection cycles (motor stages), and sets the semiconductor switch Q1 PWM control is performed to Q6 so that the 120° energization of the phase current flows in two consecutive energization cycles in the first to sixth energization cycles and in three consecutive energization cycles in the first to sixth energization cycles Switch between 180° energization of phase current. The control unit 10 shifts the energization period at the time of switching among the first to sixth energization periods by a period corresponding to the arrangement angle θ with respect to the detection period at the time of switching among the first to sixth detection periods.

According to the present invention, when switching between 120° energization and 180° energization, by setting the energization period to be shifted from the detection period according to the arrangement angle θ of the angle sensors 4u to 4w, it is possible to prevent the arrangement angle of the angle sensors from being affected by the arrangement angle. The phase shift of the energization mode due to the offset between the coils.

Therefore, according to the present invention, it is possible to suppress fluctuation of torque when switching between 120° energization and 180° energization.

(Second Embodiment)

Next, a second embodiment in which the energization method is selected according to the running state will be described.

In the second embodiment, in the third case where the detection speed other than the configuration of the first embodiment is slower than the first reference speed and the set duty ratio is equal to or greater than the first reference duty ratio, the control unit 10. While turning off the second semiconductor switch Q2, the on/off of the first semiconductor switch Q1 is switched by the U-phase high-side PWM signal (ie, the first-phase high-side PWM signal) with the set duty ratio.

In addition, in the third case, the control unit 10 turns off the fourth semiconductor switch Q4 and controls the output voltage of the third semiconductor switch Q3 by the V-phase high-side PWM signal (ie, the second-phase high-side PWM signal) with the set duty ratio. ON/OFF for switching control.

In addition, in the third case, the control unit 10 turns off the sixth semiconductor switch Q6 and controls the power of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal (ie, the third-phase high-side PWM signal) with the set duty ratio. ON/OFF for switching control.

Specifically, in the third case, the control unit 10 turns off the second semiconductor switch Q2 during the first to fourth energization periods, and controls the second semiconductor switch Q2 through the U-phase high-side PWM signal during the second and third energization periods. A semiconductor switch Q1 is switched on/off for switching control.

In addition, in the third case, the control unit 10 turns off the fourth semiconductor switch Q4 during the third to sixth energization periods, and controls the third semiconductor switch Q4 through the V-phase high-side PWM signal during the fourth and fifth energization periods. The on/off of Q3 is controlled by switching.

In addition, in the third case, the control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energizing periods and the first and second energizing periods immediately following the sixth energizing period, while turning off the sixth semiconductor switch Q6 during the sixth energizing period. The on/off of the fifth semiconductor switch Q5 is switched and controlled by the W-phase high-side PWM signal in the period and the first power-on period after that.

By the control in this third case, 120° energization is performed.

In addition, in the fourth case where the detection speed is equal to or higher than the first reference speed and slower than the second reference speed, and the set duty ratio is lower than the preset second reference duty ratio, the control unit 10 passes the trapezoidal The current waveform is used to control the drive of the motor 3 .

The drive control of the motor 3 by the trapezoidal current waveform includes stepwise increase from a zero duty ratio (ie, an off state) to a set duty ratio by being adjusted, and maintaining the set duty ratio after the increase, And after maintaining, the U-phase high-side PWM signal that adjusts the duty cycle from the set duty cycle to zero duty cycle is switched on/off while switching the on/off of the first semiconductor switch Q1, through the U-phase low-end PWM signal. The PWM signal controls the on/off of the second semiconductor switch Q2 to be complementarily switched with respect to the first semiconductor switch Q1. The U-phase low-side PWM signal in the fourth case is a PWM signal whose duty cycle is adjusted between the U-phase low-side PWM signal and the U-phase high-side PWM signal that adjusts the duty cycle, thereby forming a PWM signal that does not connect the second semiconductor switch Q2 with the first semiconductor switch Q2. Dead time during which the switches Q1 are turned on at the same time.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes switching on/off of the third semiconductor switch Q3 with the V-phase high-side PWM signal for adjusting the duty ratio, and simultaneously with the V-phase low-side PWM signal. The ON/OFF of the fourth semiconductor switch Q4 is controlled to be switched complementarily with respect to the third semiconductor switch Q3. The V-phase low-side PWM signal in the fourth case is a PWM signal whose duty cycle is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal that adjusts the duty cycle, so that the fourth semiconductor switch Q4 and the third semiconductor switch Q4 are not connected. Dead time during which the switches Q3 are turned on at the same time.

In addition, the drive control of the motor 3 by the trapezoidal current waveform includes switching on/off of the fifth semiconductor switch Q5 by the W-phase high-side PWM signal for adjusting the duty ratio, and simultaneously using the W-phase low-side PWM signal The ON/OFF of the sixth semiconductor switch Q6 is controlled to complementarily switch with respect to the fifth semiconductor switch Q5. The W-phase low-side PWM signal in the fourth case is a PWM signal whose duty cycle is adjusted between the W-phase high-side PWM signal and the W-phase high-side PWM signal that adjusts the duty cycle, thereby forming a PWM signal that does not connect the sixth semiconductor switch Q6 with the fifth semiconductor switch. Dead time during which switch Q5 is simultaneously on.

Specifically, in the fourth case, the control unit 10 switches on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal during the first to fourth power-on periods, and simultaneously switches the on/off state of the first semiconductor switch Q1 by the U-phase high-side PWM signal. The low-side PWM signal switches on/off of the second semiconductor switch Q2.

In addition, in the fourth case, the control unit 10 switches on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal during the third to sixth power-on periods, and simultaneously uses the V-phase low-side PWM signal to switch on/off the third semiconductor switch Q3. The signal switches on/off of the fourth semiconductor switch Q4.

In addition, in the fourth case, the control section 10 controls the fifth semiconductor switch Q5 with the W-phase high-side PWM signal during the fifth and sixth energization periods and the first and second energization periods immediately following the sixth energization period. While the on/off of the sixth semiconductor switch Q6 is switched, the on/off of the sixth semiconductor switch Q6 is switched and controlled by the W-phase low-side PWM signal.

By the control in this fourth case, 180° energization is performed.

In addition, in the fourth case, the adjusted duty cycle of the U-phase high-side PWM signal is gradually increased to the set duty cycle during the first power-on period, and is maintained at the set value during the second and third power-on periods. The duty ratio is gradually reduced from the set duty ratio in the fourth energization cycle.

In addition, in the fourth case, the adjusted duty ratio of the V-phase high-side PWM signal is gradually increased to the set duty ratio in the third power-on period, and is maintained at the set value in the fourth and fifth power-on periods The duty ratio is gradually decreased from the set duty ratio in the sixth energization cycle.

In addition, when in the fourth condition, the adjusted duty cycle of the W-phase high-side PWM signal is gradually increased to the set duty cycle in the fifth power-on period, and is reduced in the sixth power-on period and the first power-on period after that. The set duty ratio is maintained, and is gradually decreased from the set duty ratio in the next second energization cycle.

In addition, in the fifth case where the detection speed is equal to or higher than the first reference speed and slower than the third reference speed, and the set duty ratio is equal to or higher than the third reference duty ratio, or the detection speed is equal to or higher than the third reference speed, The control unit 10 switches on/off of the first semiconductor switch Q1 by the U-phase high-side PWM signal with a set duty ratio while turning off the second semiconductor switch Q2.

In addition, in the fifth case, the control unit 10 switches on/off of the third semiconductor switch Q3 by the V-phase high side PWM signal of the set duty ratio while turning off the fourth semiconductor switch Q4.

In addition, in the fifth case, the control unit 10 switches on/off of the fifth semiconductor switch Q5 by the W-phase high side PWM signal of the set duty ratio while turning off the sixth semiconductor switch Q6.

Specifically, in the fifth case, the control unit 10 turns on/off the first semiconductor switch Q1 through the U-phase high-side PWM signal while turning off the second semiconductor switch Q2 during the first to third power-on periods. Switch control.

In addition, in the fifth case, the control unit 10 switches on/off of the third semiconductor switch Q3 by the V-phase high-side PWM signal while turning off the fourth semiconductor switch Q4 during the third to fifth power-on periods. .

In addition, in the fifth case, the control unit 10 turns off the sixth semiconductor switch Q6 during the fifth and sixth energizing periods and the first energizing period immediately following the sixth energizing period, while pairing the W-phase high-side PWM signal with the The on/off of the fifth semiconductor switch Q5 is controlled by switching.

By the control in this fifth case, 180° energization is performed.

(The control method of the electric two-wheeled vehicle 100)

Next, as an example of the control method of the drive device, the control method of the electric motorcycle 100 according to the first embodiment will be described with reference to the flowchart of FIG. 14 . Here, the flowchart of FIG. 14 will be repeated as necessary.

First, the control unit 10 detects the accelerator operation amount based on the detection signal of the accelerator position sensor 5 (step S1 ).

Moreover, the control part 10 detects the rotational speed of the rotor based on the detection signal of the angle sensor 4 (step S2).

After detecting the accelerator operation amount and the rotational speed of the rotor, the control unit 10 sets the target torque based on the detected accelerator operation amount and the rotational speed of the rotor (ie, also referred to as detected speed) (step S3 ).

Specifically, as shown in FIG. 10 , the control unit 10 sets the target torque by acquiring the target torque corresponding to the accelerator operation amount and the rotational speed of the rotor by referring to the torque map.

The torque schematic diagram is shown in FIG. 11 , which shows the correspondence between the rotational speed of the rotor, the accelerator operation amount, and the target torque. The torque map is stored in the memory unit 20 in a state where the control unit 10 can read it.

After the target torque is set, as shown in FIG. 14 , the control unit 10 sets the duty ratio based on the detected speed and the set target torque (step S4 ).

Specifically, as shown in FIG. 10 , the control unit 10 sets the duty ratio by obtaining the duty ratio corresponding to the detected speed and the target torque by referring to the duty ratio schematic diagram. A schematic diagram of the duty cycle is shown in FIG. 12 , which shows the correspondence between the rotational speed of the rotor, the target torque, and the duty cycle. The duty cycle schematic diagram is stored in the memory unit 20 in a state in which the control unit 10 can read it.

After the duty ratio is set, as shown in FIG. 14 , the control unit 10 determines whether or not the detected speed is equal to or greater than a preset first reference speed (step S5 ).

When the detected speed is lower than the first reference speed (step S5 : No), the control unit 10 determines whether or not the set duty ratio is equal to or greater than the preset first reference duty ratio (step S6 ).

《120°Upper and lower rectangular wave PWM control》

When the set duty ratio is smaller than the first reference duty ratio (step S6: No), the control unit 10 performs 120° upper and lower rectangular wave PWM control as the first region R1 shown in FIG. 15A and FIG. 15B (that is, , the first case) of the power-on mode (step S11).

The details of the 120° upper and lower rectangular wave PWM control are described in FIG. 5 .

《120°upper rectangular wave PWM control》

As shown in FIG. 14 , when the set duty ratio is equal to or greater than the first reference duty ratio (step S6 : Yes), the control unit 10 executes the 120° upper-stage rectangular wave PWM control, as shown in FIGS. 15A and 15B . The energization method of the second region R2 (ie, the third case) (step S12 ).

The 120° upper rectangular wave PWM control is a 120° energization that generates a substantially rectangular current waveform, and is accompanied by PWM control that leads only to the high-side semiconductor switches Q1 , Q3 , and Q5 .

As shown in FIG. 16 , in the 120° upper-stage rectangular wave PWM control, in the successive energization stages of No. 1 and No. 2 (ie, the second and third energization periods), the U-phase high side of the duty ratio is set by setting the duty cycle. The PWM signal switches on/off of the first semiconductor switch Q1.

In addition, in the 120° upper-stage rectangular wave PWM control, the second semiconductor switch Q2 is continuously off-controlled in successive energization stages No. 6 to No. 3 (ie, the first to fourth energization periods).

In addition, in the 120° upper-stage rectangular wave PWM control, in successive energization stages of No. 3 and No. 4 (ie, the fourth and fifth energization periods), the V-phase high-side PWM signal with the set duty On/off of the three-semiconductor switch Q3 is switched and controlled.

In addition, in the 120° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously off-controlled in successive energization stages No. 2 to No. 5 (ie, the third to sixth energization periods).

In addition, in the 120° upper-stage rectangular wave PWM control, in the successive energization stages of No. 5 and No. 6 (ie, the sixth energization period and the first energization period after that), the W-phase high side of the duty ratio is set by setting the duty cycle. The PWM signal switches on/off of the fifth semiconductor switch Q5.

In addition, in the 120° upper-stage rectangular wave PWM control, in successive energization stages No. 4 to No. 1 (ie, the fifth and sixth energization periods and the first and second energization periods after that), the sixth semiconductor The switch Q6 performs continuous closing control.

According to the above 120° upper rectangular wave PWM control, when the set duty ratio is high, the low-side switches Q2, Q4, Q6 are closed and only the high-side switches Q1, Q3, Q5 are PWM controlled, so that there is no need to adjust the mutual PWM The duty cycle of the signal is such that dead time is formed between the high side switches Q1, Q3, Q5 and the low side switches Q2, Q4, Q6.

In this way, since the duty ratio of the high-side PWM signal can be sufficiently increased, it is possible to output a large torque as much as possible while utilizing the charging voltage of the battery 2 to the maximum.

"180° upper and lower trapezoidal wave PWM control"

As shown in FIG. 14 , when the detected speed is equal to or higher than the first reference speed (step S5 : Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the second reference speed (step S7 ).

When the detected speed is lower than the second reference speed (step S7 : No), the control unit 10 determines whether or not the set duty ratio is equal to or greater than the second reference duty ratio (step S8 ).

When the set duty ratio is smaller than the second reference duty ratio (step S8: No), the control unit 10 implements 180° upper and lower trapezoidal wave PWM control as the third region R3 shown in FIG. 15A and FIG. 15B (ie, , the fourth case) of the power-on mode (step S13).

The 180° upper and lower trapezoidal wave PWM control is a 180° energization that generates a substantially trapezoidal current waveform, which is accompanied by PWM control to both the high-side semiconductor switches Q1, Q3, and Q5 and the low-side semiconductor switches Q2, Q4, and Q6.

As shown in FIG. 17 , in the 180° upper and lower trapezoidal wave PWM control, in the successive energization stages of No. 6 to No. 3 (ie, the first to fourth energization periods), by adjusting the U-phase high side of the duty cycle The PWM signal switches on/off of the first semiconductor switch Q1. Specifically, the duty ratio is gradually increased to the set duty ratio in the energization stage No. 6, the set duty ratio is maintained in the energization stages No. 1 and 2, and the duty ratio is maintained in the energization stage No. 3 from The U-phase high-side PWM signal of the duty ratio of which the duty ratio is gradually decreased is set, and the on/off of the first semiconductor switch Q1 is switched and controlled.

As shown in FIG. 18 in which the portion of the broken-line frame in FIG. 17 is enlarged, the PWM signal is generated for each carrier cycle in the triangular wave based on the triangular wave generated by the control unit 10 . In the energization stage No. 6 in which the U-phase trapezoidal wave rises, the duty ratio of the U-phase PWM signal increases stepwise with the elapsed time. In addition, although not shown in the figure, in the energization stage No. 3 in which the U-phase trapezoidal wave falls, the duty ratio of the U-phase PWM signal decreases stepwise with the elapsed time.

In addition, as shown in FIG. 17, in the 180° upper and lower trapezoidal wave PWM control, in the successive energization stages of No. 6 to No. 3, by the U phase whose duty ratio is adjusted between the U-phase high-side PWM signal With the low-side PWM signal, the on/off of the second semiconductor switch Q2 is complementarily switched with respect to the first semiconductor switch Q1, so that the second semiconductor switch Q2 and the first semiconductor switch Q1 will not be turned on at the same time. dead time.

In addition, in the 180° upper and lower stage trapezoidal wave PWM control, in the successive energization stages No. 2 to No. 5 (ie, the third to sixth energization periods), the V-phase high-side PWM signal that adjusts the duty ratio is used to On/off of the three-semiconductor switch Q3 is switched and controlled. Specifically, the set duty ratio is gradually increased in the energization stage No. 2, the set duty ratio is maintained in the energization stages No. 3 and 4, and the set duty ratio is maintained in the energization stage No. 5. The V-phase high-side PWM signal of the duty ratio of which the duty ratio is gradually decreased is set, and the on/off of the third semiconductor switch Q3 is switched.

In addition, in the 180° upper and lower trapezoidal wave PWM control, the V-phase low-side PWM signal whose duty ratio is adjusted between the V-phase high-side PWM signal and the V-phase high-side PWM signal in the successive energization stages of No. 2 to No. 5, The turn-on/turn-off of the fourth semiconductor switch Q4 is complementarily switched with respect to the third semiconductor switch Q3, thereby forming a dead time during which the fourth semiconductor switch Q4 and the third semiconductor switch Q3 are not turned on at the same time.

In addition, in the 180° upper and lower trapezoidal wave PWM control, in the successive energization stages from No. 4 to No. 1 (that is, the fifth and sixth energization periods and the first and second energization periods after that), by adjusting the The duty-ratio W-phase high-side PWM signal performs switching control for on/off of the fifth semiconductor switch Q5. Specifically, the set duty ratio is gradually increased in the energization stage No. 4, the set duty ratio is maintained in the energization stages No. 5 and 6, and the set duty ratio is maintained in the energization stage No. 1. The W-phase high-side PWM signal of the duty ratio of which the duty ratio is gradually decreased is set, and the on/off of the fifth semiconductor switch Q5 is switched.

In addition, in the 180° upper and lower trapezoidal wave PWM control, the W-phase low-side PWM signal whose duty ratio is adjusted between the W-phase high-side PWM signal and the W-phase high-side PWM signal in the successive energization stages from No. 4 to No. 1, Turning on/off of the sixth semiconductor switch Q6 is performed complementary switching control with respect to the fifth semiconductor switch Q5, thereby forming a dead time during which the sixth semiconductor switch Q6 and the fifth semiconductor switch Q5 are not turned on at the same time.

According to the above-mentioned 180° upper and lower trapezoidal wave PWM control, the ripple can be suppressed by gradually increasing and decreasing the current waveform.

《180°Upper and lower rectangular wave PWM control》

As shown in FIG. 14 , when the detected speed is equal to or higher than the second reference speed (step S7 : Yes), the control unit 10 determines whether or not the detected speed is equal to or higher than the third reference speed (step S9 ).

When the detected speed is lower than the third reference speed (step S9: No), or the set duty ratio is greater than or equal to the second reference duty cycle (step S8: Yes), the control unit 10 determines whether the set duty ratio is greater than or equal to the first Three reference duty ratios are determined (step S10).

When the set duty ratio is smaller than the third reference duty ratio (step S10: No), the control unit 10 performs 180° upper and lower rectangular wave PWM control as the fourth region R4 shown in FIG. 15A and FIG. 15B (ie, , the second case) of the power-on mode (step S14). In the illustration of FIG. 15B , although the third reference duty ratio matches the first reference duty ratio, the third reference duty ratio may not match the first reference duty ratio.

The details of the 180° upper and lower rectangular wave PWM control are described in FIG. 7 .

《180°upper rectangular wave PWM control》

As shown in FIG. 14 , when the detected speed is equal to or higher than the third reference speed (step S9 : Yes), or when the set duty ratio is equal to or higher than the third reference duty ratio (step S10 : Yes), the control unit 10 implements 180° The upper-stage rectangular wave PWM control is used as the energization method of the fifth region R5 shown in FIGS. 15A and 15B (that is, the fifth case) (step S15 ).

The 180° upper rectangular wave PWM control is a 180° energization that generates a substantially rectangular current waveform, and is accompanied by PWM control that leads only to the high-side semiconductor switches Q1 , Q3 , and Q5 .

As shown in FIG. 19 , in the 180° upper-stage rectangular wave PWM control, in the successive energization stages of No. 1 to No. 3 (ie, the first to third energization periods), by setting the U-phase high side of the duty cycle The PWM signal is used to perform on/off switching control of the first semiconductor switch Q1.

In addition, in the 180° upper-stage rectangular wave PWM control, the second semiconductor switch Q2 is continuously turned off in the successive energization stages No. 1 to No. 3.

In addition, in the 180° upper-stage rectangular wave PWM control, in the successive energization stages No. 3 to No. 5 (ie, the third to fifth energization periods), the V-phase high-side PWM signal of the set duty ratio is used. On/off switching control of the third semiconductor switch Q3.

In addition, in the 180° upper-stage rectangular wave PWM control, the fourth semiconductor switch Q4 is continuously off-controlled in the energization stages No. 3 to No. 5 in succession.

In addition, in the 180° upper-stage rectangular wave PWM control, in successive energization stages from No. 5 to No. 1 (ie, the fifth and sixth energization periods and the first energization period after that), by setting the duty ratio of the The W-phase high-side PWM signal performs on/off switching control of the fifth semiconductor switch Q5.

In addition, in the 180° upper-stage rectangular wave PWM control, the sixth semiconductor switch Q6 is continuously off-controlled in the energization stages No. 5 to No. 1 in succession.

According to the above 180° upper rectangular wave PWM control, it is the same as the 120° upper rectangular wave PWM control. When the set duty ratio is high, by closing the low-side switches Q2, Q4, Q6 and only the high-side switches Q1, Q3, Q5 The PWM control is performed so that there is no need to adjust the duty ratios of the mutual PWM signals so that dead time is formed between the high-side switches Q1, Q3, Q5 and the low-side switches Q2, Q4, Q6.

In this way, since the duty ratio of the high-side PWM signal can be sufficiently increased, it is possible to output a large torque as much as possible while utilizing the charging voltage of the battery 2 to the maximum.

According to the second embodiment, since the appropriate PWM control can be selected according to the detection speed and the set duty ratio, it is possible to output a large torque as much as possible while maximizing the use of the charging voltage of the battery 2 .

At least a part of the electric vehicle control device 1 described in the above-described embodiment may be configured by hardware or software. When constituted by software, a program for realizing at least a part of the functions of the electric vehicle control device 1 may be stored in a storage medium such as a floppy disk or a CD-ROM, and read and executed by a computer. The storage medium is not limited to a removable magnetic disk, an optical disk, or the like, and may be a fixed storage medium such as a hard disk device and a memory.

In addition, a program for realizing at least a part of the functions of the electric vehicle control device 1 may be distributed through a communication line (including wireless communication) such as the Internet. Furthermore, the program may be distributed in a state after encryption, modulation, and compression through a limited line such as the Internet, a wireless line, or by being stored in a storage medium.

Based on the above description, those skilled in the art may think of additional effects and various modifications of the present invention, but the present invention is not limited to the above-described various embodiments. Elements related to different embodiments may be appropriately combined. Various additions, changes, and partial deletions can be made without departing from the content specified in the claims and the concept and spirit of the present invention derived from the equivalents thereof.

Symbol Description

1 Electric vehicle control device

3 Motors

4 Angle sensor

10 Control section

Claims (15)

1. A drive device, comprising:

a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor;

a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal;

a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor;

a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal;

a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor;

a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal;

at least one phase angle sensor which is disposed so as to be offset by a predetermined arrangement angle with respect to the same phase coil among the first to third phase coils, and which detects a rotation angle of the rotor in each of first to sixth detection periods which are continuous and each of which corresponds to an electrical angle of 60 ° and which are periodically repeated in accordance with rotation of the rotor of the motor; and

a control section that controls driving of the motor by controlling the first to sixth switches,

wherein the control part

Periodically setting first to sixth energization periods each corresponding to an electrical angle of 60 DEG in accordance with the first to sixth detection periods,

PWM-controlling the first to sixth switches so as to switch between 120 DEG energization in which a phase current flows in two successive energization periods in the first to sixth energization periods and 180 DEG energization in which a phase current flows in three successive energization periods in the first to sixth energization periods,

an energization period at the time of switching in the first to sixth energization periods is shifted by a period corresponding to the arrangement angle with respect to a detection period at the time of switching in the first to sixth detection periods.

2. The drive device according to claim 1, characterized in that:

wherein the control section detects a rotation speed of the rotor based on a detection angle of the angle sensor, and when: in a first case where the detection speed of the rotor is slower than a first reference speed set in advance, the first to sixth switches are PWM-controlled to perform the 120 ° energization,

in a second case where the detected speed is equal to or higher than the first reference speed, the first to sixth switches are PWM-controlled so as to perform the 180 ° energization.

3. The drive device according to claim 1, characterized in that:

wherein the angle sensor is disposed so as to be shifted toward a delay angle side with respect to the coils of the same phase,

the control unit sets the energization cycle at the time of switching to be shifted to the advanced side with respect to the detection cycle at the time of switching.

4. The drive device according to claim 2, characterized in that:

wherein the control part

An energization period immediately after the energization period at the time of switching is set to be shifted from a detection period immediately after the detection period at the time of switching by a period obtained by adding a period corresponding to the arrangement angle to a period corresponding to a set angle set in accordance with the detection speed and a user operation amount for controlling rotation of the motor.

5. The drive device according to claim 1, characterized in that:

wherein the control part

Switching the duty ratio of the PWM control when switching between the 120 ° energization and the 180 ° energization.

6. The drive device according to claim 2, characterized in that:

wherein the first condition is: the set duty ratio set according to the detected speed and the user operation amount for controlling the rotation of the motor is lower than a first reference duty ratio set in advance.

7. The drive device according to claim 6, characterized in that:

wherein the second case is: the detection speed is slower than a preset second reference speed, the set duty ratio is lower than the first reference duty ratio, is greater than or equal to a preset second reference duty ratio and is lower than a preset third reference duty ratio, or the detection speed is greater than or equal to the second reference speed and is slower than a preset third reference speed, and the set duty ratio is lower than the third reference duty ratio.

8. The drive device according to claim 6, characterized in that:

when the first condition is satisfied, the control unit

Switching on/off of the first switch by the first-phase high-side PWM signal having the set duty ratio, and performing complementary switching control of on/off of the second switch with respect to the first switch by the first-phase low-side PWM signal having the adjusted duty ratio between the first-phase high-side PWM signal and the first-phase high-side PWM signal, thereby forming a dead time in which the second switch is not simultaneously turned on with the first switch,

switching on/off of the fourth switch by the second-phase low-side PWM signal with the adjusted duty ratio between the third switch and the second-phase high-side PWM signal while switching on/off of the third switch by the second-phase high-side PWM signal with the set duty ratio, so as to form a dead time in which the fourth switch and the third switch are not simultaneously turned on,

and a control unit configured to perform switching control of turning on/off the sixth switch in a complementary manner with respect to the fifth switch by a third-phase low-side PWM signal with an adjusted duty ratio between the third-phase high-side PWM signal and the fifth switch while switching on/off of the fifth switch by a third-phase high-side PWM signal with the set duty ratio, thereby forming a dead time in which the sixth switch and the fifth switch are not simultaneously turned on.

9. The drive device according to claim 8, characterized in that:

when the first condition is satisfied, the control unit

On/off of the first switch is controlled in the second and third energization periods while on/off of the second switch is switched in the first to fourth energization periods,

on/off of the third switch is switched and controlled in the fourth and fifth power-on periods while on/off of the fourth switch is switched and controlled in the third to sixth power-on periods,

on/off of the fifth switch is on/off controlled in the sixth energization period and the first energization period thereafter, while on/off of the sixth switch is switched in the fifth and sixth energization periods and the first and second energization periods immediately after the sixth energization period.

10. The drive device according to claim 7, characterized in that:

when the second condition is satisfied, the control unit

Switching on/off of the first switch by the first-phase high-side PWM signal having the set duty ratio, and performing complementary switching control of on/off of the second switch with respect to the first switch by the first-phase low-side PWM signal having the adjusted duty ratio between the first-phase high-side PWM signal and the first-phase high-side PWM signal, thereby forming a dead time in which the second switch is not simultaneously turned on with the first switch,

switching on/off of the fourth switch by the second-phase low-side PWM signal with the adjusted duty ratio between the third switch and the second-phase high-side PWM signal while switching on/off of the third switch by the second-phase high-side PWM signal with the set duty ratio, so as to form a dead time in which the fourth switch and the third switch are not simultaneously turned on,

and a control unit configured to perform switching control of turning on/off the sixth switch in a complementary manner with respect to the fifth switch by a third-phase low-side PWM signal with an adjusted duty ratio between the third-phase high-side PWM signal and the fifth switch while switching on/off of the fifth switch by a third-phase high-side PWM signal with the set duty ratio, thereby forming a dead time in which the sixth switch and the fifth switch are not simultaneously turned on.

11. The drive device according to claim 10, characterized in that:

when the second condition is satisfied, the control unit

On/off of the second switch is switch-controlled while switching on/off of the first switch in the first to third energization periods,

on/off of the fourth switch is switch-controlled while switching on/off of the third switch in the third to fifth power-on periods,

on/off of the sixth switch is switch-controlled while switching on/off of the fifth switch in the fifth and sixth power-on periods and a first power-on period immediately after the sixth power-on period.

12. An electric vehicle including a motor and a drive device, characterized in that:

the driving device includes:

a first switch, one end of which is connected with a power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor;

a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal;

a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor;

a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal;

a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor;

a sixth switch having one end connected to the third output terminal and the other end connected to the ground terminal;

at least one phase angle sensor which is disposed so as to be offset by a predetermined arrangement angle with respect to the same phase coil among the first to third phase coils, and which detects a rotation angle of the rotor in each of first to sixth detection periods which are continuous and each of which corresponds to an electrical angle of 60 ° and which are periodically repeated in accordance with rotation of the rotor of the motor; and

a control section that controls driving of the motor by controlling the first to sixth switches,

wherein the control part

Periodically setting first to sixth energization periods each corresponding to an electrical angle of 60 DEG in accordance with the first to sixth detection periods,

PWM-controlling the first to sixth switches so as to switch between 120 DEG energization in which a phase current flows in two successive energization periods in the first to sixth energization periods and 180 DEG energization in which a phase current flows in three successive energization periods in the first to sixth energization periods,

an energization period at the time of switching in the first to sixth energization periods is shifted by a period corresponding to the arrangement angle with respect to a detection period at the time of switching in the first to sixth detection periods.

13. The electric vehicle according to claim 12, characterized in that:

wherein the control part

Detecting a rotation speed of the rotor according to a detection angle of the angle sensor,

performing the 120 ° energization by performing PWM control on the first to sixth switches in a first case where a detection speed of the rotor is slower than a first reference speed set in advance and a set duty ratio set according to the detection speed and an accelerator operation amount of a user is lower than a first reference duty ratio set in advance,

and under a second condition that the detection speed is greater than or equal to the first reference speed and is slower than the second reference speed, the set duty ratio is greater than or equal to the second reference duty ratio and is lower than a preset third reference duty ratio, or the detection speed is greater than or equal to the second reference speed and is slower than a preset third reference speed, and the set duty ratio is lower than the third reference duty ratio, performing PWM control on the first to sixth switches so as to perform 180-degree energization.

14. The electric vehicle according to claim 13, characterized in that:

wherein the control part

Setting torques corresponding to the detected speed and the accelerator operation amount on the basis of a torque map indicating a correspondence relationship among the rotational speed of the rotor, the accelerator operation amount, and the torque of the motor,

the duty ratio corresponding to the detected speed and the set torque is set as the set duty ratio according to a duty ratio map indicating a correspondence relationship among the rotational speed of the rotor, the torque, and the duty ratio.

15. A control method of a driving apparatus, the driving apparatus comprising: a first switch, one end of which is connected with the power supply terminal and the other end of which is connected with a first output terminal leading to a first phase coil of the motor; a second switch, one end of which is connected to the first output terminal and the other end of which is connected to a ground terminal; a third switch having one end connected to the power supply terminal and the other end connected to a second output terminal leading to a second phase coil of the motor; a fourth switch, one end of which is connected to the second output terminal and the other end of which is connected to the ground terminal; a fifth switch having one end connected to the power supply terminal and the other end connected to a third output terminal leading to a third phase coil of the motor; and a sixth switch, one end of which is connected to the third output terminal and the other end of which is connected to the ground terminal, characterized in that:

detecting a rotation angle of the rotor by an angle sensor of at least one phase arranged by being shifted by a preset arrangement angle with respect to the same phase coil among the first to third phase coils, in each of first to sixth detection periods each corresponding to an electrical angle of 60 ° which are continuously repeated periodically in accordance with rotation of the rotor of the motor,

periodically setting first to sixth energization periods each corresponding to an electrical angle of 60 DEG in accordance with the first to sixth detection periods,

PWM-controlling the first to sixth switches so as to switch between 120 DEG energization in which a phase current flows in two successive energization periods in the first to sixth energization periods and 180 DEG energization in which a phase current flows in three successive energization periods in the first to sixth energization periods,

an energization period at the time of switching in the first to sixth energization periods is shifted by a period corresponding to the arrangement angle with respect to a detection period at the time of switching in the first to sixth detection periods.

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