Engine control unit, engine module, engine control program and engine control procedure

Abstract

A motor control unit according to an embodiment of the present disclosure includes an inverter circuit having an upper and a lower arm for each of the three phases, a conduction switching unit that controls the conduction of the upper and lower arms of each of the three phases in the inverter circuit, and a decision unit that determines the switching from the two-phase modulation method, in which two of the three phases are PWM-controlled PWM phases and the remaining one is a fixed phase, in which one of the upper and lower arms is always on, to the 120° current conduction method, in which two of the three phases are current-carrying phases and the remaining one is a de-energized phase, and the conduction control section is equipped with a switching compensation unit,which covers the on and off state of the upper and lower branches of the two-phase power lines before and after the change from the two-phase modulation method to the 120° power line method.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an engine control unit, an engine module, an engine control program, and an engine control method. BACKGROUND TECHNOLOGY

[0002] Conventionally, motor control technologies include the 120° current conduction method, in which two of the three phases are energized and the remaining one is de-energized, and the two-phase modulation method, in which two of the three phases are PWM (Pulse Width Modulation) phases and the remaining one is a fixed phase (see, for example, Patent Document 1). REFERENCE TO THE PRIOR ART PATENT DOCUMENT

[0003] Patent Document 1: Patent Publication No. 2010-045941 OVERVIEW OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] By switching between the 120° current conduction method and the vector-controlled two-phase modulation method according to the motor's load and driving conditions, highly efficient drive is possible. Furthermore, it is possible to stabilize the electric motor drive over a wide speed range.

[0005] If a dead time is inserted when switching from the two-phase modulation method to the 120° power conduction method, the motor performance will decrease. Therefore, the transition is preferably performed without a dead time. However, there is a risk that the upper and lower arms of the same phase in the inverter circuit will be switched on simultaneously, resulting in a short circuit between the upper and lower arms.

[0006] The present disclosure provides a technique for switching from a two-phase modulation method to a 120° power conduction method without dead time and for suppressing short circuits between the upper and lower arms in an inverter circuit. MEANS TO SOLVE THE PROBLEM

[0007] A motor control unit according to one aspect of the present disclosure includes an inverter circuit, a conduction control section, and a decision unit. The inverter circuit has an upper arm and a lower arm for each of the three phases. The conduction control section controls the conduction of the upper arm and the lower arm of each of the three phases in the aforementioned inverter circuit. The decision unit determines to switch from a two-phase modulation method, in which two of the three phases are PWM phases that are PWM-controlled and the remaining phase is a fixed phase in which either the upper arm or the lower arm is always on, to a 120° current conduction method, in which two of the three phases are energized phases and the remaining phase is a de-energized phase.The above-mentioned conduction control section is equipped with a switching compensation unit that makes the on / off states of the upper arm and the lower arm of the above-mentioned two conduction phases equal before and after switching from the above-mentioned two-phase modulation method to the above-mentioned 120° power conduction method determined by the above-mentioned decision unit. EFFECT OF THE INVENTION

[0008] According to the present disclosure, it is possible to suppress the short-circuiting of the upper and lower arms of the inverter circuit when switching from a two-phase modulation method to a 120° power conduction method. SIMPLE EXPLANATION OF THE DRAWING Fig. 1 shows an example of the configuration of a motor module according to the embodiment. Fig. 2 shows an example of the configuration of the inverter circuit in a motor control unit according to the embodiment. Fig. 3 shows the state of each phase in each section of the 120° power conduction method in the motor control unit according to the embodiment. Fig. 4 shows the state of each phase in each Min. type section in the motor control unit according to the embodiment. Fig. 5 shows the state of each phase in each Max. type section in the motor control unit according to the embodiment. Fig. 6 shows the state of each phase in each min-max type section in the motor control unit according to the embodiment. Fig. 7A shows an example of control when the conduction type used in the motor control unit of the embodiment is a valley-ON type. Fig. 7B shows an example of control when the conduction type used in the motor control unit of the embodiment is a peak-ON type. Fig. 8A shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the higher voltage PWM control type and the 120° current conduction method of the valley ON type. Fig. 8B shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the higher voltage PWM control type and the 120° current conduction method of the peak ON type. Fig. 9A shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the lower voltage PWM control type and the 120° current conduction method of the valley ON type. Fig. 9B shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the lower voltage PWM control type and the 120° current conduction method of the peak ON type. Fig. 10A shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the both-side PWM control type and the 120° current conduction method of the valley ON type. Fig. 10B shows an example of the control of the inverter circuit 10 of the motor control unit of the embodiment using the both-side PWM control type and the 120° current conduction method of the peak-ON type. Fig. 11A shows an example of the control of the inverter circuit using the in-phase control in the motor control unit according to the embodiment. Fig. 11B shows an example of the control of the inverter circuit using the antiphase control in the motor control unit according to the embodiment. Fig. 12A shows an example of the conduction type of the min. type two-phase modulation method in the motor control unit 1 of the embodiment. Fig. 12B shows an example of the conduction type of the min. type two-phase modulation method in the motor control unit 1 of the embodiment. Fig. 13A shows an example of the conduction type of the Max. type two-phase modulation method in the motor control unit 1 of the embodiment. Fig. 13B shows an example of the conduction type of the Max. type two-phase modulation method in the motor control unit 1 of the embodiment. Fig. 14 shows an example of the composition of the line switching unit 40 in the engine control unit 1 of the embodiment. Fig. 15A shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is not performed. Fig. 15B shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is not performed. Fig. 16A shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is performed. Fig. 16B shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is performed. Fig. 16C shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is performed. Fig. 16D shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is performed. Fig. 17 shows an example of the motor control processing according to the embodiment. Fig. 18 shows an example of the switching compensation method according to the embodiment. Fig. Figure 19 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in phase. Fig. Figure 20 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in phase. Fig. Figure 21A shows a circuit example of the two-phase modulation method (min. type, PWM phase peak-ON type with in-phase control). Fig. Figure 21B shows a circuit example of the two-phase modulation method (min. type, PWM phase peak-ON type with in-phase control). Fig. Figure 21C shows a circuit example of the two-phase modulation method (min. type, PWM phase peak-ON type with in-phase control). Fig. Figure 22A shows a circuit example of the two-phase modulation method (min. type, PWM phase valley-ON type with in-phase control). Fig. 22B shows a circuit example of the two-phase modulation method (min. type, PWM phase valley-ON type with in-phase control). Fig. Figure 22C shows a circuit example of the two-phase modulation method (min. type, PWM phase valley-ON type with in-phase control). Fig. Figure 23A shows a circuit example of the two-phase modulation method (max. type, PWM phase peak-ON type with in-phase control). Fig. 23B shows a circuit example of the two-phase modulation method (max. type, PWM phase peak-ON type with in-phase control). Fig. Figure 23C shows a circuit example of the two-phase modulation method (max. type, PWM phase peak-ON type with in-phase control). Fig. Figure 24A shows a circuit example of the two-phase modulation method (max. type, PWM phase valley-ON type with in-phase control). Fig. Figure 24B shows a circuit example of the two-phase modulation method (max. type, PWM phase valley-ON type with in-phase control). Fig. Figure 24C shows a circuit example of the two-phase modulation method (max. type, PWM phase valley-ON type with in-phase control). Fig. Figure 25 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in antiphase. Fig. Figure 26 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in antiphase. Fig. Figure 27A shows a circuit example of the two-phase modulation method (min. type with in-phase control, with peak-ON type in the intermediate phase). Fig. Figure 27B shows a circuit example of the two-phase modulation method (min. type with in-phase control, with peak-ON type in the intermediate phase). Fig. Figure 27C shows a circuit example of the two-phase modulation method (min. type with in-phase control, with peak-ON type in the intermediate phase). Fig. 28A shows a circuit example of the two-phase modulation method (min. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 28B shows a circuit example of the two-phase modulation method (min. type with antiphase control, with peak-ON type in the intermediate phase). Fig. Figure 28C shows a circuit example of the two-phase modulation method (min. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 29A shows a circuit example of the two-phase modulation method (max. type with antiphase control, with peak-ON type in the intermediate phase). Fig. Figure 29B shows a circuit example of the two-phase modulation method (max. type with antiphase control, with peak-ON type in the intermediate phase). Fig. Figure 29C shows a circuit example of the two-phase modulation method (max. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 30A shows a circuit example of the two-phase modulation method (max. type with antiphase control, with valley-ON type in the intermediate phase). Fig. 30B shows a circuit example of the two-phase modulation method (max. type with antiphase control, with valley-ON type in the intermediate phase). Fig. 30C shows a circuit example of the two-phase modulation method (max. type with antiphase control, with valley-ON type in the intermediate phase). Fig. 31 shows a circuit example of the hardware configuration of the control unit 30 of the engine control unit 1 of the embodiment. FORM OF IMPLEMENTATION OF THE INVENTION

[0009] The following describes the embodiments of the present disclosure in detail based on the drawings. The explanation is given in the following order. In the following embodiments, the same symbols are used for the same parts to avoid duplicative descriptions. 1. Motor module 2. Motor control unit 3. Switching from the two-phase modulation method to the 120° power conduction method 4. Hardware configuration (1. Motor module)

[0010] Fig. 1 shows an example of the configuration of a motor module according to the embodiment. As shown in Fig. 1, the motor module 100 of the embodiment includes a motor control unit 1, a motor 2 controlled by the motor control unit 1, and a position detection unit 3 that detects the position θ e of the rotor of motor 2. Motor 2 is a three-phase motor.

[0011] The position sensor 3 detects the position θ e of the rotor of motor 2 and outputs the detected position θ e to the engine control unit 1. The position θ e is the electrical angle of the rotor of motor 2. The position sensor 3 is a magnetic sensor, which uses, for example, a Hall element, but can also be a resolver. The position sensor 3 can also be an optical encoder that measures the position θ m of the rotor of motor 2. The position θ m of the rotor of motor 2 is the mechanical angle of the rotor of motor 2. The magnetic sensor or resolver can be configured to measure the position θ m of the rotor of motor 2. In addition, the motor control unit 1 may have a function for performing position sensorless control, in which case the motor module 100 does not need to be equipped with a position sensor.

[0012] The motor control unit 1 controls the motor 2 by selectively using the 120° current conduction method and the two-phase modulation method. The 120° current conduction method used by the motor control unit 1 is a current conduction method in which at least one of the three phases is a PWM-controlled current phase and the remaining phase is a non-current phase. Furthermore, the two-phase modulation method used by the motor control unit 1 is a current conduction method in which two of the three phases are PWM-controlled PWM phases and the remaining phase is a fixed phase in which one of the branches described below is always on. (2nd engine control unit)

[0013] The motor control unit 1 comprises the inverter circuit 10, the current sensor 20 and the control unit 30, as shown in Fig. 1. In the following sections, the inverter circuit 10, the current sensor 20, and the control unit 30 are described in this order.

[0014] The inverter circuit 10 is a circuit that drives the motor 2. The configuration of the inverter circuit 10 will be described in detail later.

[0015] The current sensor 20 detects the instantaneous three-phase current value I UVW , which represents the instantaneous value of the three-phase current flowing from the inverter circuit 10 to the motor 2, and outputs the detected three-phase current value I UVW to the control unit 30. The three-phase current value I UVW includes the instantaneous value of U-phase current, the instantaneous value of V-phase current and the instantaneous value of W-phase current.

[0016] The current sensor 20 is, for example, a current sensor that uses a Hall element, but is not limited to such examples and may be a current sensor that uses a current transformer, referred to as a CT (Current Transformer), or a current sensor that uses a shunt resistor. If the current sensor 20 is a shunt resistor, the current sensor 20 is, for example, Fig. 2 shown shunt resistor 21 instead of the one in Fig. 1. The shunt resistor can be provided between the branch 12 of each of the phases U, V, and W and the negative DC busbar. [Control unit 30]

[0017] As in Fig. 1, the control section 30 includes a torque command output unit 31, a duty cycle calculation unit 32, a carrier wave generator 33, a decision unit 34, a setting unit 35, and a conduction control section 36.

[0018] The torque command output unit 31 outputs the torque command T*. The torque command T* is an example of the target output torque. The torque command output unit 31 can be configured to generate the torque command T* so that the speed of the motor 2 corresponds to the speed command and output the generated torque command T*.

[0019] The duty cycle calculation unit 32 calculates the duty cycle values Sduty U , Sduty V and Sduty W for the phases U, V and W based on the torque command T* output by the torque command output unit 31, the three-phase current values I UVWoutput by the current sensor 20 and the position θ e , which is detected by the position sensor 3. For example, the duty cycle calculation unit 32 calculates the duty cycle values Sduty u , Sduty v and Sduty w for phases U, V and W based on the torque command T* and the three-phase current values I UVW and the position θ e , so that the output torque of the motor 2 corresponds to the torque command T*. The duty cycle calculation unit 32 outputs the calculated duty cycles Sduty U , Sduty V and Sduty W to the line control section 36.

[0020] When the conduction method is changed from the 120° current conduction method to the two-phase modulation method, the duty cycle calculation unit 32 generates the duty cycles Sduty u , Sduty v and Sduty wusing vector control. For example, the duty cycle calculation unit 32 converts the three-phase current values I UVW into dq-axis current values, which is a value in the dq coordinate system, and generates the duty cycles Sduty u , Sduty v and Sduty w so that the difference between the dq-axis current values and the dq-axis current commands corresponding to the torque command T* is reduced.

[0021] The duty cycle calculation unit 32 switches the work values Sduty U , Sduty V and Sduty W for output at the switching time determined by the decision unit 36, for example of the working values Sduty U , Sduty V and Sduty W for the 120° power line method to the working values Sduty U , Sduty V and Sduty W for the two-phase modulation method. If the duty cycles Sduty U , Sduty Vand Sduty W Since they are not individually differentiated below, they are also referred to as the duty factor Sduty. The comparison value Scomp described below is calculated based on the duty factor Sduty.

[0022] The carrier wave generator 33 generates, for example, a triangular carrier wave Scw and outputs the generated triangular carrier wave Scw to the line control section 36. In addition, the carrier wave generator 33 may also output a sawtooth carrier wave Scw instead of a triangular carrier wave Scw.

[0023] The decision unit 34 determines the section corresponding to the electrical angle of the motor 2 from the six sections 0 to 5 divided into mutually different ranges of the electrical angle of the motor 2. The decision unit 34 outputs the section information indicating the determined section to the conduction control section 36.

[0024] Section 0 is the range where the electrical angle is between 30° and less than 90°, section 1 is the range where the electrical angle is between 90° and less than 150°, and section 2 is the range where the electrical angle is between 150° and less than 210°. Furthermore, section 3 is in the range of 210° or more and less than 270°, section 4 is in the range of 270° or more and less than 330°, and section 5 is in the range of 0° or more and less than 30° and in the range of 330° or more and less than 360°.

[0025] The decision unit 34 determines the section based on the position θ e of the rotor of motor 2. If the rotor position θ m of motor 2 is output from position sensor 3, the rotor position θ e of motor 2 by multiplying the position θ output by position sensor 3 m calculated with the number of pole pairs P of motor 2, i.e. θ e =(θ m×P)mod360. Here, mod is an operation that returns the remainder after dividing a number.

[0026] Furthermore, the decision unit 34 decides to switch from the two-phase modulation method to the 120° power line method, as described below. Details of the 120° power line method and the two-phase modulation method are described below.

[0027] The setting unit 35 stores the setting data. The setting data includes the 120° power line information and the two-phase modulation information. The setting unit 35 outputs the setting data to the duty cycle calculation unit 32 and the line control section 36, etc. The setting data is set in the setting unit 35 by the manufacturer of the motor control unit 1, but can also be set in the setting unit 35 by the user of the motor control unit 1. The 120° power line data is data about the 120° power line method and includes information about the line type and control type. The two-phase modulation information also includes information about the control type. Details of the 120° power line data and the two-phase modulation information are described below.

[0028] The conduction control section 36 is equipped with a conduction switching unit 40 that generates the gate signals Spu, Snu, Spv, Snv, Spw and Snw, and a switching compensation unit 41 that performs the switching compensation processing.

[0029] The conduction switching unit 40 generates the gate signals Spu, Snu, Spv, Snv, Spw, and Snw based on the duty value Sduty output from the duty cycle calculation unit 32, the carrier wave Scw output from the carrier wave generator 33, the information output from the decision unit 34, the setting information output from the adjustment unit 35, and the information output from the switching compensation unit 41. Details of the operation of the conduction switching unit 40 are described below.

[0030] The circuit compensation unit 41 compensates for switching from the two-phase modulation method to the 120° current conduction method without dead time. The dead time here is the period during which the upper and lower arms are simultaneously turned off during switching. When switching from the two-phase modulation method to the 120° current conduction method, the two PWM phases and the fixed phase of the two-phase modulation method must be assigned to the two energized phases and the non-energized phase of the 120° current conduction method. In this case, depending on the on / off state of the upper and lower arms of each phase, the duty cycle of the upper and lower arms may overlap. During this overlap of the duty cycle of the upper and lower arms, the upper and lower arms are short-circuited (so-called arm short circuit), and a large current flows.

[0031] Therefore, by setting a dead time during switching, the upper and lower arms can be prevented from being short-circuited. However, since motor 2 is not supplied with power during the dead time, the performance of motor 2 decreases when a dead time is set. To solve this problem, a switching compensation unit 41 is provided. The switching compensation unit 41 controls the on / off states of the upper and lower arms of the two phases of the 120° power conduction method so that they are the same before and after the switch from the two-phase modulation method to the 120° power conduction method when a method switching request is issued from the decision unit 34. This prevents the on states of the upper and lower arms from overlapping. The details of the operation of the switching compensation unit 41 are described below. [Inverter circuit 10]

[0032] Fig. 2 shows an example of the configuration of the inverter circuit 10 in the motor control unit 1 according to Embodiment 1. The inverter circuit 10 converts direct current into alternating current and outputs the converted alternating current to the motor 2. The inverter circuit 10 is connected to an unillustrated converter circuit that converts alternating current from an unillustrated alternating current source into direct current, converts the DC output of the converter circuit into alternating current, and outputs the converted alternating current to the motor 2. In addition, the inverter circuit 10 can be connected to a direct current source not shown in FIG. 1 without using a converter circuit.

[0033] As in Fig. 2, the inverter circuit 10 comprises an upper branch 111, 112, 113, a lower branch 121, 122, 123, and a gate driver 15. In addition, the inverter circuit 10 comprises a filter (not shown) consisting of a coil and a capacitor for the phases U, V, and W. In addition, the inverter circuit 10 can be configured without a filter.

[0034] The upper arm 111 and the lower arm 121 form a half-bridge circuit for the U phase, the upper arm 112 and the lower arm 122 form a half-bridge circuit for the V phase, and the upper arm 113 and the lower arm 123 of the W phase form a half-bridge circuit for the W phase.

[0035] The upper branch 111 is provided with a switching element 131 and a diode 141 connected in reverse direction in parallel with the switching element 131. The lower branch 121 is provided with a switching element 132 and a diode 132 connected in reverse direction in parallel with the switching element 142. The upper branch 112 is provided with a switching element 133 and a diode 133 connected in reverse direction in parallel with the switching element 143. The lower branch 122 is provided with a switching element 134 and a diode 134 connected in reverse direction in parallel with the switching element 144. The upper branch 113 is provided with a switching element 133 and a diode 135 connected in reverse direction in parallel with the switching element 145. The lower branch 123 is provided with a switching element 136 and a diode 136 which is connected in reverse direction in parallel with the switching element 146.

[0036] Each switching element 131, 132, 133, 134, 135, 136 is a switching element, such as an IGBT (Insulated Gate Bipolar Transistor) or MOSFET (Metal Oxide Semiconductor Field Effect Transistor). Each switching element 131, 132, 133, 134, 135, 136 is, for example, a switching element formed from a silicon-based material or a wide-bandgap semiconductor. Wide-bandgap semiconductors include, for example, silicon carbide (SiC), gallium nitride (GaN), gallium oxide (Ga2O3), and diamond.

[0037] The gate driver 15 amplifies the gate signals Spu, Spv, Spw, Snu, Snv, and Snw output from the control unit 30, as described below. The gate driver 15 then outputs the amplified gate signals Spu, Spv, Spw, Snu, Snv, and Snw to the gates of the upper branches 111, 112, and 113 and the lower branches 121, 122, and 123.

[0038] Gate driver 15 outputs the amplified gate signal Spu to the upper branch 111 of phase U and the amplified gate signal Snu to the lower branch 121 of phase U. In addition, gate driver 15 outputs the amplified gate signal Spv to the upper branch 112 of phase V and the amplified gate signal Snv to the lower branch 122 of phase V.

[0039] In addition, Gate Driver 15 outputs the amplified gate signal Spw to the upper arm of W-phase 113 and the amplified gate signal Snw to the lower arm of W-phase 123. Hereinafter, arms 111, 112, and 113, when not individually distinguished, are referred to as arm 11, and arms 121, 122, and 123, when not individually distinguished, are referred to as arm 12. Hereinafter, when the individual gate signals Spu, Spv, and Spw are not individually distinguished, they can be written as gate signal Sp, and when the individual gate signals Snu, Snv, and Snw are not individually distinguished, they can be written as gate signal Sn. [120° power line method]

[0040] Fig. 3 shows the state of each phase in each section of the 120° power conduction method in the motor control unit 1 according to the embodiment. As shown in Fig. As shown in Figure 3, the six sections from section 0 to section 5 in the 120° power conduction method have different combinations of the higher-voltage conductor phase, the lower-voltage conductor phase, and the non-conductive phase. The higher-voltage conductor phase and the lower-voltage conductor phase are each conductive phase, and the higher-voltage conductor phase is the phase with a higher voltage than the lower-voltage conductor phase.

[0041] The higher voltage conduction phase is a phase in which, on average, current is actively conducted in the positive direction over one PWM cycle by PWM controlling the upper branch 11 or fixing it in the on state. The lower voltage conduction phase is a phase in which, on average, current is actively conducted in the negative direction over one PWM cycle by PWM controlling the lower branch 12 or fixing it in the on state. The no current phase is a phase in which both the upper branch 11 and the lower branch 12 are fixed in the off state and no current is actively flowing.

[0042] In section 0, the U phase is the higher-voltage conducting phase, the V phase is the lower-voltage conducting phase, and the W phase is the phase where no current flows. In section 1, the U phase is the higher-voltage conducting phase, the W phase is the lower-voltage conducting phase, and the V phase is the non-conducting phase. In section 2, the V phase is the higher-voltage conducting phase, the W phase is the lower-voltage conducting phase, and the U phase is the non-conducting phase.

[0043] In section 3, the V phase is the higher-voltage conducting phase, the U phase is the lower-voltage conducting phase, and the W phase is the non-conducting phase. In section 4, the W phase is the higher-voltage conducting phase, the U phase is the lower-voltage conducting phase, and the V phase is the non-conducting phase. In section 5, the W phase is the higher-voltage conducting phase, the V phase is the lower-voltage conducting phase, and the U phase is the non-conducting phase. [Two-phase modulation method]

[0044] The two-phase modulation method executed by the motor control unit 1 is a method in which two of the three phases are energized as PWM phases controlled by PWM, and the remaining phase is energized as a fixed phase in which one of the branches 11 and 12 is always on, as described above. The two-phase modulation methods that can be executed by the motor control unit 1 include the min.-type two-phase modulation method, the max.-type two-phase modulation method, and the min.-max.-type two-phase modulation method.

[0045] Fig. Figure 4 shows the state of each phase in each Min.-type section in the motor control unit 1 according to the embodiment. The Min.-type two-phase modulation method is a method in which the upper arm 11 and the lower arm 12 of the PWM phase are turned on and off by PWM control, and the control of fixing the lower arm 12 of the fixed phase in the on state, as shown in Fig. 4, by switching the combination of the PWM phase and the fixed phase every 120°. In the min. type two-phase modulation method, the fixed phase is a lower voltage fixed phase in which the arm 12 is always on, and in sections 0 and 5, which are switched every 120°, the PWM phase is the U phase and the W phase, and the lower voltage fixed phase is the V phase. In sections 1 and 2, the PWM phase is the U phase and the V phase, and the low fixed phase is the W phase. In sections 3 and 4, the PWM phase is the V phase and the W phase, and the low fixed phase is the U phase.

[0046] Fig. Figure 5 shows the state of each phase in each max.-type section in the motor control unit 1 according to the embodiment. The max.-type two-phase modulation method is a method in which the upper arm 11 and the lower arm 12 of the PWM phase are turned on and off by PWM control, and the control of fixing the upper arm 11 of the fixed phase in the on state is performed while the combination of the PWM phase and the fixed phase, as shown in Fig. 5, switching every 120°. In the max. type two-phase modulation method, the fixed phase is a higher voltage conduction phase, in which arm 11 is always on and switching every 120°. In sections 0 and 1, the PWM phase is the V phase and the W phase, and the higher voltage fixed conduction phase is the U phase. In sections 2 and 3, the PWM phase is the U phase and the W phase, and the higher voltage fixed conduction phase is the V phase. In sections 4 and 5, the PWM phase is the U phase and the V phase, and the higher voltage fixed conduction phase is the W phase.

[0047] Fig. Figure 6 shows the state of each phase in each min-max type section in the motor control unit 1 according to the embodiment. In the two-phase min-max type modulation method as shown in Fig. As shown in Figure 6, the two-phase modulation method of min. type and the two-phase modulation method of max. type are switched every 60°, and the combination of the PWM phase and the fixed phase is alternately switched every 60°. In the two-phase modulation method of min.-max. type, the two-phase modulation method of min. type and the two-phase modulation method of max. type are switched every 60°, and the lower-voltage fixed phase and the higher-voltage fixed phase are alternately switched every 60°.

[0048] In the min-max type of the two-phase modulation method, the U and W phases are PWM phases in the ranges between 30° and 60° in section 0 and between 0° and 30° in section 5, and the V phase is the lower-voltage conduction phase. In the range of 60° to 90° in section 0 and the range of 90° to 120° in section 1, the V and W phases are PWM phases, and the U phase is a fixed conduction phase with a higher voltage. In the range of 120° to 150° in section 1 and the range of 150° to 180° in section 2, the U and V phases are PWM phases, and the W phase is a fixed conduction phase with a lower voltage.

[0049] In addition, in the range of 180° to 210° in section 2 and the range of 210° to 240° in section 3, the U phase and W phase are PWM phases, and the V phase is a fixed conduction phase with higher voltage. In the range of 240° to 270° in section 3 and the range of 270° to 300° in section 4, the V and W phases are PWM phases, and the U phase is a fixed conduction phase with lower voltage. In the range of 300° to 330° in section 4 and the range of 330° to 360° in section 5, the U phase and V phase are PWM phases, and the W phase is a fixed conduction phase with higher voltage.

[0050] The decision unit 34 in Fig. 1 determines section 0 as the section corresponding to the electrical angle of motor 2 when 30° ≤ θ e < 90°, and determines section 1 as the section corresponding to the electrical angle of motor 2 when 90° ≤ θ e < 150°.

[0051] The decision unit 34 in Fig. 1 determines section 2 as the section corresponding to the electrical angle of motor 2 when 150° ≤ θ e < 210°, and determines section 3 as the section corresponding to the electrical angle of motor 2 when 210° ≤ θ e < 270°. Furthermore, the decision unit 34 determines section 4 as the section corresponding to the electrical angle of motor 2 when 270° ≤ θ e < 330°, and determines section 5 as the section corresponding to the electrical angle of motor 2 when 0° ≤ θ e < 30° or 330° ≤ θ e < 360°.

[0052] In addition to the above-mentioned sections, the decision unit 34 also determines whether the electrical angle of motor 2 has reached the angle at the center of the section. The decision unit 34 outputs data indicating the angle at the center of the determined section as section information to the line control unit 36. The decision unit 34 can be configured to output data about the electrical angle of motor 2 to the line control unit 36 instead of section information.

[0053] The decision unit 34 determines the switching between the 120° current conduction method and the two-phase modulation method based on the load conditions or the driving conditions of the motor 2. In this embodiment, a method for switching from the two-phase modulation method to the 120° current conduction method is proposed.

[0054] Once the decision unit 34 decides to switch from the two-phase modulation method to the 120° current conduction method, it issues a method change request to the conduction control section 36. As a result, the conduction control section 36 switches the control of motor 2 from the two-phase modulation method to the 120° current conduction method. Furthermore, it is sometimes necessary to implement feedforward angle control in the two-phase modulation method.

[0055] In this way, the motor control unit 1 can switch from the two-phase modulation method to the 120° current conduction method based on the load conditions or the driving conditions of motor 2, etc. This enables the motor control unit 1 to efficiently drive motor 2 according to the load or driving conditions of motor 2 and also stabilizes the drive of motor 2 over a wide speed range. [120° power line data]

[0056] As mentioned above, the 120° power line information in the configuration unit 35 in Fig. 1 is information about the 120° power line method, which includes both line and control information. The line section data included in this 120° power line information is information indicating a line section selected from among the multiple line sections of the 120° power line method. The control type information included in the 120° power line method indicates a control type selected from among the multiple control types in the 120° power line method.

[0057] Among the different conduction types in the 120° power conduction method, there are valley-ON type and peak-ON type, in which the phases of the waveforms of the gate signal Sp that turns the upper arm 11 of the PWM phase on and off are different from each other. The gate signal Sp that turns the arm 11 of the PWM phase on and off is input to the gate driver 15, amplified by the gate driver 15, and input to the arm 11 of the PWM phase. The waveform of the gate signal Sp that turns the arm 11 of the PWM phase on and off is an example of a waveform that turns the arm 11 of the PWM phase on and off. The valley-ON type and peak-ON type differ in the combination of the result of the comparison between the carrier wave Scw and the comparison value Scomp and the arm brought to conduction between the upper arm 11 and the lower arm 12.The valley-ON type is an example of the first conduction type and the peak-ON type is an example of the second conduction type.

[0058] Fig. Fig. 7A shows an example of control when the conduction type used in the motor control unit 1 of the embodiment is a valley-ON type. In the valley-ON type, as shown in Fig. As shown in Figure 7A, branch 11 is turned on to enable conduction when the comparison value Scomp is higher than the carrier wave Scw, and branch 12 is turned on to enable conduction when the comparison value Scomp is lower than the carrier wave Scw.

[0059] Fig. Fig. 7B shows an example of control when the conduction type used in the motor control unit 1 of the embodiment is a peak-ON type. In the peak-ON type, as shown in Fig. As shown in Figure 7B, branch 11 is turned on to enable conduction when the comparison value Scomp is lower than the carrier wave Scw, and branch 12 is turned on to enable conduction when the comparison value Scomp is higher than the carrier wave Scw.

[0060] As in Fig. 7A, in the waveform of the valley ON-type gate signal Sp, the center of the ON period is at the valley position, but as shown in Fig. As shown in Figure 7A, in the waveform of the peak-ON type gate signal Sp, the center of the OFF period is at the valley position. The ON period is the period in which branch 11 is turned on, and the OFF period is the period in which branch 11 is turned off. As shown in Fig. 7B, the center of the on-period in the waveform of the valley-ON type gate signal Sp is in the valley position, but as in Fig. As shown in Figure 7A, the center of the on-period in the waveform of the peak-ON type gate signal Sp is located at the peak position during the off-period. Thus, the valley-ON type and the peak-ON type have a relationship in which the center of the on-period of the waveform of one conduction type is located during the off-period of the waveform of the other conduction type.

[0061] Next, we will explain the different control types in the 120° power line method. The different control types in the 120° power line method include the higher voltage control type, the lower voltage control type, and the double-ended voltage control type.

[0062] In the higher voltage control, the upper arm 11 and the lower arm 12 of the higher voltage phase are turned on and off by PWM control, and the lower arm 12 of the lower voltage phase is fixed in the on state.

[0063] Fig. Figure 8A shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the higher voltage PWM control type and the 120° current conduction method of the valley ON type. Fig. The example shown in Fig. 8A shows the case where the valley-ON control is used and the section determined by the decision unit 34 is section 0.

[0064] In section 0, the U phase is the higher voltage phase, the V phase is the lower voltage phase, and the W phase is the non-conducting phase. Therefore, as in Fig. As shown in Figure 8A, the upper arm 111 and the lower arm 121 of the U-phase are PWM-controlled, and the lower arm 122 of the V-phase is fixed in the on-state. Since it is a pass-through type with valley-on switching, the upper arm 111 of the U-phase is turned on when the comparison value Scomp is higher than the carrier wave Scw, and the lower arm 121 of the U-phase is turned on when the comparison value Scomp is lower than the carrier wave Scw. Hereinafter, the phase in which the lower arm 122 is fixed in the on-state is sometimes referred to as the lower voltage phase.

[0065] Fig. Fig. 8B shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the higher voltage PWM control type and the 120° current conduction method of the peak-ON type. Fig. The example shown in Figure 8B shows the case where the peak-ON control is used and the section determined by the decision unit 34 is section 0. In the example in Fig. 8B, the conduction type is a peak-ON type, so the upper arm 111 of the U-phase is turned on when the comparison value Scomp is lower than the carrier wave Scw, and the lower arm 121 of the U-phase is turned on when the comparison value Scomp is higher than the carrier wave Scw, which is different from the example in Fig. 8A. In the Fig. In the example shown in Figure 8B, the comparison value Scomp is calculated in the line control section 36 according to the formula Scomp = Pv × (1-Sduty). The duty value Sduty has, for example, a minimum value of 0 and a maximum value of 1, and the period value Pv is, for example, the value of the peak position of the carrier wave Scw. The value of the peak position of the carrier wave Scw is the maximum value of the carrier wave Scw. In the example shown in Fig. In the example shown in Figure 8A, the comparison value Scomp is calculated using the formula Scomp = Pv × Sduty.

[0066] In the lower voltage control, the lower arm 12 of the higher voltage phase is fixed in the on state, and the upper arm 11 and the lower arm 12 of the lower voltage phase are turned on and off by PWM control.

[0067] For simplicity, the dead time during the transition of the conduction state of the upper and lower branches of the U-phase is Fig. 8A and Fig. 8B is omitted. In fact, dead time is provided when the upper and lower arms are complementary and transition to the on state by PWM control, etc. The same applies to the following figures.

[0068] Fig. 9A shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the lower voltage PWM control type and the 120° current conduction method of the valley ON type. Fig. The example shown in Figure 9A is the same as that shown in Fig. 8A and shows the case where the line type is the Valley-ON type and the section determined by the decision unit 34 is section 0. In the example in Fig. 9A is the Valley-ON conduction type, and when the comparison value Scomp is higher than the carrier wave Scw, the upper arm 112 of the V-phase is turned on, and when the comparison value Scomp is lower than the carrier wave Scw, the lower arm 122 of the V-phase is turned on. In the Fig. In the example shown in Fig. 9A, the comparison value Scomp is calculated in the line control section 36 according to the formula Scomp = Pv × (1 - Sduty).

[0069] Fig. 9B shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the lower voltage PWM control type and the 120° current conduction method of the peak-ON type. Fig. The example shown in Figure 9B is the same as that shown in Fig. 8B and shows the case where the conduction type is the peak-ON type and the section determined by the decision unit 34 is section 0.

[0070] In section 0, the U phase is the higher voltage phase, the V phase is the lower voltage phase, and the W phase is the non-conducting phase. Therefore, as in Fig. 9B, the upper arm 111 of the U-phase is fixed in the on-state, and the upper arm 112 and the lower arm 122 of the V-phase are controlled by PWM. Furthermore, since the conduction type is a peak-ON type, the V-phase arm 112 is turned on when the comparison value Scomp is lower than the carrier wave Scw, and the V-phase arm 122 is turned on when the comparison value Scomp is higher than the carrier wave Scw, which is different from the Fig. 9A. In the example shown in Fig. In the example shown in Figure 9B, the comparison value Scomp is calculated by the operation Scomp = Pv × Sduty.

[0071] In PWM control with two-way control, the upper arm 11 and the lower arm 12 of the higher-voltage line phase are turned on and off by PWM control, and the upper arm 11 and the lower arm 12 of the lower-voltage line phase are turned on and off by PWM control that is complementary to the PWM control of the higher-voltage phase. In the higher-voltage phase, the upper arm 11 and the lower arm 12 are turned on and off by PWM control, with the turn-on rate of the upper arm 11 being higher than the turn-on rate of the lower arm 12. In the lower-voltage phase, the upper arm 11 and the lower arm 12 are turned on and off by PWM control, with the turn-on rate of the upper arm 11 being lower than the turn-on rate of the lower arm 12.

[0072] Fig. 10A shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the both-side PWM control type and the 120° current conduction method of the valley ON type. Fig. 10A is the same as the example shown in Fig. 8A and shows the case where the line type is the valley-ON type and the section determined by the decision unit 34 is section 0.

[0073] In section 0, the U-phase is the higher voltage phase, the V-phase is the lower voltage phase, and the W-phase is the non-conducting phase. Therefore, as in Fig. 10A, the upper arm 111 and the lower arm 121 of the U-phase are turned on and off by PWM control, with the turn-on rate of the upper arm 111 being higher than that of the lower arm 121, and the upper arm 112 and the lower arm 122 of the V-phase are turned on and off by PWM control, with the turn-on rate of the upper arm 112 being lower than that of the lower arm 122. And since it is a valley-ON type, the U-phase arm 111 and the V-phase arm 122 are in the on state when the comparison value Scomp is higher than the carrier wave Scw, and the U-phase arm 121 and the V-phase arm 112 are in the on state when the comparison value Scomp is lower than the carrier wave Scw. In the Fig. In the example shown in Figure 10A, the comparison value Scomp is calculated using the formula Scomp = Pv × (Sduty × 0.5 + 0.5).

[0074] Fig. Fig. 10B shows an example of the control of the inverter circuit 10 of the motor control unit 1 of the embodiment using the both-side PWM control type and the 120° current conduction method of the peak-ON type. Fig. 10B is the same as the example shown in Fig. 8B and shows the case where the conduction type is the peak-ON type and the section determined by the decision unit 34 is section 0. In the example in Fig. 10B, the conduction type is a Berg-ON type. When the comparison value Scomp is lower than the carrier wave Scw, the upper arm 111 of the U-phase and the lower arm 122 of the V-phase are turned on. When the comparison value Scomp is higher than the carrier wave Scw, the lower arm 121 of the U-phase and the upper arm 112 of the V-phase are turned on. In the Fig. In the example shown in Figure 10B, the comparison value Scomp is calculated by the operation Scomp = Pv × (1 - (Sduty × 0.5 + 0.5)). [Two-phase modulation data]

[0075] As described above, the two-phase modulation information also includes control type information. The control type information included in the two-phase modulation data is data indicating one of the multiple control types selected from the control types in the two-phase modulation method.

[0076] The different control types in the two-phase modulation method include the min. type, the max. type, and the min.-max. type, which are described above. In the two-phase modulation method, in-phase control, in which the same conduction type is applied to the two PWM phases, and anti-phase control, in which different conduction types are applied to the two PWM phases, are used. In-phase control includes cases where the conduction of the upper arm 11 and the lower arm 12 of each of the two PWM phases is controlled with the valley-ON type. Furthermore, in phase reversal control, the conduction of arms 11 and 12 of one of the two PWM phases is controlled with the valley-ON type, and the conduction of the arms of the other PWM phase is controlled with the peak-ON type.

[0077] Fig. 11A shows an example of the control of the inverter circuit 10 using the in-phase control in the motor control unit 1 according to the embodiment. Fig. 11A, V-phase and W-phase correspond to the PWM phase, and U-phase corresponds to the two-phase modulation method, which is a fixed phase with lower voltage. In Fig. 11A, the upper branch gate signals Spu, Spv, and Spw are the upper branch gate signals of the U, V, and W phases, respectively. In addition, Fig. 11A the comparison values Scompu, Scompv and Scompw represent the comparison values Scomp for the U, V and W phases respectively.

[0078] In Fig. 11A, the valley-ON type is applied to the conduction type of the V and W phases, which are PWM phases. In other words, when the comparison values Scompv and Scompw are higher than the carrier wave Scw, the upper arm 11 is turned on to enable conduction. In addition, in the U phase of Fig. 11A the upper branch is always switched off and the lower branch is always switched on, since the comparison value Scompu is at the same level as the valley area of the carrier wave Scw. The values indicated by the frame with the letters "-Iu" and "Iv" in Fig. 11A represent the periods in which the U-phase current Iu or the V-phase current Iv flows through the shunt resistor 21 in Fig. 2 can be recorded. With the in-phase control in Fig. 11A, the U-phase and W-phase currents can be detected by the shunt resistor 21.

[0079] Fig. 11B shows an example of the control of the inverter circuit 10 using the antiphase control in the motor control unit 1 according to the embodiment. Fig. 11B, the valley-ON type is applied to the V-phase conduction type, and the peak-ON type is applied to the W-phase conduction type. In other words, when the comparison value Scompv is higher than the carrier wave Scw, the V-phase branch 11 is turned on, and when the comparison value Scompw is lower than the carrier wave Scw, the W-phase branch 11 is turned on. The voltages indicated by the frame with the letters "Iv" and "Iw" in Fig. 11B represent the periods in which the V-phase current Iv and the W-phase current Iw flow through the shunt resistor 21 in Fig. 2 can be detected. With antiphase control in Fig. 11B, the V-phase and W-phase currents can be detected by the shunt resistor 21.

[0080] In Fig. 11A, for example, the gate signal of the upper arm has a duty cycle equal to the comparison value Scomp. The duty cycle here is the ratio of the upper arm's on-time during the control cycle of the PWM phase. Fig. 11A, the comparison value Scompv has the highest voltage, the comparison value Scompu has the lowest voltage, and the comparison value Scompw has a medium voltage. Therefore, the duty cycle is highest for phase V and lowest for phase U. Phase W has a medium duty cycle. Here, the phases with the highest, medium, and lowest duty cycles are referred to as maximum, intermediate, and minimum phases, respectively. Fig. 11A, phases V, W and U correspond to the maximum, intermediate and minimum phases respectively.

[0081] Fig. 12A and Fig. 12B show examples of the conduction type of the min. type two-phase modulation method in the motor control unit 1 of the embodiment. Fig. 12A shows an example of in-phase control and Fig. 12B shows an example of an antiphase control. In the Fig. 12A and Fig. The examples shown in Figure 12B show the comparison values Scomp for each of the U, V, and W phases, the carrier wave Scw, and the gate signals Spu, Spv, and Spw. In the Fig. 12A and Fig. In the examples shown in Figure 12B, the U and V phases are PWM phases and the W phase is a fixed conduction phase with lower voltage.

[0082] The line types applied to the U and V phases, which divide the PWM phases into Fig. 12A are valley-ON types. In addition, the conduction types applied to the U and V phases, which control the PWM phases in Fig. 12B are valley-ON and peak-ON types.

[0083] Fig. 13A and Fig. 13B show examples of the conduction type of the two-phase modulation method of the max. control in the motor control unit 1 of the embodiment. Fig. 13A shows an example of in-phase control and Fig. 13B shows an example of an antiphase control. In the Fig. 13A and Fig. The examples shown in Figure 13B are as in Fig. 12A and Fig. 12B shows the respective comparison values Scomp of the U, V and W phases, the carrier wave Scw and the gate signals Spu, Spv and Spw. In the Fig. 13A and Fig. In the examples shown in Figure 13B, the V and W phases are PWM phases and the U phase is a fixed conduction phase with higher voltage.

[0084] The conduction type of the PWM phases applied to the V-phase and W-phase in Fig. 13A is the valley-ON type. In addition, the conduction types of the PWM phases applied to the V-phase and W-phase are Fig. 13B the valley-ON type and the peak-ON type. [Operation of the line switching unit 40]

[0085] The line switching unit 40 controls the inverter circuit 10 using a control-type two-phase modulation method indicated by the two-phase voltage information included in the setting information output from the setting unit 35 until a method switching request is issued from the decision unit 34.

[0086] For example, when the control type indicated by the two-phase line information included in the setting information is Min., the line switching unit 40 controls the inverter circuit 10 using the Min. type two-phase modulation method as shown in Fig. 4. When the control type indicated by the two-phase line information included in the setting information is Max., the line switching unit 40 controls the inverter circuit 10 using the Max. type two-phase modulation method as shown in Fig. 5. When the control type indicated by the two-phase voltage information included in the setting information is Min.-Max., the line switching unit 40 controls the inverter circuit 10 using a Min.-Max. type two-phase modulation method as shown in Fig. 6 shown.

[0087] For example, when the control type and conduction type specified by the setting information are the higher voltage PWM control type and the valley ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the higher voltage PWM control type and the valley ON type, as shown in Fig. 8A. When the control type and conduction type specified by the setting information are the higher voltage PWM control type and the peak ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the higher voltage PWM control type and the peak ON type, as shown in Fig. 8B.

[0088] In addition, when the control type and conduction type specified by the setting information are the lower voltage PWM control type and the valley ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the lower voltage PWM control type and the valley ON type, as shown in Fig. 9A. When the control type and conduction type specified by the setting information are the lower voltage PWM control type and the peak ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the lower voltage PWM control type and the peak ON type, as shown in Fig. 9B.

[0089] In addition, when the control type and conduction type specified by the setting information are the PWM control type with both sides voltage and the valley ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the PWM control type with both sides voltage and the valley ON type, as shown in Fig. 10A. When the control type and conduction type specified by the setting information are the PWM control type with both sides voltage and the peak ON type, the conduction switching unit 40 controls the inverter circuit 10 using the 120° current conduction method of the PWM control type with both sides voltage and the peak ON type, as shown in Fig. 10B.

[0090] The line switching unit 40 controls the inverter circuit 10 using the 120° power conduction method indicated by the 120° power conduction method data in the setting information output from the line control section 35 when a request to switch the method is output from the decision unit 34. [Structure of the line switching unit 40]

[0091] Fig. 14 shows an example of the composition of the line control section 40 in the engine control unit 1 of the embodiment. As in Fig. 14, the line switching unit 40 comprises a comparison value calculator 50, a comparator unit 51, a dead time unit 52, a polarity switching unit 53, a gate signal unit 54 and a configuration processing unit 55.

[0092] When the conduction method reported by the setting processing section 55 is the 120° current conduction method, the comparison value calculator 50 calculates and outputs the comparison values Scomp U , Scomp V and Scomp W for the U, V and W phases based on the line type reported by the configuration processing unit 55 and the duty value Sduty output by the duty cycle calculation unit 32 U , Sduty V and Sduty W for the U, V, and W phases. Sduty U , Sduty V and Sduty W are calculated and output. If the comparison values Scomp U , Scomp V and Scomp W without distinction between them, they are sometimes written as Scomp.

[0093] For example, when the comparison value calculator 50 is notified by the configuration processing unit 55 that the conduction control method, the conduction control mode, and the conduction control mode are 120° current conduction method, higher voltage PWM control mode, and valley ON type, the comparison unit 51 outputs the value obtained by multiplying the duty value Sduty generated by the duty cycle calculation unit 32 by the period value Pv as the comparison value Scomp. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0094] Furthermore, assume that the conduction method, control type, and conduction type reported by the configuration processing unit 55 are the 120° current conduction method, the higher-voltage PWM control type, and the peak ON type. In this case, the comparison value calculator 50 outputs the comparison value Scomp to the comparator unit 51, which is obtained by multiplying the duty value Sduty output from the duty cycle calculation unit 32 by the period value Pv and inverting the result with respect to the median of the carrier wave Scw. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0095] Furthermore, assume that the conduction method, control type, and conduction type reported by the configuration processing unit 55 are the 120° current conduction method, the lower-voltage PWM control type, and the valley ON type. In this case, the comparison value calculator 50 outputs the comparison value Scomp to the comparator unit 51, which is obtained by multiplying the duty cycle value Sduty output from the duty cycle calculation unit 32 by the period value Pv and inverting the result with respect to the median of the carrier wave Scw. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0096] When the conduction control section, control type, and conduction section reported by the configuration processing unit 55 are the 120° current conduction method, the lower voltage control type, and the peak ON type, the comparison value calculator 50 of the comparison unit 51 outputs the value obtained by multiplying the duty value Sduty output from the duty cycle calculation unit 32 by the period value Pv as the comparison value Scomp. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0097] Furthermore, when the conduction control section, control type, and conduction section reported by the configuration processing unit 55 are the 120° current conduction method, the double-ended voltage PWM control type, and the valley ON type, the comparison value calculator 50 calculates the comparison value Scomp as the value obtained by multiplying the duty value Sduty output from the duty cycle calculation unit 32 by 0.5, adding 0.5 to this value, and then multiplying the result by the period value Pv, as the comparison value Scomp. In this case, the comparison value Scomp is expressed as Scomp = Pv × (Sduty × 0.5 + 0.5).

[0098] When the conduction control section, control type, and conduction type reported by the configuration processing unit 55 are the 120° current conduction method, lower voltage PWM control type, and a peak ON type, the value obtained by multiplying the duty value Sduty output from the duty cycle calculation unit 32 by 0.5, then adding 0.5, and then dividing the result by 1 is output from the comparison value calculator 50 to the comparison unit 51 as the comparison value Scomp. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - (Sduty × 0.5 + 0.5)).

[0099] When the conduction method, control type, and conduction type reported by the configuration processing unit 55 are the two-phase modulation method, the PWM control type, and the valley ON type, the comparison value calculator 50 of the comparator unit 51 outputs the value obtained by multiplying the duty value Sduty output by the duty cycle calculation unit 32 by the period value Pv as the comparison value Scomp. In this case, the comparison value Scomp is expressed as Scomp = Pv × Sduty.

[0100] When the comparison value calculator 50 is informed by the configuration processing unit 55 of a conduction control section, a conduction control section type, a conduction control section type, a two-phase modulation method, a PWM control type, and a peak-ON type, it outputs the comparison value Scomp obtained by multiplying the duty value Sduty output from the duty cycle calculation unit 32 by the period value Pv with the median value of the carrier wave Scw as a reference to the comparison unit 51. In this case, the comparison value Scomp is expressed as Scomp = Pv × (1 - Sduty).

[0101] The comparator unit 51 compares the comparison values Scomp U , Scomp V and Scomp W the U, V and W phases output from the comparison value calculator 50 with the carrier wave Scw output from the carrier wave generator 33 and generates PWM signals S PWMU , S PWMV and SPWMW for the U, V and W phases based on the comparison results.

[0102] For example, the comparator unit 51 generates the PWM signal S PWMU based on the comparison result between the comparison value Scomp U and the carrier wave generator Scw. The comparator unit 51 also generates the PWM signal S PWMV based on the comparison result between the comparison value Scomp V and the carrier wave generator Scw. The comparator unit 51 also generates the PWM signal S PWMW based on the comparison result between the comparison value Scomp W and the carrier wave generator Scw. In the following, the PWM signals S PWMU , S PWMV and S PWMW of phases U, V and W without distinction between them individually as PWM signal S PWM As described above, the PWM signal S PWMa signal generated based on the carrier wave Scw and the comparison value Scomp and used to generate the PWM phase gate signals Sp, Sn in the line switching unit 40.

[0103] The dead time configuration unit 52 generates the first PWM signal S PWMpU and the second PWM signal S PWMnU with dead time, which the PWM signal S PWMU or its complementary signal output by the comparator unit 51, and outputs the generated first PWM signal S PWMpU and the second PWM signal S PWMnU out of.

[0104] In addition, the dead time configuration unit 52 generates the first PWM signal S PWMpV and the second PWM signal S PWMnV with dead time, which the PWM signal S output by the comparator unit 51 PWMV and its complementary signal, and outputs the generated first PWM signal S PWMpV and the generated second PWM signal S PWMnV out of.

[0105] In addition, the dead time configuration unit 52 generates the first PWM signal S PWMpW and the second PWM signal S PWMnW with dead time, which the PWM signal S output by the comparator unit 51 PWMW and its complementary signal, and outputs the generated first PWM signal S PWMpW and the generated second PWM signal S PWMnW If the first PWM signals S PWMpU , S PWMpV and S PWMpW cannot be distinguished individually, they can be used as the first PWM signal S PWMp and when the second PWM signals S PWMnU , S PWMnV and S PWMnW cannot be distinguished individually, they can be used as the second PWM signal S PWMn be referred to.

[0106] The polarity switching unit 53 determines the conduction type in the PWM phase based on the information transmitted from the configuration processing unit 55. For example, the polarity switching unit 53 outputs one of the first PWM signals S PWMpU and the second PWM signal S PWMnU as the third PWM signal So PWMpU and the other as the fourth PWM signal So PWMnU based on the information transmitted from the configuration processing unit 55. In addition, the polarity switching unit 53 outputs one of the first PWM signals S PWMpV and the second PWM signal S PWMnV as the third PWM signal So PWMpV and the other as the fourth PWM signal So PWMnV based on the information transmitted by the configuration processing unit 55.

[0107] In addition, the polarity switching unit 53 outputs one of the first PWM signals S PWMpW and the second PWM signal S PWMnWas a third PWM signal So PWMpW and the other as a fourth PWM signal So PWMnW based on the information provided by the configuration processing unit 55. If the third PWM signal So PWMpU, So PWMpV and Sun PWMpW cannot be distinguished individually, they are referred to as the third PWM signal So PWMp and when the fourth PWM signal So PWMnU , Sun WMnV and Sun WMnW cannot be distinguished individually, they are referred to as the fourth PWM signal So PWMn designated.

[0108] The gate signal output unit 54 outputs the gate signals Spu, Snu, Spv, Snv, Spw and Snw based on the information reported by the configuration processing unit 55 and the third PWM signals So output by the polarity switching unit 53 PWMpU , Sun PWMpV and Sun PWMpW and the fourth PWM signals So PWMnU , Sun PWMnV and Sun PWMnWout of.

[0109] The information transmitted from the configuration processing unit 55 includes information about whether each of the U, V, and W phases is a PWM phase, a low-voltage phase, a high-voltage phase, or a de-energized phase. The gate signal output unit 54 outputs the third PWM signal So. PWMp and the fourth PWM signal So PWMn as gate signals for the PWM phase and the gate signals Sp and Sn as gate signals for the low voltage phase.

[0110] In addition, the gate signal output unit 54 outputs the gate signals Sp, Sn that turn off the upper arm 11 of the lower-voltage phase and turn on the lower arm 12 of the lower-voltage phase. In addition, the gate signal output unit 54 outputs the gate signals Sp, Sn that turn on the upper arm 11 of the higher-voltage phase and turn off the lower arm 12 of the higher-voltage phase.

[0111] In addition, the gate signal output unit 54 outputs a gate signal for the de-energized phase, thereby turning off the upper arm 11 of the fixed high-voltage phase and the lower arm 12 of the fixed high-voltage phase.

[0112] The gate signals for phases U, V, and W output from the gate signal output unit 54 are input to the gate driver 15, which amplifies them and inputs them to the upper arm 11 and the lower arm 12 of phases V and W. As described above, the PWM phase gate signal is a signal generated based on the PWM signal S PWM is generated, and the gate signal for the de-energized phase is a signal that turns off the upper and lower arms 11 and 12 of the de-energized phase. In addition, the gate signal for the lower voltage phase is a signal that turns off the upper arm 11 of the lower voltage phase and turns on the lower arm 12 of the lower voltage phase, and the gate signals Sp and Sn for the higher voltage phase are signals that turn on the upper arm 11 of the higher voltage phase and turn off the lower arm 12 of the higher voltage phase.

[0113] The configuration processing unit 55 controls the comparison value calculator 50, the polarity switching unit 53, and the gate signal output unit 54 based on the configuration information output from the configuration unit 35, the section information output from the decision unit 34, and the method switching request.

[0114] The configuration processing unit 55 notifies the comparison value calculator 50, the polarity switching unit 53, and the gate signal output unit 54 of information corresponding to the 120° power line information included in the configuration information output from the configuration unit 35 at startup. [Operation of the switching compensation unit 41]

[0115] As described above, the switching compensation unit 41 performs switching compensation when a switching request method is issued from the decision unit 34. This switching compensation can be performed by operating a switch at a time when the on / off state of the upper arm 11 and the lower arm 12 of each of the U, V, and W phases does not change, or at a time when a switch is operated to a de-energized phase in the U, V, and W phases.

[0116] In a concrete example, the switching compensation unit 41 performs switching compensation to match the on / off states of the upper and lower arms of the two phases of the 120° current conduction method before and after switching. For example, the switching compensation unit 41 sets the conduction type of the PWM phase of the two current-carrying phases before and after switching to the conduction type of the PWM phase of the corresponding two-phase modulation method. In addition, the switching compensation unit 41 can also compensate when switching from the Min. two-phase modulation method by controlling the switching timing to be the period when the upper and lower arms of the intermediate phase are in the off and on states, respectively. In addition, the switching compensation unit 41 can also compensate when switching from the Max.-Two-phase modulation method by controlling the switching timing to be the period when the upper and lower arms of the intermediate phase are in the on and off states, respectively.

[0117] This prevents the upper arm 11 and the lower arm 12 from being switched on and off when switching from the two-phase modulation method to the 120° power conduction method. Therefore, the motor control unit 1 can prevent the short-circuiting of the upper arm 11 and the lower arm 12 of the same phase in the inverter circuit 10 when there is no dead time.

[0118] The switching compensation unit 41 can control the polarity switching unit 53 of the conduction switching unit 40 so that the on / off states of the upper arm 11 and the lower arm 12 of the two-phase excited phase before and after switching from the two-phase modulation method to the 120° current conduction method are consistent. The structure of the conduction switching unit 40 is not limited to the example described above, and it is sufficient if the structure allows the on / off states of the upper arm 11 and the lower arm 12 in the excited two phases to be switched and compensated before and after switching from the two-phase modulation method to the 120° current conduction method by the switching compensation unit 41.

[0119] Here, the switching of sections when no switching compensation is performed by the switching compensation unit 41 in the circuit control section 36 is explained.

[0120] Fig. 15A and Fig. 15B shows an example of switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 without switching compensation. Fig. 15A and Fig. 15B, the abbreviations "LO phase," "HI phase," and "HIZ phase" are the designations for the lower-voltage phase, the higher-voltage phase, and the no-power phase, respectively. The abbreviation "PWM phase" is also used in the 120° power conduction method. Fig. 15A and Fig. 15B, the U, V and W phases are the maximum, middle and minimum phases.

[0121] Fig. Figure 15A shows examples of the transition of the U, V, and W phases from the PWM phase (valley ON type) and the PWM phase (peak ON type) in the two-phase modulation method to the PWM phase (valley ON type), the lower voltage phase, and the no-power phase in the 120° current conduction method. In the intermediate phase (phase V), the upper arm transitions from the ON state to the OFF state, and the lower arm transitions from the OFF state to the ON state (the part surrounded by an oval). In this case, there is a possibility of overlap between the ON states of the upper and lower arms.

[0122] Fig. Figure 15B shows examples where phases U, V, and W transition to the high phase, the PWM phase (valley ON type), and the PWM phase (valley ON type) in the two-phase modulation method, and to the PWM phase (valley ON type), the no-power phase, and the lower-voltage phase in the 120° current conduction method. In the maximum phase (phase U), the upper arm transitions from the ON state to the OFF state, and the lower arm transitions from the OFF state to the ON state. As in Fig. 15A there is a possibility of overlap between the ON states of the upper and lower branches.

[0123] The switching compensation unit 41 performs the switching compensation to equalize the on / off states of the upper arm 11 and the lower arm 12 of the same phase before and after switching from the 120° power conduction method to the two-phase modulation method when the switching request is issued from the decision unit 34 as described above.

[0124] Fig. 16A and Fig. 16D shows a circuit example for switching from the two-phase modulation method to the 120° current conduction method in the motor control unit 1 of the embodiment when switching compensation is performed.

[0125] Fig. Figure 16A shows an example of the transition from the PWM phase (peak ON type) and the PWM phase (valley ON type) to the lower voltage phase in the two-phase modulation method (min type) and the U, V, and W phases in the 120° current conduction method. In the PWM phase (V phase) of the 120° current conduction method, the conduction type (valley ON type) is maintained.

[0126] Fig. Figure 16B shows examples of transitions from the U, V, and W phases to the PWM phase (peak-on type) in the two-phase modulation method (min-type), to the PWM phase (valley-on type), and to the lower-voltage phase in the 120° current conduction method. Switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the off and on states, respectively.

[0127] Fig. Figure 16C shows an example of the transition from the fixed phase with higher voltage, PWM phase (valley ON type), and PWM phase (peak ON type) in the two-phase modulation method (max. type) to the fixed phase with higher voltage, PWM phase (valley ON type), and no-current phase in the 120° current conduction method. The switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the ON and OFF states, respectively.

[0128] Fig. Figure 16D shows an example of the transition from the fixed phase with higher voltage, PWM phase (valley ON type), and PWM phase (peak ON type) in the two-phase modulation method (max. type) to the PWM phase (valley ON type), fixed phase with higher voltage, and no-current phase in the 120° current conduction method. The switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the ON and OFF states, respectively.

[0129] As shown above, by performing switching compensation using the switching compensation unit 41, it is possible to suppress the occurrence of simultaneous on-states of the upper and lower arms. [Engine control processing]

[0130] Fig. 17 shows an example of the motor control processing of the embodiment. Fig. 17 shows a flowchart of the processing steps in the conduction control section 36 and the decision unit 34. First, the conduction control section 36 controls the conduction of the upper and lower arms 11 and 12 of each phase in the inverter circuit 10 (step S101). If a request to switch to the 120° power conduction method is received (step S102, Yes), the decision unit 34 decides to switch to the 120° power conduction method (step S103). Next, the switching compensation unit 41 performs switching compensation (step S110). After that, the process proceeds to step S101. Steps S101 and S103 correspond to the conduction control section and the decision section, respectively. Step S110 corresponds to the switching compensation section. Steps S101 and S103 correspond to the conduction control section and the decision unit, respectively. In addition, step SS110 corresponds to the switching compensation section. [Processing of the switching compensation unit 41]

[0131] Fig. 18 shows an example of the switching compensation method according to the embodiment. Fig. 18 is a flowchart showing the processing steps in the switching compensation unit 41. Fig. 18 also shows the processing steps for switching compensation (step S110) in Fig. 17. First, the switching compensation unit 41 maintains the conduction type of the phase to be switched to the PWM phase of the 120° power conduction method (step S111). Next, the switching compensation unit 41 determines whether the two-phase modulation method is of the Max type (step S112). If it is of the Max type (step S112, Yes), the switching compensation unit 41 proceeds to the processing of step S115.

[0132] On the other hand, if it is not a max. type (step S112, No), the switching compensation unit 41 determines whether the two-phase modulation method is a min. type (step S113). If it is a min. type (step S113, Yes), the switching compensation unit 41 proceeds to the processing of step S116. On the other hand, if it is not a min. type (step S113, No), the switching compensation unit 41 judges that it is a min.-max. type. The switching compensation unit 41 judges whether the current modulation method is a max. type (step S114). If it is a max. type (step S114, Yes), the switching compensation unit 41 proceeds to step S115. On the other hand, if the current modulation method is not of the Max type (step S114, No), the switching compensation unit 41 proceeds to the processing of step S116.

[0133] In step S115, the switching compensation unit 41 switches to the 120° power conduction method when the upper arm 11 of the intermediate phase is turned on and the lower arm 12 is turned off, and returns to the original processing. Furthermore, in step S116, the switching compensation unit 41 switches to the 120° power conduction method when the upper arm 11 of the intermediate phase is turned off and the lower arm 12 is turned on, and returns to the original processing. The conduction type held in step S111 is applied to the conduction type of the PWM arm in the 120° power conduction method. (3. Switching from the two-phase modulation method to the 120° power line method)[In the two-phase modulation method (in-phase)]

[0134] Fig. Figure 19 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in phase. Fig. 19 shows an example of the combinations of phase states before and after switching that are compensated by the switching compensation unit 41. In Fig. Figure 19 shows the min. type, max. type, and min.-max. type for in-phase control for the two-phase modulation method. The min. type and max. type are shown for the peak-ON type and valley-ON type, respectively. In addition, the 120° current conduction method is described separately for higher-voltage PWM, lower-voltage PWM, and both-side PWM in the case of a valley transition and a peak transition. A peak transition is a case where switching is performed around the peak position of the carrier wave. A valley transition is a case where switching is performed around the valley position of the carrier wave.

[0135] The peak position range is a range in which the on / off state of the upper arm 11 and the lower arm 12 of the PWM phase does not change with respect to the on / off state of the upper arm 11 and the lower arm 12 of the PWM phase at the peak position. The range in which the arm 11 and the arm 12 of the PWM phase do not turn on and off can also be called the range in which the relative magnitude of the carrier wave Scw and the comparison value Scomp of the PWM phase do not change at the peak position. Similarly, the valley position range is the range in which the on / off state of the upper arm 11 and the lower arm 12 of the PWM phase does not change at the valley position.

[0136] As in Fig. As shown in Figure 19, in the min.-type two-phase modulation method (in-phase), if the PWM phase is a peak-ON type, it can be switched to higher-voltage PWM (peak-ON type) (1). In this case, the max. phase (PWM phase), the intermediate phase (PWM phase), and the min. phase (lower voltage) of the two-phase modulation method are converted into the PWM phase, the non-current phase, and the lower-voltage phase of the 120° current conduction method. The switching occurs in the region of the valley bottom of the carrier wave.

[0137] In addition, the minimum-type (in-phase) two-phase modulation method can switch from the valley-ON type PWM phase to higher-voltage PWM (valley-ON type) at a PWM phase (2). In this case, the maximum phase (PWM phase), the intermediate phase (PWM phase), and the minimum phase (lower voltage) of the two-phase modulation method are converted into the PWM phase, the non-current phase, and the lower-voltage phase of the 120° current conduction method. The switching occurs in the region of the peak of the carrier wave.

[0138] In addition, the maximum-type (in-phase) two-phase modulation method can switch from peak-on type PWM to lower-voltage PWM (peak-on type) at a PWM phase (3). In this case, the maximum phase (PWM phase), intermediate phase (PWM phase), and minimum phase (lower voltage) of the two-phase modulation method are switched to the higher-voltage fixed phase, the non-powered phase, and the PWM phase of the 120° power conduction method. The switching occurs in the region of the peak of the carrier wave.

[0139] In addition, the maximum-type (in-phase) two-phase modulation method can switch from the valley-ON type PWM phase to lower-voltage PWM (valley-ON type) at a PWM phase (4). In this case, the maximum phase (PWM phase), the intermediate phase (PWM phase), and the minimum phase (lower voltage) of the two-phase modulation method are switched to the higher-voltage fixed phase, the non-powered phase, and the PWM phase of the 120° power conduction method. The switching occurs in the valley region of the carrier wave.

[0140] In addition, with the min-max two-phase modulation method (in-phase), the min combination is applied when switching at the min type electrical angle. The min combination is also applied when switching at the max type electrical angle.

[0141] These (1)-(4) represent switchable combinations that do not cause a short circuit in the upper and lower arms, even when using feedforward angle control. This feedforward control assumes that the PWM phase changes to a de-energized phase during the switching process, that the de-energized phase changes to a lower-voltage phase, and that these changes also occur in reverse.

[0142] In Fig. 19, "NG" indicates a combination that causes a short circuit between the upper and lower branches during the switching process. The areas with dashed hatching indicate combinations that, taking the feedforward control into account, can cause a short circuit between the upper and lower branches.

[0143] Fig. Figure 20 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in phase. Fig. 20 shows the combinations of (1)-(4) in Fig. 19, with combinations that take pre-angle control into account. The leftmost combination in the 120° power line method in Fig. 20 shows the combination of (1) etc. in Fig. 19. The two combinations on the right in the 120° power line method in Fig. 20 are based on the assumption that the phase control method due to the pre-angle control in the combination of (1) etc. in Fig. 19. The three combinations in (1)-(4) of the same figure are determined using the Fig. 21-24 verified. [In the case of the two-phase modulation method (same phase, min. type and peak ON type)]

[0144] Fig. 21A-21C show circuit examples of the two-phase modulation method (min. type, PWM phase peak-ON type with in-phase control). Fig. 21A-21C show examples of the application of the three combinations in (1) of Fig. 20.

[0145] Fig. Figure 21A shows the transition of the U, V, and W phases from the PWM phase (peak-on type) in the two-phase modulation method, the PWM phase (peak-on type), and the lower-voltage phase in the 120° power conduction method to the PWM phase (peak-on type), the no-power-supply phase, and the lower-voltage phase. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0146] Fig. Figure 21B shows the switching of the U, V, and W phases from the PWM phase (peak-on type) of the two-phase modulation method, the PWM phase (peak-on type), and the lower-voltage phase to the 120° power conduction method, the no-power-supply phase, and the PWM phase (peak-on type) and the lower-voltage phase. In the PWM phase (V phase) of the 120° power conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0147] Fig. Figure 21C shows the transition of the U, V, and W phases from the PWM phase (peak-on type) and the PWM phase (peak-on type) in the two-phase modulation method to the PWM phase (peak-on type), the lower voltage phase, and the no-power phase in the 120° power conduction method. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase). [In the case of the two-phase modulation method (same phase, min. type and valley-ON type)]

[0148] Fig. 22A-22C show circuit examples of the two-phase modulation method (min. type, PWM phase valley-ON type with in-phase control). Fig. 22A-22C show examples of the application of the three combinations in (2) of Fig. 20.

[0149] Fig. Figure 22A shows the transition of the U, V, and W phases from the PWM phase (valley ON type) of the two-phase modulation method, the PWM phase (valley ON type), and the low-voltage phase to the PWM phase (valley ON type) of the 120° power conduction method, the no-power-supply phase, and the low-voltage phase. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0150] Fig. Figure 22B shows the switching of the U, V, and W phases from the PWM phase (valley ON type) of the two-phase modulation method, the PWM phase (valley ON type), and the lower-voltage phase to the 120° power conduction method, the no-power-supply phase, and the PWM phase (valley ON type) and the lower-voltage phase. In the PWM phase (V phase) of the 120° power conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0151] Fig. Figure 22C shows the transition of the U, V, and W phases from the PWM phase (valley-ON type) and the PWM phase (valley-ON type) in the two-phase modulation method to the PWM phase (valley-ON type), the lower voltage phase, and the no-power phase in the 120° power conduction method. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (valley-ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase). [In the case of the two-phase modulation method (same phase, max. type and peak ON type)]

[0152] Fig. 23A-23C show circuit examples of the two-phase modulation method (max. type, PWM phase peak-ON type with in-phase control). Fig. 23A-23C show examples of the application of the three combinations in (3) of Fig. 20.

[0153] Fig. Figure 23A shows the transition of the U, V, and W phases from the higher-voltage fixed phase, PWM phase (peak-on type), and PWM phase (peak-on type) in the two-phase modulation method to the higher-voltage fixed phase, no-power-supply phase, and PWM phase (peak-on type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0154] Fig. Figure 23B shows the transition from the fixed phase with higher voltage, PWM phase (peak-on type), and PWM phase (peak-on type) in the two-phase modulation method to the fixed phase with higher voltage, PWM phase (peak-on type), and no-current phase in the 120° current conduction method. In the PWM phase (V phase) of the 120° current conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0155] Fig. Figure 23C shows the switching of the U, V, and W phases from the higher-voltage fixed phase, the PWM phase (peak-on type), and the PWM phase (peak-on type) of the two-phase modulation method to the no-power-supply phase, the lower-voltage phase, and the PWM phase (peak-on type) of the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the ON and OFF states, respectively. [In the case of the two-phase modulation method (same phase, max. type and valley-ON type)]

[0156] Fig. 24A-24C show circuit examples of the two-phase modulation method (max. type, PWM phase valley ON type with in-phase control). Fig. 24A-24C show examples of the application of the three combinations in (4) of Fig. 20.

[0157] Fig. Figure 24A shows the transition of the U, V, and W phases from the higher-voltage fixed phase, PWM phase (valley-ON type), and PWM phase (valley-ON type) in the two-phase modulation method to the higher-voltage fixed phase, no-power phase, and PWM phase (valley-ON type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (valley-ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0158] Fig. Figure 24B shows the transition from the fixed phase with higher voltage, PWM phase (valley ON type), and PWM phase (valley ON type) in the two-phase modulation method to the fixed phase with higher voltage, PWM phase (valley ON type), and no-current phase in the 120° current conduction method. In the PWM phase (V phase) of the 120° current conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0159] Fig. Figure 24C shows the transition of the U, V, and W phases from the fixed phase with higher voltage, PWM phase (valley ON type), and PWM phase (valley ON type) in the two-phase modulation method to the no-power-supply phase, fixed phase with higher voltage, and PWM phase (valley ON type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the ON and OFF states, respectively.

[0160] As you can see, it comes in Fig. 26 (1)-(4) even with controlled advance angle during switching there is no short circuit between the upper and lower branch. [In the two-phase modulation method (antiphase)]

[0161] Fig. Figure 25 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in antiphase. As with Fig. 25 and Fig. 19 shows an example of the combinations of the phase states before and after switching compensated by the switching compensation unit 41. Fig. 25 differs from Fig. 19 because the two-phase modulation method is a phase reversal control.

[0162] As in Fig. As shown in Figure 25, in the min.-type two-phase modulation method (reverse phase), the PWM phase of the maximum phase and the PWM phase of the intermediate phase, when they are peak-ON type and valley-ON type, respectively, can be switched to higher-voltage PWM (peak-ON type) (1). In this case, the max. phase (PWM phase), the intermediate phase (PWM phase), and the min. phase (lower voltage) of the two-phase modulation method are converted into the PWM phase, the non-current phase, and the lower-voltage phase of the 120° current conduction method. The switching occurs in the region of the peak of the carrier wave.

[0163] In addition, in the min-type two-phase modulation method (reverse phase), the PWM phase of the maximum phase and the PWM phase of the intermediate phase, when they are valley-ON type and peak-ON type, respectively, can be switched to higher-voltage PWM (valley-ON type). (2) In this case, the max. phase (PWM phase), intermediate phase (PWM phase), and min. phase (lower voltage) of the two-phase modulation method are converted into the PWM phase, the non-current phase, and the lower-voltage phase of the 120° current conduction method. The switching occurs in the valley region of the carrier wave.

[0164] In addition, in the max.-type two-phase modulation method (reverse phase), the PWM phase of the maximum phase and the PWM phase of the intermediate phase, when they are peak-ON type and valley-ON type respectively, can be switched to higher voltage PWM (peak-ON type) (3).

[0165] In this case, the maximum phase (higher voltage fixed phase), intermediate phase (PWM phase), and minimum phase (PWM phase) of the two-phase modulation method are switched to the high phase, de-energized phase, and PWM phase of the 120° current conduction method. The switching occurs in the area of the carrier wave peak.

[0166] In addition, in the max-type two-phase modulation method (reverse phase), the PWM phase of the maximum phase and the intermediate phase can be switched to higher voltage PWM (valley ON type) when they are valley ON type and peak ON type, respectively (4). In this case, the maximum phase (fixed higher voltage phase), the intermediate phase (PWM phase), and the minimum phase (PWM phase) of the two-phase modulation method are switched to the fixed high phase, the de-energized phase, and the PWM phase of the 120° current conduction method, respectively. The switching occurs in the valley region of the carrier wave.

[0167] In addition, with the min-max two-phase modulation method (in-phase), the min combination is applied when switching at the min type electrical angle. The min combination is also applied when switching at the max type electrical angle.

[0168] These (1)-(4) represent all combinations that can be switched without short circuit in the upper and lower branches, even if phase control is applied.

[0169] Fig. Figure 26 shows an example of a combination that does not cause a short circuit in the upper and lower branches during the transition when the two-phase modulation method is controlled in antiphase. Fig. 26 shows the combinations of (1)-(4) in Fig. 25, with combinations added that take phase control into account. The leftmost combination in the 120° power line method in Fig. 26 shows the combination of (1) etc. in Fig. 25. The two combinations on the right in the 120° power line method in Fig. 26 are based on the assumption that the phase control method due to the phase angle control in the combination of (1) etc. in Fig. 25. The three combinations in (1)-(4) of the same figure are calculated using the Fig. 27-30 verified. [In the case of the two-phase modulation method (antiphase, min. type and interphase valley-ON type)]

[0170] Fig. 27A-27C show circuit examples of the two-phase modulation method (min. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 27A-27C show examples of the application of the three combinations in (1) of Fig. 26.

[0171] Fig. Figure 27A shows the transition of the U, V, and W phases from the PWM phase (peak ON type) in the two-phase modulation method, the PWM phase (valley ON type), and the lower-voltage phase in the 120° power conduction method to the PWM phase (peak ON type), the no-power-supply phase, and the lower-voltage phase. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (peak ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0172] Fig. Figure 27B shows the switching of the U, V, and W phases from the PWM phase (peak ON type) of the two-phase modulation method, the PWM phase (valley ON type), and the lower-voltage phase to the 120° power conduction method, the no-power-supply phase, and the PWM phase (valley ON type) and the lower-voltage phase. In the PWM phase (V phase) of the 120° power conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0173] Fig. Figure 27C shows the transition of the U, V, and W phases from the PWM phase (peak-on type) and the PWM phase (valley-on type) in the two-phase modulation method to the PWM phase (peak-on type), the lower voltage phase, and the no-power phase in the 120° power conduction method. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase). [In the case of the two-phase modulation method (in-phase, min. type and inter-phase valley-ON type)]

[0174] Fig. 28A-28C show circuit examples of the two-phase modulation method (min. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 28A-28C show examples of the application of the three combinations in (2) of Fig. 26.

[0175] Fig.Figure 28A shows the transition of the U, V, and W phases from the PWM phase (valley ON type) in the two-phase modulation method, the PWM phase (peak ON type), and the lower-voltage phase in the 120° power conduction method to the PWM phase (valley ON type), the no-power-supply phase, and the lower-voltage phase. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0176] Fig. Figure 28B shows the switching of the U, V, and W phases from the PWM phase (valley ON type) of the two-phase modulation method, the PWM phase (peak ON type), and the lower-voltage phase to the 120° power conduction method, the no-power-supply phase, and the PWM phase (peak ON type) and the lower-voltage phase. In the PWM phase (V phase) of the 120° power conduction method, the conduction type (peak ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase).

[0177] Fig. Figure 28C shows the transition of the U, V, and W phases from the PWM phase (valley-ON type) and the PWM phase (valley-ON type) in the two-phase modulation method to the PWM phase (valley-ON type), the lower voltage phase, and the no-power phase in the 120° power conduction method. In the PWM phase (U phase) of the 120° power conduction method, the conduction type (valley-ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the OFF and ON states, respectively, in the intermediate phase (V phase). [In the case of the two-phase modulation method (antiphase, max. type and interphase peak-ON type)]

[0178] Fig. 29A-29C show circuit examples of the two-phase modulation method (max. type with antiphase control, with peak-ON type in the intermediate phase). Fig. 29A-29C show examples of the application of the three combinations in (3) of Fig. 26.

[0179] Fig. Figure 29A shows the transition of the U, V, and W phases from the higher-voltage fixed phase, PWM phase (peak-on type), and PWM phase (valley-on type) in the two-phase modulation method to the higher-voltage fixed phase, no-power-supply phase, and PWM phase (valley-on type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (valley-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0180] Fig. Figure 29B shows the transition from the fixed phase with higher voltage, PWM phase (peak-on type), and PWM phase (valley-on type) in the two-phase modulation method to the fixed phase with higher voltage, PWM phase (peak-on type), and no-current phase in the 120° current conduction method. In the PWM phase (V phase) of the 120° current conduction method, the conduction type (peak-on type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0181] Fig. Figure 29C shows the transition of the U, V, and W phases from the fixed phase with higher voltage, PWM phase (peak ON type), and PWM phase (valley ON type) in the two-phase modulation method to the no-power-supply phase, fixed phase with higher voltage, and PWM phase (valley ON type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (valley ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase). [In the case of the two-phase modulation method (antiphase, max. type and interphase valley-ON type)]

[0182] Fig. 30A-30C show circuit examples of the two-phase modulation method (max. type with antiphase control, with valley-ON type in the intermediate phase). Fig. 30A-30C show examples of the application of the three combinations in (4) of Fig. 26.

[0183] Fig. Figure 30A shows the transition of the U, V, and W phases from the higher-voltage fixed phase, PWM phase (valley ON type), and PWM phase (peak ON type) in the two-phase modulation method to the higher-voltage fixed phase, no-power phase, and PWM phase (peak ON type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (peak ON type) is maintained. In addition, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0184] Fig. Figure 30B shows the transition from the higher-voltage fixed phase, PWM phase (valley ON type), and PWM phase (peak ON type) in the two-phase modulation method to the higher-voltage fixed phase, PWM phase (valley ON type), and no-current phase in the 120° current conduction method. In the PWM phase (V phase) of the 120° current conduction method, the conduction type (valley ON type) is maintained. Furthermore, switching occurs when the upper and lower arms are in the ON and OFF states, respectively, in the intermediate phase (V phase).

[0185] Fig. Figure 30C shows the transition of the U, V, and W phases from the fixed phase with higher voltage, PWM phase (valley ON type), and PWM phase (peak ON type) in the two-phase modulation method to the no-power-supply phase, fixed phase with higher voltage, and PWM phase (peak ON type) in the 120° current conduction method. In the PWM phase (W phase) of the 120° current conduction method, the conduction type (peak ON type) is maintained. In addition, switching occurs when the upper and lower arms in the intermediate phase (V phase) are in the ON and OFF states, respectively.

[0186] As you can see, it comes in Fig. 26 (1)-(4) even with controlled advance angle during switching there is no short circuit between the upper and lower branch. (4. Hardware configuration)

[0187] Fig. 31 shows a circuit example of the hardware configuration of the control unit 30 of the engine control unit 1 of the embodiment. As shown in Fig.As shown in Figure 31, the control unit 30 comprises a computer including the processor 101, the memory 102, the input / output unit 103, and the bus 104. The processor 101, the memory 102, and the input / output unit 103 are capable of sending and receiving information to and from each other via the bus 104.

[0188] Processor 101 performs the functions of control unit 30 by reading and executing the engine control program stored in memory 102. Processor 101 is, for example, a processing circuit that includes at least one of the following components: a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a system LSI (Large Scale Integration).

[0189] Memory 102 includes at least one of the following components: RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Registered Trademark) (Electrically Erasable Programmable Read Only Memory). Input / output section 103 includes, for example, an AD converter, a DA converter, and an input / output port.

[0190] Furthermore, the motor control unit 1 can be configured to include a data reading section that reads a motor control program from a recording medium on which a computer-readable motor control program is recorded. Processor 101 can control the data reading section to acquire the motor control program recorded on the recording medium from the data reading section and store the acquired motor control program in memory 102. The recording medium includes one or more of the following components: non-volatile or volatile semiconductor memories, magnetic disks, flexible memories, optical disks, compact discs, and DVD (Digital Versatile Disc).

[0191] The engine control unit 1 can also be provided with a communication unit that receives an engine control program from a server via a network. In this case, the processor 101 can retrieve the engine control program from the server via the communication unit and store the retrieved engine control program in the memory 102.

[0192] In addition, the control unit 30 may include an integrated circuit such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

[0193] Therefore, when switching from the two-phase modulation method to the 120° power conduction method, the motor control unit 1 of the present disclosure performs control to align the on / off states of the upper and lower arms of the two phases of the 120° power conduction method before and after the switching. This makes it possible to suppress a short circuit of the upper and lower arms in the inverter circuit even when there is no dead time.

[0194] The above describes the various embodiments of the present disclosure, but the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications are possible as long as they do not deviate from the gist of the present disclosure. Furthermore, the components can be combined as needed across various embodiments and variant examples.

[0195] The sequence of processes by the respective devices described in detail in this document can be realized either through software, hardware, or a combination of software and hardware. For example, the programs that comprise the software are stored in advance on a storage medium (non-volatile medium) provided inside or outside the respective device. For example, each program is loaded into RAM when executed by a computer and executed by a processor such as a CPU.

[0196] Furthermore, the processes described in this detailed description using flowcharts and illustrations do not necessarily need to be performed in the order shown in the diagrams. Some processing steps may be performed in parallel. Furthermore, additional processing steps may be used, and some process steps may be omitted. (Effect)

[0197] The motor control unit 1 includes the inverter circuit 10, the conduction control section 36, and the decision unit 34. The inverter circuit 10 has an upper arm 11 and a lower arm 12 for each of the three phases. The conduction control section 36 controls the conduction of the upper arm 11 and the lower arm 12 of each of the three phases in the aforementioned inverter circuit 10. The decision unit 34 determines to switch from a two-phase modulation method in which two of the three phases are PWM phases that are PWM-controlled and the remaining phase is a fixed phase in which either the upper arm 11 or the lower arm 12 is always on, to a 120° current conduction method in which two of the three phases are energized phases and the remaining phase is a de-energized phase.The conduction control section 36 is equipped with a switching compensation unit that equalizes the on / off states of the upper arm 11 and the lower arm 12 of the two conduction phases before and after switching from the above-mentioned two-phase modulation method to the above-mentioned 120° current conduction method determined by the decision unit 34. This allows the motor control unit 1 to prevent a short circuit between the upper arm 11 and the lower arm 12 in the inverter circuit 10 when switching from the two-phase modulation method to the 120° current conduction method.

[0198] In addition, the conduction control section 36 can selectively use the first conduction type and the second conduction type having different phases of the waveform that turn on and off the arm 11 of the PWM phase, and the center of the on-period of the waveform of one of the conduction types, the first conduction type and the second conduction type, is during the off-period of the other conduction type, and as the control for the 120° current conduction method, the control of making one of the two conduction phases a PWM phase and the other a fixed phase is performed while switching the combination of the conduction phase and the non-conduction phase in the three phases every 60°, and the switching compensation unit the configuration of the PWM phase of the two current-carrying phases before and after the switching can be set to the configuration of the PWM phase of the corresponding two-phase modulation method.This enables the motor control unit 1 to prevent a short circuit between the upper arm 11 and the lower arm 12 in the inverter circuit 10 when switching from the two-phase modulation method to the 120° power conduction method.

[0199] Furthermore, the conduction control section 36 fixes the lower arm 12 to the on-state in the fixed phase of the two-phase modulation method and fixes the lower arm 12 to the on-state in the fixed phase of the 120° current conduction method. In the switching compensation unit, the switching timing may be the period when the upper arm 11 is on during the control cycle of the PWM phase in the three phases of the two-phase modulation method, and the upper arm 11 and the lower arm 12 of the intermediate phase may be in the off-state and on-state of the intermediate phase, which is the phase with the maximum, medium, and minimum duty cycles, respectively. This allows the motor control unit 1 to prevent a short circuit between the upper arm 11 and the lower arm 12 in the inverter circuit 10 when switching from the min-type two-phase modulation method to the 120° current conduction method.

[0200] The switching compensation unit can also be configured so that the maximum, intermediate and minimum phases of the two-phase modulation method correspond to the PWM phase, the non-excited phase and the fixed phase of the 120° power conduction method, respectively.

[0201] The switching compensation unit can also be configured so that the maximum, intermediate and minimum phases of the two-phase modulation method correspond to the non-excited phase, the PWM phase and the fixed phase of the 120° power conduction method, respectively.

[0202] The switching compensation unit can also be configured to correspond to the PWM phase, the fixed phase and the de-energized phase of the 120° power conduction method, the maximum phase, the intermediate phase and the minimum phase of the two-phase modulation method.

[0203] Furthermore, the conduction control section 36 fixes the upper arm 11 to the on-state in the fixed phase of the two-phase modulation method and fixes the upper arm 11 to the on-state in the fixed phase of the 120° current conduction method. In the switching compensation unit, the switching timing may be the period when the upper arm 11 is on during the control cycle of the PWM phase in the three phases of the two-phase modulation method, and the upper arm 11 and the lower arm 12 of the intermediate phase may be in the on-state and off-state of the intermediate phase, which is the phase with the maximum, medium, and minimum duty cycles, respectively. This allows the motor control unit 1 to prevent a short circuit between the upper arm 11 and the lower arm 12 in the inverter circuit 10 when switching from the maximum-type two-phase modulation method to the 120° current conduction method.

[0204] The switching compensation unit can also be configured so that the maximum, intermediate and minimum phases of the two-phase modulation method correspond to the fixed phase, the non-excited phase and the PMW phase of the 120° power conduction method, respectively.

[0205] The switching compensation unit can also be configured to correspond to the fixed phase, PWM phase and no-current phase of the 120° power conduction method, the maximum phase, the intermediate phase and the minimum phase of the two-phase modulation method.

[0206] The switching compensation unit can also be configured to correspond to the no-current phase, fixed phase and PWM phase of the 120° power conduction method, the maximum phase, the intermediate phase and the minimum phase of the two-phase modulation method.

[0207] Further, the conduction control section 36 performs the control of the two-phase modulation method by switching between the first control type that sets the lower arm 12 of the fixed phase to the on state and the second control type that sets the upper arm 11 of the fixed phase to the on state every 60°, and the combination of the PWM phase and the fixed phase in the three phases is switched every 60°, and the switching compensation unit processes the control method that sets the lower arm 12 to the on state in the fixed phase of the 120° current conduction method when switching from the first control type of the two-phase modulation method to the 120° current conduction method, and the switching timing is set to the period in which the upper arm 11 and the lower arm 12 are respectively off and on in the intermediate phase, that is, in the phase in which the duty ratio, that isthe turn-on rate, that is, the ratio of the time the upper arm 11 is turned on in the control cycle of the PWM phase in the three phases of the two-phase modulation method, is medium. When switching from the two-phase modulation method of the second control type to the 120° current conduction method, the control method that sets the arm 11 in the fixed phase of the 120° current conduction method to the on-state is applied to the conduction control section 36, and the switching timing can be set to the period in which the arm 11 and the arm 12 of the intermediate phase in the three phases of the two-phase modulation method are in the on-state and off-state, respectively. This allows the motor control unit 1 to prevent a short circuit between the upper arm 11 and the lower arm 12 in the inverter circuit 10 when switching from the min-max type two-phase modulation method to the 120° current conduction method.

[0208] The motor control program controls the conduction of the upper arm 11 and the lower arm 12 of each of the three phases of the inverter circuit 10, which has an upper arm 11 and a lower arm 12 for each of the three phases, and includes a conduction control method and a determination method. The conduction control method controls the conduction of the upper arm 11 and the lower arm 12 of each of the three phases of the inverter circuit 10, which has an upper arm 11 and a lower arm 12 for each of the three phases, and includes a conduction control method and a determination method.The determination method determines a change from the two-phase modulation method in which two of the three phases are PWM phases controlled by PWM and the remaining one phase is a fixed phase in which one of the upper arms 11 and lower arms 12 is always on, to the 120° switching method in which two of the three phases are energized phases, and a motor control program that causes a computer to execute a decision process for determining a switch to a 120° power conduction method in which one of the remaining two phases is a non-conducting phase, and a switching compensation process for adjusting the on / off states of the arm 11 and the arm 12 in the two conducting phases before and after the switch from the two-phase modulation method to the 120° power conduction method determined by the decision process.It is possible to suppress the short-circuiting of the upper arm 11 and the lower arm 12 of the inverter circuit 10 when switching from a two-phase modulation method to a 120° power conduction method.

[0209] The motor control method includes a conduction control process that controls the conduction of the upper arm 11 and the lower arm 12 of each of the three phases of the inverter circuit 10, which has an upper arm 11 and a lower arm 12 for each of the three phases, and a decision process that determines a switch from a two-phase modulation method in which two of the three phases are PWM-controlled PWM phases and the remaining one phase is a fixed phase, in which one of the upper arms 11 and lower arms 12 is always on, to a 120-degree current conduction method in which two of the three phases are live phases and the remaining motor control method including a decision process for deciding the switch from the two-phase modulation method to the 120° current conduction method in which one of the two current conduction phases is permanently on.and a switching compensation process for adjusting the on / off status of the two power line phases (branch 11 and branch 12) before and after switching from the two-phase modulation method to the 120° power line method. It is possible to suppress the short-circuiting of the upper branch 11 and the lower branch 12 of the inverter circuit 10 when switching from a two-phase modulation method to a 120° power line method.

[0210] In addition, the effects described in this document are only examples and are not limited to these, and other effects may also occur. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2010-045941

[0003]

Claims

[1] An inverter circuit having an upper arm and a lower arm for each of the three phases, a conduction control section that controls the conduction of the upper arm and the lower arm of each of the three phases in the above-mentioned inverter circuit, and a decision unit that determines the change from the two-phase modulation method, in which two of the three phases are PWM-controlled PWM phases and the remaining one is a fixed phase in which one of the arms is always on, to the 120° current conduction method, in which two of the three phases are live phases and the remaining one is a non-live phase, and the conduction control section motor control unit having a switching compensation unit that performs before and after the change from the two-phase modulation method to the 120° current conduction method determined by the decision unit,the on and off state of the upper and lower branches in the current phase of the two phases covers., [2] The conduction control section may selectively use the first and second conduction types having different phases of the waveform that turn on and off the upper arm of the PWM phase, and the center of the on-period of the waveform of one of the conduction types is during the off-period of the waveform of the other conduction type, and as control for the 120° current conduction method. The motor control unit according to claim 1, wherein the control of setting one of the two excited phases to the PWM phase and the other excited phase to the fixed phase is performed while switching the combination of the excited phase and the non-excited phase in the three phases every 60°, and the switching compensation unit is configured so that the conduction type of the PWM phase of the two excited phases before and after the switching is the conduction type of the PWM phase of the corresponding two-phase modulation method. [3] The aforementioned conduction control section fixes the lower arm in the on-state in the fixed phase of the aforementioned two-phase modulation method, fixes the lower arm in the on-state in the fixed phase of the aforementioned 120° current conduction method, and the aforementioned switching compensation unit sets the switching timing to the period in which the upper arm is in the on-state in the control cycle of the PWM phase in the three phases of the aforementioned two-phase modulation method, and sets the duty ratio to the maximum, the medium and the minimum for the maximum phase, respectively. The motor control unit according to claim 2, wherein the upper and lower arms of the intermediate phase are in the off and on states, respectively. [4] The motor control unit according to the preceding claim, in which the switching compensation unit is configured such that the maximum, middle and minimum phases of the two-phase modulation method correspond respectively to the PWM phase, the dead phase and the fixed phase of the 120° current conduction method. [5] The motor control unit according to claim 3, wherein the switching compensation unit is configured so that the maximum, middle and minimum phases of the two-phase modulation method correspond to the no-voltage phase, the PWM phase and the fixed phase of the 120° current conduction method, respectively. [6] The motor control unit according to claim 3, wherein the switching compensation unit is configured so that the maximum, middle and minimum phases of the two-phase modulation method correspond respectively to the PWM phase, the fixed phase and the no-voltage phase of the 120° power conduction method. [7] The aforementioned conduction control section fixes the upper arm in the on-state in the fixed phase of the aforementioned two-phase modulation method, fixes the upper arm in the on-state in the fixed phase of the aforementioned 120° current conduction method, and the aforementioned switching compensation unit sets the switching timing to the period in which the upper arm is in the on-state in the control cycle of the PWM phase in the three phases of the aforementioned two-phase modulation method, and sets the duty ratio to the maximum, the medium and the minimum for the maximum phase, respectively, the motor control unit according to claim 2, wherein the upper and lower arms of the intermediate phase are in the on and off states, respectively. [8] The motor control unit according to claim 7, wherein the switching compensation unit is configured so that the maximum, middle and minimum phases of the two-phase modulation method correspond respectively to the fixed phase, the de-energized phase and the PMW phase of the 120° current conduction method. [9] The motor control unit according to claim 7, wherein the switching compensation unit is configured so that the maximum, middle and minimum phases of the two-phase modulation method correspond respectively to the fixed phase, the PWM phase and the no-voltage phase of the 120° power conduction method. [10] The motor control unit according to claim 7, wherein the switching compensation unit is configured so that the maximum, middle and minimum phases of the two-phase modulation method correspond to the no-voltage phase, the fixed phase and the PWM phase of the 120° power conduction method, respectively. [11] The motor control unit according to claim 2, wherein the aforementioned conduction control section performs the control of the aforementioned two-phase modulation method by switching between the first control type that sets the aforementioned lower arm of the fixed phase to the on-state and the second control type that sets the aforementioned upper arm of the fixed phase to the on-state every 60°, and the combination of the PWM phase and the fixed phase in the three phases is switched every 60°, and the switching compensation unit processes the control method that sets the aforementioned lower arm to the on-state in the fixed phase of the aforementioned 120° current conduction method when switching from the first control type of the aforementioned two-phase modulation method to the aforementioned 120° current conduction method, and the switching timing is set to the period,in which the aforementioned upper arm and the aforementioned lower arm are respectively turned off and on in the intermediate phase, that is, in the phase in which the duty cycle, that is, the turn-on rate, that is, the ratio of the time in which the aforementioned upper arm is turned on in the control cycle of the PWM phase in the three phases of the aforementioned two-phase modulation method, is medium, when switching from the two-phase modulation method of the second control type to the aforementioned 120° current conduction method, the control method that sets the aforementioned upper arm to the on-state in the fixed phase of the aforementioned 120° current conduction method is applied to the conduction control section, and the switching timing can be set to the period,in which the aforementioned upper branch and the aforementioned lower branch of the intermediate phase are in the on and off states, respectively, in the three phases of the aforementioned two-phase modulation method. [12] A motor module comprising a motor control unit according to any one of claims 1 to 11 and a motor controlled by the motor control unit. [13] A conduction control method for controlling the conduction of the upper and lower arms of each of the three phases of an inverter circuit having an upper and lower arm for each phase, and a decision method for determining switching from a two-phase modulation method in which two of the three phases are PWM-controlled PWM phases and the remaining one is a fixed phase in which one of the upper and lower arms is always on, to a 120° current conduction method in which two of the three phases are live phases and the remaining one is a non-live phase, and a motor control program that causes a computer to execute a switching compensation method that compares the on / off states of the upper and lower arms of the live phase of the two phases before and after switching from the above-mentioned two-phase modulation method to the above-mentioned 120° current conduction method,which is determined by the decision-making process mentioned above. [14] A conduction control process that controls the conduction of the upper and lower arms of each of the three phases of the three-phase inverter circuit, and a decision process that switches from a two-phase modulation method in which two of the three phases are PWM-controlled PWM phases and the remaining one phase is a fixed phase in which one of the upper and lower arms is always on, to a 120° current conduction method in which two of the three phases are live phases and the remaining one phase is a non-live phase, and a motor control method that includes a switching compensation process that adjusts the on / off states of the upper and lower arms of the live phase of the two phases before and after the switch from the two-phase modulation method to the 120° current conduction method determined by the above decision process.

Images