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WO2019225373A1 - Dispositif d'entraînement de moteur - Google Patents

Dispositif d'entraînement de moteur Download PDF

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Publication number
WO2019225373A1
WO2019225373A1 PCT/JP2019/018902 JP2019018902W WO2019225373A1 WO 2019225373 A1 WO2019225373 A1 WO 2019225373A1 JP 2019018902 W JP2019018902 W JP 2019018902W WO 2019225373 A1 WO2019225373 A1 WO 2019225373A1
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WO
WIPO (PCT)
Prior art keywords
phase
bus
current value
current
phase current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/018902
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English (en)
Japanese (ja)
Inventor
星野　隆
正大 石島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsuba Corp
Original Assignee
Mitsuba Corp
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Filing date
Publication date
Application filed by Mitsuba Corp filed Critical Mitsuba Corp
Publication of WO2019225373A1 publication Critical patent/WO2019225373A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current

Definitions

  • the present invention relates to a motor drive device.
  • Patent Document 1 discloses a motor driving device that drives a three-phase brushless motor in a sine wave.
  • the two-phase phase current value of the three phases is detected by two current sensors, and the two-phase detected by each current sensor is detected. It is necessary to calculate the phase current value of the remaining one phase from each phase current value using Kirchhoff's law. For this reason, at least two current sensors are required, resulting in high costs.
  • the present invention has been made in view of such circumstances, and an object thereof is a motor drive device for driving a three-phase brushless motor in a sine wave, and a phase current value of each phase is obtained by one current sensor. Be able to.
  • One aspect of the present invention is a motor drive device that drives a three-phase brushless motor in a sine wave, and is connected to a power supply device via a busbar, and the DC power supplied from the power supply device via the busbar is AC
  • An inverter that converts electric power and outputs it to the brushless motor, a current sensor that detects a bus current value flowing through the bus, and the current sensor at a timing when a phase current of one of the three phases becomes zero cross
  • a phase current calculation unit that calculates a current value of each of the other two phases from the bus current detected by the control unit, and a drive control unit that controls the inverter based on the phase current value calculated by the phase current calculation unit
  • a motor drive device characterized by comprising:
  • phase current calculation unit has a timing at which the electrical angle of the brushless motor is every 60 ° as a timing when the phase current value of the one phase becomes zero cross.
  • the current values of the other two phases are calculated from the bus current value detected by the current sensor.
  • One aspect of the present invention is the motor drive device described above, wherein the drive control unit performs PWM control on the inverter based on the phase current value calculated by the phase current calculation unit, and the phase current calculation unit Is obtained by dividing the bus current value detected by the current sensor at the timing when the phase current value of the one phase becomes zero crossing by the duty ratio in the PWM control, so that each phase current of the other two phases Calculate the value.
  • the present invention is a motor driving device that drives a three-phase brushless motor in a sine wave, and the phase current value of each phase can be obtained by one current sensor.
  • FIG. 1 is a diagram showing an example of a schematic configuration of a motor system A according to an embodiment of the present invention.
  • the motor system A includes a brushless motor 1, a hall sensor 2, and a motor driving device 3.
  • the brushless motor 1 is a motor having a three-phase motor structure.
  • the brushless motor 1 includes a stator around which a U-phase stator coil, a V-phase stator coil, and a W-phase stator coil, which are three-phase armature windings, and a permanent magnet rotor having a plurality of magnetic poles.
  • the hall sensor 2 is attached in the vicinity of the permanent magnet rotor of the brushless motor 1.
  • the hall sensor 2 includes three U-phase hall sensors, a V-phase hall sensor, and a W-phase hall sensor that detect a magnetic flux change signal during operation of the brushless motor 1.
  • the U-phase hall sensor detects the switching of the magnetic poles of the permanent magnet rotor, and outputs a U-phase hall sensor signal, which is a binary signal of High (H) or Low (L), to the motor driving device 3.
  • the V-phase Hall sensor detects the switching of the magnetic poles of the permanent magnet rotor, and outputs a V-phase Hall sensor signal that is a binary signal of H or L to the motor drive device 3 as a result of the detection.
  • the W-phase Hall sensor detects the switching of the magnetic poles of the permanent magnet rotor, and outputs a W-phase Hall sensor signal that is a binary signal of H or L to the motor driving device 3 as a result of the detection.
  • the motor drive device 3 is a device that drives the brushless motor 1 in a sine wave.
  • This sine wave drive is a drive method in which the voltage applied to the stator coils (U-phase stator coil, V-phase stator coil, and W-phase stator coil) of the brushless motor 1 is changed into a sine wave, and is changed into a rectangular wave. Noise and vibration are lower than the rectangular wave drive.
  • the structure of the motor drive device 3 which concerns on one Embodiment of this invention is demonstrated.
  • the motor drive device 3 includes a power supply device 4, an inverter 5, a current sensor 6, a gate driver 7, and a control unit 8.
  • the power supply device 4 can be a secondary battery such as a nickel metal hydride battery or a lithium ion battery.
  • the power supply device 4 can also use an electric double layer capacitor (capacitor) instead of the secondary battery.
  • the power supply device 4 is, for example, a battery provided in the vehicle.
  • the inverter 5 is connected to the power supply device 4 via the bus L. Inverter 5 converts DC power supplied from power supply device 4 via bus L to AC power and outputs the AC power to brushless motor 1.
  • the inverter 5 includes a plurality of switching elements SW UH to SW WL (SW UH , SW UL , SW VH , SW VL , SW WH , SW WL ), and the plurality of switching elements SW UH to SW WL.
  • SW WL is PWM controlled to perform a switching operation, thereby converting a current supplied from power supply device 4 via bus L (hereinafter referred to as “bus current”) into a sinusoidal AC current.
  • bus current hereinafter referred to as “bus current”
  • the inverter 5 supplies the converted sinusoidal alternating current as a phase current to each of the U-phase stator coil, the V-phase stator coil, and the W-phase stator coil. Thereby, the brushless motor 1 is driven.
  • the six switching elements SW UH to SW WL are n-channel FETs (Field Effective Transistors) will be described.
  • the present invention is not limited to this, and for example, an IGBT (Insulated gate bipolar transistor). , And BJT (bipolar junction transistor).
  • the switching elements SW UH and SW UL connected in series, the switching elements SW VH and SW VL connected in series, and the switching elements SW WH and SW WL connected in series are a high potential ( Connected in parallel between the output) side and the ground potential.
  • the drain terminal of the switching element SW UH is connected to the output terminal of the power supply device 4.
  • the source terminal of the switching element SW UL is connected to GND (ground).
  • a connection point between the source terminal of the switching element SW UH and the drain terminal of the switching element SW UL is connected to one end of the U-phase stator coil.
  • the drain terminal of the switching element SW VH is connected to the drain terminal of the switching element SW UH .
  • the source terminal of the switching element SW VL is connected to GND (ground).
  • GND ground
  • the source terminal of the switching element SW VH, the connection point between the drain terminal of the switching element SW VL is connected to one end of the V-phase stator coil.
  • the drain terminal of the switching element SW WH is connected to the drain terminal of the switching element SW UH .
  • the source terminal of the switching element SW WL is connected to GND (ground).
  • the source terminal of the switching element SW WH, the connection point between the drain terminal of the switching element SW WL is connected to one end of the W-phase stator coil.
  • Each switching element SW UH to SW WL has a gate terminal connected to the control unit 8. Furthermore, a free-wheeling diode is connected in parallel to each of the switching elements SW UH to SW WL .
  • the switching elements SW UH to SW WL are switched on and off based on a pulse width modulation signal (PWM signal) input from the control unit 8 via the gate driver 7.
  • PWM signal pulse width modulation signal
  • Current sensor 6 a first current sensor provided in the bus L, the current value of the bus current flowing through the bus line L (hereinafter, referred to as "bus current value”.) To detect the I L.
  • the current sensor 6 outputs the detected bus current value I L to the control unit 8.
  • the current sensor 6, it is sufficient detected bus current value I L, it is not particularly limited to the detection method.
  • the current sensor 6 has a shunt resistor may be one of finding the bus current value I L from the voltage across the shunt resistor.
  • the current sensor 6 may be a current transformer or a current transformer.
  • the gate driver 7 outputs the PWM signal having the duty ratio D output from the control unit 8 to the gate terminals of the switching elements SW UH to SW WL .
  • the switching elements SW UH to SW WL are PWM-controlled with the duty ratio D.
  • Control unit 8 calculates a phase current value from the bus current value I L from one current sensor 6, the phase current value so that the target value, PWM control of the switching elements SW UH ⁇ SW WL. Below, the structure of the control part 8 which concerns on one Embodiment of this invention is demonstrated using FIG.
  • control unit 8 includes an electrical angle calculation unit 9, a phase current calculation unit 10, and a drive control unit 11.
  • the electrical angle calculation unit 9 calculates the electrical angle ⁇ of the brushless motor 1 at regular intervals based on the U-phase Hall sensor signal, the V-phase Hall sensor signal, and the W-phase Hall sensor signal. Then, the electrical angle calculation unit 9 outputs the calculated electrical angle ⁇ to the phase current calculation unit 10.
  • the phase current calculation unit 10 calculates the phase current values of the other two phases from the bus current detected by the current sensor 6 at the timing when the phase current of one phase among the three phases becomes zero cross.
  • the timing when the phase current of one phase becomes zero crossing is the timing when the electrical angle ⁇ of the brushless motor 1 is a multiple of 60 °.
  • phase current calculation unit 10 from the current sensor 6 electrical angle ⁇ obtained from the electrical angle calculation unit 9 for each 60 ° acquires bus current value I L, from the acquired bus current value I L, the other Calculate the current value of each phase of two phases.
  • phase current calculation unit 10 when phase current of one phase is the timing at which the zero crossing, to the bus current I L which is detected by the current sensor 6, is divided by the duty ratio D in the PWM control
  • the current values of the other two phases are calculated.
  • the drive control unit 11 performs PWM control on the inverter 5 based on the phase current value calculated by the phase current calculation unit 10. For example, the drive control unit 11 calculates the duty ratio D such that the phase current value calculated by the phase current calculation unit 10 becomes a target value, and sends the PWM signal of the calculated duty ratio D via the gate driver 7. Output to the inverter 5.
  • the inverter 5 supplies the voltage supplied to the stator coil of the brushless motor 1 in a sine wave shape based on the PWM signal.
  • FIG. 3 is a flowchart of the operation of the motor drive device 3 according to the embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a waveform of a phase current of each phase flowing through the brushless motor 1 according to the embodiment of the present invention.
  • the control part 8 determines whether it is a timing when the phase current of one phase among the three phases becomes zero cross. More specifically, the control unit 8 determines whether or not the current electrical angle ⁇ is a multiple of 60 ° (step S101). Control unit 8, when the ⁇ present electrical angle is determined to be a multiple of 60 ° as a timing when the phase current of one phase becomes zero crossing, to obtain a bus current value I L from the current sensor 6 (Step S102). If the control unit 8 determines that the current electrical angle ⁇ is not a multiple of 60 °, the control unit 8 repeats the process of step S101 until the electrical angle ⁇ is a multiple of 60 °.
  • Control unit 8 the acquired bus current value I L, is divided by the duty ratio D in the PWM control, and calculates the phase current values of the other two phases (step S103).
  • no phase current flows in the W phase and current flows only in the U phase and the V phase.
  • the phase current does not flow in the W-phase stator coil, and the phase current generated by the bus current flows only in the U-phase stator coil and the V-phase stator coil connected in series.
  • the drive control unit 11 performs PWM control on the inverter 5 based on the phase current value calculated by the phase current calculation unit 10 (step S104). For example, the drive control unit 11 calculates the duty ratio D such that the phase current value calculated by the phase current calculation unit 10 becomes a target value, and sends the PWM signal of the calculated duty ratio D via the gate driver 7. Output to the inverter 5. Thereby, the control unit 8 can drive the brushless motor 1 in a sine wave.
  • FIG. 5A shows the phase current of each phase when the phase current of any of the three phases is not zero-crossed, for example, when the electrical angle ⁇ is 90 °.
  • FIG. 5A shows the phase current of each phase when the phase current of any of the three phases is not zero-crossed, for example, when the electrical angle ⁇ is 90 °.
  • the bus current value I L can not be calculated the phase current value of each phase.
  • FIG. 5B shows the phase current of each phase when the phase current of any one of the three phases becomes zero crossing, for example, when the electrical angle ⁇ is 120 °.
  • FIG. 5B since only the phase current flows through the U-phase and W-phase, it is possible to calculate the phase current value of each phase on the bus current value I L.
  • the apparatus 3 among the three phases, the bus current value I L obtained at the timing when the phase current of one phase becomes zero crossing, the phase currents of the other two phases Is calculated.
  • the phase current of each phase can be obtained by the single current sensor 6.
  • the control unit 8 as the timing at which the phase current of one phase becomes zero crossing, to obtain detected bus current value I L by the current sensor 6 at the timing of the electrical angle of the brushless motor every 60 degrees, and the obtained the bus current value I L, may be calculated phase currents of the other two phases.
  • the control unit 8 for the detected bus current value I L by the current sensor 6 at the timing when the phase current of one phase becomes zero crossing is divided by the duty ratio D in the PWM control, the other two phases Each phase current may be calculated.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

Cette invention concerne un dispositif d'entraînement de moteur pour entraîner par onde sinusoïdale un moteur triphasé sans balai, ledit dispositif étant configuré pour trouver une valeur de courant de phase de chacune des phases avec un seul capteur de courant. Le dispositif d'entraînement de moteur pour entraîner par onde sinusoïdale un moteur triphasé sans balai comprend : un onduleur qui est connecté à une source d'alimentation électrique par l'intermédiaire d'un bus et configuré pour convertir l'énergie électrique en CC fournie par la source d'alimentation électrique par l'intermédiaire du bus en énergie électrique en CA et délivrer l'énergie électrique au moteur sans balai ; un capteur de courant qui détecte la valeur du courant de bus circulant dans le bus ; une unité de calcul de courant de phase qui utilise le courant de bus détecté par le capteur de courant à un moment temporel où le courant de phase de l'une des phases parmi les trois phases est au passage à zéro pour calculer les valeurs de courant de phase des deux autres phases ; et une unité de commande d'entraînement qui commande l'onduleur sur la base des valeurs de courant de phase calculées par l'unité de calcul de courant de phase.
PCT/JP2019/018902 2018-05-23 2019-05-13 Dispositif d'entraînement de moteur Ceased WO2019225373A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-098660 2018-05-23
JP2018098660A JP7009308B2 (ja) 2018-05-23 2018-05-23 モータ駆動装置

Publications (1)

Publication Number Publication Date
WO2019225373A1 true WO2019225373A1 (fr) 2019-11-28

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WO (1) WO2019225373A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112193081A (zh) * 2020-09-29 2021-01-08 奇瑞新能源汽车股份有限公司 一种电机控制器母线电流获得方法
JP7570931B2 (ja) 2021-01-04 2024-10-22 株式会社ミツバ モータ制御方法
JP7468381B2 (ja) 2021-01-27 2024-04-16 株式会社デンソー 演算装置及びモータ駆動装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004088995A (ja) * 2002-07-01 2004-03-18 Matsushita Electric Ind Co Ltd モータ駆動方法及びモータ駆動装置
JP2005269880A (ja) * 2003-06-19 2005-09-29 Denso Corp ３相電圧型ｐｗｍインバータ装置
WO2013105173A1 (fr) * 2012-01-12 2013-07-18 パナソニック株式会社 Dispositif de commande d'onduleur

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6279507B2 (ja) * 2015-04-07 2018-02-14 日立オートモティブシステムズ株式会社 モータ駆動装置及び３相ブラシレスモータの相電流検出方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004088995A (ja) * 2002-07-01 2004-03-18 Matsushita Electric Ind Co Ltd モータ駆動方法及びモータ駆動装置
JP2005269880A (ja) * 2003-06-19 2005-09-29 Denso Corp ３相電圧型ｐｗｍインバータ装置
WO2013105173A1 (fr) * 2012-01-12 2013-07-18 パナソニック株式会社 Dispositif de commande d'onduleur

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JP2019205269A (ja) 2019-11-28
JP7009308B2 (ja) 2022-01-25

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