Motor drive device

Abstract

To provide a motor drive device that can avoid degradation of rotation position estimation accuracy during current limitation.SOLUTION: A motor drive device in an embodiment is structured by connecting a plurality of arms consisting of a series circuit of positive-side and negative-side semiconductor switching elements in parallel, and includes: a power conversion circuit for driving a motor; a control unit for generating an on-off signal for each of the semiconductor switching elements forming the power conversion circuit by way of PWM control and outputting it; a current detection unit for detecting a current flowing through the power conversion circuit; a current limiting unit for stopping the operation of the control unit if the current reaches a threshold value; and a position estimation unit for estimating the rotation position of the motor using a motor current and a motor voltage. The position estimation unit corrects a motor voltage used for estimating the rotation position in a carrier period of the PWM control in which the operation of the control unit is stopped.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an apparatus for driving a motor. [Background technology]

[0002] For example, a power conversion device for driving a three-phase brushless motor has a configuration in which a half-bridge circuit for three phases is connected in parallel between positive and negative DC power supply lines. The half-bridge circuit is composed of a pair of semiconductor switching elements connected in series between the DC power supply lines, and a free wheel diode connected in inverse parallel to each of the semiconductor switching elements. In a power conversion device configured as described above, the drive of each semiconductor switching element is controlled by PWM (Pulse Width Modulation). As a result, DC power provided from the DC power supply lines is converted into three-phase AC power, and a current is passed through the windings of the motor.

[0003] For circuits that drive brushless motors, particularly for applications that require starting torque, sensor drive using a position sensor has been proposed. However, to achieve low cost and compact size, a motor drive device that controls a brushless motor without using a position sensor is required.

[0004] For example, instead of detecting the rotational position of a motor with a magnetic pole sensor such as a Hall element, there is a method of detecting the rotational position using the induced voltage generated in the motor windings and outputting the motor voltage based on this. In a 120-degree rectangular wave drive that outputs a rectangular wave voltage with an electrical angle of 120 degrees for one phase, it is possible to directly detect the induced voltage in the 60-degree section where the output stops. However, the 120-degree rectangular wave drive is inferior in terms of noise and vibration compared to a 180-degree sine wave drive that outputs a sine wave voltage.

[0005] Generally, as disclosed in Patent Document 1, for example, there is a method of calculating an induced voltage based on a motor voltage equation to perform sine wave driving without using a position sensor, and estimating the rotational position using the induced voltage.

[0006] Vector control is also used as a method for controlling brushless motors with high precision. In vector control, the motor's three-phase AC current is converted into a q-axis current (torque component) and a d-axis current (magnetic flux component) that are DC currents, and these are controlled independently and precisely, enabling high-efficiency, low-vibration operation and an expanded operating range. To control the current, it is necessary to detect the motor current, and generally two or more current sensors are used. However, as with position sensors, in order to reduce costs and size, inexpensive shunt resistors may be used as current sensors instead of expensive current transformers. In addition, in order to reduce the cost of the system, a one-shunt current detection method is adopted, in which the number of shunt resistors is reduced from three to one.

[0007] When an excessive current flows through a brushless motor, it can lead to failures such as demagnetization of the magnets in the brushless motor or damage to the semiconductor switching elements. Therefore, in order to limit the motor current, as disclosed in Patent Document 2, for example, a function is used that cuts off the gate signal when the voltage of a shunt resistor placed in the ground line of the inverter exceeds a threshold value. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2004-72906 A [Patent Document 2] JP 2007-89332 A Summary of the Invention [Problem to be solved by the invention]

[0009] However, because the gate signal is cut off during current limiting, not only does the output voltage drop below the command, but the motor current cannot be detected correctly when it is detected according to the gate signal. Position estimation control that does not use a rotational position detector, which achieves low-cost motor systems, uses an output voltage command and motor current, so there is a concern that the accuracy of position estimation may decrease during current limiting.

[0010] Therefore, a motor drive device is provided that can prevent the estimation accuracy of the rotational position from decreasing when the current is limited. [Means for solving the problem]

[0011] The motor drive device of the embodiment includes a power conversion circuit that is configured by connecting in parallel a plurality of arms, each of which is a series circuit of a positive-side and a negative-side semiconductor switching element, and drives a motor; A control unit that generates and outputs an on / off signal for each semiconductor switching element that constitutes the power conversion circuit by PWM control; a current detection unit that detects a current flowing through the power conversion circuit; a current limiting unit that stops operation of the control unit when the current reaches a threshold value; a position estimator that estimates a rotational position of the motor using a motor current and a motor voltage; The position estimator corrects a motor voltage used for estimating the rotational position during a carrier period of the PWM control in which the operation of the controller is stopped. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a configuration of a motor drive device according to an embodiment. [Diagram 2] Diagram showing the internal structure of a gate driver [Diagram 3] A diagram showing the carrier waveform in PWM control and the output waveform of each phase gate signal when current limiting occurs. [Figure 4] A diagram showing the relationship between the d-axis induced voltage Ed and the estimated axis during position estimation when (Ed>0). [Diagram 5] A diagram showing the relationship between the d-axis induced voltage Ed and the estimated axis during position estimation when (Ed<0). [Figure 6] Figure 1 shows the simulation results of position estimation without current limiting. [Figure 7] Figure 1 shows the simulation results of position estimation with current limit. [Figure 8] A diagram explaining that with the single-shunt current detection method, there are periods when the current cannot be detected. [Figure 9] A diagram explaining three conditions for correcting the d-axis voltage according to the timing of current limit occurrence and the output timing of each phase gate signal. [Figure 10] A diagram showing an example of the current on the d-q axis coordinate when current limiting occurs [Figure 11] Flowchart showing position estimation processing [Figure 12] A diagram showing the simulation results of position estimation without position estimation correction when current limiting occurs. [Figure 13] Figure 1 shows the simulation results of position estimation with position estimation correction when current limiting occurs. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An embodiment will be described below. As shown in Fig. 1, an inverter 2, which is a power conversion device, is connected to a motor 1. The inverter 2 has a configuration in which a half-bridge circuit 4, which corresponds to an arm, is connected in parallel for three phases between positive and negative DC power supply lines 3a and 3b. The half-bridge circuit 4 is composed of a pair of semiconductor switching elements 5 connected in series between the DC power supply lines 3a and 3b, and free wheel diodes 6 connected in anti-parallel to each of the semiconductor switching elements 5. For example, when the semiconductor switching elements are N-channel MOSFETs, the free wheel diodes 6 become parasitic diodes.

[0014] A DC power supply 7, a smoothing capacitor 8, and a series circuit of resistor elements 9a and 9b are connected in parallel between the DC power supply lines 3a and 3b. A resistor element 10 serving as a current detection unit is inserted between the resistor element 9b and the DC power supply lines 3a and 3b. A so-called one-shunt current detection method is adopted in which the motor current is detected by the terminal voltage of this resistor element 10. The motor current is converted into d-axis and q-axis currents on the rotating coordinate system by a current coordinate conversion unit 12 of a control unit 11. In addition, the voltage detection point of the resistor element 10 is connected to the input terminal of a current limiting unit 13.

[0015] A speed command is input from the outside to a speed control unit 14 and a position estimation unit 15 of the control unit 11. The speed control unit 14, which corresponds to a current command value determination unit, performs PI (Proportional Integral) control on the difference between the speed command and the estimated speed calculated by the position estimation unit 15 to generate a q current command.

[0016] The position estimation unit 15 calculates the d-axis induced voltage from the motor parameters, d-axis and q-axis currents, and d-axis voltage. PI control is performed so that the d-axis induced voltage becomes zero, and the speed is calculated from the result and the speed command. The speed is also integrated to find an angle, which is used in coordinate transformation. The d-axis current command is set to zero when the surface permanent magnet motor is not using field weakening control. The current control unit 16 performs PI control on the differences between the d-axis and q-axis currents, respectively, to generate d-axis and q-axis voltage commands.

[0017] The output coordinate conversion unit 17 converts the d-axis and q-axis voltage commands into coordinates and generates a three-phase voltage command. The common connection point of the resistance elements 9a and 9b is connected to the input terminal of the duty calculation unit 18. The duty calculation unit 18 detects the divided voltage of the DC power supply 7 and calculates the duty value of each phase in the PWM control from the three-phase voltage command and the power supply voltage. The duty value of each phase is input to a gate driver 19. The gate driver 19 generates and outputs a gate signal to each semiconductor switching element 5 constituting the inverter 2 as a PWM signal.

[0018] When the terminal voltage of the resistive element 10 exceeds the current limit threshold, the current limiting unit 13 outputs a pulsed current limit generation trigger (see FIG. 9). When the current limit generation trigger is input, the gate driver 19 cuts off the output of the gate signal from that timing until the end of one period of the PWM carrier, thereby preventing a large current from flowing to the motor 1. This state is sometimes referred to as "current limiting." As shown in FIG. 2, the gate driver 19 includes a basic carrier generating unit 21, a carrier waveform converting unit 22, comparators 23U to 23W, and an energization control unit 24.

[0019] As shown in FIG. 3, the basic carrier generating unit 21 has a carrier counter that increases simply, and generates a sawtooth wave as the basic carrier. The carrier waveform converting unit 22 has a carrier counter that subtracts in the first half of the cycle of the basic carrier and adds in the second half, and generates a triangular wave as the PWM carrier. The bottom of the triangular wave becomes the center point for generating the PWM signal for each phase. The comparators 23U to 23W compare the PWM carrier waveform data with the duty of each phase, and output the comparison result to the energization control unit 24. The energization control unit 24 adds a dead time to prevent short-circuiting of the upper and lower semiconductor switching elements 5, and outputs a gate signal to each semiconductor switching element 5 as a PWM signal.

[0020] When a current limit trigger is input from the current limiting unit 13, the current control unit 24 cuts off the output of the gate signal. The basic carrier generating unit 21 has a built-in data latch equivalent to a data holding unit, holds the basic carrier count value at the time when the current limit trigger occurs as the limit timing OVVDATA, and outputs it to the outside. The method of using OVVDATA will be described later. Note that the detection current shown in Figure 3 is an image, and is different from the voltage when one shunt current is detected by the resistance element 10. If the gate signal is cut off midway through the output, it means that the voltage according to the voltage command is not output.

[0021] ?Here is the basic formula for position estimation. Ed = Vd - R Id + ω Lq Iq … (1) Ed: d-axis induced voltage, Vd: d-axis voltage, Id: d-axis current, Iq: q-axis current, R: winding resistance, ω: (angular) velocity, Lq: q-axis inductance. The relationship between the d-axis induced voltage Ed and the estimated axis during position estimation is shown in Figures 4 and 5. When Ed>0 as shown in Figure 4, the estimated axis is ahead of the actual axis, i.e., the position estimation is ahead, and when Ed<0 as shown in Figure 5, the position estimation is behind.

[0022] Next, we will explain two issues that arise when current limiting occurs. The first issue is that the voltage is not output according to the voltage command. Since there are cases where the gate signal output is cut off midway, it is thought that the amplitude of the d-axis voltage Vd will become smaller. When the motor 1 is driven, Vd<0 and the d-axis induced voltage Ed will normally become large, so it is expected that position estimation will proceed.

[0023] Figures 6 and 7 show the effect of current limiting on position estimation through simulation. Figure 6 shows the position estimation error (= actual position - estimated position) when there is no current limit and Figure 7 shows the case when there is a current limit. Position estimation starts after 0.5 seconds. These results confirm that, consistent with previous predictions, current limiting causes position estimation to progress and reduces estimation accuracy.

[0024] The second problem is that when current limiting occurs, the gate signal is cut off, making it impossible to detect the correct current with the one-shunt current detection method. Figure 8 shows the gate signal and current detection timing when current limiting occurs. With the one-shunt current detection method, the current is detected when one or two gate signals are ON; at high level. Therefore, when the gate signal is cut off due to current limiting, no current flows through the resistance element 10, the terminal voltage becomes zero, and the correct current cannot be detected.

[0025] Next, the countermeasures for the above two problems will be described. First, a method of correcting the d-axis voltage used in position estimation from the current limit generation timing, which is a countermeasure for the first problem, will be described. As shown in FIG. 9, the timing at which the gate signal is cut off; the limit timing classifies into three conditions. Condition (1) is the case where the gate signal is cut off before it is output, that is, when the gate signal is completely cut off. Condition (2) is the case where the gate signal is cut off while it is being output. Condition (3) is the case where the gate signal is cut off after the output of the gate signal is completed, that is, when the gate signal is output as it is.

[0026] When the current limit generation trigger occurs, the count value of the basic carrier at that time is held as the limit timing data OVVDATA. OVVDATA can be read in the next carrier cycle when the current limit occurs. The correction value for correcting the voltage of each phase is obtained as follows for the above three conditions from OVVDATA, the start timing START of each phase gate signal, the end timing END of each phase gate signal, and the duty DUTY of each phase. Condition (1): When OVVDATA < START, correction value = 0 Condition (2): When START < OVVDATA < END Correction value = (OVVDATA - START) / DUTY Condition (3): When END < OVVDATA, correction value = 1 In addition, in the figure, conditions (1) to (3) are indicated by circled numbers.

[0027] For example, when DUTY = 0.75, the start timing START is 0.125 of the maximum value of the basic carrier. If the current limit generation trigger occurs at the timing of 0.75 of the carrier cycle, it is condition (2), and the correction value is 0.833 = (0.75 - 0.125) / 0.75 becomes. If the DUTY is corrected by the correction value, 0.75 × 0.833 ≒ 0.625 becomes.

[0028] Next, the d-axis correction voltage used in position estimation is calculated using the correction value for each phase as follows: Each phase correction voltage = each phase duty × each phase correction value × power supply voltage … (2) α-axis correction voltage = {U-phase correction voltage - (V-phase correction voltage + W-phase correction voltage) / 2} x 2 / 3 …(3) β-axis correction voltage = (V-phase correction voltage - W-phase correction voltage) / √3 … (4) d-axis compensation voltage = α-axis compensation voltage × COSθ + β-axis compensation voltage × SINθ … (5) For sin θ and cos θ, the values ​​used in the output coordinate conversion unit 15 can be used.

[0029] Next, we will explain the method for calculating the d and q axis currents used in position estimation using the current limit value and the previous d and q axis currents, which is a solution to the second issue. As shown in Fig. 10, the occurrence of current limit means that the motor current amplitude Iamp has reached the current limit value. Using the current limit value as the motor current amplitude, the d and q axis current correction values ​​used in position estimation are calculated as follows. d-axis current correction value = -current limit value × SIN {current phase (previous value)} … (6) q-axis current correction value = current limit value × COS {current phase (previous value)} … (7) The current phase (previous value) is calculated as follows: Current phase (previous value) = ATAN (d-axis current (previous value) / q-axis current (previous value)) … (8) Here, the current limit value and the previous d / q-axis currents are used, but it is also possible to consider a method of using only the previous d / q-axis currents, or the d / q-axis current commands, the current limit value, the previous d / q-axis currents, and the limit timing to determine the d / q-axis current correction values ​​to be used in position estimation.

[0030] 11 is a flowchart showing the position estimation process. If no current limit has occurred (S1;N), the current phase to be used for correction the next time a current limit occurs is calculated from equation (8) (S2). If a current limit has occurred (S1;Y), the correction current is calculated using equations (6) and (7) (S5). Next, the three-phase correction voltage, two-axis correction voltage, and d-axis correction voltage are calculated from equations (2) to (5) (S6 to S8).

[0031] When step S2 or S8 is executed, the d-axis induced voltage Ed is calculated from equation (1), PI control is performed so that the d-axis induced voltage Ed becomes zero, and the speed is calculated from the result and the speed command. The speed is also integrated to obtain the angle and perform a position estimation calculation (S3). Then, for the next correction, the d- and q-axis currents, the three-phase duty, and the sine and cosine values ​​used in the output coordinate axis conversion are saved in a memory equivalent to the current value storage unit (S4).

[0032] Figures 12 and 13 show the simulation results when current limiting occurs. Figure 12 shows the case without position estimation correction, and Figure 13 shows the case with position estimation correction. Without position estimation correction, rotation stops due to a decrease in position estimation accuracy. With position estimation correction, the position estimation accuracy is maintained and driving can continue. From the above, it has been confirmed that by performing position estimation correction when current limiting occurs, it is possible to prevent the motor 1 from stopping rotation due to loss of synchronism. This embodiment can be applied to motor control microcontrollers and driver ICs (integrated circuits).

[0033] As described above, according to this embodiment, the inverter 2 is configured by connecting in parallel three-phase half-bridge circuits 4 each consisting of a series circuit of a pair of semiconductor switching elements 5 on the positive and negative sides, and drives the motor 1. The control unit 11 generates and outputs on / off signals for each semiconductor switching element 5 by PWM control. The inverter 2 serves as a current detection unit that detects the current flowing through the inverter 2. The current limiting unit 13 stops the operation of the control unit 11 when the current reaches a threshold value. The position estimating unit 15 estimates the rotational position of the motor 1 using the motor current and the motor voltage. The position estimating unit 15 corrects the motor voltage used to estimate the rotational position during the carrier period of the PWM control during which the operation of the control unit 11 is stopped. This allows the rotational position of the motor 1 to be accurately estimated even during the period during which the current is limited.

[0034] Furthermore, the current limiting unit 13 outputs a trigger signal when the detected current exceeds a threshold, and the gate driver 19 holds the count value OVVDATA within the carrier cycle in PWM control at the time the trigger signal is output as current limit occurrence timing data. The position estimating unit 15 then corrects the motor voltage using the current limit occurrence timing data. The current limit occurrence timing data is output by the gate driver 19 at a timing synchronized with the carrier cycle, that is, in the cycle next to the carrier cycle in which the trigger signal is output. Therefore, the position estimating unit 15 can grasp at what timing within the carrier cycle the current limit occurred.

[0035] The position estimation unit 15 also determines a correction value for the motor voltage by comparing either or both of the start count value START at the time when the output of the PWM signal for each phase starts and the end count value END at the time when the output ends with the data OVVDATA. That is, the correction value can be determined under three conditions according to the output state of the gate signal for each phase and the timing when the trigger signal is output.

[0036] Then, if the data OVVDATA is greater than the count value START and less than the count value END, the position estimation unit 15 determines the correction value by dividing the difference between the data OVVDATA and the count value START by the duty ratio that was scheduled to be output in that period. This makes it possible to appropriately determine the correction value even in the case of condition (2) where the trigger signal is output while the gate signal is being output.

[0037] Moreover, the resistive element 10 serving as a current detection unit is a single shunt resistor disposed in a DC power supply unit, and the position estimation unit 15 uses, for estimating the rotational position, a current value or a current command value stored in a carrier cycle before the operation of the control unit 11 stops. Therefore, even if there is a period in which the current cannot be detected by the single shunt current detection method, it is possible to estimate the rotational position with high accuracy.

[0038] (Other embodiments) The current detection method is not limited to the one-shunt method, but may be a three-shunt method, in which case it is not necessary to use the stored current value or current command value to estimate the rotation position. The PWM signal does not necessarily have to be generated bidirectionally from the center phase of the carrier period. The semiconductor switching element is not limited to an N-channel MOSFET.

[0039] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0040] In the drawing, 1 indicates a motor, 2 indicates an inverter, 4 indicates a half-bridge circuit, 5 indicates a semiconductor switching element, 10 indicates a resistive element, 11 indicates a control unit, 13 indicates a current limiting unit, 14 indicates a speed control unit, 15 indicates a position estimation unit, and 19 indicates a gate driver.

Claims

1. a power conversion circuit configured by connecting in parallel a plurality of arms each formed of a series circuit of positive-side and negative-side semiconductor switching elements, and for driving a motor; A control unit that generates and outputs on / off signals for each semiconductor switching element that constitutes the power conversion circuit by PWM control; a current detection unit that detects a current flowing through the power conversion circuit; a current limiting unit that stops operation of the control unit when the current reaches a threshold value; a position estimator that estimates a rotational position of the motor using a motor current and a motor voltage; The motor drive device, wherein the position estimation unit corrects a motor voltage used for estimating the rotational position during a carrier cycle of the PWM control in which operation of the control unit is stopped.

2. the current limiting unit outputs a trigger signal when the current exceeds the threshold; a data storage unit that stores a count value within a carrier period in the PWM control at the time when the trigger signal is output as current limit occurrence timing data; 2. The motor drive device according to claim 1, wherein the position estimator corrects the motor voltage using the current limit occurrence timing data.

3. 3. The motor drive device according to claim 2, wherein the current limit occurrence timing data is output from the data holding section at a timing synchronized with the carrier cycle.

4. 4. The motor drive device according to claim 3, wherein the current limit occurrence timing data is output from the data holding section in a carrier cycle following the carrier cycle in which the trigger signal is output.

5. 5. The motor drive device according to claim 4, wherein the position estimation unit determines a correction value for the motor voltage by comparing either or both of a start count value at a point in time when output of the PWM signal for each phase starts and an end count value at a point in time when the output ends with the current limit occurrence timing data.

6. 6. The motor drive device according to claim 5, wherein, when the current limit occurrence timing data is greater than the start count value and less than the end count value, the position estimator determines the correction value by dividing a difference between the current limit occurrence timing data and the start count value by a duty ratio scheduled to be output in that period.

7. The current detection unit is a single shunt resistor disposed in a DC power supply unit, a current value storage unit that stores the current value detected by the current detection unit, The motor drive device according to claim 1 , wherein the position estimator uses a current value stored in a carrier cycle before the control unit stops operating, to estimate the rotational position.

8. The current detection unit is a single shunt resistor disposed in a DC power supply unit, a current command value determination unit which is used for current control and determines a current command value in response to a speed command input from the outside; A command value storage unit that stores a current command value, The motor drive device according to claim 1 , wherein the position estimator uses a current command value stored in a carrier cycle before the control unit stops operating, to estimate the rotational position.

9. When driving a motor through a power conversion circuit configured by connecting in parallel a plurality of arms each consisting of a series circuit of positive and negative semiconductor switching elements, generating and outputting an on / off signal for each semiconductor switching element constituting the power conversion circuit by PWM control; Detecting a current flowing through the power conversion circuit; When the current reaches a threshold value, the output of the on / off signal is stopped. Estimating a rotational position of the motor using a motor current and a motor voltage; A motor drive method comprising: correcting a motor voltage used for estimating the rotational position during a carrier cycle of the PWM control in which output of the on / off signal is stopped.

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