Motor control device, motor module, motor control program, and motor control method

Abstract

A motor control device according to one embodiment of the present disclosure includes an inverter circuit, a conduction control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm in each of the three phases. The conduction control unit controls conduction of an upper arm and a lower arm of each of the three phases in the inverter circuit. The specifying unit specifies switching from a 120-degree energization mode in which two of the three phases are energized phases and the remaining one is a non-energized phase, to a three-phase modulation inversion mode. In the three-phase modulation inversion method, the three phases are PWM-controlled PWM phases, and one of the three phases and the other two phases are PWM-controlled so that phases of energization waveforms for turning on / off the upper arm are different from each other. The conduction control unit is provided with: a switching compensation unit that, before and after switching from the 120-degree energization scheme specified by the specifying unit to the three-phase modulation inversion scheme, sets the on / off states of the upper arm and the lower arm of the two energization phases to be consistent, and that, when two PWM phases corresponding to the energization phases are in the same phase, sets the on / off states of the upper arm and the lower arm to be consistent with each other in the case of switching from the 120-degree energization scheme specified by the specifying unit to the three-phase modulation inversion scheme, sets the on / off states of the upper arm and the lower arm to be consistent with each other; the PWM phase corresponding to the non-energized phase is subjected to PWM control opposite to the two PWM phases.

Description

Technical Field

[0001] This disclosure relates to motor control devices, motor modules, motor control programs, and motor control methods. Background Technology

[0002] Previously, as a technology for controlling motors, there are known 120-degree energization methods that set two of the three phases as energized phases and set the remaining phase as non-energized phases, and three-phase modulation inverse methods that set the three phases as PWM (Pulse Width Modulation) phases and perform PWM control on one of the three phases with different polarities from the other two phases (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2018 / 061433 Summary of the Invention

[0006] By switching between the 120-degree energizing mode and the three-phase modulation reverse mode with vector control according to the motor's load and drive conditions, efficient driving can be achieved. Furthermore, the motor's drive can be stabilized over a wide range of speeds.

[0007] If a dead time is added when switching between the 120-degree energizing mode and the three-phase modulation inverted mode, the motor output will decrease. Therefore, ideally, the switching should be performed without a dead time. However, without setting this dead time, depending on the on / off state of the upper and lower arms of the inverter circuit, the upper and lower arms of the same phase may simultaneously become on and short-circuit during switching. Here, the state in which the gate signal of the switching element configured in each arm is on or off is referred to as the on / off state.

[0008] Solution for solving the problem

[0009] This disclosure provides a technique for switching between 120-degree power-on mode and three-phase modulation inverting mode without dead time and suppressing short circuits in the upper and lower arms of the inverter circuit.

[0010] According to one aspect of this disclosure, a motor control device includes an inverter circuit, a conduction control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm in each of the three phases. The conduction control unit controls the conduction of the upper arm and the lower arm of each of the three phases in the inverter circuit. The determination unit determines a switch from a 120-degree energizing mode to a three-phase modulation inversion mode, wherein the 120-degree energizing mode sets two of the three phases as energized phases and the remaining phase as non-energized phase, and the three-phase modulation inversion mode sets the three phases as PWM-controlled phases, and performs PWM control on one phase and the other two phases in an inverted manner such that the phases of the energizing waveforms for the upper arm's conduction / discontinuation are all different. The aforementioned conduction control unit includes: a switching compensation unit that, before and after the switching of the three-phase modulation inversion mode, makes the on / off state of the upper arm and the lower arm of the two-phase energized phases consistent; and the conduction control unit performs PWM control on the PWM phase corresponding to the non-energized phase that is in the opposite phase to the two PWM phases when the two PWM phases corresponding to the energized phases are in phase with each other.

[0011] Furthermore, a motor control device according to one aspect of this disclosure includes an inverter circuit, a conduction control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm in each of the three phases. The conduction control unit controls the conduction of the upper and lower arms of each of the three phases in the inverter circuit. The determination unit determines a switch from a three-phase modulation inversion mode to a 120-degree energization mode. The three-phase modulation inversion mode is a mode in which the three phases are set as PWM-controlled PWM phases, and the phases of the energization waveforms that turn the upper arm on / off are mutually different, and one phase and the other two phases are PWM-controlled. The 120-degree energization mode is a mode in which two of the three phases are energized, and the remaining phase is de-energized. The aforementioned conduction control unit includes a switching compensation unit that, before and after switching from the three-phase modulation inversion mode determined by the aforementioned determination unit to the 120-degree energization mode, ensures that the conduction / disconnection states of the upper arm and the lower arm in the two-phase energized phase are consistent.

[0012] Invention Effects

[0013] According to this disclosure, short circuits in the upper and lower arms of the inverter circuit can be suppressed when switching between 120-degree energizing mode and three-phase modulation inverting mode. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating an example of the configuration of a motor module in an implementation method.

[0015] Figure 2This is a diagram showing an example of the configuration of the inverter circuit 10 in the motor control device 1 of Embodiment 1.

[0016] Figure 3 This is a diagram showing the state of each phase in each section of the 120-degree energization mode in the motor control device 1 of the embodiment.

[0017] Figure 4 This is a diagram showing the state of each phase in the three-phase modulation performed by the motor control device 1 in the embodiment.

[0018] Figure 5 This diagram illustrates an example of control in the case where the conduction type used in the motor control device 1 of the embodiment is a trough conduction type.

[0019] Figure 6 This diagram illustrates an example of control in the case where the conduction type used in the motor control device 1 of the embodiment is a peak conduction type.

[0020] Figure 7 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which uses a 120-degree power-on mode based on high-side PWM control and low-side conduction.

[0021] Figure 8 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which uses a 120-degree power-on mode based on high-side PWM control and peak conduction.

[0022] Figure 9 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which uses a 120-degree power-on mode based on low-side PWM control and valley conduction.

[0023] Figure 10 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which uses a 120-degree power-on mode based on low-side PWM control and peak conduction.

[0024] Figure 11 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which is based on a 120-degree power-on mode with a double-sided PWM control type and a high-side conduction phase that is a trough conduction type and a low-side conduction phase that is a peak conduction type.

[0025] Figure 12 This is a diagram illustrating an example of the control of an inverter circuit 10 in a motor control device 1 according to an embodiment, which is based on a 120-degree power-on mode with a double-sided PWM control type and a high-side conduction phase that is peak conduction type and a low-side conduction phase that is trough conduction type.

[0026] Figure 13 This is a diagram illustrating an example of the control of the inverter circuit 10 based on in-phase control in the motor control device 1 of the embodiment.

[0027] Figure 14 This is a diagram illustrating an example of the control of the inverter circuit 10 based on phase reversal control in the motor control device 1 of the embodiment.

[0028] Figure 15 This is a diagram illustrating an example of the control of an inverter circuit 10 based on three-phase modulation inversion control in the motor control device 1 of the embodiment.

[0029] Figure 16 This is a diagram showing an example of the configuration of the conduction switching unit 40 in the motor control device 1 of the embodiment.

[0030] Figure 17 This diagram illustrates an example of switching from a three-phase modulation inverted mode to a 120-degree energizing mode in the motor control device 1 of the embodiment without switching compensation.

[0031] Figure 18A This diagram illustrates an example of switching from a three-phase modulation inverted mode to a 120-degree energizing mode when switching compensation is performed in the motor control device 1 of the embodiment.

[0032] Figure 18B This diagram illustrates an example of switching from a three-phase modulation inverted mode to a 120-degree energizing mode when switching compensation is performed in the motor control device 1 of the embodiment.

[0033] Figure 19 This is a diagram illustrating an example of motor control processing in an implementation method.

[0034] Figure 20 This is a diagram illustrating an example of the switching compensation process in the implementation method.

[0035] Figure 21 This diagram illustrates an example of a combination that does not produce a short circuit between the upper and lower arms when switching from a 120-degree energizing mode to a three-phase modulated inverted mode.

[0036] Figure 22A This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase peak conduction type, peak switching).

[0037] Figure 22B This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase peak conduction type, peak switching).

[0038] Figure 23 This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase peak conduction type, and trough switching).

[0039] Figure 24 This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control type, PWM phase valley conduction type, peak switching).

[0040] Figure 25A This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase valley conduction type, valley switching).

[0041] Figure 25B This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase valley conduction type, valley switching).

[0042] Figure 26 This diagram illustrates an example of switching in 120-degree power-on modes (low-side PWM control type, PWM phase peak conduction type, peak switching type).

[0043] Figure 27A This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase peak conduction type, and trough switching).

[0044] Figure 27B This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase peak conduction type, and trough switching).

[0045] Figure 28A This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase valley conduction type, peak switching).

[0046] Figure 28B This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase valley conduction type, peak switching).

[0047] Figure 29 This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase valley conduction type, valley switching).

[0048] Figure 30A This diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, peak switching).

[0049] Figure 30B This diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, peak switching).

[0050] Figure 31A This diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, valley switching).

[0051] Figure 31B This diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, valley switching).

[0052] Figure 32 This is a diagram illustrating an example of motor control processing in an implementation method.

[0053] Figure 33 This is a diagram illustrating an example of the switching compensation process in the implementation method.

[0054] Figure 34 This diagram illustrates an example of a combination that does not produce a short circuit between the upper and lower arms when switching from a three-phase modulation inverted mode to a 120-degree energizing mode.

[0055] Figure 35 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0056] Figure 36 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0057] Figure 37 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0058] Figure 38 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0059] Figure 39 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0060] Figure 40 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0061] Figure 41 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0062] Figure 42 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0063] Figure 43 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0064] Figure 44 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0065] Figure 45 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0066] Figure 46 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0067] Figure 47A This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0068] Figure 47B This diagram illustrates an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0069] Figure 48A This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (towards a bilateral PWM control type).

[0070] Figure 48B This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0071] Figure 49A This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0072] Figure 49B This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (towards a bilateral PWM control type).

[0073] Figure 50A This diagram illustrates an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0074] Figure 50B This diagram illustrates an example of switching in a three-phase modulation inverted mode (towards a dual-sided PWM control type).

[0075] Figure 51 This is a diagram illustrating an example of the hardware configuration of the control unit 30 of the motor control device 1 in an embodiment. Detailed Implementation

[0076] Hereinafter, embodiments of the present disclosure will be described in detail based on the accompanying drawings. The descriptions will proceed in the following order. In each of the following embodiments, repeated descriptions are omitted by referring to the same parts with the same reference numerals. 1. Motor module 2. Motor control device 3. Switching from 120-degree energizing mode to three-phase modulation inverting mode 4. Switching from three-phase modulation inverting mode to 120-degree energizing mode 5. Hardware configuration

[0077] (1. Motor module)

[0078] Figure 1 This is a diagram illustrating an example of the configuration of a motor module in an implementation method. (See diagram for example.) Figure 1 As shown, the motor module 100 of the embodiment includes a motor control device 1, a motor 2 controlled by the motor control device 1, and a sensor for detecting the position θ of the rotor of the motor 2. e Position detection device 3. Motor 2 is a three-phase motor.

[0079] Position detection device 3 detects the position θ of the rotor of motor 2. e and the detected position θ e Output to motor control unit 1. Position θ e This refers to the electrical angle of the rotor of motor 2. The position detection device 3 may be a magnetic sensor using a Hall element, but it could also be a rotary transformer. Alternatively, the position detection device 3 may detect the position θ of the rotor of motor 2. m An optical encoder. The rotor position θ of motor 2. m This refers to the mechanical angle of the rotor of motor 2. It should be noted that a magnetic sensor or rotary transformer can also be used to detect the position θ of the rotor of motor 2. m The motor control device 1 can also have the function of performing sensorless control. In this case, the position detection device 3 may not need to be installed in the motor module 100.

[0080] Motor control device 1 selectively drives motor 2 using a 120-degree energizing mode and a three-phase modulation inverse mode. The 120-degree energizing mode used by motor control device 1 involves setting two of the three phases as energized phases, at least one of which is a PWM-controlled phase, while the remaining phase is set as a non-energized phase. Furthermore, the three-phase modulation inverse mode used by motor control device 1 involves setting all three phases as PWM-controlled phases and performing PWM control on one phase in a manner that is inversely phased relative to the other two phases. Here, inverse phase means that the phases of the energizing waveforms that turn the upper arm on / off are different in corresponding phases, with the center of the on-state of one phase's energizing waveform falling within the off-state of another phase's energizing waveform.

[0081] (2. Motor control device)

[0082] like Figure 1 As shown, the motor control device 1 includes an inverter circuit 10, a current sensor 20, and a control unit 30. Hereinafter, the inverter circuit 10, the current sensor 20, and the control unit 30 will be described in that order.

[0083] Inverter circuit 10 is the circuit that drives motor 2. The details of the configuration of inverter circuit 10 will be described later.

[0084] Current sensor 20 detects the instantaneous value of the three-phase current I, which is the three-phase current flowing from inverter circuit 10 to motor 2. UVW and the detected three-phase current value I UVW Output to control unit 30. Three-phase current value I UVW This includes the instantaneous values ​​of the U-phase current, the V-phase current, and the W-phase current.

[0085] The current sensor 20 may be, for example, a current sensor using a Hall element, but is not limited to this example. It could also be a current sensor using a converter called a CT (Current Transformer), or a current sensor using a shunt resistor. In the case where the current sensor 20 is a shunt resistor, the current sensor 20 may be, for example, composed of... Figure 2 The shunt resistor 21 shown is used to replace Figure 1 The position is shown. It should be noted that the shunt resistor can also be set between the lower arm 12 of each of the U phase, V phase, and W phase and the DC bus on the negative side.

[0086] [Control Unit 30]

[0087] like Figure 1 As shown, the control unit 30 includes a torque command output unit 31, a duty cycle calculation unit 32, a carrier generation unit 33, a determination unit 34, a setting unit 35, and a conduction control unit 36.

[0088] Torque command output unit 31 outputs torque command It should be noted that the torque command... This is an example of output torque as a target. The torque command output unit 31 can, for example, generate a torque command in a way that makes the speed of the motor 2 consistent with the speed command. and output the generated torque command. The composition of.

[0089] The duty cycle calculation unit 32 calculates the torque based on the torque command output from the torque command output unit 31. The three-phase current value I output from current sensor 20 UVW and the position θ detected by the position detection device 3 eThe duty cycle values ​​Sduty for phases U, V, and W are calculated. U Sduty V and Sduty W For example, the duty cycle calculation unit 32 is based on torque commands. Three-phase current value I UVW and position θ e Calculate the duty cycle values ​​Sduty for phases U, V, and W. U Sduty V and Sduty W So that the output torque of motor 2 becomes the same as the torque command. The corresponding torque. The duty cycle calculation unit 32 calculates the duty cycle value Sduty. U Sduty V and Sduty W Output to the conduction control unit 36.

[0090] When the power supply mode is switched from 120-degree power supply mode to three-phase modulation inverted mode, the duty cycle calculation unit 32 generates the duty cycle value Sduty through vector control. U Sduty V and Sduty W For example, the duty cycle calculation unit 32 calculates the three-phase current value I. UVW Convert the dq-axis current value to a value in the dq coordinate system, so that the dq-axis current value and the torque command are consistent. The duty cycle value Sduty is generated by decreasing the difference between the corresponding dq axis current commands. U Sduty V and Sduty W .

[0091] The duty cycle calculation unit 32, for example, at the switching timing determined by the conduction control unit 36, outputs the duty cycle value Sduty. U Sduty V and Sduty W The duty cycle Sduty used in the 120-degree power-on method U Sduty V and Sduty W The duty cycle Sduty used to switch to three-phase modulation inverting mode U Sduty V and Sduty W It should be noted that, in the following, the duty cycle value Sduty will not be distinguished separately. U Sduty V and Sduty WIn each of these cases, it is sometimes recorded as the duty cycle value Sduty. The comparison value Scomp, which will be described later, is calculated based on the duty cycle value Sduty.

[0092] Furthermore, when the power supply mode is switched from three-phase modulation inverted mode to 120-degree power supply mode, the duty cycle calculation unit 32 also generates the duty cycle value Sduty for the 120-degree power supply mode. U Sduty V and Sduty W .

[0093] The carrier generation unit 33 generates, for example, a triangular wave carrier Scw and outputs the generated triangular wave carrier Scw to the conduction control unit 36. It should be noted that the carrier generation unit 33 may also output a sawtooth wave carrier Scw instead of the triangular wave carrier Scw.

[0094] The determination unit 34 determines the segment corresponding to the electrical angle of the motor 2 among six segments 0 to 5, which are divided into different ranges of electrical angle of the motor 2. The determination unit 34 outputs segment information representing the determined segment to the conduction control unit 36.

[0095] Section 0 is the range with an electrical angle of 30° or more and less than 90°; Section 1 is the range with an electrical angle of 90° or more and less than 150°; Section 2 is the range with an electrical angle of 150° or more and less than 210°. Furthermore, Section 3 is the range with an electrical angle of 210° or more and less than 270°; Section 4 is the range with an electrical angle of 270° or more and less than 330°; and Section 5 is the range with an electrical angle of 0° or more and less than 30°, and also the range with an electrical angle of 330° or more and less than 360°.

[0096] The determining unit 34 determines the position θ of the rotor of the motor 2. e To determine the segment. It should be noted that the position θ of the rotor of motor 2 is output from the position detection device 3. m In this case, by outputting the position θ from the position detection device 3 m The rotor position θ of motor 2 is calculated by multiplying by the number of pole pairs P of motor 2. e =(θ m ×P)mod360. Here, mod is the operation that returns the remainder after dividing a number.

[0097] It should be noted that the determining unit 34 also determines the switching between the 120-degree energizing mode and the three-phase modulation inversion mode, as described later. Details of these 120-degree energizing modes and three-phase modulation inversion modes will be described later.

[0098] The setting unit 35 stores setting information. This setting information includes 120-degree energization information and three-phase modulation inversion information. The setting unit 35 outputs the setting information to the duty cycle calculation unit 32 and the conduction control unit 36, etc. The setting information is set in the setting unit 35 by the manufacturer of the motor control device 1, but it can also be set in the setting unit 35 by the user of the motor control device 1. The 120-degree energization information is information on the 120-degree energization mode, including conduction type information and control type information. In addition, the three-phase modulation inversion information includes control type information. Details of the 120-degree energization information and the three-phase modulation inversion information will be described later.

[0099] The turn-on control unit 36 ​​includes a turn-on switching unit 40 that generates gate signals Spu, Snu, Spv, Snv, Spw, and Snw, and a switching compensation unit 41 that performs switching compensation processing.

[0100] The switching unit 40 generates gate signals Spu, Snu, Spv, Snv, Spw, and Snw based on the duty cycle value Sduty output from the duty cycle calculation unit 32, the carrier Scw output from the carrier generation unit 33, the information output from the determination unit 34, the setting information output from the setting unit 35, and the information output from the switching compensation unit 41. Details of the operation of the switching unit 40 will be described later.

[0101] The switching compensation unit 41 compensates for the switching between the 120-degree energizing mode and the three-phase modulation inverting mode without dead time. Here, dead time refers to the period during which the upper and lower arms are simultaneously in the off state during switching. For example, when switching from the 120-degree energizing mode to the three-phase modulation inverting mode, the two energizing phases of the 120-degree energizing mode need to be assigned to the two PWM phases of the three-phase modulation inverting mode. At this time, depending on the on / off state of the upper and lower arms of each phase, sometimes the on state of the upper and lower arms overlaps. During this period of overlapping on state of the upper and lower arms, the upper and lower arms are short-circuited (so-called arm short circuit), and a large current flows.

[0102] Therefore, during switching, a dead time can be set to prevent short circuits between the upper and lower arms. However, since no power is supplied to the motor 2 during the dead time, the output of the motor 2 will decrease if a dead time is set. To address this problem, a switching compensation unit 41 is configured. When a mode switching request is output from the determination unit 34, the switching compensation unit 41 controls the on / off states of the upper and lower arms in the two-phase energized phases of the 120-degree energized mode to be consistent before and after switching to the 120-degree energized mode and the three-phase modulation inverse mode. This prevents the overlap of the on / off periods of the upper and lower arms. It should be noted that the operation of the switching compensation unit 41 will be described in detail later.

[0103] [Inverter Circuit 10]

[0104] Figure 2 This diagram illustrates an example of the configuration of the inverter circuit 10 in the motor control device 1 of Embodiment 1. The inverter circuit 10 converts direct current (DC) power into alternating current (AC) power and outputs the converted AC power to the motor 2. The inverter circuit 10 is connected, for example, to a conversion circuit (not shown) that converts AC power supplied by an AC power source (not shown) into DC power, converting the DC power output from the conversion circuit into AC power and outputting the converted AC power to the motor 2. It should be noted that the conversion circuit may also be omitted, and the inverter circuit 10 may be connected to a DC power source (not shown).

[0105] like Figure 2 As shown, the inverter circuit 10 includes upper arms 111, 112, and 113, lower arms 121, 122, and 123, and a gate driver 15. It should be noted that the inverter circuit 10 has filters (not shown) composed of coils and capacitors in the U, V, and W phases. It should also be noted that the inverter circuit 10 can be configured without filters.

[0106] The upper arm 111 and the lower arm 121 form a U-phase half-bridge circuit, the upper arm 112 and the lower arm 122 form a V-phase half-bridge circuit, and the upper arm 113 and the lower arm 123 of the W-phase form a W-phase half-bridge circuit.

[0107] The upper arm 111 includes a switching element 131 and a diode 141 connected in reverse parallel with the switching element 131. The lower arm 121 includes a switching element 132 and a diode 142 connected in reverse parallel with the switching element 132. The upper arm 112 includes a switching element 133 and a diode 143 connected in reverse parallel with the switching element 133. The lower arm 122 includes a switching element 134 and a diode 144 connected in reverse parallel with the switching element 134. The upper arm 113 includes a switching element 135 and a diode 145 connected in reverse parallel with the switching element 135. The lower arm 123 includes a switching element 136 and a diode 146 connected in reverse parallel with the switching element 136.

[0108] Each of the switching elements 131, 132, 133, 134, 135, and 136 is, for example, an IGBT (Insulated Gate Bipolar Transistor) or a MOSFET (Metal Oxide Semiconductor Field Effect Transistor). Each of the switching elements 131, 132, 133, 134, 135, and 136 is, for example, a switching element formed of silicon-based materials or a switching element formed of a wide bandgap semiconductor. Wide bandgap semiconductors include, for example, silicon carbide (SiC), gallium nitride (GaN), gallium oxide (Ga2O3), or diamond.

[0109] The gate driver 15 amplifies the gate signals Spu, Spv, Spw, Snu, Snv, and Snw, which will be described later, output from the control unit 30. Then, the gate driver 15 outputs the amplified gate signals Spu, Spv, Spw, Snu, Snv, and Snw to the gates of the upper arms 111, 112, and 113 and the lower arms 121, 122, and 123.

[0110] Specifically, gate driver 15 outputs the amplified gate signal Spu to the upper arm 111 of phase U and the amplified gate signal Snu to the lower arm 121 of phase U. In addition, gate driver 15 outputs the amplified gate signal Spv to the upper arm 112 of phase V and the amplified gate signal Snv to the lower arm 122 of phase V.

[0111] Furthermore, the gate driver 15 outputs the amplified gate signal Spw to the upper arm 113 of phase W and the amplified gate signal Snw to the lower arm 123 of phase W. Hereinafter, without distinguishing each of the upper arms 111, 112, and 113, it is sometimes referred to as upper arm 11; without distinguishing each of the lower arms 121, 122, and 123, it is sometimes referred to as lower arm 12. Furthermore, without distinguishing each of the gate signals Spu, Spv, and Spw, it is sometimes referred to as gate signal Sp; without distinguishing each of the gate signals Snu, Snv, and Snw, it is sometimes referred to as gate signal Sn.

[0112] [120-degree power supply method]

[0113] Figure 3 This is a diagram showing the state of each phase in each section of the 120-degree energization mode in the motor control device 1 of the embodiment. (As shown...) Figure 3As shown, in the 120-degree energization mode, the combinations of high-side conducting phases, low-side conducting phases, and non-energized phases in the three phases of the six sections from section 0 to section 5 are all different. Each of the high-side conducting phases and low-side conducting phases is an energized phase.

[0114] The high-side conducting phase is the phase in which current actively flows in the positive direction (from the inverter to the motor) on average for one PWM cycle by either PWM controlling the upper arm 11 or fixing the upper arm 11 in the conducting state. The low-side conducting phase is the phase in which current actively flows in the negative direction on average for one PWM cycle by either PWM controlling the lower arm 12 or fixing the lower arm 12 in the conducting state. The unenergized phase is the phase in which both the upper arm 11 and the lower arm 12 are fixed in the off state, and no current actively flows through them.

[0115] In section 0, phase U is the high-side conducting phase, phase V is the low-side conducting phase, and phase W is the unenergized phase. In section 1, phase U is the high-side conducting phase, phase W is the low-side conducting phase, and phase V is the unenergized phase. In section 2, phase V is the high-side conducting phase, phase W is the low-side conducting phase, and phase U is the unenergized phase.

[0116] In section 3, phase V is the high-side conducting phase, phase U is the low-side conducting phase, and phase W is the unenergized phase. In section 4, phase W is the high-side conducting phase, phase U is the low-side conducting phase, and phase V is the unenergized phase. In section 5, phase W is the high-side conducting phase, phase V is the low-side conducting phase, and phase U is the unenergized phase.

[0117] [Three-phase modulation method]

[0118] The three-phase modulation method executed by the motor control device 1 is a method in which the three phases are set as PWM phases to be controlled by PWM. In this three-phase modulation method, the three phases are controlled in the same phase and the one phase of the three phases is controlled in the opposite phase relative to the other two phases. The in-phase and opposite phase methods will be described later.

[0119] Figure 4 This is a diagram showing the state of each phase in the three-phase modulation performed by the motor control device 1 in the embodiment. For example... Figure 4 As shown, the three phases are controlled by PWM, and the voltage output to each phase becomes a sine wave with a phase difference of 120 degrees between each phase.

[0120] Figure 1 When the determination unit 34 determines segment 0 as the segment corresponding to the electrical angle of motor 2 when 30°≤θe<90°, and determines segment 1 as the segment corresponding to the electrical angle of motor 2 when 90°≤θe<150°.

[0121] Furthermore, when 150°≤θe<210°, the determining unit 34 determines segment 2 as the segment corresponding to the electrical angle of the motor 2; when 210°≤θe<270°, it determines segment 3 as the segment corresponding to the electrical angle of the motor 2. Additionally, when 270°≤θe<330°, the determining unit 34 determines segment 4 as the segment corresponding to the electrical angle of the motor 2; and when 0°≤θe<30° or 330°≤θe<360°, it determines segment 5 as the segment corresponding to the electrical angle of the motor 2.

[0122] In addition to the aforementioned sections, the determination unit 34 also determines whether the electrical angle of the motor 2 is the center angle of the section. The determination unit 34 includes information indicating the center angle of the determined section in the section information and outputs it to the conduction control unit 36. Alternatively, the determination unit 34 may be configured to output the electrical angle information of the motor 2 to the conduction control unit 36 ​​instead of the section information.

[0123] Furthermore, the determining unit 34 determines the bidirectional switching between the 120-degree energizing mode and the three-phase modulation inverse mode based on the load conditions or drive conditions of the motor 2. It should be noted that this disclosure presents both a switching method when changing from the 120-degree energizing mode to the three-phase modulation inverse mode and a switching method when changing from the three-phase modulation inverse mode to the 120-degree energizing mode.

[0124] When determining whether to switch from 120-degree energization mode to three-phase modulation inverted mode or from three-phase modulation inverted mode to 120-degree energization mode, the determination unit 34 outputs a mode switching request to the conduction control unit 36. As a result, the conduction control unit 36 ​​switches the control of the motor 2 to either three-phase modulation inverted mode or 120-degree energization mode.

[0125] Thus, in the motor control device 1, the 120-degree energizing mode or the three-phase modulation reverse mode can be switched based on the load conditions or drive conditions of the motor 2. As a result, in the motor control device 1, efficient driving of the motor 2 can be achieved according to the load conditions or drive conditions, and the drive of the motor 2 can be stabilized over a wide range of speeds.

[0126] [120-degree power supply information]

[0127] As mentioned above, Figure 1 The 120-degree power-on information provided by the setting unit 35 is information about the 120-degree power-on mode, including conduction type information and control type information. The conduction type information included in the 120-degree power-on information indicates the selection of one conduction type from a plurality of conduction types among the 120-degree power-on modes. Furthermore, the control type information included in the 120-degree power-on information indicates the selection of one control type from a plurality of control types among the 120-degree power-on modes.

[0128] The 120-degree power-on mode includes multiple conduction types, including a trough conduction type and a peak conduction type, where the waveforms of the gate signal Sp that turn the upper arm 11 of the PWM phase on / off have different phases. The gate signal Sp that turns the upper arm 11 of the PWM phase on / off is input to the gate driver 15, amplified by the gate driver 15, and input to the upper arm 11 of the PWM phase. The waveform of the gate signal Sp that turns the upper arm 11 of the PWM phase on / off is an example of the power-on waveform that turns the upper arm 11 of the PWM phase on / off. The carrier Scw and the comparison result of the comparison value Scomp, as well as the combination of the arms to be turned on in the upper arm 11 and the lower arm 12, are different in the trough conduction type and the peak conduction type. It should be noted that the trough conduction type is an example of the "first conduction type" of this disclosure. In addition, the peak conduction type is an example of the "second conduction type" of this disclosure.

[0129] Figure 5 This diagram illustrates an example of control in the motor control device 1 of the embodiment when the conduction type is a trough conduction type. In the trough conduction type, such as... Figure 5 As shown, when the comparison value Scomp is higher than the carrier Scw, the upper arm 11 is turned on and conducts, and when the comparison value Scomp is lower than the carrier Scw, the lower arm 12 is turned on and conducts.

[0130] Figure 6 This diagram illustrates an example of control in the motor control device 1 of the embodiment where the conduction type is a peak conduction type. In the peak conduction type, as... Figure 6 As shown, when the comparison value Scomp is lower than the carrier Scw, the upper arm 11 is turned on and conducts, and when the comparison value Scomp is higher than the carrier Scw, the lower arm 12 is turned on and conducts.

[0131] like Figure 5 As shown, in the waveform of the gate signal Sp in the trough conduction type, the center of the conduction period is the trough position, but as... Figure 6 As shown, in the waveform of the gate signal Sp in the peak-on type, the trough position is in the off period. The on period is the period during which the upper arm 11 is turned on, and the off period is the period during which the upper arm 11 is turned off. Furthermore, as... Figure 6 As shown, in the waveform of the gate signal Sp in the peak conduction type, the center of the conduction period is the position of the peak, but as... Figure 5 As shown, in the waveform of the gate signal Sp in the trough conduction type, the peak position is in the off period. Thus, the trough conduction type and the peak conduction type have a relationship where the center of the conduction period of the conduction waveform of one type is in the off period of the conduction waveform of the other type.

[0132] Next, we will explain the various control types in the 120-degree power-on method. These various control types include high-side PWM control, low-side PWM control, and dual-side PWM control.

[0133] In the high-side PWM control type, the upper arm 11 and lower arm 12 of the high-side conducting phase are turned on / off by PWM control, while the lower arm 12 of the low-side conducting phase is fixed in the conducting state.

[0134] Figure 7 This diagram illustrates an example of the control of the inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on high-side PWM control and trough conduction. Figure 7 The example shown illustrates a case where the conduction type is a trough conduction type and the segment determined by the determining unit 34 is segment 0. In this case, phase U is the high-side conducting phase, phase V is the low-side conducting phase, and phase W is the non-conducting phase.

[0135] In segment 0, such as Figure 7 As shown, the upper arm 111 and lower arm 121 of phase U are controlled by PWM, while the lower arm 122 of phase V is fixed in the on state. Furthermore, since the conduction mode is a trough conduction mode, when the comparison value Scomp is higher than the carrier Scw, the upper arm 111 of phase U becomes on, and when the comparison value Scomp is lower than the carrier Scw, the lower arm 121 of phase U becomes on. Figure 7 In the example shown, the comparison value Scomp is calculated using the operation Scomp = Pv × Sduty. Here, the duty cycle value Sduty has a minimum value of 0 and a maximum value of 1. Furthermore, the period value Pv is, for example, the value of the position of the peak of the carrier Scw. The value of the position of the peak of the carrier Scw is the maximum value of the carrier Scw. It should be noted that, hereinafter, the phase in which the lower arm 12 is fixed in the conducting state is sometimes referred to as the Low phase.

[0136] Figure 8 This diagram illustrates an example of the control of the inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on high-side PWM control and peak conduction. Figure 8 The example shown illustrates a case where the conduction type is a peak conduction type and the segment determined by the determining unit 34 is segment 0. In Figure 8 In the example shown, since the conduction mode is peak conduction mode, when the comparison value Scomp is lower than the carrier Scw, the upper arm 111 of the U phase becomes active, and when the comparison value Scomp is higher than the carrier Scw, the lower arm 121 of the U phase becomes active. This is consistent with... Figure 7 The examples shown are different. Figure 8In the example shown, in the conduction control unit 36, the comparison value Scomp is calculated by the operation Scomp = Pv × (1 - Sduty).

[0137] For convenience, the following has been omitted. Figure 7 and Figure 8 The dead time refers to the transition between the conduction states of the upper and lower arms of the U-phase. In practice, a dead time is used when the upper and lower arms transition to the conduction state complementaryly via PWM control, etc. This is also the case in the following diagram.

[0138] In the low-side PWM control type, the upper arm 11 of the high-side conducting phase is fixed in the conducting state, and the upper arm 11 and lower arm 12 of the low-side conducting phase are turned on / off by PWM control.

[0139] Figure 9 This diagram illustrates an example of the control of the inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on low-side PWM control and trough conduction. Figure 9 In the example shown, with Figure 7 Similarly, the example shown illustrates a case where the conduction type is a trough conduction type and the segment determined by the determining unit 34 is segment 0. Figure 9 In the example shown, since the conduction mode is a trough conduction mode, when the comparison value Scomp is higher than the carrier Scw, the upper arm 112 of phase V becomes active; when the comparison value Scomp is lower than the carrier Scw, the lower arm 122 of phase V becomes active. It should be noted that... Figure 9 In the example shown, in the conduction control unit 36, the comparison value Scomp is calculated by the operation Scomp = Pv × (1 - Sduty).

[0140] Figure 10 This diagram illustrates an example of the control of the inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on low-side PWM control and peak conduction. Figure 10 In the example shown, with Figure 8 Similarly, the example shown illustrates a case where the conduction type is peak conduction type and the segment determined by the determining unit 34 is segment 0. In this case, phase U is the high-side conducting phase, phase V is the low-side conducting phase, and phase W is the non-conducting phase.

[0141] In segment 0, such as Figure 10As shown, the upper arm 111 of phase U is fixed in the on state, while the upper arm 112 and lower arm 122 of phase V are controlled by PWM. Furthermore, since the conduction mode is peak conduction mode, when the comparison value Scomp is lower than the carrier Scw, the upper arm 112 of phase V becomes on, and when the comparison value Scomp is higher than the carrier Scw, the lower arm 122 of phase V becomes on. This is consistent with... Figure 9 The examples shown are different. It should be noted that in... Figure 10 In the example shown, the comparison value Scomp is calculated using the operation Scomp = Pv × Sduty.

[0142] In the bilateral PWM control type, the following control is performed: PWM control turns the upper arm 11 and lower arm 12 of the high-side conduction phase on / off, and PWM control complementary to the PWM control of the high-side conduction phase turns the upper arm 11 and lower arm 12 of the low-side conduction phase on / off. In the high-side conduction phase, PWM control with a conduction ratio of upper arm 11 greater than that of lower arm 12 turns the upper arm 11 and lower arm 12 on / off. Furthermore, in the low-side conduction phase, PWM control with a conduction ratio of upper arm 11 less than that of lower arm 12 turns the upper arm 11 and lower arm 12 on / off.

[0143] Figure 11 This diagram illustrates an example of the control of an inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on a dual-sided PWM control type and a high-side conduction phase with a trough conduction mode and a low-side conduction phase with a peak conduction mode. Figure 11 In the example shown, with Figure 7 Similarly, the example shown illustrates a case where the conduction type is a trough conduction type and the segment determined by the determining unit 34 is segment 0.

[0144] In segment 0, phase U is the high-side conducting phase, phase V is the low-side conducting phase, and phase W is the un-energized phase. Therefore, as... Figure 11 As shown, PWM control that makes the conduction ratio of the upper arm 111 of phase U greater than that of the lower arm 121 turns both the upper arm 111 and lower arm 121 of phase U on / off, and PWM control that makes the conduction ratio of the upper arm 112 of phase V less than that of the lower arm 122 turns both the upper arm 112 and lower arm 122 of phase V on / off. Furthermore, since the conduction type is a trough conduction type, when the comparison value Scomp is higher than the carrier Scw, the upper arm 111 of phase U and the lower arm 122 of phase V are in a conducting state; when the comparison value Scomp is lower than the carrier Scw, the lower arm 121 of phase U and the upper arm 112 of phase V are in a conducting state. It should be noted that in... Figure 10 In the example shown in A, the comparison value Scomp is calculated using the operation Scomp = Pv × (Sduty × 0.5 + 0.5).

[0145] Figure 12 This diagram illustrates an example of the control of an inverter circuit 10 in the motor control device 1 of the embodiment, which uses a 120-degree power-on mode based on a dual-sided PWM control type and a high-side conduction phase with peak conduction and a low-side conduction phase with trough conduction. Figure 12 In the example shown, with Figure 8 Similarly, the example shown illustrates a case where the conduction type is a peak conduction type and the segment determined by the determining unit 34 is segment 0. Figure 12 In the example shown, since the conduction mode is peak conduction mode, when the comparison value Scomp is lower than the carrier Scw, the upper arm 111 of phase U and the lower arm 122 of phase V are in the conducting state; when the comparison value Scomp is higher than the carrier Scw, the lower arm 121 of phase U and the upper arm 112 of phase V are in the conducting state. It should be noted that... Figure 12 In the example shown, the comparison value Scomp is calculated using the operation Scomp = Pv × (1 - (Sduty × 0.5 + 0.5)).

[0146] [Three-phase modulation inversion information]

[0147] As mentioned above, the three-phase modulation inversion information includes control information. The control information included in the three-phase modulation inversion information is information indicating the phase that is controlled to be inverted.

[0148] In a three-phase modulation scheme, in-phase control is used, where the same conduction pattern is applied to all three PWM phases. In-phase control is used, where different conduction patterns are applied to one PWM phase and the other two PWM phases. In-phase control is equivalent to the case where the conduction pattern of the upper arm 11 and lower arm 12 of each of the three PWM phases is controlled as a trough conduction pattern. Conversely, in-phase control is equivalent to the case where the conduction of the upper arm 11 and lower arm 12 of two of the three PWM phases is controlled as a trough conduction pattern, while the conduction of the upper arm 11 and lower arm 12 of the other PWM phase is controlled as a peak conduction pattern.

[0149] Figure 13 This diagram illustrates an example of the control of the inverter circuit 10 in the motor control device 1 according to an embodiment, based on in-phase control. Figure 13 In the diagram, the gate signals Spu, Spv, and Spw of the upper arm represent the gate signals of the upper arms for phases U, V, and W, respectively. Furthermore, in... Figure 13 In this context, the comparison values ​​Scompu, Scompv, and Scompw represent the comparison values ​​Scomp for phases U, V, and W, respectively.

[0150] exist Figure 13In this context, the trough conduction mode is applied to the conduction modes of the U-phase, V-phase, and W-phase, which are PWM phases. That is, when the comparison values ​​Scompu, Scompv, and Scompw are higher than the carrier Scw, the upper arm 11 is turned on.

[0151] Figure 14 This diagram illustrates an example of the control of the inverter circuit 10 based on phase reversal control in the motor control device 1 of the embodiment. Figure 14 In this design, the trough conduction mode is applied to the conduction modes of phases U and V, while the peak conduction mode is applied to the conduction mode of phase W. That is, when the comparison values ​​Scompu and Scompv are higher than the carrier Scw, the upper arm 11 of phases U and V is turned on; when the comparison value Scompw is lower than the carrier Scw, the upper arm 11 of phase W is turned on.

[0152] like Figure 13 As shown, in in-phase control, there are periods when the upper arms 11 of all three phases are simultaneously in the conducting state and periods when the lower arms 12 of all three phases are simultaneously in the conducting state. These periods coincide with the interruption of the supply of drive current to the windings of motor 2. Therefore, in in-phase control, there is a problem of increased high-frequency current included in the drive current of motor 2. In contrast, in out-of-phase control, since the conducting periods of the upper and lower arms of specific phases are staggered, the aforementioned high-frequency current can be reduced. In this disclosure, a three-phase modulation control method applying out-of-phase control is employed.

[0153] Figure 15 This is a diagram illustrating an example of the control of an inverter circuit 10 based on three-phase modulation inversion control in the motor control device 1 of the embodiment. Figure 15 and Figure 14 Similarly, an example is shown where the trough conduction mode is applied to the conduction modes of phases U and V, and the peak conduction mode is applied to the conduction mode of phase W. That is, phase W becomes the reverse phase. As mentioned above, the control type information included in the three-phase modulation reverse phase information is information indicating the PWM phase that becomes the reverse phase.

[0154] [Operation of the switching unit 40]

[0155] Before outputting a mode switching request from the determination unit 34, the conduction switching unit 40 controls the inverter circuit 10 in a control-type manner, which is represented by the three-phase modulation inversion information or 120-degree energization information included in the setting information previously output from the setting unit 35.

[0156] For example, when the control type and conduction type indicated by the setting information are high-side PWM control type and trough conduction type, such as... Figure 7As shown, the inverter circuit 10 is driven by a 120-degree power-on mode using both high-side PWM control and trough conduction modes. When the control and conduction modes indicated by the setting information are high-side PWM control and peak conduction modes, the switching unit 40, as shown... Figure 8 As shown, the inverter circuit 10 is driven by a 120-degree power-on mode with high-side PWM control and peak conduction.

[0157] Furthermore, when the control type and conduction type indicated by the setting information are low-side PWM control type and trough conduction type, the conduction switching unit 40, such as Figure 9 As shown, the inverter circuit 10 is driven by a 120-degree power-on mode using both low-side PWM control and trough conduction modes. When the control and conduction modes indicated by the setting information are low-side PWM control and peak conduction modes, the switching unit 40, as shown... Figure 10 As shown, the inverter circuit 10 is driven by a 120-degree power-on mode with low-side PWM control and peak conduction.

[0158] Furthermore, when the control type and conduction type indicated by the setting information are both-sided PWM control type, and the high-side conduction phase is trough conduction type and the low-side conduction phase is peak conduction type, the conduction switching unit 40, such as Figure 11 As shown, the inverter circuit 10 is driven by a 120-degree power-on mode with dual-sided PWM control, a high-side conduction phase with a trough conduction mode, and a low-side conduction phase with a peak conduction mode. When the control type and conduction mode indicated by the setting information are dual-sided PWM control, a high-side conduction phase with a peak conduction mode, and a low-side conduction phase with a trough conduction mode, the switching unit 40, as shown... Figure 12 As shown, the inverter circuit 10 is driven by a 120-degree power-on mode with bilateral PWM control, high-side conduction phase as peak conduction and low-side conduction phase as trough conduction.

[0159] Furthermore, the switching unit 40 drives the inverter circuit 10 in a three-phase modulation inversion mode, where the phase represented by the three-phase modulation inversion information included in the setting information is controlled to be inverted. For example, when the phase represented by the three-phase modulation inversion information is phase W, such as... Figure 15 As shown, the switching unit 40 drives the inverter circuit 10 in such a way that the W phase is out of phase relative to the U phase.

[0160] When a mode switching request is output from the determination unit 34, the conduction switching unit 40 controls the inverter circuit 10 in the control type and conduction type modes included in the setting information output from the setting unit 35.

[0161] [Configuration of the conduction switching unit 40]

[0162] Figure 16 This is a diagram illustrating an example of the configuration of the conduction switching unit 40 in the motor control device 1 of the embodiment. (See diagram below.) Figure 16 As shown, the conduction switching unit 40 includes a comparison value calculation unit 50, a comparison unit 51, a dead time setting unit 52, a polarity switching unit 53, a gate signal output unit 54, and a setting processing unit 55.

[0163] When the conduction mode notified by the setting processing unit 55 is a 120-degree energization mode, the comparison value calculation unit 50 calculates the comparison value based on the conduction type and control type notified by the setting processing unit 55 and the duty cycle values ​​Sduty of the U-phase, V-phase, and W-phase output from the duty cycle calculation unit 32. U Sduty V and Sduty W The comparison values ​​Scomp for the U-phase, V-phase, and W-phase were calculated. U Scomp V and Scomp W And output it. It should be noted that the comparison value Scomp is not represented separately. U Scomp V and Scomp W In each of these cases, it is sometimes recorded as the comparison value Scomp.

[0164] For example, when the conduction mode, control type, and conduction type notified by the setting processing unit 55 are 120-degree power-on mode, high-side PWM control type, and trough conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by the period value Pv. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0165] Furthermore, assuming the conduction mode, control type, and conduction type notified from the setting processing unit 55 are 120-degree power-on mode, high-side PWM control type, and peak conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp to the comparison unit 51 as the value obtained by inverting the duty cycle value Sduty output from the duty cycle calculation unit 32 based on the center value of the carrier Scw, multiplying it by the period value Pv. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0166] Furthermore, assuming that the conduction type, control type, and conduction mode notified from the setting processing unit 55 are 120-degree power-on mode, low-side PWM control type, and valley conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp to the comparison unit 51 as the value obtained by inverting the duty cycle value Sduty output from the duty cycle calculation unit 32 based on the center value of the carrier Scw, multiplying it by the period value Pv. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0167] Furthermore, when the conduction type, control type, and conduction type are notified from the setting processing unit 55 as 120-degree power-on mode, low-side PWM control type, and peak conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by the period value Pv. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0168] Furthermore, when the setting processing unit 50 is notified from the setting processing unit 55 that the conduction type, control type, and conduction type are 120-degree power-on mode, bilateral PWM control type, and trough conduction type, the comparison value calculation unit 50 calculates the comparison value Scomp as the value obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by 0.5, adding 0.5 to the value obtained by ...

[0169] Furthermore, when the conduction mode, control type, and conduction type notified by the setting processing unit 55 are 120-degree power-on mode, bilateral PWM control type, and peak conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp as the comparison value Scomp obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by 0.5, adding 0.5 to the result, multiplying the result by the period value Pv, and dividing the result by 1. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - (Sduty × 0.5 + 0.5)).

[0170] Furthermore, when the conduction mode, control type, and conduction type notified from the setting processing unit 55 are three-phase modulation inverted mode and trough conduction type, the comparison value calculation unit 50 outputs the comparison value Scomp obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by the period value Pv. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0171] Furthermore, when the conduction mode, control type, and conduction type notified from the setting processing unit 55 are three-phase modulation inverted mode and peak conduction mode, the comparison value calculation unit 50 multiplies the value obtained by inverting the duty cycle value Sduty output from the duty cycle calculation unit 32 based on the center value of the carrier Scw by the period value Pv, and outputs the comparison value Scomp to the comparison unit 51. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0172] The comparison unit 51 will output the comparison values ​​Scomp of the U-phase, V-phase, and W-phase from the comparison value calculation unit 50. U Scomp V and Scomp W Each of these is compared with the carrier Scw output from the carrier generation unit 33, and based on the comparison result, PWM signals SPWM for the U-phase, V-phase, and W-phase are generated. U SPWM V and SPWM W .

[0173] For example, the comparison unit 51 is based on the comparison value Scomp U The PWM signal S is generated by comparing the result with the carrier Scw. PWMU Furthermore, the comparison unit 51 is based on the comparison value Scomp. V The PWM signal S is generated by comparing the result with the carrier Scw. PWMV Furthermore, the comparison unit 51 is based on the comparison value Scomp. W The PWM signal S is generated by comparing the result with the carrier Scw. PWMW The PWM signals S for phase U, phase V, and phase W will be represented without separate distinction below. PWMU S PWMV and S PWMW In each of these cases, it is sometimes recorded as the PWM signal S. PWM As mentioned above, the PWM signal S PWM The signal is generated based on the carrier Scw and the comparison value Scomp. In the switching unit 40, it is used to generate the gate signals Sp and Sn of the PWM phase.

[0174] The dead-time setting unit 52 generates PWM signals S output from the comparator unit 51 respectively. PWMU The first PWM signal S with dead time in its complementary signal and the dead time are included. PWMpU Second PWM signal S PWMnU And output the generated first PWM signal S PWMpU Second PWM signal S PWMnU .

[0175] Furthermore, the dead-time setting unit 52 generates the PWM signal S output from the comparator unit 51. PWMV The first PWM signal S with dead time in its complementary signal and the dead time are included. PWMpV Second PWM signal S PWMnV And output the generated first PWM signal S PWMpV Second PWM signal S PWMnV .

[0176] Furthermore, the dead-time setting unit 52 generates the PWM signal S output from the comparator unit 51. PWMW The first PWM signal S with dead time in its complementary signal and the dead time are included. PWMpW Second PWM signal S PWMnW And output the generated first PWM signal S PWMpW Second PWM signal S PWMnW Hereinafter, the first PWM signal S will be referred to without being distinguished separately. PWMpU S PWMpV and S PWMpW In each of these cases, it is sometimes recorded as the first PWM signal S. PWMp The second PWM signal S is not distinguished separately. PWMnU S PWMnV and S PWMnW In each case, it is sometimes recorded as the second PWM signal S PWMn .

[0177] The polarity switching unit 53 sets the conduction type of the PWM phase based on the information notified from the setting processing unit 55. For example, the polarity switching unit 53 sets the first PWM signal S based on the information notified from the setting processing unit 55. PWMpU Second PWM signal S PWMnU One of them is used as the third PWM signal So PWMpU The output takes the other side as the fourth PWM signal So. PWMnU Output. Furthermore, the polarity switching unit 53, based on information received from the setting processing unit 55, switches the first PWM signal S... PWMpV Second PWM signal S PWMnV One of them is used as the third PWM signal So PWMpV The output takes the other side as the fourth PWM signal So. PWMnV Output.

[0178] Furthermore, the polarity switching unit 53, based on the information received from the setting processing unit 55, switches the first PWM signal S... PWMpW Second PWM signal S PWMnW One of them is used as the third PWM signal So PWMpWThe output takes the other side as the fourth PWM signal So. PWMnW Output. The third PWM signal So will be represented below without being explicitly stated. PWMpU So PWMpV And So PWMpW In each of these cases, it is sometimes recorded as the third PWM signal So. PWMp The fourth PWM signal So is not represented separately. PWMnU So PWMnV And So PWMnW In each of these cases, it is sometimes recorded as the fourth PWM signal So. PWMn .

[0179] The gate signal output unit 54 outputs a third PWM signal So from the polarity switching unit 53 based on information received from the setting processing unit 55. PWMpU So PWMpV and So PWMpW And the fourth PWM signal So PWMnU So PWMnV And So PWMnW The output gate signals are Spu, Snu, Spv, Snv, Spw, and Snw.

[0180] The information received from the setting processing unit 55 includes information indicating which of the U phase, V phase, and W phase are PWM phases, low fixed phases, high fixed phases, and unenergized phases, respectively. The gate signal output unit 54 outputs the third PWM signal So, which serves as the gate signal for the PWM phase. PWMp and the fourth PWM signal So PWMn Set the gate signals Sp and Sn as outputs.

[0181] Furthermore, the gate signal output unit 54 outputs gate signals Sp and Sn, which disconnect the upper arm 11 of the lower fixed phase and turn on the lower arm 12 of the lower fixed phase, as gate signals for the lower fixed phase. Additionally, the gate signal output unit 54 outputs gate signals Sp and Sn, which turn on the upper arm 11 of the higher fixed phase and disconnect the lower arm 12 of the higher fixed phase, as gate signals for the higher fixed phase.

[0182] In addition, the gate signal output unit 54 outputs the gate signals Sp and Sn, which disconnect the upper arm 11 and the lower arm 12, as gate signals of the non-energized phase.

[0183] The gate signals of phase U, phase V, and phase W output from the gate signal output section 54 are input to the gate driver 15, amplified by the gate driver 15, and input to the upper arm 11 and lower arm 12 of phase V and phase W, respectively. As described above, the gate signal of the PWM phase is based on the PWM signal S. PWMThe generated signals are as follows: the gate signal for the non-energized phase is a signal that disconnects the upper arm 11 and lower arm 12 of the non-energized phase. In addition, the gate signal for the low fixed phase is a signal that disconnects the upper arm 11 of the low fixed phase and turns on the lower arm 12 of the low fixed phase, and the gate signal for the high fixed phase is a signal that turns on the upper arm 11 of the high fixed phase and disconnects the lower arm 12 of the high fixed phase.

[0184] The setting processing unit 55 controls the comparison value calculation unit 50, the polarity switching unit 53, and the gate signal output unit 54 based on the setting information output from the setting unit 35 and the segment information and mode switching request output from the determination unit 34.

[0185] When the setting processing unit 55 starts up, it notifies the comparison value calculation unit 50, the polarity switching unit 53 and the gate signal output unit 54 of the information corresponding to the 120-degree power-on information included in the setting information output from the setting unit 35.

[0186] [Action of the switching compensation unit 41]

[0187] As described above, the switching compensation unit 41 performs switching compensation when a mode switching request is output from the determination unit 34. This switching compensation can be performed by switching at a time when the on / off state of the upper arm 11 and lower arm 12 of each of the U phase, V phase, and W phase remains unchanged, or at a time when the U phase, V phase, and W phase switch to a non-energized phase.

[0188] In a specific example, when switching from a 120-degree energizing mode to a three-phase modulation inverted mode, the switching compensation unit 41 performs switching compensation to ensure that the on / off states of the upper and lower arms of the two-phase energizing phases in the 120-degree energizing mode are consistent. For example, the switching compensation unit 41 sets the following settings: before and after the switching, the conduction type of the PWM phase in the two-phase energizing phase is set to the conduction type of the corresponding PWM phase in the three-phase modulation inverted mode. Furthermore, the switching compensation unit 41 sets the PWM polarity and switching timing so that if it is a high-side PWM control type, the on / off states of the upper and lower arms of the low fixed phase do not change, and if it is a low-side PWM control type, the on / off states of the upper and lower arms of the high fixed phase do not change.

[0189] It should be noted that, in the case of a dual-sided PWM control type, the energized phases of the two phases are PWM phases respectively. Therefore, the switching compensation unit 41 performs the following settings: before and after switching, the conduction mode of each energized phase of the two phases is set to the conduction mode of the PWM phase of the two-phase three-phase modulation inverse mode corresponding to the energization of the two phases respectively. That is, the switching compensation unit 41 performs the following settings: before and after switching, the conduction mode is made consistent in both the energized phases of the two phases and the PWM phases of the two-phase three-phase modulation inverse mode corresponding to the energization of the two phases respectively.

[0190] Furthermore, when switching from a three-phase modulation inverted mode to a 120-degree energizing mode, the switching compensation unit 41 performs switching compensation to ensure that the on / off states of the upper and lower arms of the PWM phase switched to 120-degree energizing are consistent. For example, the switching compensation unit 41 sets the following settings: before and after the switching, the conduction type of the PWM phase in the two-phase energizing phase is set to the conduction type of the corresponding three-phase modulation inverted mode PWM phase. In addition, the switching compensation unit 41 sets the PWM polarity and switching timing so that the on / off states of the upper and lower arms of the phase that changes from a high-side PWM control type to a low fixed phase, and from a low-side PWM control type to a high fixed phase, do not change.

[0191] It should be noted that the switching compensation unit 41 makes the following settings: If it is a dual-sided PWM control type, then before and after the switching, the conduction mode of each of the two-phase PWM phases of the three-phase modulation inverted mode corresponding to the two-phase energization is set to the conduction mode of the two-phase energized phase. That is, the switching compensation unit 41 makes the conduction mode consistent in the two-phase PWM phases and the two-phase energized phases of the three-phase modulation inverted mode corresponding to the two-phase energization before and after the switching.

[0192] Therefore, the simultaneous on / off of the upper arm 11 and lower arm 12 during the switching between the 120-degree energizing mode and the three-phase modulation inverted mode is suppressed. Thus, in the motor control device 1, short circuits of the upper arm 11 and lower arm 12 of the same phase in the inverter circuit 10 can be suppressed without dead time.

[0193] The switching compensation unit 41 can control the polarity switching unit 53 of the conduction switching unit 40 to ensure that the on / off states of the upper arm 11 and lower arm 12 in the two-phase energized phase are consistent before and after switching between the 120-degree energization mode and the three-phase modulation inverse mode. It should be noted that the configuration of the conduction switching unit 40 is not limited to the example above. It can be configured to ensure that the on / off states of the upper arm 11 and lower arm 12 in the two-phase energized phase are consistent before and after switching between the 120-degree energization mode and the three-phase modulation inverse mode.

[0194] Here, the handover of a section without handover compensation by the handover compensation unit 41 in the conduction control unit 36 ​​will be explained.

[0195] Figure 17 This diagram illustrates an example of switching from a three-phase modulation inverted mode to a 120-degree energizing mode in the motor control device 1 of the embodiment without switching compensation. For convenience, in the following figures, "low fixed phase" and "high fixed phase" are sometimes referred to as "LO phase" and "HI phase," respectively.

[0196] Figure 17This illustrates an example of transitioning from a three-phase modulated inverting PWM phase (peak conduction type) to a low fixed phase. Before and after the switch, the upper arm transitions from the conducting state to the off state, and the lower arm transitions from the off state to the conducting state (the part enclosed by the ellipse). At this time, the conducting states of the upper and lower arms may overlap.

[0197] As described above, when a mode switching request is output from the determination unit 34, the switching compensation unit 41 performs switching compensation to make the on / off states of the upper arm 11 and lower arm 12 of the same phase consistent before and after switching from the 120-degree energization mode to the two-phase modulation mode.

[0198] Figure 18A and Figure 18B This diagram illustrates an example of switching from a three-phase modulation inverted mode to a 120-degree energizing mode when switching compensation is performed in the motor control device 1 of the embodiment. Figure 18A This illustrates an example of switching from the PWM phase (valley conduction type) in the three-phase modulation inverting method to the low fixed phase in the 120-degree energizing method. In the low fixed phase of the 120-degree energizing method, the upper and lower arms are maintained in an on / off state.

[0199] Figure 18B An example is shown of the transition from the PWM phase (peak conduction type) in the three-phase modulation inversion method to the HIZ phase in the 120-degree energization method. In this case, the on / off state of the upper or lower arm changes, but due to the change to the off state, simultaneous conduction of the upper and lower arms does not occur.

[0200] Thus, by performing switching compensation through the switching compensation unit 41, the simultaneous conduction of the upper and lower arms can be suppressed.

[0201] (3. Switching from 120-degree energizing mode to three-phase modulation inverting mode)

[0202] The process of switching from 120-degree energization mode to three-phase modulation inverted mode is explained.

[0203] [Motor control processing]

[0204] Figure 19 This is a diagram illustrating an example of motor control processing in an implementation method. Figure 19This is a flowchart illustrating the processing of the conduction control unit 36 ​​and the determination unit 34 when switching from a 120-degree energization mode to a three-phase modulation inverted mode. First, the conduction control unit 36 ​​controls the conduction of the upper arm 11 and lower arm 12 of each phase in the inverter circuit 10 (step S101). Next, if a switching request to the three-phase modulation inverted mode is issued (step S102: Yes), the determination unit 34 determines the switching to the three-phase modulation inverted mode (step S103). Then, the switching compensation unit 41 performs switching compensation processing (step S110).

[0205] Next, the turn-on control unit 36 ​​determines the polarity of the phase corresponding to the unenergized phase by reversing the three-phase PWM phases (step S104). Specifically, when the polarity of the PWM phase of the three-phase modulation reversing mode corresponding to the energization in the 120-degree energization mode is the same, the turn-on control unit 36 ​​makes the polarity of the phase corresponding to the unenergized phase different from these two phases. It should be noted that when the polarity of the PWM phase of the three-phase modulation reversing mode corresponding to the energization in the 120-degree energization mode is different, the turn-on control unit 36 ​​can arbitrarily set the polarity of the phase corresponding to the unenergized phase.

[0206] Next, the process proceeds to step S101. It should be noted that steps S101 and S103 correspond to the conduction control process and the determination process, respectively. Step S110 corresponds to the switching compensation process. Furthermore, steps S101 and S103 correspond to the conduction control process and the determination process, respectively. Additionally, step S110 corresponds to the switching compensation process.

[0207] [Processing of the switching compensation unit 41]

[0208] Figure 20 This is a diagram illustrating an example of the switching compensation process in the implementation method. Figure 20 This is a flowchart illustrating the processing in the switching compensation unit 41. Figure 20 It shows Figure 19 The switching compensation process (step S110) is as follows: First, the switching compensation unit 41 maintains the conduction mode of the phase transitioning from the PWM phase transition mode at 120 degrees (step S111). Next, the switching compensation unit 41 determines whether it is a high-side PWM control type (step S112). As a result, if it is a high-side PWM control type (step S112: yes), the switching compensation unit 41 proceeds to the processing in step S113.

[0209] On the other hand, if it is not a high-side PWM control type (step S112: No), the switching compensation unit 41 determines whether it is a low-side PWM control type (step S114). As a result, if it is a low-side PWM control type (step S114: Yes), the switching compensation unit 41 proceeds to the processing in step S115. On the other hand, if it is not a low-side PWM control type (step S114: No), since it is a dual-side PWM control type, the switching compensation unit 41 ends the processing and returns to the original processing.

[0210] In step S113, the switching compensation unit 41 switches to the PWM phase when the upper arm 11 of the low fixed phase (Lo phase) is disconnected and the lower arm 12 is turned on, returning to the original processing. Furthermore, in step S115, the switching compensation unit 41 switches to the PWM phase when the upper arm 11 of the high fixed phase (HI phase) is turned on and the lower arm 12 is disconnected, returning to the original processing. It should be noted that the conduction mode maintained in step S111 is applied to the PWM phase in the three-phase modulation inverting mode.

[0211] Figure 21 This diagram illustrates an example of a combination that does not produce a short circuit between the upper and lower arms when switching from a 120-degree energizing mode to a three-phase modulated inverted mode. Figure 21 An example is shown of a combination of the states of the phases (U phase, V phase, and W phase) before and after the switching, compensated by the switching compensation unit 41. Figure 21 The 120-degree energizing method describes high-side PWM control, low-side PWM control, and dual-side PWM control. Furthermore, in the three-phase modulation inversion method, peak switching and trough switching are described. Here, peak switching occurs near the peak of the carrier wave. Similarly, trough switching occurs near the trough of the carrier wave.

[0212] It should be noted that "near the peak" refers to the range within which the on / off states of the upper arm 11 and lower arm 12 of the PWM phase do not switch relative to the peak position. This range can also be described as the range within which the comparison value Scomp between the carrier Scw and the PWM phase remains unchanged relative to the peak position. Similarly, "near the trough" refers to the range within which the on / off states of the upper arm 11 and lower arm 12 of the PWM phase do not switch relative to the trough position.

[0213] exist Figure 21In the high-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W are assigned PWM phase, HIZ phase, and low fixed phase, respectively. Furthermore, when switching to the low-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W are assigned high fixed phase, HIZ phase, and PWM phase, respectively. Additionally, when switching to the dual-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W are assigned PWM phase, HIZ phase, and PWM phase, respectively.

[0214] like Figure 21 As shown, in the high-side PWM control type, when the PWM phase is peak conduction type, this phase is maintained as a three-phase modulation inverse PWM phase (peak conduction type) during peak switching and trough switching. Furthermore, the LO phase transforms into a PWM phase (trough conduction type) during peak switching and into a PWM phase (peak conduction type) during trough switching. On the other hand, the HIZ phase transforms into a PWM phase (peak conduction type) or a PWM phase (trough conduction type) during peak switching and into a PWM phase (trough conduction type) during trough switching.

[0215] Furthermore, in the high-side PWM control type, when the PWM phase is in trough conduction mode, this phase is maintained as a three-phase modulation inverse PWM phase (trough conduction mode) during peak switching and trough switching. Additionally, the LO phase transforms into a PWM phase (trough conduction mode) during peak switching and into a PWM phase (peak conduction mode) during trough switching. On the other hand, the HIZ phase transforms into a PWM phase (peak conduction mode) during peak switching and into either a PWM phase (peak conduction mode) or a PWM phase (trough conduction mode) during trough switching.

[0216] Furthermore, in the low-side PWM control type, when the PWM phase is peak conduction type, this phase is maintained as a three-phase modulation inverse PWM phase (peak conduction type) during peak switching and trough switching. Additionally, the HI phase transforms into a PWM phase (peak conduction type) during peak switching and into a PWM phase (trough conduction type) during trough switching. On the other hand, the HIZ phase transforms into a PWM phase (trough conduction type) during peak switching and into either a PWM phase (peak conduction type) or a PWM phase (trough conduction type) during trough switching.

[0217] Furthermore, in the low-side PWM control type, even when the PWM phase is in trough conduction mode, this phase maintains a three-phase modulation inverse PWM phase (trough conduction mode) during peak switching and trough switching. Additionally, the HI phase transforms into a PWM phase (peak conduction mode) during peak switching and into a PWM phase (trough conduction mode) during trough switching. On the other hand, the HIZ phase transforms into either a PWM phase (peak conduction mode) or a PWM phase (trough conduction mode) during peak switching and into a PWM phase (peak conduction mode) during trough switching.

[0218] Furthermore, in the bilateral PWM control type, the PWM phase (peak conduction type) is maintained as a three-phase modulated inverted PWM phase (peak conduction type) during peak switching and trough switching. Similarly, the PWM phase (trough conduction type) is maintained as a three-phase modulated inverted PWM phase (trough conduction type) during peak switching and trough switching. The HIZ phase transforms into either a PWM phase (peak conduction type) or a PWM phase (trough conduction type) during either peak switching or trough switching. Next, these combinations are verified.

[0219] [Case studies of 120-degree power-on methods (high-side PWM control type, PWM phase peak conduction type, peak switching type)]

[0220] Figure 22A and Figure 22B This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase peak conduction type, peak switching). Figure 22A and Figure 22B The applications are shown respectively. Figure 21 Examples of two combinations of (1).

[0221] Figure 22A and 22B This illustrates the transitions of phases U, V, and W from PWM phase (peak conduction type) and HIZ phase in the 120-degree energization mode, and from PWM phase (peak conduction type), PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the low fixed phase to three-phase modulation inversion mode, respectively. In the PWM phase (U phase) of the 120-degree energization mode, the conduction type (peak conduction type) is maintained. Furthermore, in the low fixed phase (W phase), the upper and lower arms are switched between the off and on states, respectively.

[0222] Figure 22A This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type). Figure 22B This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type).

[0223] [Scenarios of 120-degree power-on methods (high-side control type, PWM phase peak conduction type, and trough switching)]

[0224] Figure 23 This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase peak conduction type, and trough switching). Figure 23 The application is shown. Figure 21 Examples of combinations of (2).

[0225] Figure 23 This illustrates the transitions of phases U, V, and W from the PWM phase (peak conduction type) and HIZ phase in the 120-degree energization mode, and the PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the low fixed phase to three-phase modulation inversion mode, respectively. In the PWM phase (U phase) of the 120-degree energization mode, the conduction type (peak conduction type) is maintained. Furthermore, in the low fixed phase (W phase), the upper and lower arms are switched between the off and on states, respectively.

[0226] [Cases of 120-degree power-on methods (high-side PWM control type, PWM phase trough conduction type, peak switching type)]

[0227] Figure 24 This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control type, PWM phase valley conduction type, peak switching). Figure 24 The application is shown. Figure 21 Examples of combinations of (3).

[0228] Figure 24 This illustrates the transformations of phases U, V, and W from PWM phase (valley conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode to PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted phase mode, respectively. In the PWM phase (U phase) of the 120-degree energization mode, the conduction type (valley conduction type) is maintained. Furthermore, in the low fixed phase (W phase), the upper and lower arms are switched between the off and on states, respectively.

[0229] [Scenarios of 120-degree power-on methods (high-side control type, PWM phase trough conduction type, trough switching type)]

[0230] Figure 25A and Figure 25B This diagram illustrates an example of switching in a 120-degree power-on mode (high-side PWM control, PWM phase valley conduction type, valley switching). Figure 25A and Figure 25B The applications are shown respectively. Figure 21 Examples of two combinations of (4).

[0231] Figure 25A , 25B The diagram illustrates the cases of the U-phase, V-phase, and W-phase from the PWM phase (valley conduction type) in the 120-degree energization mode, the HIZ phase, and the PWM phase (valley conduction type), PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type) in the low fixed phase three-phase modulation inversion mode, respectively. In the PWM phase (U-phase) of the 120-degree energization mode, the conduction type (valley conduction type) is maintained. Furthermore, in the low fixed phase (W-phase), the upper and lower arms are switched between the off and on states, respectively.

[0232] Figure 25A This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type). Figure 25B This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type).

[0233] [Case studies of 120-degree power-on methods (low-side PWM control type, PWM phase peak conduction type, peak switching type)]

[0234] Figure 26 This diagram illustrates an example of switching in 120-degree power-on modes (low-side PWM control type, PWM phase peak conduction type, peak switching type). Figure 26 The application is shown. Figure 21 Examples of combinations of (5).

[0235] Figure 26 This illustrates the transitions of phases U, V, and W from the high fixed phase, HIZ phase, and PWM phase (peak conduction type) in the 120-degree energization mode to the PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode, respectively. In the PWM phase (W phase) of the 120-degree energization mode, the conduction type (peak conduction type) is maintained. Furthermore, in the high fixed phase (U phase), the upper and lower arms are switched between on and off states, respectively.

[0236] [Scenarios of 120-degree power-on methods (low-side PWM control type, PWM phase peak conduction type, and trough switching)]

[0237] Figure 27A and Figure 27B This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase peak conduction type, and trough switching). Figure 27A and Figure 27B The applications are shown respectively. Figure 21 Examples of two combinations of (6).

[0238] Figure 27A and 27B This illustrates the transitions of phases U, V, and W from the high fixed phase, HIZ phase, and PWM phase (peak conduction type) in the 120-degree energization mode to the PWM phase (valley conduction type), PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inverted phase mode, respectively. In the PWM phase (W phase) of the 120-degree energization mode, the conduction type (peak conduction type) is maintained. Furthermore, in the high fixed phase (U phase), the upper and lower arms are switched between the on and off states, respectively.

[0239] Figure 27A This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type). Figure 27B This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type).

[0240] [Scenarios of 120-degree power-on methods (low-side PWM control type, PWM phase trough conduction type, peak switching type)]

[0241] Figure 28A and Figure 28B This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase valley conduction type, peak switching). Figure 28A and 28B The applications are shown respectively. Figure 21 Examples of two combinations of (7).

[0242] Figure 28A and 28B This illustrates the transitions of phases U, V, and W from the high fixed phase, HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode to the PWM phase (peak conduction type), PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted phase mode, respectively. In the PWM phase (W phase) of the 120-degree energization mode, the conduction type (valley conduction type) is maintained. Furthermore, in the high fixed phase (U phase), the upper and lower arms are switched between the on and off states, respectively.

[0243] Figure 28A This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type). Figure 28B This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type).

[0244] [Case studies of 120-degree power-on methods (low-side PWM control type, PWM phase trough conduction type, trough switching type)]

[0245] Figure 29This diagram illustrates an example of switching in a 120-degree power-on mode (low-side PWM control type, PWM phase valley conduction type, valley switching). Figure 29 The application is shown. Figure 21 Examples of combinations of (8).

[0246] Figure 29 This illustrates the transitions of phases U, V, and W from the high fixed phase, HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode to the PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted phase mode, respectively. In the PWM phase (W phase) of the 120-degree energization mode, the conduction type (valley conduction type) is maintained. Furthermore, in the high fixed phase (U phase), the upper and lower arms are switched between on and off states, respectively.

[0247] [Scenario of 120-degree power-on mode (dual-sided PWM control type, peak switching)]

[0248] Figure 30A and Figure 30B This diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, peak switching). Figure 30A and 30B The applications are shown respectively. Figure 21 Examples of two combinations of (9).

[0249] Figure 30A and 30B This illustrates the transformations of phases U, V, and W from the PWM phase (peak conduction type), HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode to the PWM phase (peak conduction type), PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the three-phase modulation inversion mode, respectively. In the PWM phase (U phase) of the 120-degree energization mode, the conduction type (peak conduction type) is maintained. Similarly, in the PWM phase (W phase) of the 120-degree energization mode, the conduction type (valley conduction type) is maintained.

[0250] Figure 30A This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type). Figure 30B This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type).

[0251] [Scenario of 120-degree power-on mode (dual-sided PWM control type, valley switching)]

[0252] Figure 31A and Figure 31BThis diagram illustrates an example of switching in a 120-degree power-on mode (dual-sided PWM control type, valley switching). Figure 31A and Figure 31B The applications are shown respectively. Figure 21 Examples of two combinations of (10).

[0253] Figure 31A and 31B This illustrates the transitions of phases U, V, and W from PWM phases (peak conduction type), HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode to PWM phases (peak conduction type), PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted mode, respectively. In the PWM phase (U phase) of the 120-degree energization mode, it maintains conduction (peak conduction type). Similarly, in the PWM phase (W phase) of the 120-degree energization mode, it maintains conduction (valley conduction type).

[0254] Figure 31A This illustrates the transition from the HIZ phase (V phase) to the PWM phase (peak conduction type). Figure 31B This illustrates the situation where the HIZ phase (V phase) transitions to the PWM phase (valley conduction type).

[0255] As explained above, it can be known that Figure 21 When switching from 120-degree energization mode to three-phase modulation inverted mode, (1) to (10) do not generate short circuits in the upper and lower arms.

[0256] Thus, the motor control device 1 of the present disclosure can suppress short circuits in the upper and lower arms of each phase in the inverter circuit 10 when switching from the 120-degree energization mode to the three-phase modulation inverted mode. As a result, the motor control device 1 of the present disclosure can switch from the 120-degree energization mode to the three-phase modulation inverted mode without dead time.

[0257] (4. Switching from three-phase modulation inverting mode to 120-degree energizing mode)

[0258] The process of switching from three-phase modulation inverted mode to 120-degree energization mode is explained.

[0259] [Motor control processing]

[0260] Figure 32 This is a diagram illustrating an example of motor control processing in an implementation method. Figure 32This is a flowchart illustrating the processing of the conduction control unit 36 ​​and the determination unit 34 when switching from a three-phase modulation inverting mode to a 120-degree power-on mode. First, the conduction control unit 36 ​​controls the conduction of the upper arm 11 and lower arm 12 of each phase in the inverter circuit 10 (step S121). Next, upon receiving a request to switch to the 120-degree power-on mode (step S122: Yes), the determination unit 34 determines the switch to the 120-degree power-on mode (step S123). Then, the switching compensation unit 41 performs switching compensation processing (step S130).

[0261] Next, the process proceeds to step S121. It should be noted that steps S121 and S123 correspond to the conduction control process and the determination process, respectively. Step S130 corresponds to the switching compensation process. Furthermore, steps S121 and S123 correspond to the conduction control process and the determination process, respectively. Additionally, step S130 corresponds to the switching compensation process.

[0262] [Processing of the switching compensation unit 41]

[0263] Figure 33 This is a diagram illustrating an example of the switching compensation process in the implementation method. Figure 33 This is a flowchart illustrating the processing in the switching compensation unit 41. Figure 33 It shows Figure 32 The switching compensation process (step S130) is as follows: First, the switching compensation unit 41 maintains the conduction mode of the phase transitioning to the 120-degree PWM phase-on mode (step S131). Next, the switching compensation unit 41 determines whether it is a high-side PWM control type (step S132). As a result, if it is a high-side PWM control type (step S132: yes), the switching compensation unit 41 proceeds to the processing in step S133.

[0264] On the other hand, if it is not a high-side PWM control type (step S132: No), the switching compensation unit 41 determines whether it is a low-side PWM control type (step S134). As a result, if it is a low-side PWM control type (step S134: Yes), the switching compensation unit 41 proceeds to the processing in step S135. On the other hand, if it is not a low-side PWM control type (step S134: No), since it is a dual-side PWM control type, the switching compensation unit 41 ends the processing and returns to the original processing.

[0265] In step S133, the switching compensation unit 41 switches to a low fixed phase (Lo phase) when the upper arm 11 of the PWM phase is disconnected and the lower arm 12 is turned on, returning to the original processing. Furthermore, in step S135, the switching compensation unit 41 switches to a high fixed phase (HI phase) when the upper arm 11 of the PWM phase is turned on and the lower arm 12 is disconnected, returning to the original processing. It should be noted that the conduction mode maintained in step S131 is applied to the PWM phase in the 120-degree energization mode.

[0266] Figure 34 This diagram illustrates an example of a combination that does not produce a short circuit between the upper and lower arms when switching from a three-phase modulation inverted mode to a 120-degree energizing mode. Figure 34 An example is shown of a combination of phase states before and after the switch, compensated by the switching compensation unit 41. Figure 34 In the three-phase modulation inversion method, the combinations of polarities (peak conduction type and trough conduction type) of the PWM phases in the U phase, V phase, and W phase are described. In addition, the 120-degree energizing method is described in three cases: high-side PWM control type, low-side PWM control type, and dual-side PWM control type.

[0267] exist Figure 34 In the high-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W transform into PWM phase, HIZ phase, and low fixed phase, respectively. Furthermore, in the low-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W transform into high fixed phase, HIZ phase, and PWM phase, respectively. Additionally, in the dual-side PWM control type with 120-degree power-on mode, it is assumed that phases U, V, and W transform into PWM phase, HIZ phase, and PWM phase, respectively.

[0268] like Figure 34As shown, when switching from a three-phase modulation inverted mode to a 120-degree energization mode in a high-side PWM control type, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type), peak switching can be used to cope with the situation (1). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type), peak switching can be used to cope with the situation (2). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type), valley switching can be used to cope with the situation (3). Furthermore, in the case where the U phase, V phase, and W phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type), the problem can be solved by valley switching (4). Furthermore, in the case where the U phase, V phase, and W phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type), the problem can be solved by valley switching (5). Furthermore, in the case where the U phase, V phase, and W phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type), the problem can be solved by peak switching (6).

[0269] In addition, such as Figure 34As shown, when switching from a three-phase modulation inverted mode to a 120-degree energization mode in a low-side PWM control type, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type), peak switching can be used to cope with the situation (7). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type), peak switching can be used to cope with the situation (8). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type), peak switching can be used to cope with the situation (9). Furthermore, in the case where the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type), the problem can be solved by valley switching (10). Furthermore, in the case where the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type), the problem can be solved by valley switching (11). Furthermore, in the case where the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type), the problem can be solved by valley switching (12).

[0270] In addition, such as Figure 34As shown, when switching from a three-phase modulation inverted mode to a 120-degree energizing mode in a dual-sided PWM control type, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type), the switching can be handled by peak switching or valley switching (13). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type), the switching can be handled by peak switching or valley switching (14). Furthermore, if the U-phase, V-phase, and W-phase of the three-phase modulation inverted mode are respectively PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type), the switching can be handled by peak switching or valley switching (16). Furthermore, in the case where the U, V, and W phases of the three-phase modulation inverted mode are respectively PWM phases (valley conduction type), PWM phases (peak conduction type), and PWM phases (peak conduction type), they can be switched by peak switching or valley switching (17). It should be noted that in the case where the U, V, and W phases of the three-phase modulation inverted mode are respectively PWM phases (peak conduction type), PWM phases (valley conduction type), and PWM phases (peak conduction type), they cannot be switched (15). Similarly, in the case where the U, V, and W phases of the three-phase modulation inverted mode are respectively PWM phases (valley conduction type), PWM phases (peak conduction type), and PWM phases (valley conduction type), they also cannot be switched (18).

[0271] [Case of three-phase modulation inverting mode (switching to high-side PWM control type)]

[0272] Figures 35-40 This is a diagram illustrating an example of switching in a three-phase modulation inverted mode (switching to high-side PWM control).

[0273] Figure 35 This illustrates the transitions of phases U, V, and W from the PWM phase (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inversion mode to the PWM phase (peak conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode, respectively. In the PWM phase (U phase) of the three-phase modulation inversion mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion mode transitioning to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 35 The application is shown. Figure 34 Examples of combinations of (1).

[0274] Figure 36This illustrates the transitions of phases U, V, and W from the PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the three-phase modulation inversion mode to the PWM phase (peak conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode, respectively. In the PWM phase (U phase) of the three-phase modulation inversion mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion mode that transitions to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 36 The application is shown. Figure 34 Examples of combinations of (2).

[0275] Figure 37 This illustrates the transformations of phases U, V, and W from the PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion method to the PWM phase (peak conduction type), HIZ phase, and low fixed phase in the 120-degree energization method, respectively. In the PWM phase (U phase) of the three-phase modulation inversion method, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion method that transitions to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 37 The application is shown. Figure 34 Examples of combinations of (3).

[0276] Figure 38 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode to the PWM phase (valley conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode, respectively. In the PWM phase (U phase) of the three-phase modulation inversion mode, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion mode transitioning to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 38 The application is shown. Figure 34 Examples of combinations of (4).

[0277] Figure 39 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode to the PWM phase (valley conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode, respectively. In the PWM phase (U phase) of the three-phase modulation inversion mode, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion mode transitioning to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 39The application is shown. Figure 34 Examples of combinations of (5).

[0278] Figure 40 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inversion mode to the PWM phase (valley conduction type), HIZ phase, and low fixed phase in the 120-degree energization mode, respectively. In the PWM phase (U phase) of the three-phase modulation inversion mode, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inversion mode transitioning to the low fixed phase, the upper and lower arms are switched between the off and on states, respectively. Figure 40 The application is shown. Figure 34 Examples of combinations of (6).

[0279] [Case of three-phase modulation inverting mode (switching to low-side PWM control type)]

[0280] Figures 41-46 This diagram illustrates an example of switching in a three-phase modulation inverted mode (switching to low-side PWM control).

[0281] Figure 41 This illustrates the transitions of phases U, V, and W from PWM phases (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in a three-phase modulated inverting system to high fixed phase, HIZ phase, and PWM phase (valley conduction type) in a 120-degree energizing mode, respectively. In the PWM phase (W phase) of the three-phase modulated inverting system, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulated inverting system transitioning to a high fixed phase, the upper and lower arms are switched between on and off states, respectively. Figure 41 The application is shown. Figure 34 Examples of combinations of (7).

[0282] Figure 42 This illustrates the transitions of phases U, V, and W from PWM phases (peak conduction type), PWM phases (valley conduction type), and PWM phases (valley conduction type) in a three-phase modulated inverting system to high fixed phase, HIZ phase, and PWM phase (valley conduction type) in a 120-degree energization mode, respectively. In the PWM phase (W phase) of the three-phase modulated inverting system, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulated inverting system transitioning to a high fixed phase, the upper and lower arms are switched between on and off states, respectively. Figure 42 The application is shown. Figure 34 Examples of combinations of (8).

[0283] Figure 43This illustrates the transitions of phases U, V, and W from the PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode to the high fixed phase, HIZ phase, and PWM phase (peak conduction type) in the 120-degree energization mode, respectively. In the PWM phase (W phase) of the three-phase modulation inversion mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulation inversion mode transitioning to the high fixed phase, the upper and lower arms are switched between the on and off states, respectively. Figure 43 The application is shown. Figure 34 Examples of combinations of (9).

[0284] Figure 44 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode to the high fixed phase, HIZ phase, and PWM phase (peak conduction type) in the 120-degree energization mode, respectively. In the PWM phase (W phase) of the three-phase modulation inversion mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulation inversion mode transitioning to the high fixed phase, the upper and lower arms are switched between the on and off states, respectively. Figure 44 The application is shown. Figure 34 Examples of combinations of (10).

[0285] Figure 45 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type) in the three-phase modulation inversion mode to the high fixed phase, HIZ phase, and PWM phase (peak conduction type) in the 120-degree energization mode, respectively. In the PWM phase (W phase) of the three-phase modulation inversion mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulation inversion mode transitioning to the high fixed phase, the upper and lower arms are switched between the on and off states, respectively. Figure 45 The application is shown. Figure 34 Examples of combinations of (11).

[0286] Figure 46 This illustrates the transitions of phases U, V, and W from the PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inversion mode to the high fixed phase, HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode, respectively. In the PWM phase (W phase) of the three-phase modulation inversion mode, the conduction type (valley conduction type) is maintained. Furthermore, in the PWM phase (U phase) of the three-phase modulation inversion mode transitioning to the high fixed phase, the upper and lower arms are switched between the on and off states, respectively. Figure 46The application is shown. Figure 34 Examples of combinations of (12).

[0287] [Switching from three-phase modulation inverting mode to dual-sided PWM control]

[0288] Figure 47A , 47B Figures 48A, 48B, 49A, 49B, 50A, and 50B are diagrams representing an example of switching in a three-phase modulation inverting mode (switching to a bilateral PWM control type).

[0289] Figure 47A and 47B The diagram illustrates the transformation of phases U, V, and W from PWM phase (peak conduction type), PWM phase (peak conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted mode to PWM phase (peak conduction type), HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode. Figure 47A The peak switching pattern is shown. Furthermore, Figure 47B The trough switching scenario is illustrated. In the PWM phase (U phase) of the three-phase modulation inverted mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inverted mode, the conduction type (trough conduction type) is also maintained. Figure 47A and 47B The application is shown. Figure 34 Examples of combinations of (13).

[0290] Figure 48A and 48B The diagram illustrates the transformation of phases U, V, and W from PWM phase (peak conduction type), PWM phase (valley conduction type), and PWM phase (valley conduction type) in the three-phase modulation inverted mode to PWM phase (peak conduction type), HIZ phase, and PWM phase (valley conduction type) in the 120-degree energization mode. Figure 48A The peak switching pattern is shown. Furthermore, Figure 48B The trough switching scenario is illustrated. In the PWM phase (U phase) of the three-phase modulation inverted mode, the conduction type (peak conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inverted mode, the conduction type (trough conduction type) is also maintained. Figure 48A and 48B The application is shown. Figure 34 Examples of combinations of (14).

[0291] Figure 49A and 49BThe diagram illustrates how phases U, V, and W are switched from the PWM phase (valley conduction type), PWM phase (valley conduction type), and PWM phase (peak conduction type) in the three-phase modulation inverted mode to the PWM phase (valley conduction type), HIZ phase, and PWM phase (peak conduction type) in the 120-degree power-on mode, respectively. Figure 49A The peak switching pattern is shown. Furthermore, Figure 49B The trough switching scenario is illustrated. In the PWM phase (U phase) of the three-phase modulation inverted mode, the conduction type (trough conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inverted mode, the conduction type (peak conduction type) is also maintained. Figure 49A and Figure 49B The application is shown. Figure 34 Examples of combinations of (16).

[0292] Figure 50A and 50B The diagram illustrates how phases U, V, and W are converted from PWM phase (valley conduction type), PWM phase (peak conduction type), and PWM phase (peak conduction type) in the three-phase modulation inverted mode to PWM phase (valley conduction type), HIZ phase, and PWM phase (peak conduction type) in the 120-degree energizing mode, respectively. Figure 50A The peak switching pattern is shown. Furthermore, Figure 50B The trough switching scenario is illustrated. In the PWM phase (U phase) of the three-phase modulation inverted mode, the conduction type (trough conduction type) is maintained. Furthermore, in the PWM phase (W phase) of the three-phase modulation inverted mode, the conduction type (peak conduction type) is also maintained. Figure 50A and Figure 50B The application is shown. Figure 34 Examples of combinations of (17).

[0293] As explained above, it can be known that Figure 34 (1) to (14), (16) and (17) do not generate short circuits in the upper and lower arms when switching from three-phase modulation inverted mode to 120-degree power-on mode.

[0294] Thus, the motor control device 1 of the present disclosure can suppress short circuits in the upper and lower arms of each phase in the inverter circuit 10 when switching from a three-phase modulation inverting mode to a 120-degree energizing mode. As a result, the motor control device 1 of the present disclosure can switch from a three-phase modulation inverting mode to a 120-degree energizing mode without dead time.

[0295] (5. Hardware composition)

[0296] Figure 51 This diagram illustrates an example of the hardware configuration of the control unit 30 of the motor control device 1 in an embodiment. (See diagram for example.) Figure 51As shown, the control unit 30 includes a computer equipped with a processor 101, a memory 102, an input / output unit 103, and a bus 104. The processor 101, the memory 102, and the input / output unit 103 can send and receive information to each other via the bus 104.

[0297] The processor 101 performs the functions of the control unit 30 by reading and executing the motor control program stored in the memory 102. The processor 101 is, for example, an example of a processing circuit, including one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

[0298] The memory 102 may include one or more of RAM (Random Access Memory), ROM (Read-Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). The input / output unit 103 includes, for example, an AD converter, a DA converter, and input / output ports.

[0299] It should be noted that the motor control device 1 may also be configured to have a data readout unit that reads the motor control program from a recording medium on which a computer-readable motor control program is recorded. The processor 101 can control the data readout unit to obtain the motor control program recorded on the recording medium from the data readout unit, and store the obtained motor control program in the memory 102. The recording medium includes, for example, one or more of the following: non-volatile or volatile semiconductor memory, magnetic disk, flexible memory, optical disk, compact disk, and DVD (Digital Versatile Disc).

[0300] Furthermore, the motor control device 1 may also include a communication unit that receives motor control programs from a server via a network. In this case, the processor 101 can obtain the motor control program from the server via the communication unit and store the obtained motor control program in the memory 102.

[0301] In addition, the control unit 30 may also include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

[0302] Thus, when the motor control device 1 of this disclosure switches bidirectionally to 120-degree energization mode and three-phase modulation reverse mode, it performs control to ensure that the on / off states of the upper and lower arms in the two-phase energized phases of the 120-degree energization mode are consistent before and after the switch. Therefore, even without dead time, short circuits in the upper and lower arms of the inverter circuit can be suppressed.

[0303] The various embodiments of this disclosure have been described above, but the technical scope of this disclosure is not limited to the above-described embodiments as is, and various modifications can be made without departing from the spirit of this disclosure. Furthermore, the constituent elements involved in different embodiments and variations can be appropriately combined.

[0304] It should be noted that the series of processes described in this specification can be implemented using software, hardware, or a combination of both. The programs constituting the software are, for example, pre-stored in a storage medium (non-transitory media) located internally or externally to each device. Furthermore, each program is loaded into RAM, for example, when executed by a computer, and executed by a processor such as a CPU.

[0305] Furthermore, the processes illustrated using flowcharts and sequence diagrams in this specification may not necessarily be executed in the order shown. Some processing steps may also be executed in parallel. Additionally, supplementary processing steps may be used, or some processing steps may be omitted.

[0306] (Effect)

[0307] Motor control device 1 is a motor control device comprising: an inverter circuit 10, each of the three phases having an upper arm and a lower arm; a conduction control unit 36 ​​for controlling the conduction of the upper arm and lower arm of each of the three phases in the inverter circuit 10; and a determination unit for determining a switch from a 120-degree energizing mode to a three-phase modulation inversion mode, wherein the 120-degree energizing mode sets two of the three phases as energized phases and the remaining phase as de-energized phase, and the three-phase modulation inversion mode sets the three phases as PWM-controlled phases and makes the upper arm conduct / The conduction control unit 36, which controls one phase of a three-phase system and the other two phases using a PWM control method where the phases of the disconnected energized waveforms are different and in opposite phases, includes a switching compensation unit 41. Before and after switching from a 120-degree energized mode determined by the determination unit to a three-phase modulation inverse mode, the switching compensation unit 41 ensures that the on / off states of the upper and lower arms of the two energized phases are consistent. When the two PWM phases corresponding to the energized phases are in phase with each other, the conduction control unit 36 ​​performs PWM control on the PWM phase corresponding to the unenergized phase, which is in the opposite phase to the two PWM phases. This prevents short circuits between the upper and lower arms.

[0308] Alternatively, the conduction control unit 36 ​​may selectively use a first conduction type and a second conduction type whose phases of the energizing waveforms that turn the upper arm of the PWM phase on / off are different, wherein the center of the conduction period of the energizing waveform of the first conduction type and the second conduction type is located in the off period of the energizing waveform of the other conduction type.

[0309] Alternatively, the conduction control unit 36 ​​may perform the following operations: As a control for the 120-degree energization mode, while switching the combination of energized and non-energized phases in the three phases every 60 degrees, the following control is performed: one of the energized phases of the two phases is set as a PWM phase, and the other energized phase is set as a fixed phase that is always energized in either the upper or lower arm. The switching compensation unit 41 performs the following settings: before and after the switching, the conduction type of the PWM phase in the two-phase energized phases is set to the conduction type of the corresponding three-phase modulation inverted phase PWM phase. This prevents short circuits in the upper and lower arms in both high-side PWM control and low-side PWM control types.

[0310] Alternatively, the conduction control unit 36 ​​may perform the following operations: As a control for a 120-degree energization mode, while switching the combination of energized and non-energized phases in the three phases every 60 degrees, the following control is performed: The energized phases of the two phases are each set as PWM phases, and the upper and lower arms of one energized phase are turned on / off by PWM control where the conduction ratio of the upper arm is greater than that of the lower arm. The upper and lower arms of the other energized phase are turned on / off by PWM control complementary to the PWM control of one energized phase. The switching compensation unit 41 performs the following settings: Before and after the switching, the conduction type is made consistent in the energized phases of the two phases and in the PWM phases of the three-phase modulation inverse mode corresponding to the energization of those two phases. This prevents short circuits between the upper and lower arms in the bilateral PWM control type.

[0311] Motor control device 1 is a motor control device comprising: an inverter circuit 10, each of the three phases having an upper arm and a lower arm; a conduction control unit 36, which controls the conduction of the upper and lower arms of each of the three phases in the inverter circuit 10; and a determination unit, which determines the switching from a three-phase modulation inversion mode to a 120-degree energization mode. The three-phase modulation inversion mode is a mode in which the three phases are set as PWM-controlled PWM phases, and the energization waveforms for the upper arm's on / off states are inverted to control one phase and the other two phases in a manner that makes their phases different. The 120-degree energization mode is a mode in which two of the three phases are energized and the remaining phase is de-energized. The conduction control unit 36 ​​includes a switching compensation unit 41, which ensures that the on / off states of the upper and lower arms of the two energized phases are consistent before and after the switching from the three-phase modulation inversion mode determined by the determination unit to the 120-degree energization mode. This prevents short circuits between the upper and lower arms.

[0312] Alternatively, the conduction control unit 36 ​​may selectively use a first conduction type and a second conduction type whose phases of the energizing waveforms that turn the upper arm of the PWM phase on / off are different, wherein the center of the conduction period of the energizing waveform of the first conduction type and the second conduction type is located in the off period of the energizing waveform of the other conduction type.

[0313] Alternatively, the conduction control unit 36 ​​may perform the following operations: As a control for the 120-degree energization mode, while switching the combination of energized and non-energized phases in the three phases every 60 degrees, the following control is performed: one of the energized phases of the two phases is set as a PWM phase, and the other energized phase is set as a fixed phase that is always energized in either the upper or lower arm. The switching compensation unit 41 performs the following settings: before and after the switching, the conduction type of the PWM phase in the two-phase energized phases is set to the conduction type of the corresponding three-phase modulation inverted phase PWM phase. This prevents short circuits in the upper and lower arms in both high-side PWM control and low-side PWM control types.

[0314] Alternatively, the conduction control unit 36 ​​may perform the following operations: As a control for a 120-degree energization mode, while switching the combination of energized and non-energized phases in the three phases every 60 degrees, the following control is performed: The energized phases of the two phases are each set as PWM phases, and the upper and lower arms of one energized phase are turned on / off by PWM control where the conduction ratio of the upper arm is greater than that of the lower arm. The upper and lower arms of the other energized phase are turned on / off by PWM control complementary to the PWM control of one energized phase. The switching compensation unit 41 performs the following settings: Before and after the switching, the conduction type is made consistent in the two-phase PWM phases and the two-phase energized phases of the three-phase modulation inverse mode corresponding to the energization of the two phases, respectively. This prevents short circuits between the upper and lower arms in the bilateral PWM control type.

[0315] The motor module includes: the motor control device 1 described above; and a motor 2, which is controlled by the motor control device 1. This prevents short circuits in the upper and lower arms of the inverter circuit 10.

[0316] The motor control program causes the computer to execute: a conduction control process, controlling the conduction of the upper and lower arms of each phase in the inverter circuit 10, which has upper and lower arms for each of the three phases; and a determination process, determining the switching from a 120-degree energizing mode to a three-phase modulation inversion mode, wherein the 120-degree energizing mode sets two of the three phases as energized phases and the remaining phase as de-energized phase, and the three-phase modulation inversion mode sets all three phases as PWM-controlled PWM phases and energizes the upper arms to turn on / off. The method employs a PWM control technique where the waveforms are out of phase and applied in opposite phases to one phase of a three-phase circuit while controlling the other two phases. During the switching compensation process, before and after switching from the 120-degree energization mode determined through a specific process to the three-phase modulation inverse mode, the on / off states of the upper and lower arms of the energized phase are made consistent. During the on-state control, while the two PWM phases corresponding to the energized phase are in phase with each other, the PWM phase corresponding to the unenergized phase is also controlled in the opposite phase. This prevents short circuits between the upper and lower arms.

[0317] The motor control program causes the computer to execute: a conduction control process, controlling the conduction of the upper and lower arms of each phase in the three-phase inverter circuit 10, where each phase has an upper and lower arm; a determination process, determining the switching from a three-phase modulation inversion mode to a 120-degree energizing mode, wherein the three-phase modulation inversion mode is a method of PWM control of one phase and two other phases by setting the three phases as PWM-controlled PWM phases and performing PWM control on one phase and the other two phases in an inverted manner so that the phases of the energizing waveforms for the upper arm to be turned on / off are different; and a switching compensation process, ensuring that the on / off states of the upper and lower arms in the two-phase energizing phases are consistent before and after the switching from the three-phase modulation inversion mode determined by the determination process to the 120-degree energizing mode. This prevents short circuits between the upper and lower arms.

[0318] The motor control method includes: a conduction control step, which controls the conduction of the upper and lower arms of each phase in the inverter circuit 10, where each phase of the three phases has an upper arm and a lower arm; and a determination step, which determines the switching from a 120-degree energizing mode to a three-phase modulation inversion mode, wherein the 120-degree energizing mode sets two phases of the three phases as energized phases and the remaining phase as non-energized phase, and the three-phase modulation inversion mode sets the three phases as PWM-controlled PWM phases, and sets the energizing waveform that causes the upper arm to conduct / discontinuate to be phased. A method for PWM control of one phase and two other phases in a three-phase configuration using mutually different inverse phases; and a switching compensation process, which ensures that the on / off states of the upper and lower arms of the energized phases are consistent before and after switching from the 120-degree energization mode determined by the determination process to the three-phase modulation inverse mode. The conduction control process also includes the following steps: when the two PWM phases corresponding to the energization are in phase with each other, the PWM phase corresponding to the non-energized phase is controlled in the opposite phase to the two PWM phases. This prevents short circuits between the upper and lower arms.

[0319] The motor control method includes: a conduction control step, which controls the conduction of the upper and lower arms of each phase in the three-phase inverter circuit 10, where each phase has an upper and lower arm; a determination step, which determines the switching from a three-phase modulation inversion mode to a 120-degree energizing mode, wherein the three-phase modulation inversion mode is a mode in which the three phases are set as PWM-controlled PWM phases, and the phases of the energizing waveforms for the upper arm to be turned on / off are mutually different, and one phase of the three phases is controlled by PWM; the 120-degree energizing mode is a mode in which two phases of the three phases are set as energized phases, and the remaining phase is set as a non-energized phase; and a switching compensation step, which ensures that the on / off states of the upper and lower arms of the two energized phases are consistent before and after the switching from the three-phase modulation inversion mode determined by the determination step to the 120-degree energizing mode. This prevents short circuits between the upper and lower arms.

[0320] It should be noted that the effects described in this manual are merely examples and are not limiting; other effects may also exist.

Claims

1. A motor control device, comprising: The inverter circuit has an upper arm and a lower arm in each of the three phases; The conduction control unit controls the conduction of the upper and lower arms of each of the three phases in the inverter circuit; and The determination unit determines the switching from the 120-degree energizing mode to the three-phase modulation inverted mode, wherein... The 120-degree energizing method involves setting two of the three phases as energized phases and the remaining phase as de-energized phase. The three-phase modulation inversion method involves setting the three phases as PWM-controlled phases and using an inverted phase method to control one phase of the three phases and the other two phases in a way that makes the phases of the energizing waveforms of the upper arm on / off different. The conduction control unit includes a switching compensation unit that, before and after switching from the 120-degree energizing mode determined by the determining unit to the three-phase modulation inverse mode, ensures that the on / off states of the upper arm and the lower arm in the two-phase energizing phase are consistent. When the two PWM phases corresponding to the energization are in phase with each other, the conduction control unit performs PWM control on the PWM phase corresponding to the de-energization, which is in the opposite phase to the two PWM phases.

2. The motor control device according to claim 1, wherein, The conduction control unit can selectively use a first conduction type and a second conduction type, which have different phases of the energizing waveforms that turn the upper arm of the PWM phase on / off. The center of the conduction period of the energized waveform of one of the first conduction types and the second conduction type is located during the de-energization period of the energized waveform of the other conduction type.

3. The motor control device according to claim 2, wherein, The conduction control unit performs the following actions: As a control method for the 120-degree energizing mode, while switching the combination of the energized phase and the non-energized phase in the three phases every 60 degrees, the following control is performed: one of the energized phases of the two phases is set as the PWM phase, and the other energized phase is set as any one of the upper arm and the lower arm that is always conducting as a fixed phase. The switching compensation unit performs the following settings: before and after switching, the conduction type of the PWM phase in the two-phase energized phase is set to the conduction type of the PWM phase of the corresponding three-phase modulation inverted mode.

4. The motor control device according to claim 2, wherein, The conduction control unit performs the following actions: As for the control of the 120-degree energizing mode, while switching the combination of the energized phase and the non-energized phase in the three phases every 60 degrees, the following control is performed: the energized phases of the two phases are respectively set as PWM phases, and the upper and lower arms of one energized phase are turned on / off by PWM control where the conduction ratio of the upper arm is greater than that of the lower arm, and the upper and lower arms of the other energized phase are turned on / off by PWM control that complements the PWM control of the energized phase of one phase. The switching compensation unit makes the following settings: before and after switching, the conduction type is made consistent in the energized phase of the two phases and the PWM phase of the three-phase modulation inverse mode corresponding to the energization of the two phases.

5. A motor control device, comprising: The inverter circuit has an upper arm and a lower arm in each of the three phases; The conduction control unit controls the conduction of the upper and lower arms of each of the three phases in the inverter circuit; and The determining unit determines the switching from three-phase modulation inverting mode to 120-degree energizing mode, wherein... The three-phase modulation inversion method is a method of PWM control where the three phases are set as PWM-controlled phases, and the phases of the energizing waveforms that turn the upper arm on / off are all different. One phase of the three phases is controlled by PWM while the other two phases are controlled by PWM. The 120-degree energizing method is a method of setting two phases of the three phases as energized phases and setting the remaining phase as non-energized phase. The conduction control unit includes a switching compensation unit that, before and after switching from the three-phase modulation inversion mode determined by the determining unit to the 120-degree energizing mode, makes the conduction / disconnection states of the upper arm and the lower arm in the two-phase energizing phase consistent.

6. The motor control device according to claim 5, wherein, The conduction control unit can selectively use a first conduction type and a second conduction type, which have different phases of the energizing waveforms that turn the upper arm of the PWM phase on / off. The center of the conduction period of the energized waveform of one of the first conduction types and the second conduction type is located during the de-energization period of the energized waveform of the other conduction type.

7. The motor control device according to claim 6, wherein, The conduction control unit performs the following actions: As a control method for the 120-degree energizing mode, while switching the combination of the energized phase and the non-energized phase in the three phases every 60 degrees, the following control is performed: one of the energized phases of the two phases is set as the PWM phase, and the other energized phase is set as any one of the upper arm and the lower arm that is always conducting as a fixed phase. The switching compensation unit performs the following settings: before and after switching, the conduction type of the PWM phase in the two-phase energized phase is set to the conduction type of the PWM phase of the corresponding three-phase modulation inverted mode.

8. The motor control device according to claim 6, wherein, The conduction control unit performs the following actions: As for the control of the 120-degree energizing mode, while switching the combination of the energized phase and the non-energized phase in the three phases every 60 degrees, the following control is performed: the energized phases of the two phases are respectively set as PWM phases, and the upper and lower arms of one energized phase are turned on / off by PWM control where the conduction ratio of the upper arm is greater than that of the lower arm, and the upper and lower arms of the other energized phase are turned on / off by PWM control that complements the PWM control of the energized phase of one phase. The switching compensation unit makes the following settings: before and after switching, the conduction type is made consistent in the PWM phase of the two phases of the three-phase modulation inversion mode and the energized phase of the two phases, which are respectively corresponding to the energization of the two phases.

9. A motor module, comprising: The motor control device according to any one of claims 1 to 4; and The motor is controlled by the motor control device.

10. A motor module, comprising: The motor control device according to any one of claims 5 to 8; and The motor is controlled by the motor control device.

11. A motor control program that causes a computer to execute: The conduction control process controls the conduction of the upper arm and the lower arm of each phase in an inverter circuit with an upper arm and a lower arm for each of the three phases. The process involves determining the switching from a 120-degree energizing mode to a three-phase modulation inverted mode, where... The 120-degree energizing method is to set two of the three phases as energized phases and set the remaining phase as non-energized phase. The three-phase modulation inversion method is to set the three phases as PWM-controlled PWM phases and to perform PWM control on one phase and the other two phases in an inverted manner so that the phases of the energizing waveforms of the upper arm being turned on / off are different. as well as During the switching compensation process, before and after switching from the 120-degree energizing mode determined by the determination process to the three-phase modulation inverse mode, the on / off states of the upper and lower arms in the two-phase energizing phases are made consistent. During the conduction control process, when the two PWM phases corresponding to the energization are in phase with each other, the PWM phase corresponding to the de-energization is also subjected to PWM control that is in the opposite phase to the two PWM phases.

12. A motor control program that causes a computer to execute: The conduction control process controls the conduction of the upper arm and the lower arm of each phase in an inverter circuit with an upper arm and a lower arm for each of the three phases. The process involves determining the switching from a three-phase modulation inverting mode to a 120-degree energizing mode, where... The three-phase modulation inversion method is a method of PWM control where the three phases are set as PWM-controlled phases, and the phases of the energizing waveforms that turn the upper arm on / off are all different. One phase of the three phases is controlled by PWM while the other two phases are controlled by PWM. The 120-degree energizing method is a method of energizing two phases of the three phases and de-energizing the remaining phase. During the switching compensation process, before and after switching from the three-phase modulation inverted mode determined by the determination process to the 120-degree energizing mode, the conduction / disconnection states of the upper arm and the lower arm in the two-phase energizing phase are made consistent.

13. A motor control method, comprising: The conduction control process controls the conduction of the upper arm and the lower arm of each phase in an inverter circuit with an upper arm and a lower arm for each of the three phases. The process involves determining the switching from a 120-degree energizing mode to a three-phase modulation inverted mode. The 120-degree energizing mode involves setting two of the three phases as energized phases and the remaining phase as de-energized. The three-phase modulation inverted mode involves setting the three phases as PWM-controlled phases, and controlling one phase and the other two phases in an inverted manner so that the phases of the energizing waveforms for the upper arm's on / off states are different. In the switching compensation process, before and after switching from the 120-degree energizing mode determined by the determination process to the three-phase modulation inverse mode, the on / off states of the upper and lower arms in the two-phase energizing phases are made consistent. The conduction control process further includes the following steps: when the two PWM phases corresponding to the energization are in phase with each other, the PWM phase corresponding to the de-energization is subjected to PWM control that is opposite to the two PWM phases.

14. A motor control method, comprising: The conduction control process controls the conduction of the upper arm and the lower arm of each phase in an inverter circuit with an upper arm and a lower arm for each of the three phases. The process involves determining the switching from a three-phase modulation inverting mode to a 120-degree energizing mode. The three-phase modulation inverting mode involves setting the three phases as PWM-controlled phases, and controlling one phase and the other two phases in an inverted manner to ensure that the phases of the energizing waveforms for the upper arm's on / off states are different. The 120-degree energizing mode involves setting two phases as energized phases and setting the remaining phase as non-energized phase. In the switching compensation process, before and after switching from the three-phase modulation inversion mode determined by the determination process to the 120-degree energizing mode, the conduction / disconnection states of the upper arm and the lower arm in the two-phase energizing phase are made consistent.

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