MOTOR CONTROL DEVICE AND METHOD FOR MEASURING A PHASE CURRENT IN A MOTOR CONTROL DEVICE

Abstract

A motor control device (2), comprising: an inverter (212a) for supplying alternating current to a three-phase brushless motor; a current sensor (220) for measuring a DC bus current in the inverter (212a); and a control unit (213) that receives an output from the current sensor (220) and performs PWM control on the inverter (212a), wherein the control unit (213) comprises a phase current sensing device (501) for measuring three phase currents from the output of the current sensor (220), wherein each phase current is measured when a combination of on and off of the three phase PWM pulses is a predetermined combination, and the phase current detection device (501) comprises a first detection device for performing a pulse shift in order to shift a pulse phase of a PWM pulse such that the pulse phases of the three phase PWM pulses in a first PWM cycle of the PWM control differ from those in a second PWM cycle of the PWM control, and for measuring the three phase currents from the output of the current sensor (220) in these two first and second PWM cycles, and the first detection device measures one or two phase currents in a latter half of the first PWM cycle and measures one or two remaining phase currents in a former half of the second PWM cycle immediately after the first PWM cycle, wherein The control unit (213) also includes an offset correction device for performing an offset correction on an electrical current measurement of the current sensor (220) based on the three phase currents measured by the phase current detection device (501).

Description

TECHNICAL FIELD

[0001] The present invention relates to a motor driving apparatus and a method for measuring a phase current of a motor driving apparatus, and more particularly relates to a technique of measuring three-phase currents of a three-phase brushless motor from the output of a current sensor for measuring the DC bus current in the inverter. STATE OF THE ART

[0002] Patent Document 1 discloses a motor controller having the following features. The motor controller includes an inverter and a single-shunt current sensor circuit having an A / D conversion unit and connected to either the power supply terminal or the ground terminal of the inverter. The motor controller has a function of individually setting the reference positions of the U-, V-, and W-phase drive command values ​​in the first, middle, and last portions of each carrier cycle, and shifting each of these U-, V-, and W-phase drive command values ​​in a predetermined direction. The motor controller individually sets the phase current measurement times for measuring and A / D-converting the U-, V-, and W-phase currents of the motor so that each phase current measurement time is set in the corresponding portion of the carrier cycle. Patent Document 2 discloses another motor drive device according to the related art. REFERENCE DOCUMENT LISTPATENT DOCUMENT Patent document 1 JP 2013-251971 A Patent document 2 US 2009 / 0 146 590 A1 SUMMARY OF THE INVENTION TASK TO BE SOLVED BY THE INVENTION

[0003] Here, the current sensor for measuring the DC bus current in the inverter includes an operational amplifier. Its offset voltage fluctuates depending on the ambient temperature and / or the like, and such fluctuation in the offset voltage causes an offset error in the electric current measurement of the current sensor. Here, the offset error is included in each of the measurements, and the sum of the actual three-phase currents is zero. Therefore, when measuring three-phase currents using the current sensor, the offset error in the electric current measurement due to a temperature change can be calculated based on these three-phase current measurements. After that, the phase current measurement accuracy is maintained despite the temperature change by performing offset correction to correct the electric current measurement to compensate for the calculated offset error, and the accuracy of the motor torque control is maintained.

[0004] However, the above conventional method, in which the reference positions of the three-phase drive command values ​​are individually set at predetermined periods of each carrier cycle and the three-phase currents are measured at phase current measurement times individually set at predetermined periods, may fail to obtain all the three-phase current measurements necessary to determine the offset error. This is because, depending on the drive command values, the conventional method may fail to obtain any of the three-phase current measurements or may only provide an insufficient period for phase current measurement.Therefore, the offset error can be measured at a lower frequency (the offset correction variable can be updated) when phase currents are measured using a method in which the reference positions of the three-phase drive command values ​​are individually set at predetermined intervals of each carrier cycle. For this reason, such a conventional method cannot change the offset correction variable responsively with changes in ambient temperature and can only provide low phase current measurement accuracy.

[0005] The present invention has been made in view of the above problem. An object of the present invention is to provide a motor drive device and a method for measuring a phase current in a motor drive device that are capable of providing more opportunities to measure all of the three-phase currents. MEANS FOR SOLVING THE TASK

[0006] To this end, a motor drive device according to one aspect of the present invention comprises an inverter for supplying an alternating current to a three-phase brushless motor; a current sensor for measuring a direct current bus current in the inverter; and a control unit that receives an output of the current sensor and performs PWM control on the inverter. In this control unit, the control unit comprises phase current detection means for measuring three-phase currents from the output of the current sensor, each phase current being measured when a combination of on and off of the three-phase PWM pulses is a predetermined combination. The phase current detection means comprises first detection means for performing pulse shifting to shift a pulse phase of a PWM pulse such that pulse phases of the three-phase PWM pulses in a first PWM cycle of the PWM control differ from those in a second PWM cycle of the PWM control.and for measuring the three-phase currents from the output of the current sensor in these two first and second PWM cycles, and the first detecting means measures one or two phase currents in a last half of the first PWM cycle and measures one or two remaining phase currents in a first half of the second PWM cycle immediately after the first PWM cycle, characterized in that: the control unit further comprises offset correction means for performing an offset correction to an electric current measurement of the current sensor based on the three phase currents measured by the phase current detecting means.

[0007] According to another aspect of the present invention, a method for measuring a phase current in a motor drive device including an inverter for supplying an alternating current to a three-phase brushless motor and a current sensor for measuring a DC bus current in the inverter, the inverter being controlled by a PWM controller, comprises a first step of performing pulse shifting to shift a pulse phase of a PWM pulse in a first PWM cycle of the PWM controller to generate one or two phase current measurement periods for measuring one or two phase currents in the first PWM cycle; a second step of measuring the one or two phase currents from an output of the current sensor in the one or two phase current measurement periods generated in the first PWM cycle;a third step of performing pulse shifting to shift a pulse phase of a PWM pulse in a second PWM cycle of the PWM controller to generate two or one phase current measurement periods for measuring one or two remaining phase currents in the second PWM cycle; a fourth step of measuring the one or two remaining phase currents from an output of the current sensor in the one or two phase current measurement periods generated in the second PWM cycle and measuring one or two phase currents in a latter half of the first PWM cycle and one or two remaining phase currents in a first half of the second PWM cycle immediately after the first PWM cycle; characterized by: a fifth step of performing offset correction to an electric current measurement of the current sensor based on the measured three phase currents; EFFECTS OF THE INVENTION

[0008] According to the aspects of the invention described above, more opportunities can be provided for measuring all three-phase currents than when the pulse phases of the PWM pulses are fixed. When the present invention is applied to offset correction of the electrical current measurement, which is performed to compensate for the offset error calculated from the three-phase current measurements, the offset correction can be updated at a higher frequency and the offset correction value can be calculated with higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a circuit diagram illustrating a driving circuit and a three-phase brushless motor according to an embodiment of the present invention. Fig. 2 is a functional block diagram relating to PWM control of the three-phase brushless motor according to an embodiment of the present invention. Fig. 3 is a flowchart illustrating a process for learning an offset correction value according to an embodiment of the present invention. The Fig. 4A and Fig. 4B are timing diagrams illustrating an example pulse shift used when measuring three-phase currents in two cycles according to an embodiment of the present invention. The Fig. 5A and Fig. 5B are timing diagrams illustrating an example pulse shift for measuring three-phase currents in two cycles according to an embodiment of the present invention. The Fig. 6A and Fig. 6B are timing diagrams illustrating an example pulse shift for measuring three-phase currents in two cycles according to an embodiment of the present invention. The Fig. 7A and Fig. 7B are timing diagrams illustrating an example pulse shift for measuring three-phase currents in two cycles according to an embodiment of the present invention. The Fig. 8A and Fig. 8B are timing diagrams illustrating an example pulse shift for measuring three-phase currents in two cycles according to an embodiment of the present invention. Fig. 9 is a flowchart illustrating a process for learning an offset correction value in which the step of measuring three-phase currents in two cycles or the step of measuring three-phase currents in one cycle is selectively executed according to an embodiment of the present invention. The Fig. 10A and Fig. 10B are timing diagrams illustrating an example pulse shift for measuring three-phase currents in one cycle according to an embodiment of the present invention. EMBODIMENT OF THE INVENTION

[0009] An embodiment of the present invention will be described below. Fig. 1 is a circuit diagram showing an example of a three-phase brushless motor 1 and a motor drive device 2. The three-phase brushless motor 1 used in Fig. 1 is used, for example, as an electric actuator for generating a steering assist torque in an electric power steering device of a vehicle or as an electric actuator for driving various pumps of a vehicle.

[0010] The motor drive device 2 for driving the three-phase brushless motor 1 includes a drive circuit 212 and a control unit 213. The control unit 213 includes an A / D converter 213a and a microcomputer 213b. The microcomputer 213b includes a microprocessor such as a CPU or an MPU and storage devices such as a ROM or a RAM. The three-phase brushless motor 1 is a three-phase brushless DC motor including a cylindrical stator (not shown in the drawings), a permanent magnet rotor 216, and star-connected three-phase coils including a U-phase coil 215u, a V-phase coil 215v, and a W-phase coil 215w. The U-, V-, and W-phase coils 215u, 215v, and 215w are provided in the stator. The rotor 216 is rotatably disposed in a space defined in a central portion of the stator.

[0011] The three-phase brushless motor 1 does not include any sensor for measuring an absolute position of the rotor 216. The control unit 213 controls the drive of the three-phase brushless motor 1 through a sensorless drive method, without using any sensor for measuring an absolute position of the rotor 216. Alternatively, however, the three-phase brushless motor 1 may include a magnetic pole position sensor, and the control unit 213 may control the drive of the three-phase brushless motor 1 based on the angle of the rotor 216 (magnetic pole position) measured using the output of the magnetic pole position sensor.

[0012] The drive circuit 212 includes an inverter 212a and a DC power supply circuit 219. The inverter 212a includes three-phase bridge-connected switching elements 217a to 217f. The switching elements 217a to 217f each include antiparallel-connected diodes 218a to 218f. The inverter 212a supplies AC power to the three-phase brushless motor 1. Each of the switching elements 217a to 217f of the inverter 212a is formed, for example, by a field-effect transistor (FET). The control terminals (gate terminals) of the switching elements 217a to 217f are connected to the output terminal of the control unit 213. The control unit 213 controls the on and off of the switching elements 217a to 217f.

[0013] The control unit 213 controls a voltage supplied to the three-phase brushless motor 1 by controlling the on and off of the switching elements 217a to 217f of the inverter 212a through triangular wave comparison pulse width modulation (PWM). In triangular wave comparison PWM control, the control unit 213 determines the timing to turn on or off the switching elements 217a to 217f by comparing a triangular wave (carrier) with a PWM timer set based on a command duty cycle (command pulse voltage), i.e., determines the timing to cause each PWM pulse to rise or fall. Here, the PWM pulses act as control signals for the three-phase switching elements. The control unit 213 performs PWM control on the switching elements 217a to 217f of the inverter 212a by a complementary PWM method.In the complementary PWM method, for each of the U, V, and W phases, the pulse phase of the PWM pulse for controlling the on and off of an upper arm switching element is opposite to that for controlling the on and off of a lower arm switching element.

[0014] A current sensor 220 for measuring the DC bus current in the inverter 212a is provided between the ground terminal of the power supply circuit 219 and the U-, V-, W-phase sub-arms (switching elements 217b, 217d, 217f). The current sensor 220 includes a shunt resistor 220a and a sensor circuit 220b. The shunt resistor 220a is connected in series between the ground terminal of the power supply circuit 219 and the U-, V-, W-phase sub-arms. The sensor circuit 220b includes an operational amplifier and the like. The sensor circuit 220b measures a voltage proportional to the current generated by the resistance of the shunt resistor 220a and outputs an analog signal corresponding to this voltage.

[0015] The analog signal (signal indicative of a DC bus current measurement) from the sensor circuit 220b is A / D converted by an A / D converter 213a and input to the microcomputer 213b. The control unit 213 determines the three-phase command voltages Vu, Vv, Vw, for example, by a vector control method based on a rotor position and a command torque, and performs PWM control on the inverter 212a based on these command voltages.

[0016] The control unit 213 receives the output of the current sensor 220 and measures the three-phase currents based on this output. The control unit 213 also performs vector control using the three-phase current measurements. The current sensor 220, which is configured to measure the DC bus current in the inverter 212a, can measure one of the U, V, or W phase currents depending on the on / off combinations of the U, V, or W phase PWM pulses. In this application, the control unit 213 measures the three-phase currents from the output of the current sensor 220.

[0017] For example, when the U-phase upper arm is on and the V- and W-phase upper arms are off, the current that has flowed through the U-phase is divided between the V- and W-phases. Under this condition, the current sensor 220 measures a U-phase current lu. On the other hand, when the U- and V-phase upper arms are on and the W-phase upper arm is off, the current that has flowed through the U-phase and the current that has flowed through the V-phase combine and flow through the W-phase. Under this condition, the current sensor 220 measures a W-phase current lw. In this way, when the PWM pulse phases corresponding to one or two of the U-, V-, W-phase upper arms are on, the output of the current sensor 220 represents one of the U-, V-, W-phase currents depending on which one or two of the PWM pulse phases are on.Using such characteristics, the control unit 213 measures the three-phase currents based on the output of the current sensor 220 and performs PWM control using these phase current measurements.

[0018] Fig. 2 is a functional block diagram of the control unit 213 for illustrating a process for setting the three-phase command voltages Vu, Vv, Vw by the vector control method. Fig. 2, a phase current detection unit 501 (phase current detection means) measures the three-phase currents Iu, Iv, Iw based on the A / D converted value of the output of the sensor circuit 220b, that is, based on the DC bus current in the inverter 212a. In other words, the phase current detection unit 501 specifies a period during which one or two of the U, V, W phase upper arms are On in the PWM pulse as a phase current measurement period, and identifies one of the U, V, W phase currents to be measured in this phase current measurement period based on which one or two of the U, V, W phase upper arms are On in this period.

[0019] Then, the phase current detection unit 501 sets a phase current measurement time (the time for sampling the A / D-converted value of the output of the sensor circuit 220b) within this phase current measurement period. The phase current detection unit 501 samples the output of the current sensor 220 at this phase current measurement time and calculates an electric current value from the sampled value. The phase current detection unit 501 outputs this calculated electric current value as the measurement of the currently identified target phase current among the U, V, and W phase currents. An angle / angular velocity calculation unit 502 estimates the motor angle (magnetic pole position) and the angular velocity (motor speed).

[0020] When the control unit 213 performs PWM control on the three-phase brushless motor 1 using the sensorless drive method, the angle / angular velocity calculation unit 502 estimates the rotor position based on the counter electromotive force of the motor and calculates the angular velocity based on the estimated rotor position. On the other hand, when the three-phase brushless motor 1 includes the magnetic pole position sensor, the angle / angular velocity calculation unit 502 measures the rotor position using the output of the magnetic pole position sensor and calculates the angular velocity based on the measured rotor position.

[0021] A three-phase-to-two-axis converter 503 converts the phase current measurements Iu, Iv, Iw output by the phase current detection unit 501 into actual currents Id, Iq in a two-axis rotation coordinate system (dq coordinate system) based on the actual motor angle (magnetic pole position) Θ. A vector control unit 504 receives the d-axis and q-axis command currents corresponding to the command torque, the angular velocity calculated by the angle / angular velocity calculation unit 502, and the actual currents Id, Iq calculated by the three-phase-to-two-axis converter 503 in the dq coordinate system.

[0022] Based on the d-axis and q-axis command currents, the angular velocity, and the actual currents Id, Iq, the vector control unit 504 determines the command voltages Vq, Vd in the dq coordinate system. The vector control unit 504 outputs the thus determined command voltages Vq, Vd to the two-axis-to-three-phase converter 505. The two-axis-to-three-phase converter 505 converts the command voltages Vq, Vd output by the vector control unit 504 into three-phase command voltages Vu, Vv, Vw and outputs them to a PWM modulation unit 506.

[0023] The two-axis-to-three-phase converter 505 has a pulse shift function for shifting the PWM pulse back and forth by correcting the command voltages Vu, Vv, Vw. Here, for each PWM pulse as generated, the pulse center is located in the valley of the triangular wave carrier. This pulse shift, which is performed to ensure a sufficient phase current measurement period, will be described in detail later. The PWM modulation unit 506 determines timings for causing the switching gate waveforms (PWM pulses) for driving the U-, V-, W-phase switching elements (upper and lower arms) to rise and fall by comparing the triangular wave carrier and the three-phase command voltages Vu, Vv, Vw used as the modeled waves. The PWM modulation unit 506 outputs the switching gate waveforms to the control terminals (gate terminals) of the switching elements 217a to 217f of the inverter 212a.

[0024] Specifically, the PWM modulation unit 506 compares the U-phase command voltage Vu with the triangular wave carrier. When the U-phase command voltage Vu is higher than the triangular wave carrier, the PWM modulation unit 506 sets the switching gate waveform (PWM pulse) for driving the U-phase upper arm (switching element 217a) to its high level. When the U-phase command voltage Vu is lower than the triangular wave carrier, the PWM modulation unit 506 sets the switching gate waveform (PWM pulse) for driving the U-phase upper arm (switching element 217a) to its low level.

[0025] Additionally, the PWM modulation unit 506 inverts the switching gate waveform (PWM pulse) for driving the U-phase upper arm (switching element 217a) to generate a switching gate waveform (PWM pulse) for driving the U-phase lower arm (switching element 217b). In the same way, the PWM modulation unit 506 also generates switching gate waveforms (PWM pulses) for driving the V-phase upper and lower arms and switching gate waveforms (PWM pulses) for driving the W-phase upper and lower arms.

[0026] The control unit 213 further includes an offset correction unit 507 (offset correction means) for correcting an offset error of the current sensor 220. Based on the three-phase currents Iu, Iv, Iw measured by the phase current detection unit 501 based on the output of the current sensor 220, the offset correction unit 507 determines the offset error of the current sensor 220. Then, the offset correction unit 507 determines an offset correction variable based on this offset error and corrects the electric current value measurement of the current sensor 220 based on this offset correction variable.

[0027] Next, a process for measuring phase currents performed by the phase current detection unit 501 will be described in detail. To determine the three-phase current measurements based on the DC bus current in the inverter 212a, it is only necessary to measure two phase currents from the output of the current sensor 220. The remaining one phase current can be calculated based on the fact that the sum of the three-phase currents is zero. The vector control unit 504 can calculate the command voltages Vq, Vd from the two phase current measurements determined from the output of the current sensor 220 and the remaining one phase current value calculated based on these measurements.

[0028] However, to measure the offset error of the current sensor 220, the phase current detection unit 501 must measure each of the three phase currents from the output of the current sensor 220 for the following reason. When the offset voltage of the operational amplifier constituting the current sensor 220 fluctuates due to a change in ambient temperature or the like, an offset error occurs in the electrical current measurement of the current sensor 220. This offset error is included in each of the three phase current measurements, and the sum of the three phase current measurements deviates from zero.

[0029] Here, the difference between zero and the sum of the phase current measurements is equal to the sum of the offset errors contained in these three phase current measurements. Therefore, the offset error contained in each of the three phase current measurements can be calculated from this difference. For this reason, the phase current detection unit 501 measures each of the three phase currents from the output of the current sensor 220 and outputs these three phase current measurements to the offset correction unit 507 to determine the offset error. In response, the offset correction unit 507 calculates the offset error from the sum of the three phase current measurements, determines an offset correction variable based on the thus calculated offset error, and stores this offset correction variable in memory. Based on the correction variable stored in memory, the offset correction unit 507 performs an offset correction to the electrical current measurement of the current sensor 220.

[0030] The following describes in detail a process for measuring phase currents performed by the control unit 213 (phase current detection unit 501). The flowchart in Fig. 3 illustrates an interrupt routine executed by the control unit 213 at predetermined time intervals.

[0031] First, in step S101, the control unit 213 determines whether the condition for updating the offset correction variable is met. The condition for such an update may be met, for example, when the time elapsed since the last update round exceeds a predetermined value and / or when no fault occurs in the current sensor 220, the inverter 212a, or the like.

[0032] If the control unit 213 determines that the condition for updating the offset correction variable is met, the process proceeds to step S102. In step S102, the control unit 213 performs pulse shifting in the first PWM cycle of the PWM control. More specifically, the control unit 213 shifts any of the pulse phases of the PWM pulses back and forth in the first PWM cycle so that one or two phase currents can be measured in the first PWM cycle. In this way, the control unit 213 generates one or two phase current measurement periods in the first PWM cycle so that one or two phase currents can be measured from the output of the current sensor 220 in these phase current measurement periods. It should be noted that in the flowchart of Fig. 3, the three phase currents are measured in two cycles of PWM control, as will be described later. As used herein, of each of such two consecutive cycles of PWM control, the earlier cycle is referred to as the first PWM cycle, and the later cycle immediately following the first PWM cycle is referred to as the second PWM cycle.

[0033] Then, the process proceeds to step S103, in which the control unit 213 determines the phase current measurement time within each phase current measurement period generated as a result of the pulse shifting in step S102. The control unit 213 measures one or two phase currents by sampling the output of the current sensor 220 at the phase current measurement time(s). If the control unit 213 has measured the phase current(s) in the first PWM cycle, the process proceeds to step S104. In step S104, the control unit 213 performs pulse shifting in the second PWM cycle, which comes immediately after the first PWM cycle, using a pulse shift pattern different from that for the first PWM cycle.More specifically, the control unit 213 generates one or two phase current measurement periods in the second PWM cycle such that the remaining one or two phase currents not measured in the first PWM cycle can be measured from the output of the current sensor 220 in these phase current measurement periods.

[0034] More specifically, the control unit 213 performs pulse shifting such that the pulse phases of the three-phase PWM pulses in the first PWM cycle may differ from those in the second PWM cycle, and such that some of the U, V, and W phase currents may be measured in the first PWM cycle and the other(s) may be measured in the second PWM cycle. Then, the process proceeds to step S105, in which the control unit 213 determines the phase current measurement time within each phase current measurement period generated as a result of the pulse shifting in step S104. The control unit 213 measures one or two phase currents by sampling the output of the current sensor 220 at the phase current measurement time(s).

[0035] Through the above-described procedure in steps S102 to S105 (performed by the first detecting means), the control unit 213 measures the three phase currents Iu, Iv, Iw from the output of the current sensor 220 in two PWM cycles. As described above, in this embodiment, pulse shifting is performed individually in the first and second PWM cycles, and each of the three phase currents is measured in these two PWM cycles, that is, in the first and second PWM cycles. This allows the three phase currents to be measured in different PWM pulse patterns and improves the measurement frequency of the offset error. After that, the process proceeds to step S106, in which the control unit 213 divides the sum of the phase current measurements Iu, Iv, Iw by three and uses the value of the division as the offset error amount ΔI (ΔI = (Iu + Iv + Iw) / 3).

[0036] It is assumed here that the actual phase current values ​​are represented by luo, Ivo, Iwo. Since the offset error amount ΔI of the current sensor 220 due to a temperature change or the like is equally included in each phase current measurement lu, Iv, Iw, the phase current measurements are then represented by luo + ΔI, Ivo + ΔI, Iwo + ΔI. Since luo + Ivo + Iwo = 0, the sum of these measurements is ΔIx3 (Iuo + ΔI + Ivo + ΔI + Iwo + ΔI = ΔIx3). This is why the offset error amount ΔI can be determined by dividing the sum of the phase current measurements lu, Iv, Iw by three.

[0037] Once the control unit 213 has calculated the offset error amount ΔI, the process proceeds to step S107. In step S107, the control unit 213 updates the offset correction variable to be used in the offset correction of the electric current measurement of the current sensor 220 based on the offset error amount ΔI. Here, the phase current measurements Iu, Iv, Iw used in step S106 may have already undergone offset correction. Since the value of the offset error amount ΔI calculated in S107 at this time corresponds to the amount of change in the offset error amount ΔI, the control unit 213 changes the offset correction variable by this amount of change in the offset error amount ΔI in step S107.

[0038] It should be noted that the control unit 213 may repeatedly calculate the offset error amount ΔI and calculate the average value thereof. In this case, the control unit 213 may change the offset correction variable based on this average value. Alternatively or additionally, the control unit 213 may calculate the average value of the existing offset correction variable and the new offset correction variable based on the value of the offset error amount ΔI calculated at that time and use this average value as the updated offset correction variable. Alternatively or additionally, if the offset error amount ΔI exceeds a threshold value, the control unit 213 may determine that the offset correction would not compensate for the poor electrical current measurement accuracy of the current sensor 22 and may stop the motor control based on the phase current measurements.

[0039] Using the offset correction variable updated in step S107, the control unit 213 (offset correction means) performs an offset correction on the electric current measurement of the current sensor 220. The control unit 213 then uses this offset-corrected electric current measurement to perform vector control and measure the magnetic pole position, for example. The following describes in detail the processing in steps S102 to S105 (performed by the first detection means) based on specific examples.

[0040] The Fig. 4A and Fig. 4B illustrates an example pulse shifting and phase current measurement timing when the three phase PWM pulses (control three-phase voltages) each have the same width. Fig. 4A illustrates the state before undergoing pulse shifting (the standard state in which the center of each PWM pulse lies in the valley of the triangular wave carrier). Since the three-phase PWM pulses have the same width as each other, in this state, the on-periods of the three-phase PWM pulses perfectly match each other. This means that each PWM cycle includes neither a period in which only one of the U-, V-, W-phase PWM pulses is on, nor a period in which only two of the U-, V-, W-phase PWM pulses are on. Therefore, the current sensor 220 cannot measure current flowing through any of the U-, V-, W-phases.

[0041] Fig. 4B illustrates an example pulse shifting to address this situation. In this example pulse shifting, the control unit 213 delays the pulse phase of the V-phase PWM pulse by a time Δt1 and delays the pulse phase of the W-phase PWM pulse by a time Δt2 (Δt2>Δt1) in the first PWM cycle. Specifically, the control unit 213 corrects the command voltages using the triangular wave carrier as a reference for timing correction, thereby controlling the rise and fall timings of the PWM pulses and shifting the pulse phases of the PWM pulses.

[0042] During a period P1 (time Δt1) from the falling edge of the U-phase PWM pulse to the falling edge of the V-phase PWM pulse in Fig. 4B, the U-phase PWM pulse is off, and the V-phase and W-phase PWM pulses are on, because the delay time Δt2 for the W-phase PWM pulse is longer than the delay time Δt1 for delaying the V-phase PWM pulse. In this period P1, the current that flowed through the V-phase and the current that flowed through the W-phase combine and flow through the U-phase. Thus, the control unit 213 determines the U-phase current measurement time within the period P1 and samples the output of the current sensor 220 at this U-phase current measurement time, thereby determining the U-phase current measurement Iu.

[0043] On the other hand, during a period P2 (time Δt2) from the falling edge of the V-phase PWM pulse to the falling edge of the W-phase PWM pulse in Fig. 4B, the U-phase and V-phase PWM pulses are off, and the W-phase PWM pulse is on, because the delay time Δt2 for the W-phase PWM pulse is longer than the delay time Δt1 for delaying the V-phase PWM pulse. During this period P2, the current flowing through the W-phase is divided between the U-phase and V-phase. Thus, the control unit 213 determines the W-phase current measurement time within the period P2 and samples the output of the current sensor 220 at this W-phase current measurement time, thereby determining the W-phase current measurement Iw.

[0044] Specifically, when the three-phase PWM pulses have the same width as each other, the control unit 213 performs pulse shifting to shift the V-phase PWM pulse by Δt1 and the W-phase PWM pulse by Δt2 (Δt2 > Δt1) in the first PWM cycle, and measures the U-phase and W-phase currents Iu, Iw in the latter half of the first PWM cycle. The pulse shifting performed in the first PWM cycle does not provide a period in which the V-phase current Iv can be measured. Therefore, the control unit 213 performs pulse shifting in the second PWM cycle, which is immediately after the first PWM cycle, to generate a period for measuring the V-phase current Iv.

[0045] To generate a period for measuring the V-phase current Iv, the control unit 213 performs pulse shifting to advance the pulse phase of the V-phase PWM pulse by a time Δt3. By advancing only the V-phase PWM pulse by the time Δt3 in the second PWM cycle, the control unit 213 generates a period P3 (of time Δt3) in the first half of the second PWM cycle during which the U-phase and W-phase PWM pulses are off and the V-phase PWM pulse is on. In this period P3, the current that has been flowing through the V-phase is divided between the U-phase and W-phase. Therefore, the control unit 213 determines the V-phase current measurement time within the period P3 and samples the output of the current sensor 220 at this V-phase current measurement time, thereby obtaining the V-phase current measurement Iv.

[0046] In other words, the control unit 213 performs pulse shifting to delay the V-phase PWM pulse by Δt3 in the second PWM cycle and measures the V-phase current Iv in the first half of the second PWM cycle. As a result, in two PWM cycles, that is, in the first and second PWM cycles, all three phase currents are measured using the current sensor 220. The delay times Δt1, Δt2, Δt3 are set to make the periods P1, P2, P3 longer than the minimum time required to measure a current. The phase current measurement times are set near the boundary between the first and second PWM cycles so that the time from the measurement of the U-phase current Iu to the measurement of the V-phase current Iv is minimized.

[0047] When the three phase currents are measured in two PWM cycles as described above, that is, in the first and second PWM cycles, the offset error measurement accuracy decreases along with an increase in the time from a measurement of the first of the three phase currents to the measurement of the last of the three phase currents. This is because changes in the phase currents over time affect the offset error measurement accuracy. In this regard, two phase currents are measured in the last half of the first PWM cycle, and the remaining one phase current is measured in the first half of the second PWM cycle, so all three phase currents can be measured in a shorter period.In addition, the measuring times for two phase currents are delayed as far as possible within the last half of the first PWM cycle and the measuring time of the remaining one phase current is brought forward as far as possible within the first half of the second PWM cycle, so that all three phase currents can be measured in an even shorter period.

[0048] For example, if, as in Fig. 5A, the control unit 213 delays the pulse phase of the V-phase PWM pulse in the second PWM cycle to create a period during which the V-phase PWM pulse is off and the U-phase and W-phase PWM pulses are on, the V-phase current Iv can be measured in the first half of the second PWM cycle. Delaying the pulse phase of the V-phase PWM pulse in the second PWM cycle as shown in Fig. 5A, but delays the measurement time of the V-phase current Iv compared to advancing the pulse phase of the V-phase PWM pulse, as in Fig. 5B. Therefore, pulse shifting, as shown in Fig. 5A, the duration of the period required to measure all three phase currents and will provide a lower offset error measurement accuracy.

[0049] To enable all three phase currents to be measured in a shorter time, the control unit 213 delays the pulse phases of the PWM pulses so that the phase current measurement periods are generated as late as possible in the first PWM cycle and advances the pulse phase of the PWM pulse so that the phase current measurement period is generated as early as possible in the second PWM cycle. It should be noted that the control unit 213 uses a Fig. 4B may use a different pulse shift pattern. More specifically, the control unit 213 may delay the pulse phases of two of the U-, V-, W-phase PWM pulses different from those in Fig. 4B in the first PWM cycle, and may advance the pulse phase of the remaining phase PWM pulse in the second PWM cycle. For example, the control unit 213 may perform pulse shifting to delay the pulse phases of the U-phase and V-phase PWM pulses in the first PWM cycle so that the delay time in the V-phase PWM pulse is longer than that in the U-phase PWM pulse, and may perform pulse shifting to advance the pulse phase of the V-phase PWM pulse in the second PWM cycle. This allows the V-phase and W-phase currents Iv, Iw to be measured in the latter half of the first PWM cycle and allows the U-phase current Iu to be measured in the first half of the second PWM cycle.

[0050] Furthermore, the control unit 213 may alternatively delay the pulse phase of one of the U-, V-, or W-phase PWM pulses in the first PWM cycle and advance the pulse phases of the remaining two-phase PWM pulses in the second PWM cycle. This allows one phase current to be measured in the first PWM cycle and allows the remaining two phase currents to be measured in the second PWM cycle. For example, the control unit 213 may perform pulse shifting to delay the pulse phase of the V-phase PWM pulse in the first PWM cycle and may perform pulse shifting to advance the pulse phases of the U-phase and W-phase PWM pulses in the second PWM cycle such that the advance time for the W-phase PWM pulse is longer than that for the U-phase PWM pulse.This allows the V-phase current Iv to be measured in the first PWM cycle and allows the U-phase and W-phase currents lu, Iw to be measured in the second PWM cycle.

[0051] The Fig. 6A and Fig. 6B illustrates an example pulse shifting and phase current measurement time points used when two of the three phase PWM pulses have the same width to each other and the remaining phase PWM pulse has a different width. Fig. 6A and Fig. In the example shown in Figure 6B, the U-phase and V-phase PWM pulses have the same width as each other, and the W-phase PWM pulse has a width that is smaller than that of the U-phase and V-phase PWM pulses.

[0052] Fig. 6 illustrates the pulse phases of the three-phase PWM pulses before they are subjected to pulse shifting. Before they are subjected to pulse shifting, during a period P4, the U-phase and V-phase PWM pulses are on, and the W-phase PWM pulse is off. Therefore, in this period P4, the current that flowed through the U-phase and the current that flowed through the V-phase combine to flow through the W-phase, and the W-phase current Iw can be measured by the output of the current sensor 220. However, these PWM pulses, as generated, provide neither a period in which the U-phase current Iu can be measured nor a period in which the V-phase current Iv can be measured.

[0053] To address the foregoing, the control unit 213 performs a pulse shift as in Fig. 6B. More specifically, the control unit 213 advances the pulse phase of the U-phase PWM pulse in the first PWM cycle and delays the pulse phase of the V-phase PWM pulse in the first PWM cycle to generate a period P5 during which, in the latter half of the first PWM cycle, the V-phase PWM pulse is on and the U-phase and W-phase PWM pulses are off. Then, the control unit 213 measures the V-phase current Iv from the output of the current sensor 220 in this period P5.

[0054] In addition, in the second PWM cycle immediately after the first PWM cycle, the control unit 213 advances the pulse phase of the U-phase PWM pulse and delays the pulse phase of the V-phase PWM pulse. Thus, the control unit 213 generates a period P6 during which only the U-phase PWM pulse is on and a period P7 during which only the W-phase PWM pulse is off. This allows the control unit 213 to measure the U-phase current from the output of the current sensor 220 in the period P6 and the W-phase current from the output of the current sensor 220 in the period P7. Then, the control unit 213 measures the U-phase and W-phase currents Iu, Iw in the first half of the second PWM cycle.

[0055] In the example of Fig. 6B, the control unit 213 not only advances the pulse phase of the U-phase PWM pulse, but also delays the pulse phase of the V-phase PWM pulse in the first PWM cycle. This is because it is difficult to ensure a sufficiently long phase current measurement period by merely shifting the pulse phase of either the U-phase PWM pulse or the V-phase PWM pulse, since the U-phase and V-phase PWM pulses in this example have a width close to that of each PWM control cycle.

[0056] If the U-phase and V-phase PWM pulses have a width shorter than that shown in the example of Fig. 6A and Fig. 6B, the control unit 213 may therefore be able to measure the V-phase current Iv only by, for example, delaying the pulse phase of the V-phase PWM pulse in the first PWM cycle. Similarly, the purpose of advancing the pulse phase of the U-phase PWM pulse and delaying the pulse phase of the V-phase PWM pulse in the second PWM cycle is to ensure a period long enough to measure the U-phase current.

[0057] Alternatively, the control unit 213 can be Fig. 6B, the W-phase current Iw can be measured in a period P8 during which only the W-phase PWM pulse is off in the last half of the first PWM cycle. In this case, the control unit 213 can measure the V-phase and W-phase currents Iv, Iw in the first PWM cycle and the U-phase current Iu in the second PWM cycle. In the period P8 shown in the Fig. 6A and Fig. In the example shown in Figure 6B, in which the U-phase and V-phase PWM pulses have a width greater than that of the W-phase PWM pulse, the control unit 213 shifts only the pulse phases of the U-phase and V-phase PWM pulses. This allows the control unit 213 to measure all three phase currents in a short period, within the time from the last half of the first PWM cycle to the first half of the second PWM cycle, with a shorter delay or advance time of the pulse phases during pulse shifting.

[0058] If two of the three phase PWM pulses have the same width to each other and the remaining one phase PWM pulse has a width that is greater than the other two phase PWM pulses, the control unit 213 can shift all three phase currents in two PWM cycles by pulse shifting as in the Fig. 7A and Fig. 7B illustrates. The Fig. 7A and Fig. 7B illustrates an example pulse shifting performed when the U-phase and V-phase PWM pulses have the same width to each other and the W-phase PWM pulse has a width larger than that of the U-phase and V-phase PWM pulses.

[0059] In the Fig. 7A and Fig. In the example shown in Figure 7B, the control unit 213 delays the pulse phases of the V-phase and W-phase PWM pulses in the first PWM cycle to generate a period P9 for measuring the U-phase current Iu and a period P10 for measuring the W-phase current Iw. Additionally, the control unit 213 advances the pulse phase of the V-phase PWM pulse in the second PWM cycle to position the rising edge of the V-phase PWM pulse at the beginning of the second PWM cycle and generates a period P11 for measuring the V-phase current Iv. It should be noted that the control unit 213 may abort updating the offset correction variable if conditions, such as the widths of the PWM pulses, are unsuitable to measure all three phase currents from the output of the current sensor 220 in two PWM cycles, even after the pulse phases of the PWM pulses have been shifted.

[0060] The Fig. 8A and Fig. 8B illustrates an example pulse shifting and phase current measurement time points used when the three phase PWM pulses have different widths from each other. In the example of Fig. 8A and Fig. Figure 8B shows the following relationship between the widths of the PWM pulses: the width of the U-phase PWM pulse > the width of the W-phase PWM pulse > the width of the V-phase PWM pulse. In addition, the width of the W-phase PWM pulse is close to that of the V-phase PWM pulse.

[0061] In this case, the PWM pulses in the state before they have been subjected to pulse shifting, as in Fig. 8A, provide one period for measuring the U-phase current Iu, but do not provide one period for measuring the W-phase current Iw. Furthermore, these PWM pulses as generated just provide one period for measuring the V-phase current Iv, but the period is less than the minimum time required to measure a current. To address this, the control unit 213 performs pulse shifting as shown in Fig. 8B. More specifically, in the first PWM cycle, the control unit 213 delays the pulse phase of the V-phase PWM pulse so that its rising edge occurs later than the falling edge of the U-phase PWM pulse. This enables the control unit 213 to measure the U-phase and V-phase currents Iu, Iv in the first PWM cycle. Additionally, in the second PWM cycle, the control unit 213 delays the pulse phase of the U-phase PWM pulse and advances the pulse phase of the W-phase PWM pulse to move the on-period of the W-phase PWM pulse before the rising edge of the U-phase PWM pulse. This allows the control unit 213 to measure the W-phase current Iw in this period P12 during which only the W-phase PWM pulse is on.

[0062] It should be noted that even if the difference between the widths of the W-phase and V-phase PWM pulses is large enough to provide a sufficiently long period for measuring the V-phase current Iv, the control unit 213 can perform pulse shifting as in Fig. 8B. This allows the control unit 213 to measure all three phase currents in a shorter time. It should also be noted that the preceding examples of pulse shifting for measuring the three phase currents from the output of the current sensor 220 are merely illustrative. Therefore, it goes without saying that any appropriate pulse shift pattern can be selected according to the widths of the three phase PWM pulses. In other words, the control unit 213 can select an appropriate pulse shift pattern in accordance with the widths of the three phase PWM pulses, which allows one or two phase currents to be measured in the last half of the first PWM cycle and which allows the remaining two phase currents to be measured in the first half of the last PWM cycle.

[0063] In the flowchart of Fig. 3, the control unit 213 measures the three phase currents in two PWM cycles to update the offset correction variable. Alternatively, however, the control unit 213 can optionally perform the step of measuring the three phase currents in two PWM cycles or the step of measuring the three phase currents in one PWM cycle. The flowchart of Fig. 9 illustrates an example controller for selectively performing the step of measuring the three phase currents in two PWM cycles (performed by the first detector) or the step of measuring the three phase currents in one PWM cycle (performed by the second detector).

[0064] First, in step S201, the control unit 213 determines whether the condition for updating the offset correction variable is met or not. If the control unit 213 determines that this condition is met, the process proceeds to step S202 (executed by the selective activation device). In step S202, the control unit 213 determines, based on the widths of the three-phase PWM pulses and the like at that time, whether the condition for measuring the three-phase currents in one PWM cycle is met or the condition for measuring the three-phase currents in two PWM cycles is met.

[0065] For example, in a first state in which the widths of the three-phase PWM pulses are unsuitable for measuring all three phase currents in one PWM cycle, even after the pulse phases of the PWM pulses have been shifted, the control unit 213 may determine that a first condition for measuring the three phase currents in two PWM cycles is met. On the other hand, in a second state in which the widths of the three-phase PWM pulses are suitable for measuring all three phase currents in one PWM cycle after the pulse phases of the PWM pulses have been shifted, the control unit 213 may determine that a second condition for measuring the three phase currents in one PWM cycle is met.

[0066] Additionally, when the torque command value is constant and the three-phase currents are stable, the control unit 213 may determine that the second condition for measuring the three-phase currents in one PWM cycle is met. On the other hand, when the torque command value fluctuates, the control unit 213 may determine that the first condition for measuring the three-phase currents in two PWM cycles is met. The reason why the foregoing decision criterion is used in step S202 is as follows. Since it takes more time to measure all three phase currents in one PWM cycle than in two PWM cycles, changes in the phase currents over time may reduce the offset error measurement accuracy when measuring the three-phase currents in one PWM cycle. However, when the phase currents are stable, the offset error measurement accuracy will not decrease as much even if it takes more time to measure all three phase currents.

[0067] The three phase currents can be measured in one PWM cycle with a lower computational load than when three phase currents are measured in two PWM cycles. Therefore, selectively performing the step of measuring the three phase currents in two PWM cycles or the step of measuring the three phase currents in one PWM cycle as described above can reduce the computational load of the control unit 213. More specifically, when the torque command value is constant and the three phase currents are stable, and when the PWM pulses are suitable for measuring the three phase currents in one PWM cycle, the control unit 213 can determine that the second condition for measuring the three phase currents in one PWM cycle is met. If the second condition is not met, the control unit 213 can determine that the first condition for measuring the three-phase currents in two PWM cycles is met.

[0068] If the control unit 213 determines in step S202 that the first condition for measuring the three phase currents in two PWM cycles is met and the second condition for measuring the three phase currents in one PWM cycle is not met, the control unit 213 executes steps S203 to S206 and measures the three phase currents in two PWM cycles. The procedure in steps S203 to S206 is the same as that in steps S102 to S105 of the flowchart of Fig. 3 and a detailed description thereof will be omitted.

[0069] On the other hand, if the control unit 213 determines in step S202 that the first condition for measuring the three phase currents in two PWM cycles is not met and the second condition for measuring the three phase currents in one PWM cycle is met, the process proceeds to step S207. In step S207, the control unit 213 performs pulse shifting to measure the three phase currents in one PWM cycle. In the next step S208, the control unit 213 determines the phase current measurement time point in each of the periods for measuring the U, V, and W phase currents generated by the pulse shifting. This enables the control unit 213 to measure the three phase currents in one PWM cycle.

[0070] The Fig. 10A and Fig. 10B illustrates an example pulse shifting for measuring the three phase currents in one PWM cycle and phase current measurement times in the PWM pulses determined as a result of this pulse shifting. Fig. Figure 10A shows the three-phase PWM pulses before undergoing pulse shifting. In this state, the U-phase and V-phase PWM pulses have the same width, and the W-phase PWM pulse has a width that is narrower than that of the U-phase and V-phase PWM pulses.

[0071] This pattern of PWM pulses, as generated, only provides a period during which the U-phase and V-phase PWM pulses are on and the W-phase PWM pulse is off, so that the W-phase current Iw can be measured, but provides neither a period in which the U-phase current can be measured nor a period in which the V-phase current can be measured. To address this situation, the control unit 213 performs pulse shifting, as shown in Fig. 10B, to generate periods for measuring the three phase currents within one PWM cycle.

[0072] More specifically, the control unit 213 advances the pulse phase of the U-phase PWM pulse and delays the pulse phase of the V-phase PWM pulse to generate a period during which, at the beginning of one PWM cycle, only the U-phase PWM pulse is on and the U-phase current Iu can be measured, and generates a period during which, at the end of this one PWM cycle, only the V-phase PWM pulse is on and the V-phase current Iv can be measured. Then, the control unit 213 determines the timing for measuring the U-phase current Iu within the former of these periods and determines the timing for measuring the V-phase current Iv within the latter of these periods. After that, the control unit 213 measures the phase currents Iu, Iv at the output of the current sensor 220 at these times.

[0073] It should be noted that the reason why the control unit 213 shifts the pulse phases of the U-phase and V-phase PWM pulse rather than one of them is that in the example of Fig. 10A, it is difficult to ensure a sufficiently long phase current measurement period only by shifting the pulse phase of one of them. The control unit 213 determines the time for measuring the W-phase current Iw within a period during which the U-phase and V-phase PWM pulses are on and the W-phase PWM pulse is off so that the W-phase current Iw can be measured, and measures the phase current Iw from the output of the current sensor 220 at this time. Although it is obvious, it should be noted that pulse shifting for measuring all three phase currents in one PWM cycle in different pulse shift patterns at different combinations of the widths of the PWM pulses besides those specified in Fig. 10 can be executed.

[0074] Although the invention has been described in detail with reference to the preferred embodiment, it is clear that the invention can be modified in various forms by one skilled in the art based on the basic technical concept and teachings of the invention. The control unit 213 can use the three-phase currents Iu, Iv, Iw measured by the output of the current sensor 220 in two PWM cycles to perform vector control on the three-phase brushless motor 1.

[0075] Furthermore, when measuring the three-phase currents from the output of the current sensor 220, the control unit 213 may perform processing for suppressing the fluctuations of the torque command values ​​(the U-, V-, W-phase command voltages) and measure the three-phase currents under the conditions where the torque command values ​​(the U-, V-, W-phase command voltages) are stable. LIST OF REFERENCE SYMBOLS 1 three-phase brushless motor 2 Motor control device 212 drive circuit 212a Inverter 213 Control unit 213a A / D converter 213b microcomputer 220 current sensor 220a shunt resistor 220b sensor circuit

Claims

[1] A motor control device (2) comprising: an inverter (212a) for supplying an alternating current to a three-phase brushless motor; a current sensor (220) for measuring a DC bus current in the inverter (212a); and a control unit (213) receiving an output of the current sensor (220) and performing PWM control on the inverter (212a), wherein the control unit (213) comprises a phase current detection device (501) for measuring three phase currents from the output of the current sensor (220), each phase current being measured when a combination of on and off of the three phase PWM pulses is a predetermined combination, and the phase current detecting means (501) comprises a first detecting means for performing pulse shifting to shift a pulse phase of a PWM pulse such that pulse phases of the three phase PWM pulses in a first PWM cycle of the PWM control differ from those in a second PWM cycle of the PWM control, and for measuring the three phase currents from the output of the current sensor (220) in these two first and second PWM cycles, and the first detection device measures one or two phase currents in a last half of the first PWM cycle and measures one or two remaining phase currents in a first half of the second PWM cycle immediately after the first PWM cycle, wherein the control unit (213) further comprises an offset correction device for performing an offset correction on an electrical current measurement of the current sensor (220) based on the three phase currents measured by the phase current detection device (501). [2] The motor driving device (2) according to claim 1, wherein the first detecting means performs pulse shifting to delay a pulse phase of a PWM pulse in the first PWM cycle and performs pulse shifting to advance a pulse phase of a PWM pulse in the second PWM cycle. [3] The motor driving device (2) according to claim 1, wherein the phase current detecting means (501) further comprises: a second detection means for performing pulse shifting to shift a pulse phase of a PWM pulse and for measuring the three phase currents from the output of the current sensor (220) in one PWM cycle of the PWM controller; and selective activation means for activating either the first detection means or the second detection means in accordance with whether a first condition for activating the first detection means is met or a second condition for activating the second detection means is met. [4] A method for measuring a phase current in a motor drive device (2) comprising an inverter (212a) for supplying an alternating current to a three-phase brushless motor, and a current sensor (220) for measuring a DC bus current in the inverter (212a), the inverter (212a) being controlled by a PWM controller, the method comprising: a first step of performing pulse shifting to shift a pulse phase of a PWM pulse in a first PWM cycle of the PWM controller to generate one or two phase current measuring periods for measuring one or two phase currents in the first PWM cycle; a second step of measuring the one or two phase currents from an output of the current sensor (220) in the one or two phase current measuring periods generated in the first PWM cycle; a third step of performing pulse shifting to shift a pulse phase of a PWM pulse in a second PWM cycle of the PWM controller to generate two or one phase current measuring periods for measuring one or two remaining phase currents in the second PWM cycle; and a fourth step of measuring the one or two remaining phase currents from an output of the current sensor (220) in the one or two phase current measuring periods generated in the second PWM cycle, and Measuring one or two phase currents in a last half of the first PWM cycle and one or two remaining phase currents in a first half of the second PWM cycle immediately after the first PWM cycle, and a fifth step of performing an offset correction on an electrical current measurement of the current sensor (220) based on the measured three phase currents. [5] The method for measuring a phase current in the motor driving device (2) according to claim 4, wherein in the first step, pulse shifting is performed in the first PWM cycle to delay a pulse phase of a PWM pulse to generate one or two phase current measuring periods for measuring one or two phase currents in a last half of the first PWM cycle, and in the third step, pulse shifting is performed in the second PWM cycle immediately after the first PWM cycle to advance a pulse phase of a PWM pulse to generate one or two phase current measuring periods for measuring one or two remaining phase currents in a first half of the second PWM cycle.

Images