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

Abstract

A motor control device according to one aspect of the present disclosure comprises an inverter circuit, an energization control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm for each of three phases. The energization control unit controls energization of the upper arm and the lower arm of each of the three phases of the inverter circuit. The determination unit determines switching from a 120-degree energization mode in which two phases among three phases are energized phases and the remaining one phase is a non-energized phase to a three-phase modulation antiphase mode in which the three phases are PWM phases that are PWM-controlled, and one of the three phases and the other two phases are PWM-controlled in antiphase in which the phases of energizing waveforms that turn on and off the upper arm are different from each other. The energization control unit includes a switching compensation unit that matches the on and off states of the upper arm and the lower arm of the two energized phases before and after the switching from the 120-degree energization mode to the three-phase modulation antiphase mode determined by the determination unit, and, when two PWM phases respectively corresponding to the energized phases are in phase with each other, performs PWM control in antiphase to the two PWM phases for the PWM phase corresponding to the non-energized phase.

Description

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

[0001] The present disclosure relates to a motor control device, a motor module, a motor control program, and a motor control method.

[0002] Conventionally, known motor control technologies include a 120-degree energization method in which two of the three phases are energized and the remaining one is de-energized, and a three-phase modulation reverse phase method in which three phases are PWM (Pulse Width Modulation) phases and one of the three phases is PWM-controlled with different polarities from the other two phases (see, for example, Patent Document 1).

[0003] International Publication No. 2018 / 061433

[0004] By switching between the 120-degree conduction method and the vector-controlled three-phase modulation reverse phase method depending on the load and drive conditions of the motor, highly efficient drive is possible according to the load and drive conditions of the motor.Furthermore, the drive of the motor can be stabilized over a wide range of rotation speeds.

[0005] If a dead time is inserted when switching between the 120-degree conduction method and the three-phase modulation reverse phase method, motor output will decrease, so it is desirable to transition without the dead time. However, if this dead time is not provided, depending on the on / off states of the upper and lower arms of the inverter circuit, there is a risk that the upper and lower arms of the same phase will be simultaneously turned on during switching, causing a short circuit. Here, the on / off state refers to whether the gate signals of the switching elements arranged in each upper and lower arm are on or off.

[0006] The present disclosure provides a technique for switching between a 120-degree conduction method and a three-phase modulation reverse phase method without dead time, and for suppressing short circuits between upper and lower arms in an inverter circuit.

[0007] A motor control device according to one aspect of the present disclosure includes an inverter circuit, a conduction control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm for each of three phases. The conduction control unit controls the conduction of the upper arm and the lower arm for each of the three phases in the inverter circuit. The determination unit determines a switch from a 120-degree conduction method in which two of the three phases are energized phases and the remaining phase is de-energized phase to a three-phase modulation reverse phase method in which the three phases are PWM-controlled and one of the three phases is PWM-controlled with opposite phases in which the conduction waves that turn on and off the upper arms are mutually opposite. The conduction control unit includes a switching compensation unit that matches the on / off states of the upper arm and the lower arm in the two energized phases before and after switching from the 120-degree energization method to the three-phase modulation reverse phase method determined by the determination unit, and performs PWM control on the PWM phase corresponding to the non-energized phase in a phase reverse to that of the two PWM phases when the two PWM phases corresponding to the energized phases are in phase with each other.

[0008] According to another aspect of the present disclosure, there is provided a motor control device including an inverter circuit, a continuity control unit, and a determination unit. The inverter circuit has an upper arm and a lower arm for each of three phases. The continuity control unit controls the continuity of the upper arm and the lower arm for each of the three phases in the inverter circuit. The determination unit determines a switchover from a three-phase modulation reverse-phase mode in which one of the three phases is PWM-controlled and PWM-controlled with opposite phases for turning on and off the upper arms for the other two phases to a 120-degree conduction mode in which two of the three phases are energized phases and the remaining phase is de-energized. The continuity control unit includes a switching compensation unit that matches the on / off states of the upper arm and the lower arm in the two energized phases before and after the switchover from the three-phase modulation reverse-phase mode to the 120-degree conduction mode determined by the determination unit.

[0009] According to the present disclosure, it is possible to prevent short circuits between the upper and lower arms of the inverter circuit when switching between the 120-degree conduction method and the three-phase modulation reverse phase method.

[0010] 1 is a diagram showing an example of the configuration of a motor module according to an embodiment. FIG. 2 is a diagram showing an example of the configuration of an inverter circuit 10 in a motor control device 1 according to an embodiment. FIG. 3 is a diagram showing the state of each phase in each section of a 120-degree conduction method in a motor control device 1 according to an embodiment. FIG. 4 is a diagram showing the state of each phase in three-phase modulation performed by a motor control device 1 according to an embodiment. FIG. 5 is a diagram showing an example of control when the conduction type used in a motor control device 1 according to an embodiment is a valley-ON type. FIG. 6 is a diagram showing an example of control when the conduction type used in a motor control device 1 according to an embodiment is a crest-ON type. FIG. 7 is a diagram showing an example of control of an inverter circuit 10 using a high-side PWM control type and a valley-ON type 120-degree conduction method in a motor control device 1 according to an embodiment. FIG. 8 is a diagram showing an example of control of an inverter circuit 10 using a high-side PWM control type and a crest-ON type 120-degree conduction method in a motor control device 1 according to an embodiment. 1 is a diagram showing an example of control of the inverter circuit 10 using a low-side PWM control type and a crest-on type 120-degree conduction method in the motor control device 1 according to the embodiment. FIG. 2 is a diagram showing an example of control of the inverter circuit 10 using a both-side PWM control type and a 120-degree conduction method in which the high-side conduction phase is a valley-on type and the low-side conduction phase is a crest-on type in the motor control device 1 according to the embodiment. FIG. 3 is a diagram showing an example of control of the inverter circuit 10 using a both-side PWM control type and a 120-degree conduction method in which the high-side conduction phase is a crest-on type and the low-side conduction phase is a valley-on type in the motor control device 1 according to the embodiment. FIG. 4 is a diagram showing an example of control of the inverter circuit 10 using in-phase control in the motor control device 1 according to the embodiment. FIG. 5 is a diagram showing an example of control of the inverter circuit 10 using reverse-phase control in the motor control device 1 according to the embodiment. FIG. 6 is a diagram showing an example of control of the inverter circuit 10 using three-phase modulation reverse-phase control in the motor control device 1 according to the embodiment. FIG. 2 is a diagram illustrating an example of the configuration of a conduction switching unit 40 in the motor control device 1 according to the embodiment.FIG. 1 is a diagram showing an example of switching from the three-phase modulation negative-phase system to the 120-degree conduction system when switching compensation is not performed in the motor control device 1 according to the embodiment. FIG. 2 is a diagram showing an example of switching from the three-phase modulation negative-phase system to the 120-degree conduction system when switching compensation is performed in the motor control device 1 according to the embodiment. FIG. 3 is a diagram showing an example of switching from the three-phase modulation negative-phase system to the 120-degree conduction system when switching compensation is performed in the motor control device 1 according to the embodiment. FIG. 4 is a diagram showing an example of motor control processing according to the embodiment. FIG. 5 is a diagram showing an example of switching compensation processing according to the embodiment. FIG. 6 is a diagram showing an example of a combination that does not cause a short circuit in the upper and lower arms when switching from the 120-degree conduction system to the three-phase modulation negative-phase system. FIG. 7 is a diagram showing an example of switching in the 120-degree conduction system (High-side PWM control, PWM phase crest-on type, crest switching). FIG. 8 is a diagram showing an example of switching in the 120-degree conduction system (High-side PWM control, PWM phase crest-on type, crest switching). 1 is a diagram showing an example of switching in a 120-degree conduction method (High-side PWM control, PWM phase crest-on type, valley switching). FIG. 2 is a diagram showing an example of switching in a 120-degree conduction method (High-side PWM control, PWM phase valley-on type, crest switching). FIG. 3 is a diagram showing an example of switching in a 120-degree conduction method (High-side PWM control, PWM phase valley-on type, valley switching). FIG. 4 is a diagram showing an example of switching in a 120-degree conduction method (High-side PWM control, PWM phase valley-on type, valley switching). FIG. 5 is a diagram showing an example of switching in a 120-degree conduction method (Low-side PWM control, PWM phase crest-on type, crest switching). FIG. 6 is a diagram showing an example of switching in a 120-degree conduction method (Low-side PWM control, PWM phase crest-on type, valley switching). FIG. 1 is a diagram showing an example of switching in a 120-degree conduction method (low-side PWM control type, PWM phase crest-on type, valley switching). FIG. 2 is a diagram showing an example of switching in a 120-degree conduction method (low-side PWM control type, PWM phase valley-on type, crest switching). FIG. 3 is a diagram showing an example of switching in a 120-degree conduction method (low-side PWM control type, PWM phase valley-on type, crest switching). FIG. 4 is a diagram showing an example of switching in a 120-degree conduction method (low-side PWM control type, PWM phase valley-on type, valley switching).FIG. 1 is a diagram showing an example of switching in the case of a 120-degree conduction method (both-side PWM control type, crest switching). FIG. 2 is a diagram showing an example of switching in the case of a 120-degree conduction method (both-side PWM control type, crest switching). FIG. 3 is a diagram showing an example of switching in the case of a 120-degree conduction method (both-side PWM control type, valley switching). FIG. 4 is a diagram showing an example of a motor control process according to an embodiment. FIG. 5 is a diagram showing an example of a switching compensation process according to an embodiment. FIG. 6 is a diagram showing an example of a combination that does not cause a short circuit between the upper and lower arms when switching from a three-phase modulation negative-phase method to a 120-degree conduction method. FIG. 7 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to a high-side PWM control type). FIG. 8 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to a high-side PWM control type). FIG. 1 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to high-side PWM control type). FIG. 2 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to high-side PWM control type). FIG. 3 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to high-side PWM control type). FIG. 4 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to high-side PWM control type). FIG. 5 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to low-side PWM control type). FIG. 6 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to low-side PWM control type). FIG. 7 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to low-side PWM control type). 1 is a diagram showing an example of switching in a three-phase modulation reverse phase method (switching to low-side PWM control type); FIG. 2 is a diagram showing an example of switching in a three-phase modulation reverse phase method (switching to low-side PWM control type); FIG. 3 is a diagram showing an example of switching in a three-phase modulation reverse phase method (switching to both-side PWM control type).FIG. 1 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to both-side PWM control type). FIG. 2 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to both-side PWM control type). FIG. 3 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to both-side PWM control type). FIG. 4 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to both-side PWM control type). FIG. 5 is a diagram showing an example of switching in a three-phase modulation negative-phase method (switching to both-side PWM control type). FIG. 6 is a diagram showing an example of a hardware configuration of a control unit 30 of a motor control device 1 according to an embodiment.

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The description will be given in the following order. Note that in the following embodiments, the same components are designated by the same reference numerals, and redundant description will be omitted. 1. Motor module 2. Motor control device 3. Switching from 120-degree conduction method to three-phase modulation negative-phase method 4. Switching from three-phase modulation negative-phase method to 120-degree conduction method 5. Hardware configuration

[0012] (1. Motor Module) Fig. 1 is a diagram showing an example of the configuration of a motor module according to an embodiment. As shown in Fig. 1, a motor module 100 according to an embodiment includes a motor control device 1, a motor 2 controlled by the motor control device 1, and a rotor position θ of the motor 2. ｅ The motor 2 is a three-phase motor.

[0013] The position detector 3 detects the rotor position θ of the motor 2. ｅ Detect the detected position θ ｅ is output to the motor control device 1. Position θ ｅ is the electrical angle of the rotor of the motor 2. The position detector 3 is, for example, a magnetic sensor using a Hall element or the like, but may also be a resolver. The position detector 3 also detects the position θ of the rotor of the motor 2.ｍ The position θ of the rotor of the motor 2 may be detected by an optical encoder. ｍ is the mechanical angle of the rotor of the motor 2. The magnetic sensor or resolver detects the rotor position θ ｍ The motor control device 1 may also have a function of performing position sensorless control, in which case the motor module 100 does not need to be provided with the position detection device 3.

[0014] The motor control device 1 selectively uses a 120-degree conduction method and a three-phase modulation reverse phase method to drive the motor 2. The 120-degree conduction method used by the motor control device 1 is a conduction method in which two of the three phases are energized phases, at least one of the energized phases is PWM controlled, and the remaining phase is non-energized. The three-phase modulation reverse phase method used by the motor control device 1 is a method in which three phases are PWM controlled and one of the three phases is PWM controlled in reverse phase to the other two phases. Here, reverse phase refers to a case in which the phases of the energization waveforms that turn the upper arms on and off in corresponding phases are different, and the center of the on period of the energization waveform of one phase is during the off period of the energization waveform of the other phase.

[0015] 1, the motor control device 1 includes an inverter circuit 10, a current sensor 20, and a control unit 30. The inverter circuit 10, the current sensor 20, and the control unit 30 will be described below in that order.

[0016] 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.

[0017] The current sensor 20 detects a three-phase current value I ＵＶＷ and the detected three-phase current value I ＵＶＷ is output to the control unit 30. ＵＶＷ includes an instantaneous value of the U-phase current, an instantaneous value of the V-phase current, and an instantaneous value of the W-phase current.

[0018] The current sensor 20 is, for example, a current sensor using a Hall element, but is not limited to this example and may be a current sensor using a current transformer (CT) or a current sensor using a shunt resistor. When the current sensor 20 is a shunt resistor, the current sensor 20 is configured, for example, by a shunt resistor 21 shown in FIG. 2 instead of the position shown in FIG. 1. The shunt resistor may be provided between the lower arm 12 of each of the U-phase, V-phase, and W-phase and the negative DC bus.

[0019] [Control Unit 30] As shown in FIG. 1, the control unit 30 includes a torque command output unit 31, a duty calculation unit 32, a carrier wave generation unit 33, a determination unit , a setting unit , and a conduction control unit .

[0020] The torque command output unit 31 outputs a torque command T ＊ The torque command T ＊ is an example of a target output torque. The torque command output unit 31 outputs a torque command T ＊ The generated torque command T ＊ The signal may be configured to output:

[0021] The duty calculation unit 32 calculates the torque command T output from the torque command output unit 31. ＊ and the three-phase current value I output from the current sensor 20 ＵＶＷ and the position θ detected by the position detection device 3 ｅ Based on this, the duty values ​​Sduty of the U phase, V phase, and W phase are calculated. Ｕ , Sduty Ｖ and Sduty Ｗ For example, the duty calculation unit 32 calculates the torque command T ＊ The torque command T ＊ and the three-phase current value I ＵＶＷ and position θ ｅ Based on this, the duty values ​​Sduty of the U phase, V phase, and W phase are calculated. Ｕ , Sduty Ｖ and Sduty ＷThe duty calculation unit 32 calculates the calculated duty value Sduty Ｕ , Sduty Ｖ and Sduty Ｗ is output to the conduction control unit 36.

[0022] When the energization method is switched from the 120-degree energization method to the three-phase modulation reverse phase method, the duty calculation unit 32 calculates the duty value Sduty by vector control. Ｕ , Sduty Ｖ and Sduty Ｗ For example, the duty calculation unit 32 generates the three-phase current value I ＵＶＷ is converted into a dq axis current value, which is a value in the dq coordinate system, and the dq axis current value and the torque command T ＊ The duty value Sduty is set so as to reduce the difference between the d-axis current command and the q-axis current command corresponding to Ｕ , Sduty Ｖ and Sduty Ｗ Generate.

[0023] The duty calculation unit 32 calculates the duty value Sduty to be output at the switching timing determined by the conduction control unit 36, for example. Ｕ , Sduty Ｖ and Sduty Ｗ The duty value Sduty for the 120-degree conduction method is Ｕ , Sduty Ｖ and Sduty Ｗ to the duty value Sduty for the three-phase modulation reverse phase method Ｕ , Sduty Ｖ and Sduty Ｗ In the following, the duty value Sduty Ｕ , Sduty Ｖ and Sduty Ｗ When these are not individually indicated, they may be referred to as a duty value Sduty. A compare value Scomp, which will be described later, is calculated based on the duty value Sduty.

[0024] Furthermore, even when the energization method is switched from the three-phase modulation reverse phase method to the 120-degree energization method, the duty calculation unit 32 calculates the duty value Sduty for the 120-degree energization method. Ｕ , SdutyＶ and Sduty Ｗ Generate.

[0025] The carrier wave generating unit 33 generates, for example, a triangular wave carrier wave Scw and outputs the generated triangular wave carrier wave Scw to the conduction control unit 36. Note that the carrier wave generating unit 33 can also output a sawtooth wave carrier wave Scw instead of the triangular wave carrier wave Scw.

[0026] The determination unit 34 determines a section corresponding to the electrical angle of the motor 2 from among six sections 0 to 5, which are divided into different ranges of the electrical angle of the motor 2. The determination unit 34 outputs section information indicating the determined section to the conduction control unit 36.

[0027] Section 0 has an electrical angle in the range of 30° or more and less than 90°, section 1 has an electrical angle in the range of 90° or more and less than 150°, section 2 has an electrical angle in the range of 150° or more and less than 210°, section 3 has an electrical angle in the range of 210° or more and less than 270°, section 4 has an electrical angle in the range of 270° or more and less than 330°, and section 5 has an electrical angle in the range of 0° or more and less than 30° and 330° or more and less than 360°.

[0028] The determination unit 34 determines the rotor position θ of the motor 2. ｅ The section is determined based on the position θ of the rotor of the motor 2 detected by the position detector 3. ｍ When the position detector 3 outputs the position θ ｍ is multiplied by the number of pole pairs P of the motor 2, the rotor position θ of the motor 2 is ｅ =(θ ｍ ×P) mod 360, where mod is an operation that returns the remainder after dividing a number.

[0029] The determining unit 34 further determines whether to switch between the 120-degree conduction method and the three-phase modulation reverse phase method, as will be described later. The 120-degree conduction method and the three-phase modulation reverse phase method will be described later in detail.

[0030] The setting unit 35 stores setting information. This setting information includes 120-degree conduction information and three-phase modulation negative phase information. The setting unit 35 outputs the setting information to the duty calculation unit 32, the conduction control unit 36, and the like. The setting information is set in the setting unit 35 by the manufacturer of the motor control device 1, but may also be set in the setting unit 35 by the user of the motor control device 1. The 120-degree conduction information is information about the 120-degree conduction method, and includes conduction type information and control type information. The three-phase modulation negative phase information also includes control type information. Details of the 120-degree conduction information and the three-phase modulation negative phase information will be described later.

[0031] The conduction control unit 36 ​​includes a conduction switching unit 40 that generates gate signals Spu, Snu, Spv, Snv, Spw, and Snw, and a switching compensation unit 41 that performs switching compensation processing.

[0032] The conduction switching unit 40 generates gate signals Spu, Snu, Spv, Snv, Spw, and Snw based on the duty value Sduty output from the duty calculation unit 32, the carrier wave Scw output from the carrier wave generation unit 33, information output from the determination unit 34, setting information output from the setting unit 35, and information output from the switching compensation unit 41. Details of the operation of the conduction switching unit 40 will be described later.

[0033] The switching compensation unit 41 compensates for switching between the 120-degree conduction mode and the three-phase modulation negative-phase mode without dead time. Here, dead time refers to a period during which the upper and lower arms are simultaneously in the OFF state during switching. For example, when switching from the 120-degree conduction mode to the three-phase modulation negative-phase mode, it is necessary to assign the two conduction phases of the 120-degree conduction mode to the two PWM phases of the three-phase modulation negative-phase mode, respectively. In this case, depending on the ON / OFF states of the upper and lower arms of each phase, overlapping periods of the ON states of the upper and lower arms may occur. During this overlapping period of the ON states of the upper and lower arms, the upper and lower arms are short-circuited (so-called arm short-circuiting), causing a large current to flow.

[0034] Therefore, by providing a dead time during switching, it is possible to prevent a short circuit between the upper and lower arms. However, since no power is supplied to the motor 2 during the dead time, providing the dead time reduces the output of the motor 2. To address this problem, the switching compensation unit 41 is provided. When a method switching request is output from the determination unit 34, the switching compensation unit 41 performs control to match the on / off states of the upper and lower arms in the two conduction phases of the 120-degree conduction method before and after switching to the 120-degree conduction method and the three-phase modulation reverse phase method. This prevents the on-state periods of the upper and lower arms from overlapping. The operation of the switching compensation unit 41 will be described in detail later.

[0035] [Inverter Circuit 10] Figure 2 is a diagram showing an example of the configuration of the inverter circuit 10 in the motor control device 1 according to the first embodiment. The inverter circuit 10 converts DC power into AC power and outputs the converted AC power to the motor 2. The inverter circuit 10 is connected to, for example, a converter circuit (not shown) that converts AC power supplied from an AC power supply (not shown) into DC power, converts the DC power output from the converter circuit into AC power, and outputs the converted AC power to the motor 2. Note that the inverter circuit 10 may be connected to a DC power supply (not shown) without using a converter circuit.

[0036] As shown in FIG. 2, the inverter circuit 10 includes an upper arm 11 １ , 11 ２ and 11 ３ and the lower arm 12 １ , 12 ２ and 12 ３ and a gate driver 15. The inverter circuit 10 is provided with filters (not shown) configured with coils and capacitors for the U phase, V phase, and W phase. The inverter circuit 10 may be configured without filters.

[0037] Upper arm 11 １ and lower arm 12 １ The upper arm 11 constitutes a half-bridge circuit of the U phase. ２ and lower arm 12 ２constitutes a V-phase half-bridge circuit, and the upper arm 11 ３ and the W-phase lower arm 12 ３ and form a W-phase half-bridge circuit.

[0038] Upper arm 11 １ is the switching element 13 １ and the switching element 13 １ Diode 14 connected in antiparallel to １ The lower arm 12 １ is the switching element 13 ２ and the switching element 13 ２ Diode 14 connected in antiparallel to ２ The upper arm 11 ２ is the switching element 13 ３ and the switching element 13 ３ Diode 14 connected in anti-parallel to ３ The lower arm 12 ２ is the switching element 13 ４ and the switching element 13 ４ Diode 14 connected in antiparallel to ４ The upper arm 11 ３ is the switching element 13 ５ and the switching element 13 ５ Diode 14 connected in antiparallel to ５ The lower arm 12 ３ is the switching element 13 ６ and the switching element 13 ６ Diode 14 connected in antiparallel to ６ It is equipped with:

[0039] Each switching element 13 １ , 13 ２ , 13 ３ , 13 ４ , 13 ５ and 13 ６ Each of the switching elements 13 is, for example, an insulated gate bipolar transistor (IGBT) or a metal oxide semiconductor field effect transistor (MOSFET).１ , 13 ２ , 13 ３ , 13 ４ , 13 ５ and 13 ６ The switching element is, for example, a switching element formed of a silicon-based material or a switching element formed of a wide bandgap semiconductor. The wide bandgap semiconductor is, for example, silicon carbide (SiC), gallium nitride (GaN), gallium oxide (GaO ２ O ３ ) or diamonds, etc.

[0040] The gate driver 15 amplifies gate signals Spu, Spv, Spw, Snu, Snv, and Snw (described later) output from the control unit 30. The gate driver 15 then outputs the amplified gate signals Spu, Spv, Spw, Snu, Snv, and Snw to the upper arm 11. １ , 11 ２ and 11 ３ and lower arm 12 １ , 12 ２ and 12 ３ Output to the gate.

[0041] Specifically, the gate driver 15 outputs the amplified gate signal Spu to the upper arm 11 of the U phase. １ and outputs the amplified gate signal Snu to the lower arm 12 of the U phase. １ The gate driver 15 also outputs the amplified gate signal Spv to the V-phase upper arm 11. ２ and outputs the amplified gate signal Snv to the V-phase lower arm 12 ２ Output to.

[0042] The gate driver 15 also outputs the amplified gate signal Spw to the upper arm 11 of the W phase. ３ and outputs the amplified gate signal Snw to the W-phase lower arm 12 ３ In the following, the upper arm 11 １ , 11 ２ , 11 ３ When each of these is shown without being individually distinguished, it will be referred to as the upper arm 11 and the lower arm 12. １ , 12 ２ and 12 ３When each of the gate signals Spu, Spv, and Spw is referred to without being distinguished from one another, it may be referred to as the lower arm 12. Furthermore, hereinafter, when each of the gate signals Spu, Spv, and Spw is referred to without being distinguished from one another, it may be referred to as the gate signal Sp, and when each of the gate signals Snu, Snv, and Snw is referred to without being distinguished from one another, it may be referred to as the gate signal Sn.

[0043] 3 is a diagram showing the state of each phase in each section of the 120-degree conduction method in the motor control device 1 according to the embodiment. As shown in FIG. 3, in the 120-degree conduction method, the six sections, from section 0 to section 5, have different combinations of high-side conduction phases, low-side conduction phases, and non-conductive phases in the three phases. Each of the high-side conduction phase and the low-side conduction phase is a conducting phase.

[0044] The high-side conduction phase is a phase in which the upper arm 11 is PWM controlled or fixed to the ON state, thereby actively passing current in the positive direction, which is the direction from the inverter to the motor, on average over one PWM period. The low-side conduction phase is a phase in which the lower arm 12 is PWM controlled or fixed to the ON state, thereby actively passing current in the negative direction on average over one PWM period. The non-conducting phase is a phase in which both the upper arm 11 and the lower arm 12 are fixed to the OFF state, and thus no current is actively passed.

[0045] In section 0, the U phase is a high-side conduction phase, the V phase is a low-side conduction phase, and the W phase is a non-conducting phase. In section 1, the U phase is a high-side conduction phase, the W phase is a low-side conduction phase, and the V phase is a non-conducting phase. In section 2, the V phase is a high-side conduction phase, the W phase is a low-side conduction phase, and the U phase is a non-conducting phase.

[0046] In section 3, the V phase is a high-side conduction phase, the U phase is a low-side conduction phase, and the W phase is a non-conducting phase. In section 4, the W phase is a high-side conduction phase, the U phase is a low-side conduction phase, and the V phase is a non-conducting phase. In section 5, the W phase is a high-side conduction phase, the V phase is a low-side conduction phase, and the U phase is a non-conducting phase.

[0047] [Three-Phase Modulation Method] The three-phase modulation method executed by the motor control device 1 is a method in which three phases are PWM-controlled as PWM phases. This three-phase modulation method includes a method in which the three phases are controlled in phase, and a method in which one of the three phases is PWM-controlled in opposite phase to the other two phases. The in-phase and opposite-phase methods will be described later.

[0048] 4 is a diagram showing the state of each phase in three-phase modulation performed by the motor control device 1 according to the embodiment. As shown in FIG. 4, the three phases are PWM controlled, and the voltages output to the respective phases are sine waves with a phase difference of 120 degrees between them.

[0049] The determination unit 34 in FIG. 1 determines section 0 as the section corresponding to the electrical angle of the motor 2 when 30°≦θe<90°, and determines section 1 as the section corresponding to the electrical angle of the motor 2 when 90°≦θe<150°.

[0050] Furthermore, when 150°≦θe<210°, the determination unit 34 determines section 2 as the section corresponding to the electrical angle of the motor 2, and when 210°≦θe<270°, the determination unit 34 determines section 3 as the section corresponding to the electrical angle of the motor 2. Furthermore, when 270°≦θe<330°, the determination unit 34 determines section 4 as the section corresponding to the electrical angle of the motor 2, and when 0°≦θe<30° or 330°≦θe<360°, the determination unit 34 determines section 5 as the section corresponding to the electrical angle of the motor 2.

[0051] In addition to the above-mentioned sections, the determination unit 34 also determines whether the electrical angle of the motor 2 has reached the central angle of the section. The determination unit 34 includes information indicating the determined central angle of the section in the section information and outputs the information to the conduction control unit 36. Note that the determination unit 34 may be configured to output information on the electrical angle of the motor 2 to the conduction control unit 36 ​​instead of the section information.

[0052] Furthermore, the determination unit 34 determines bidirectional switching between the 120-degree conduction method and the three-phase modulation negative-phase method based on the load conditions or drive conditions of the motor 2. Note that this disclosure proposes a method for switching from the 120-degree conduction method to the three-phase modulation negative-phase method and a method for switching from the three-phase modulation negative-phase method to the 120-degree conduction method.

[0053] When the decision unit 34 decides to switch from the 120-degree conduction method to the three-phase modulation negative-phase method or from the three-phase modulation negative-phase method to the 120-degree conduction method, it outputs a method switching request to the conduction control unit 36. In response to this, the conduction control unit 36 ​​switches the control of the motor 2 to the three-phase modulation negative-phase method or the 120-degree conduction method.

[0054] In this way, the motor control device 1 can switch between the 120-degree conduction method and the three-phase modulation reverse phase method based on the load conditions or drive conditions of the motor 2. This enables the motor control device 1 to drive the motor 2 with high efficiency according to the load conditions or drive conditions, and also to stabilize the drive of the motor 2 over a wide range of rotational speeds.

[0055] [120-degree energization information] As described above, the 120-degree energization information held by the setting unit 35 in Fig. 1 is information on the 120-degree energization method and includes conduction type information and control type information. The conduction type information included in this 120-degree energization information is information indicating one conduction type selected from multiple conduction types in the 120-degree energization method. Furthermore, the control type information included in the 120-degree energization information is information indicating one control type selected from multiple control types in the 120-degree energization method.

[0056] The multiple conduction types in the 120-degree conduction method include a valley-ON type and a crest-ON type in which the phases of the waveform of the gate signal Sp that turns on and off the PWM-phase upper arm 11 are different from each other. The gate signal Sp that turns on and off the PWM-phase upper arm 11 is input to the gate driver 15, amplified by the gate driver 15, and input to the PWM-phase upper arm 11. The waveform of the gate signal Sp that turns on and off the PWM-phase upper arm 11 is an example of a conduction waveform that turns on and off the PWM-phase upper arm 11. The valley-ON type and the crest-ON type differ in the combination of the comparison result between the carrier wave Scw and the compare value Scomp and the arm that is to be made conductive, either the upper arm 11 or the lower arm 12. The valley-ON type is an example of a "first conduction type" in the present disclosure. The crest-ON type is an example of a "second conduction type" in the present disclosure.

[0057] 5 is a diagram showing an example of control when the conduction type used in the motor control device 1 according to the embodiment is the valley-ON type. In the valley-ON type, as shown in FIG. 5, when the compare value Scomp is higher than the carrier wave Scw, the upper arm 11 is turned on and conducts, and when the compare value Scomp is lower than the carrier wave Scw, the lower arm 12 is turned on and conducts.

[0058] 6 is a diagram showing an example of control when the conduction type used in the motor control device 1 according to the embodiment is a crest-on type. In the crest-on type, as shown in FIG. 6, when the compare value Scomp is lower than the carrier wave Scw, the upper arm 11 is turned on to conduct electricity, and when the compare value Scomp is higher than the carrier wave Scw, the lower arm 12 is turned on to conduct electricity.

[0059] As shown in Fig. 5 , in the waveform of the valley-ON type gate signal Sp, the center of the on-period is at the position of the valley, whereas as shown in Fig. 6 , in the waveform of the crest-ON type gate signal Sp, the center of the on-period is at the position of the valley. The on-period is a period during which the upper arm 11 is on, and the off-period is a period during which the upper arm 11 is off. Also, as shown in Fig. 6 , in the waveform of the crest-ON type gate signal Sp, the center of the on-period is at the position of the crest, whereas as shown in Fig. 5 , in the waveform of the valley-ON type gate signal Sp, the center of the on-period is at the position of the crest. In this way, the valley-ON type and the crest-ON type have a relationship in which the center of the on-period of one conduction type conduction waveform is during the off-period of the other conduction type conduction waveform.

[0060] Next, a description will be given of a plurality of control types in the 120-degree conduction method, including a high-side PWM control type, a low-side PWM control type, and a both-side PWM control type.

[0061] In the high-side PWM control type, the upper arm 11 and the lower arm 12 of the high-side conduction phase are turned on and off by PWM control, and the lower arm 12 of the low-side conduction phase is fixed in the on state.

[0062] 7 is a diagram showing an example of control of the inverter circuit 10 using the high-side PWM control type and valley-ON type 120-degree conduction method in the motor control device 1 according to the embodiment. The example shown in FIG. 7 shows an example in which the conduction type is the valley-ON type and the section determined by the determination unit 34 is section 0. In this case, the U phase is the high-side conduction phase, the V phase is the low-side conduction phase, and the W phase is the non-conductive phase.

[0063] In section 0, as shown in FIG. 7, the upper arm 11 of the U phase １ and lower arm 12 １ are PWM controlled, and the V-phase lower arm 12 ２ Since the conduction type is the valley ON type, when the compare value Scomp is higher than the carrier wave Scw, the upper arm 11 of the U phase １is turned on, and when the compare value Scomp is lower than the carrier wave Scw, the lower arm 12 of the U phase １ is turned on. In the example shown in FIG. 7 , the compare value Scomp is calculated by the calculation Scomp=Pv×Sduty. Here, the duty value Sduty has, for example, a minimum value of 0 and a maximum value of 1. Furthermore, the period value Pv is, for example, the value at the crest position of the carrier wave Scw. The value at the crest position of the carrier wave Scw is the maximum value of the carrier wave Scw. Note that, hereinafter, the phase in which the lower arm 12 is fixed to the on state may be referred to as a low phase.

[0064] 8 is a diagram showing an example of control of the inverter circuit 10 by the high-side PWM control type and the crest-on type 120-degree conduction method in the motor control device 1 according to the embodiment. In the example shown in FIG. 8, the conduction type is the crest-on type, and the section determined by the determination unit 34 is section 0. In the example shown in FIG. 8, since the conduction type is the crest-on type, when the compare value Scomp is lower than the carrier wave Scw, the upper arm 11 of the U phase １ is turned on, and when the compare value Scomp is higher than the carrier wave Scw, the lower arm 12 of the U phase １ 8 differs from the example shown in Fig. 7 in that the comparison value Scomp is calculated by the conduction control unit 36 ​​by the calculation Scomp=Pv×(1−Sduty).

[0065] For convenience, the dead time when the conduction states of the upper and lower arms of the U phase transition from one to the other is omitted from Figures 7 and 8. In reality, a dead time is provided when the upper and lower arms transition to a complementary ON state by PWM control or the like. This also applies to the subsequent figures.

[0066] In the low-side PWM control type, the upper arm 11 of the high-side conduction phase is fixed to the on state, and the upper arm 11 and the lower arm 12 of the low-side conduction phase are turned on and off by PWM control.

[0067] 9 is a diagram showing an example of control of the inverter circuit 10 by the low-side PWM control type and valley-ON type 120-degree conduction method in the motor control device 1 according to the embodiment. In the example shown in FIG. 9, similar to the example shown in FIG. 7, the conduction type is the valley-ON type, and the section determined by the determination unit 34 is section 0. In the example shown in FIG. 9, since the conduction type is the valley-ON type, when the compare value Scomp is higher than the carrier wave Scw, the V-phase upper arm 11 ２ is turned on, and when the compare value Scomp is lower than the carrier wave Scw, the V-phase lower arm 12 ２ 9, the conduction control unit 36 ​​calculates the compare value Scomp by the following equation: Scomp=Pv×(1−Sduty).

[0068] 10 is a diagram showing an example of control of the inverter circuit 10 using the low-side PWM control type and the mountain-on type 120-degree conduction method in the motor control device 1 according to the embodiment. Similar to the example shown in FIG. 8, the example shown in FIG. 10 shows an example in which the conduction type is the mountain-on type and the section determined by the determination unit 34 is section 0. In this case, the U phase is a high-side conduction phase, the V phase is a low-side conduction phase, and the W phase is a non-conductive phase.

[0069] In section 0, as shown in FIG. 10, the upper arm 11 of the U phase １ is fixed in the ON state, and the V-phase upper arm 11 ２ and lower arm 12 ２ Since the conduction type is a mountain-ON type, when the compare value Scomp is lower than the carrier wave Scw, the upper arm 11 of the V phase ２ is turned on, and when the compare value Scomp is higher than the carrier wave Scw, the V-phase lower arm 12 ２ 9 in that the comparison value Scomp is turned on. In the example shown in Fig. 10, the comparison value Scomp is calculated by the following equation: Scomp = Pv x Sduty.

[0070] In the both-side PWM control type, the upper arm 11 and the lower arm 12 of the high-side conduction phase are turned on and off by PWM control, and the upper arm 11 and the lower arm 12 of the low-side conduction phase are turned on and off by PWM control that is complementary to the PWM control of the high-side conduction phase. In the high-side conduction phase, the upper arm 11 and the lower arm 12 are turned on and off by PWM control in which the on ratio of the upper arm 11 is larger than the on ratio of the lower arm 12. In the low-side conduction phase, the upper arm 11 and the lower arm 12 are turned on and off by PWM control in which the on ratio of the upper arm 11 is smaller than the on ratio of the lower arm 12.

[0071] 11 is a diagram showing an example of control of the inverter circuit 10 by both-side PWM control and a 120-degree conduction method in which the high-side conduction phase is a valley-ON type and the low-side conduction phase is a crest-ON type in the motor control device 1 according to the embodiment. In the example shown in FIG. 11, similar to the example shown in FIG. 7, the conduction type is the valley-ON type and the section determined by the determination unit 34 is section 0.

[0072] In section 0, the U phase is a high-side conduction phase, the V phase is a low-side conduction phase, and the W phase is a non-conducting phase. １ The on ratio of the lower arm is 12 １ By PWM control with a larger on-ratio than that of the upper arm 11 of the U phase, １ and lower arm 12 １ and are turned on and off, and the V-phase upper arm 11 ２ The on ratio of the lower arm is 12 ２ By PWM control with a smaller on-ratio than that of the upper arm 11 of the V phase, ２ and lower arm 12 ２ Since the conduction type is a valley ON type, when the compare value Scomp is higher than the carrier wave Scw, the upper arm 11 of the U phase １ and the V-phase lower arm 12 ２ When the compare value Scomp is lower than the carrier wave Scw, the lower arm 12 of the U phase １ and the V-phase upper arm 11２ In the example shown in Fig. 10A, the compare value Scomp is calculated by the following equation: Scomp = Pv x (Sduty x 0.5 + 0.5).

[0073] 12 is a diagram showing an example of control of the inverter circuit 10 by both-side PWM control and a 120-degree conduction method in which the high-side conduction phase is a crest-on type and the low-side conduction phase is a valley-on type in the motor control device 1 according to the embodiment. In the example shown in FIG. 12, similar to the example shown in FIG. 8, the conduction type is the crest-on type and the section determined by the determination unit 34 is section 0. In the example shown in FIG. 12, since the conduction type is the crest-on type, when the compare value Scomp is lower than the carrier wave Scw, the upper arm 11 of the U phase １ and the V-phase lower arm 12 ２ When the compare value Scomp is higher than the carrier wave Scw, the lower arm 12 of the U phase １ and the V-phase upper arm 11 ２ In the example shown in Fig. 12, the compare value Scomp is calculated by the following equation: Scomp = Pv x (1 - (Sduty x 0.5 + 0.5)).

[0074] [Three-phase modulation reverse phase information] As described above, the three-phase modulation reverse phase information includes control type information. The control type information included in the three-phase modulation reverse phase information is information that indicates the phase that is controlled to be the reverse phase.

[0075] The three-phase modulation method uses in-phase control, in which the same conduction type is applied to three PWM phases, and out-of-phase control, in which different conduction types are applied to one PWM phase and the other two PWM phases. In-phase control corresponds to, for example, a case in which the conduction types of the upper arm 11 and the lower arm 12 of each of the three PWM phases are controlled in a valley-on type. In-phase control corresponds to a case in which the conduction types of the upper arm 11 and the lower arm 12 of two of the three PWM phases are controlled in a valley-on type, and the conduction types of the upper arm 11 and the lower arm 12 of the other PWM phase are controlled in a crest-on type.

[0076] Fig. 13 is a diagram showing an example of control of the inverter circuit 10 by in-phase control in the motor control device 1 according to the embodiment. In Fig. 13, upper arm gate signal Spu, upper arm gate signal Spv, and upper arm gate signal Spw represent the upper arm gate signals for the U phase, V phase, and W phase, respectively. Also in Fig. 13, compare values ​​Scompu, Scompv, and Scompw represent the compare values ​​Scomp for the U phase, V phase, and W phase, respectively.

[0077] 13, the valley ON type is applied to the conduction type of the PWM phases U, V, and W. That is, when the compare values ​​Scompu, Scompv, and Scompw are higher than the carrier wave Scw, the upper arm 11 is turned on to conduct electricity.

[0078] 14 is a diagram showing an example of control of the inverter circuit 10 by reverse phase control in the motor control device 1 according to the embodiment. In FIG. 14, a valley-ON type is applied to the conduction type of the U phase and V phase, and a crest-ON type is applied to the conduction type of the W phase. That is, when the compare values ​​Scompu and Scompv are higher than the carrier wave Scw, the upper arms 11 of the U phase and V phase are turned on, and when the compare value Scompw is lower than the carrier wave Scw, the upper arm 11 of the W phase is turned on.

[0079] As shown in Figure 13, in-phase control involves periods in which the upper arms 11 of the three phases are simultaneously in the ON state and periods in which the lower arms 12 of the three phases are simultaneously in the ON state. During these periods, the supply of drive current to the windings of the motor 2 is interrupted. For this reason, in-phase control poses a problem of an increase in high-frequency current contained in the drive current of the motor 2. In contrast, in opposite-phase control, the ON periods of the upper and lower arms of a specific phase among the three phases are shifted, thereby making it possible to reduce the above-mentioned high-frequency current. In the present disclosure, a control method for three-phase modulation that applies opposite-phase control is adopted.

[0080] 15 is a diagram showing an example of control of the inverter circuit 10 by three-phase modulation negative phase control in the motor control device 1 according to the embodiment. Similar to FIG. 14, FIG. 15 shows an example in which a valley-ON type is applied to the conduction types of the U and V phases, and a crest-ON type is applied to the conduction type of the W phase. In other words, the W phase is the negative phase. As described above, the control type information included in the three-phase modulation negative phase information is information indicating the PWM phase that is the negative phase.

[0081] [Operation of Conduction Switching Unit 40] Before a method switching request is output from the determining unit 34, the conduction switching unit 40 controls the inverter circuit 10 using a control method indicated by the three-phase modulation reverse phase information or 120-degree conduction information previously included in the setting information output from the setting unit 35.

[0082] For example, when the control type and conduction type indicated by the setting information are the high-side PWM control type and the valley-ON type, the conduction switching unit 40 drives the inverter circuit 10 with the high-side PWM control type and the valley-ON type 120-degree conduction method as shown in Fig. 7. When the control type and conduction type indicated by the setting information are the high-side PWM control type and the crest-ON type, the conduction switching unit 40 drives the inverter circuit 10 with the high-side PWM control type and the crest-ON type 120-degree conduction method as shown in Fig. 8.

[0083] Furthermore, when the control type and conduction type indicated by the setting information are the low-side PWM control type and the valley-ON type, the conduction switching unit 40 drives the inverter circuit 10 with the low-side PWM control type and the valley-ON type 120-degree conduction method as shown in Fig. 9. When the control type and conduction type indicated by the setting information are the low-side PWM control type and the crest-ON type, the conduction switching unit 40 drives the inverter circuit 10 with the low-side PWM control type and the crest-ON type 120-degree conduction method as shown in Fig. 10.

[0084] Furthermore, when the control type and conduction type indicated by the setting information are both-side PWM control type, the high-side conduction phase is valley-ON type, and the low-side conduction phase is crest-ON type, the conduction switching unit 40 drives the inverter circuit 10 in a 120-degree conduction method in which both-side PWM control type, the high-side conduction phase is valley-ON type, and the low-side conduction phase is crest-ON type, as shown in FIG. 11 . When the control type and conduction type indicated by the setting information are both-side PWM control type and the high-side conduction phase is a crest-on type and the low-side conduction phase is a valley-on type, the conduction switching unit 40 drives the inverter circuit 10 in a 120-degree conduction mode, as shown in FIG. 12, in which both-side PWM control type and the high-side conduction phase is a crest-on type and the low-side conduction phase is a valley-on type.

[0085] Furthermore, the conduction switching unit 40 drives the inverter circuit 10 using a three-phase modulation reverse phase method that controls the phase indicated by the three-phase modulation reverse phase information included in the setting information to be the reverse phase. For example, if the phase indicated by the three-phase modulation reverse phase information is the W phase, the conduction switching unit 40 drives the inverter circuit 10 so that the W phase is the reverse phase with respect to the U phase and V phase, as shown in FIG.

[0086] When a method switching request is output from the decision unit 34 , the conduction switching unit 40 controls the inverter circuit 10 using the control type and conduction type included in the setting information output from the setting unit 35 .

[0087] 16 is a diagram showing an example of the configuration of the conduction switching unit 40 in the motor control device 1 according to the embodiment. As shown in FIG. 16, the conduction switching unit 40 includes a compare value calculation unit 50, a comparison unit 51, a dead time setting unit 52, a polarity switching unit 53, a gate signal output unit 54, and a setting processing unit 55.

[0088] When the conduction method notified by the setting processing unit 55 is the 120-degree conduction method, the compare value calculation unit 50 calculates the duty values ​​Sduty of the U phase, V phase, and W phase output from the duty calculation unit 32 in accordance with the conduction type and control type notified by the setting processing unit 55. Ｕ , Sduty Ｖand Sduty Ｗ Based on this, the comparison values ​​Scomp of the U phase, V phase, and W phase are calculated. Ｕ , Scomp Ｖ and Scomp Ｗ The compare value Scomp is calculated and output. Ｕ , Scomp Ｖ and Scomp Ｗ When each of these is referred to without being individually distinguished, they may be referred to as a compare value Scomp.

[0089] For example, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the high-side PWM control type, and the valley-ON type, the compare value calculation unit 50 multiplies the duty value Sduty output from the duty calculation unit 32 by the period value Pv and outputs the value obtained as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×Sduty.

[0090] Furthermore, it is assumed that the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the high-side PWM control type, and the mountain-ON type. In this case, the compare value calculation unit 50 multiplies the duty value Sduty output from the duty calculation unit 32 by the period value Pv, inverting the inverted value based on the median value of the carrier wave Scw, and outputs the resultant value as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×(1−Sduty).

[0091] Furthermore, it is assumed that the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the low-side PWM control type, and the valley-ON type. In this case, the compare value calculation unit 50 multiplies the duty value Sduty output from the duty calculation unit 32 by the period value Pv, inverting the inverted value based on the median value of the carrier wave Scw, and outputs the resultant value as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×(1−Sduty).

[0092] Furthermore, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the low-side PWM control type, and the mountain-ON type, the compare value calculation unit 50 outputs a value obtained by multiplying the duty value Sduty output from the duty calculation unit 32 by the period value Pv as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×Sduty.

[0093] Furthermore, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the Both-side PWM control type, and the valley-ON type, the compare value calculation unit 50 calculates a compare value Scomp by multiplying the duty value Sduty output from the duty calculation unit 32 by 0.5, adding 0.5 to the result, and then multiplying the result by a period value Pv. In this case, the compare value Scomp is expressed as Scomp=Pv×(Sduty×0.5+0.5).

[0094] Furthermore, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the 120-degree conduction method, the Both-side PWM control type, and the mountain-ON type, the compare value calculation unit 50 multiplies the duty value Sduty output from the duty calculation unit 32 by 0.5, adds 0.5 to the result, multiplies the result by a period value Pv, and divides the result by 1. The compare value calculation unit 50 outputs the result as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×(1−(Sduty×0.5+0.5)).

[0095] Furthermore, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the three-phase modulation reverse phase method and the valley-ON type, the compare value calculation unit 50 outputs a value obtained by multiplying the duty value Sduty output from the duty calculation unit 32 by the period value Pv as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×Sduty.

[0096] Furthermore, when the conduction method, control type, and conduction type notified by the setting processing unit 55 are the three-phase modulation reverse phase method and the crest-on type, the compare value calculation unit 50 inverts the duty value Sduty output from the duty calculation unit 32 based on the median value of the carrier wave Scw, multiplies the inverted value by the period value Pv, and outputs the resultant value as the compare value Scomp to the comparison unit 51. In this case, the compare value Scomp is expressed as Scomp=Pv×(1−Sduty).

[0097] The comparator 51 compares the U-phase, V-phase, and W-phase compare values ​​Scomp output from the compare value calculator 50. Ｕ , Scomp Ｖ and Scomp Ｗ and the carrier wave Scw output from the carrier wave generating unit 33, and based on the comparison results, the PWM signals S PWM for the U phase, V phase, and W phase are generated. Ｕ , SPWM Ｖ and SPWM Ｗ Generate.

[0098] For example, the comparison unit 51 calculates the comparison value Scomp Ｕ Based on the comparison result between the carrier wave Scw and the PWM signal S ＰＷＭＵ The comparator 51 generates the comparison value Scomp Ｖ Based on the comparison result between the carrier wave Scw and the PWM signal S ＰＷＭＶ The comparator 51 generates the comparison value Scomp Ｗ Based on the comparison result between the carrier wave Scw and the PWM signal S ＰＷＭＷ In the following, the PWM signals S of the U phase, V phase, and W phase are generated. ＰＷＭＵ , S ＰＷＭＶ and S ＰＷＭＷ When each of these signals is shown without distinction, the PWM signal S ＰＷＭ The PWM signal S ＰＷＭ As described above, is a signal generated based on the carrier wave Scw and the compare value Scomp, and is used in the conduction switching unit 40 to generate the PWM phase gate signals Sp and Sn.

[0099] The dead time setting unit 52 is configured to set the PWM signal S output from the comparison unit 51. ＰＷＭＵand a first PWM signal S with dead time, which is obtained by providing a dead time for the complementary signal thereof. ＰＷＭｐＵ and the second PWM signal S ＰＷＭｎＵ and the generated first PWM signal S ＰＷＭｐＵ and the second PWM signal S ＰＷＭｎＵ and is output.

[0100] The dead time setting unit 52 also sets the PWM signal S output from the comparison unit 51. ＰＷＭＶ and a first PWM signal S with dead time, which is obtained by providing a dead time for the complementary signal thereof. ＰＷＭｐＶ and the second PWM signal S ＰＷＭｎＶ and the generated first PWM signal S ＰＷＭｐＶ and the second PWM signal S ＰＷＭｎＶ and is output.

[0101] The dead time setting unit 52 also sets the PWM signal S output from the comparison unit 51. ＰＷＭＷ and a first PWM signal S with dead time, which is obtained by providing a dead time for the complementary signal thereof. ＰＷＭｐＷ and the second PWM signal S ＰＷＭｎＷ and the generated first PWM signal S ＰＷＭｐＷ and the second PWM signal S ＰＷＭｎＷ In the following, the first PWM signal S ＰＷＭｐＵ , S ＰＷＭｐＶ and S ＰＷＭｐＷ When each of the first PWM signal S ＰＷＭｐ The second PWM signal S ＰＷＭｎＵ , S ＰＷＭｎＶ and S ＰＷＭｎＷ When each of the second PWM signals S ＰＷＭｎ It may be written as follows.

[0102] The polarity switching unit 53 sets the conduction type of the PWM phase based on the information notified from the setting processing unit 55. For example, the polarity switching unit 53 sets the conduction type of the first PWM signal S ＰＷＭｐＵ and the second PWM signal S ＰＷＭｎＵ One of the three PWM signals So ＰＷＭｐＵ and the other is output as the fourth PWM signal So ＰＷＭｎＵFurthermore, the polarity switching unit 53 outputs the first PWM signal S ＰＷＭｐＶ and the second PWM signal S ＰＷＭｎＶ One of the three PWM signals So ＰＷＭｐＶ and the other is output as the fourth PWM signal So ＰＷＭｎＶ Output as

[0103] Further, the polarity switching unit 53 controls the polarity of the first PWM signal S ＰＷＭｐＷ and the second PWM signal S ＰＷＭｎＷ One of the three PWM signals So ＰＷＭｐＷ and the other is output as the fourth PWM signal So ＰＷＭｎＷ In the following, the third PWM signal So ＰＷＭｐＵ , So ＰＷＭｐＶ and So ＰＷＭｐＷ When each of the PWM signals is shown without being individually distinguished, the third PWM signal So ＰＷＭｐ and the fourth PWM signal So ＰＷＭｎＵ , So ＰＷＭｎＶ and So ＰＷＭｎＷ When each of the fourth PWM signal So is shown without distinction, ＰＷＭｎ It may be written as follows.

[0104] The gate signal output unit 54 receives information from the setting processing unit 55 and the third PWM signal So output from the polarity switching unit 53. ＰＷＭｐＵ , So ＰＷＭｐＶ and So ＰＷＭｐＷ and the fourth PWM signal So ＰＷＭｎＵ , So ＰＷＭｎＶ and So ＰＷＭｎＷ Based on these, the gate signals Spu, Snu, Spv, Snv, Spw, and Snw are output.

[0105] The information sent from the setting processing unit 55 includes information indicating whether each of the U, V, and W phases is a PWM phase, a Low fixed phase, a High fixed phase, or a non-energized phase. The gate signal output unit 54 outputs the third PWM signal So as a gate signal for the PWM phase. ＰＷＭｐ and the fourth PWM signal So ＰＷＭｎ are output as gate signals Sp and Sn.

[0106] The gate signal output unit 54 also outputs, as low fixed phase gate signals, gate signals Sp and Sn that turn off the low fixed phase upper arm 11 and turn on the low fixed phase lower arm 12. The gate signal output unit 54 also outputs, as high fixed phase gate signals, gate signals Sp and Sn that turn on the high fixed phase upper arm 11 and turn off the high fixed phase lower arm 12.

[0107] Furthermore, the gate signal output unit 54 outputs gate signals Sp and Sn that turn off the upper arm 11 and the lower arm 12 as gate signals for the non-energized phase.

[0108] The gate signals of the U phase, V phase, and W phase output from the gate signal output unit 54 are input to the gate driver 15, amplified by the gate driver 15, and input to the upper arm 11 and the lower arm 12 of the V phase and the W phase. As described above, the gate signals of the PWM phase are generated by the PWM signal S ＰＷＭ The gate signal for the non-energized phase is a signal that turns off the upper arm 11 and the lower arm 12 of the non-energized phase. The gate signal for the low fixed phase is a signal that turns off the upper arm 11 of the low fixed phase and turns on the lower arm 12 of the low fixed phase. The gate signal for the high fixed phase is a signal that turns on the upper arm 11 of the high fixed phase and turns off the lower arm 12 of the high fixed phase.

[0109] The setting processing unit 55 controls the compare value calculation unit 50, the polarity switching unit 53 and the gate signal output unit 54 based on the setting information output from the setting unit 35 and the section information and method switching request output from the decision unit 34.

[0110] At startup, the setting processing unit 55 notifies the compare value calculation unit 50, the polarity switching unit 53, and the gate signal output unit 54 of information corresponding to the 120-degree energization information included in the setting information output from the setting unit 35.

[0111] [Operation of Switching Compensation Unit 41] As described above, the switching compensation unit 41 performs switching compensation when a scheme switching request is output from the determination unit 34. This switching compensation can be performed by performing switching at timings when the on / off states of the upper arms 11 and lower arms 12 for the U phase, V phase, and W phase do not change, or at timings when the U phase, V phase, and W phase are switched to non-energized phases.

[0112] As a specific example, when switching from the 120-degree conduction method to the three-phase modulation reverse phase method, the switching compensation unit 41 performs switching compensation to match the on / off states of the upper arm and the lower arm in the two conduction phases of the 120-degree conduction method. For example, the switching compensation unit 41 sets the conduction type of the PWM phase of the two conduction phases before and after the switching to the conduction type of the corresponding PWM phase in the three-phase modulation reverse phase method. Furthermore, the switching compensation unit 41 sets the PWM polarity and switching timing so that the on / off states of the upper arm and the lower arm of the low fixed phase do not change if the high-side PWM control method is used, or the high fixed phase do not change if the low-side PWM control method is used.

[0113] In the case of a both-side PWM control type, since the two current-carrying phases are each PWM phases, the switching compensation unit 41 sets the conduction type of each of the two current-carrying phases before and after switching to the conduction type of the two PWM phases of the three-phase modulation reverse phase method corresponding to the two current-carrying phases, respectively. In other words, the switching compensation unit 41 sets the conduction type of each of the two current-carrying phases before and after switching to be the same as the conduction type of the two PWM phases of the three-phase modulation reverse phase method corresponding to the two current-carrying phases, respectively.

[0114] Furthermore, when switching from the three-phase modulation negative-phase mode to the 120-degree conduction mode, the switching compensation unit 41 performs switching compensation to match the on / off states of the upper arm and lower arm of the phase to be switched to the 120-degree conduction PWM phase. For example, the switching compensation unit 41 sets the conduction type of the PWM phase of the two conduction phases before and after the switching to the conduction type of the corresponding PWM phase of the three-phase modulation negative-phase mode. Furthermore, the switching compensation unit 41 sets the PWM polarity and switching timing so that the on / off states of the upper arm and lower arm of the phase that transitions to the low fixed phase in the high-side PWM control mode or the high fixed phase in the low-side PWM control mode do not change.

[0115] In the case of a both-side PWM control type, the switching compensation unit 41 sets the conduction type of each of the two PWM phases of the three-phase modulation reverse phase method corresponding to the two current-carrying phases before and after switching to the conduction type of the two current-carrying phases. In other words, the switching compensation unit 41 sets the conduction type of each of the two PWM phases of the three-phase modulation reverse phase method corresponding to the two current-carrying phases before and after switching to be the same as the conduction type of the two current-carrying phases.

[0116] This prevents upper arm 11 and lower arm 12 from being turned on and off simultaneously when switching between the 120-degree conduction method and the three-phase modulation negative phase method, and therefore, motor control device 1 can prevent a short circuit between upper arm 11 and lower arm 12 of the same phase in inverter circuit 10 when there is no dead time.

[0117] The switching compensation unit 41 controls the polarity switching unit 53 of the conduction switching unit 40 to match the on / off states of the upper arm 11 and the lower arm 12 in the two conduction phases before and after mutual switching between the 120-degree conduction method and the three-phase modulation negative phase method. The configuration of the conduction switching unit 40 is not limited to the example described above, and may be any configuration that allows the switching compensation unit 41 to match the on / off states of the upper arm 11 and the lower arm 12 in the two conduction phases before and after mutual switching between the 120-degree conduction method and the three-phase modulation negative phase method.

[0118] Here, a description will be given of section switching when no switching compensation is performed by the switching compensation unit 41 in the conduction control unit 36.

[0119] 17 is a diagram showing an example of switching from the three-phase modulation reverse phase method to the 120-degree conduction method when switching compensation is not performed in the motor control device 1 according to the embodiment. For convenience, in the following drawings, the "low fixed phase" and the "high fixed phase" may be referred to as the "LO phase" and the "HI phase", respectively.

[0120] 17 shows an example of a transition from a PWM phase (mountain-ON type) to a fixed low phase in a three-phase modulation reverse phase system. Before and after the switching, the upper arm transitions from an ON state to an OFF state, and the lower arm transitions from an OFF state to an ON state (area enclosed by an ellipse). At this time, there is a possibility that the ON states of the upper and lower arms overlap.

[0121] As described above, when a method switching request is output from the decision unit 34, the switching compensation unit 41 performs switching compensation to match the on / off states of the upper arm 11 and lower arm 12 of the same phase before and after switching from the 120-degree conduction method to the two-phase modulation method.

[0122] 18A and 18B are diagrams showing an example of switching from the three-phase modulation negative phase method to the 120-degree conduction method when switching compensation is performed in the motor control device 1 according to the embodiment. Fig. 18A shows an example of switching from a PWM phase (valley-ON type) in the three-phase modulation negative phase method to a low fixed phase in the 120-degree conduction method. In the low fixed phase of the 120-degree conduction method, the on / off states of the upper arm and the lower arm are maintained.

[0123] 18B shows an example of a transition from the PWM phase (mountain-ON type) in the three-phase modulation reverse phase method to the HIZ phase in the 120-degree conduction method. In this case, the ON / OFF state of the upper arm or the lower arm changes, but the upper and lower arms do not turn ON simultaneously because of the change to the OFF state.

[0124] In this way, by performing switching compensation by the switching compensation unit 41, it is possible to prevent the upper and lower arms from being turned on simultaneously.

[0125] (3. Switching from 120-degree conduction method to three-phase modulation reverse phase method) The process for switching from the 120-degree conduction method to the three-phase modulation reverse phase method will be described.

[0126] [Motor Control Processing] Figure 19 is a diagram illustrating an example of the motor control processing according to the embodiment. Figure 19 is a flowchart illustrating the processing steps of the continuity control unit 36 ​​and the determination unit 34 when switching from the 120-degree conduction method to the three-phase modulation negative-phase method. First, the continuity control unit 36 ​​controls the continuity of the upper arm 11 and the lower arm 12 of each phase in the inverter circuit 10 (step S101). Next, if a request to switch to the three-phase modulation negative-phase method is issued (step S102, Yes), the determination unit 34 determines to switch to the three-phase modulation negative-phase method (step S103). Next, the switching compensation unit 41 performs switching compensation processing (step S110).

[0127] Next, the continuity control unit 36 ​​determines the polarity of the phase corresponding to the non-energized phase so that the three PWM phases are opposite in phase (step S104). Specifically, when the polarities of the PWM phases in the three-phase modulation reverse phase system corresponding to the energized phases in the 120-degree energization system are the same, the continuity control unit 36 ​​sets the polarity of the phase corresponding to the non-energized phase to a polarity different from those of these two phases. Note that when the polarities of the PWM phases in the three-phase modulation reverse phase system corresponding to the energized phases in the 120-degree energization system are different, the continuity control unit 36 ​​can arbitrarily set the polarity of the phase corresponding to the non-energized phase.

[0128] Thereafter, the process proceeds to step S101. Steps S101 and S103 correspond to a conduction control procedure and a determination procedure, respectively. Step S110 corresponds to a switching compensation procedure. Steps S101 and S103 correspond to a conduction control step and a determination step, respectively. Step S110 corresponds to a switching compensation step.

[0129] [Processing of Switching Compensation Unit 41] FIG. 20 is a diagram illustrating an example of the switching compensation process according to the embodiment. FIG. 20 is a flowchart illustrating the procedure of the process in the switching compensation unit 41. FIG. 20 also illustrates the switching compensation process (step S110) of FIG. 19. First, the switching compensation unit 41 maintains the conduction type of the phase transitioning from the PWM phase of the 120-degree conduction method (step S111). Next, the switching compensation unit 41 determines whether the control is a high-side PWM control type (step S112). As a result, if the control is a high-side PWM control type (step S112, Yes), the switching compensation unit 41 proceeds to the process of step S113.

[0130] On the other hand, if the control type is not high-side PWM (step S112, No), the switching compensation unit 41 determines whether the control type is low-side PWM (step S114). As a result, if the control type is low-side PWM (step S114, Yes), the switching compensation unit 41 proceeds to the process of step S115. On the other hand, if the control type is not low-side PWM (step S114, No), the control type is both-side PWM, so the switching compensation unit 41 completes the process and returns to the original process.

[0131] In step S113, the switching compensation unit 41 transitions to the PWM phase when the upper arm 11 of the low fixed phase (Lo phase) is off and the lower arm 12 is on, and the process returns to the original processing. Also, in step S115, the switching compensation unit 41 transitions to the PWM phase when the upper arm 11 of the high fixed phase (HI phase) is on and the lower arm 12 is off, and the process returns to the original processing. Note that the conduction type held in step S111 is applied to the PWM phase in the three-phase modulation reverse phase method.

[0132] FIG. 21 is a diagram showing an example of a combination that does not cause a short circuit between the upper and lower arms when switching from the 120-degree conduction method to the three-phase modulation reverse phase method. FIG. 21 shows an example of a combination of the states of the phases (U phase, V phase, and W phase) before and after switching that are compensated for by the switching compensation unit 41. In FIG. 21, the 120-degree conduction method is shown as a high-side PWM control type, a low-side PWM control type, and a both-side PWM control type. The three-phase modulation reverse phase method is also shown divided into crest switching and valley switching. Here, crest switching refers to a case where switching is performed near the crest position of the carrier wave. Valley switching refers to a case where switching is performed near the valley position of the carrier wave.

[0133] The vicinity of the peak position is a range in which the on / off states of the PWM-phase upper arm 11 and the lower arm 12 do not switch relative to the on / off states of the PWM-phase upper arm 11 and the lower arm 12 at the peak position. The range in which the on / off states of the PWM-phase upper arm 11 and the lower arm 12 do not switch can also be described as a range in which the magnitude relationship between the carrier wave Scw and the PWM-phase compare value Scomp does not change relative to the magnitude relationship between the carrier wave Scw and the PWM-phase compare value Scomp at the peak position. Similarly, the vicinity of the valley position is a range in which the on / off states of the PWM-phase upper arm 11 and the lower arm 12 do not switch relative to the on / off states of the PWM-phase upper arm 11 and the lower arm 12 at the valley position.

[0134] 21 , in the high-side PWM control type of the 120-degree conduction scheme, it is assumed that the U phase, V phase, and W phase are respectively assigned as the PWM phase, HIZ phase, and low fixed phase. Furthermore, when switching to the low-side PWM control type of the 120-degree conduction scheme, it is assumed that the U phase, V phase, and W phase are respectively assigned as the high fixed phase, HIZ phase, and PWM phase. Furthermore, when switching to the both-side PWM control type of the 120-degree conduction scheme, it is assumed that the U phase, V phase, and W phase are respectively assigned as the PWM phase, HIZ phase, and PWM phase.

[0135] As shown in Figure 21, in the high-side PWM control type, when the PWM phase is a crest-on type, the phase is maintained as a PWM phase (crest-on type) of the three-phase modulation reverse phase method in crest switching and valley switching. Also, the LO phase transitions to a PWM phase (valley-on type) in the case of crest switching, and transitions to a PWM phase (crest-on type) in the case of valley switching. On the other hand, the HIZ phase transitions to a PWM phase (crest-on type) or a PWM phase (valley-on type) in the case of crest switching, and transitions to a PWM phase (valley-on type) in the case of valley switching.

[0136] Furthermore, in the high-side PWM control type, when the PWM phase is a valley-ON type, the phase is maintained as a PWM phase (valley-ON type) of the three-phase modulation reverse phase method in crest switching and valley switching. Furthermore, the LO phase transitions to a PWM phase (valley-ON type) in the case of a crest switching, and transitions to a PWM phase (peak-ON type) in the case of a valley switching. On the other hand, the HIZ phase transitions to a PWM phase (peak-ON type) in the case of a crest switching, and transitions to a PWM phase (peak-ON type) or PWM phase (valley-ON type) in the case of a valley switching.

[0137] In addition, in the low-side PWM control type, when the PWM phase is a crest-on type, the phase is maintained as a PWM phase (crest-on type) of the three-phase modulation reverse phase method in crest switching and valley switching. In addition, the HI phase transitions to a PWM phase (crest-on type) in the case of a crest switching, and transitions to a PWM phase (valley-on type) in the case of a valley switching. On the other hand, the HIZ phase transitions to a PWM phase (valley-on type) in the case of a crest switching, and transitions to a PWM phase (crest-on type) or PWM phase (valley-on type) in the case of a valley switching.

[0138] Furthermore, in the low-side PWM control type, even when the PWM phase is a valley-on type, the phase is maintained as a PWM phase (valley-on type) of the three-phase modulation reverse phase method in crest switching and valley switching. Furthermore, the HI phase transitions to a PWM phase (peak-on type) in the case of a crest switching, and transitions to a PWM phase (valley-on type) in the case of a valley switching. On the other hand, the HIZ phase transitions to a PWM phase (peak-on type) or a PWM phase (valley-on type) in the case of a crest switching, and transitions to a PWM phase (peak-on type) in the case of a valley switching.

[0139] In addition, in the both-side PWM control type, the PWM phase (peak-on type) is maintained as the PWM phase (peak-on type) of the three-phase modulation reverse phase method at peak switching and valley switching. Similarly, the PWM phase (valley-on type) is maintained as the PWM phase (valley-on type) of the three-phase modulation reverse phase method at peak switching and valley switching. The HIZ phase transitions to the PWM phase (peak-on type) or PWM phase (valley-on type) at both peak switching and valley switching. These combinations will be examined next.

[0140] [In the case of 120-degree conduction method (high-side PWM control type, PWM phase crest-on type, crest switching)] Figures 22A and 22B are diagrams showing an example of switching in the 120-degree conduction method (high-side PWM control, PWM phase crest-on type, crest switching). Figures 22A and 22B respectively show examples of applying the two combinations of (1) in Figure 21.

[0141] 22A and 22B show the transitions of the U, V, and W phases from the PWM phase (peak-on type), HIZ phase, and low fixed phase in the 120-degree conduction scheme to the PWM phase (peak-on type), PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase scheme, respectively. The PWM phase (U phase) in the 120-degree conduction scheme maintains the conduction type (peak-on type). Furthermore, the low fixed phase (W phase) switches between the upper arm and the lower arm, respectively, in the off state and the on state.

[0142] Fig. 22A shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-on type). Fig. 22B shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-on type).

[0143] [In the case of 120-degree conduction method (high-side PWM control type, PWM phase crest-on type, valley switching)] Figure 23 is a diagram showing an example of switching in the 120-degree conduction method (high-side PWM control, PWM phase crest-on type, valley switching). Figure 23 shows an example of applying the combination (2) in Figure 21.

[0144] 23 shows the transition of the U, V, and W phases from the PWM phase (peak-on type), HIZ phase, and low fixed phase in the 120-degree conduction system to the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system. The PWM phase (U phase) in the 120-degree conduction system remains in the conduction type (peak-on type). Furthermore, the low fixed phase (W phase) switches between the off state and the on state of the upper arm and the lower arm, respectively.

[0145] [In the case of 120-degree conduction method (high-side PWM control type, PWM phase valley-ON type, crest switching)] Fig. 24 is a diagram showing an example of switching in the 120-degree conduction method (high-side PWM control type, PWM phase valley-ON type, crest switching). Fig. 24 shows an example of applying the combination (3) in Fig. 21.

[0146] 24 shows the transitions of the U, V, and W phases from the PWM phase (valley-on type), HIZ phase, and low fixed phase in the 120-degree conduction system to the PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system. The PWM phase (U phase) in the 120-degree conduction system remains in the conduction type (valley-on type). Furthermore, the low fixed phase (W phase) switches between the upper arm and the lower arm, respectively, in the off state and the on state.

[0147] [In the case of 120-degree conduction method (high-side PWM control type, PWM phase valley-ON type, valley switching)] Figures 25A and 25B are diagrams showing an example of switching in the 120-degree conduction method (high-side PWM control, PWM phase valley-ON type, valley switching). Figures 25A and 25B respectively show examples of applying the two combinations of (4) in Figure 21.

[0148] 25A and 25B show the transitions of the U, V, and W phases from the PWM phase (valley-on type), HIZ phase, and low fixed phase in the 120-degree conduction scheme to the PWM phase (valley-on type), PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase scheme, respectively. The PWM phase (U phase) in the 120-degree conduction scheme maintains the conduction type (valley-on type). Furthermore, the low fixed phase (W phase) switches between the upper arm and the lower arm, respectively, in the off state and the on state.

[0149] Fig. 25A shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-ON type). Fig. 25B shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-ON type).

[0150] [In the case of 120-degree conduction method (low-side PWM control type, PWM phase crest-on type, crest switching)] Fig. 26 is a diagram showing an example of switching in the 120-degree conduction method (low-side PWM control type, PWM phase crest-on type, crest switching). Fig. 26 shows an example of applying the combination (5) in Fig. 21.

[0151] 26 shows the transitions of the U, V, and W phases from the high fixed phase, HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system to the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system. The PWM phase (W phase) in the 120-degree conduction system maintains the conduction type (peak-on type). Furthermore, in the high fixed phase (U phase), the upper arm and lower arm are switched between the on state and the off state, respectively.

[0152] [In the case of 120-degree conduction method (low-side PWM control type, PWM phase crest-on type, valley switching)] Figures 27A and 27B are diagrams showing an example of switching in the 120-degree conduction method (low-side PWM control type, PWM phase crest-on type, valley switching). Figures 27A and 27B respectively show examples of applying the two combinations of (6) in Figure 21.

[0153] 27A and 27B show the transitions of the U, V, and W phases from the high fixed phase, HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction scheme to the PWM phase (valley-on type), PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase scheme, respectively. The PWM phase (W phase) in the 120-degree conduction scheme maintains the conduction type (peak-on type). Furthermore, in the high fixed phase (U phase), the upper arm and lower arm are switched between the on state and the off state, respectively.

[0154] 27A shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-on type), and FIG. 27B shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-on type).

[0155] [In the case of 120-degree conduction method (low-side PWM control type, PWM phase valley-ON type, crest switching)] Figures 28A and 28B are diagrams showing an example of switching in the 120-degree conduction method (low-side PWM control type, PWM phase valley-ON type, crest switching). Figures 28A and 28B respectively show examples of applying the two combinations of (7) in Figure 21.

[0156] 28A and 28B show the transitions of the U, V, and W phases from the high fixed phase, HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction scheme to the PWM phase (peak-on type), PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase scheme, respectively. The conduction type (valley-on type) is maintained in the PWM phase (W phase) in the 120-degree conduction scheme. Furthermore, in the high fixed phase (U phase), the upper arm and lower arm are switched between the on state and the off state, respectively.

[0157] Fig. 28A shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-on type). Fig. 28B shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-on type).

[0158] [In the case of 120-degree conduction method (low-side PWM control type, PWM phase valley-ON type, valley switching)] Fig. 29 is a diagram showing an example of switching in the 120-degree conduction method (low-side PWM control type, PWM phase valley-ON type, valley switching). Fig. 29 shows an example of applying the combination (8) in Fig. 21.

[0159] 29 shows the transition of the U, V, and W phases from the high fixed phase, HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction system to the PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system. The PWM phase (W phase) in the 120-degree conduction system maintains the conduction type (valley-on type). Furthermore, the high fixed phase (U phase) switches between the on state and the off state of the upper arm and the lower arm, respectively.

[0160] [In the case of 120-degree conduction method (both-side PWM control type, mountain switching)] Figures 30A and 30B are diagrams showing an example of switching in the case of the 120-degree conduction method (both-side PWM control type, mountain switching). Figures 30A and 30B respectively show examples of applying the two combinations of (9) in Figure 21.

[0161] 30A and 30B show the transitions of the U, V, and W phases from the PWM phase (peak-on type), HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction scheme to the PWM phase (peak-on type), PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase scheme, respectively. The PWM phase (U phase) in the 120-degree conduction scheme remains in the conduction type (peak-on type). The PWM phase (W phase) in the 120-degree conduction scheme remains in the conduction type (valley-on type).

[0162] Fig. 30A shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-on type). Fig. 30B shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-on type).

[0163] [120-degree conduction method (both-side PWM control type, valley switching)] Figures 31A and 31B are diagrams showing an example of switching in the case of the 120-degree conduction method (both-side PWM control type, valley switching). Figures 31A and 31B respectively show examples of applying the two combinations of (10) in Figure 21.

[0164] 31A and 31B show the transitions of the U, V, and W phases from the PWM phase (peak-on type), HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction scheme to the PWM phase (peak-on type), PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase scheme, respectively. The PWM phase (U phase) in the 120-degree conduction scheme maintains the conduction type (peak-on type). Furthermore, the PWM phase (W phase) in the 120-degree conduction scheme maintains the conduction type (valley-on type).

[0165] Fig. 31A shows a case where the HIZ phase (V phase) transitions to the PWM phase (peak-on type). Fig. 31B shows a case where the HIZ phase (V phase) transitions to the PWM phase (valley-on type).

[0166] As explained above, it can be seen that in (1) to (10) of FIG. 21, when switching from the 120-degree conduction method to the three-phase modulation reverse phase method, no short circuit occurs between the upper and lower arms.

[0167] In this way, when switching from the 120-degree conduction method to the three-phase modulation negative phase method, the motor control device 1 according to the embodiment of the present disclosure can suppress short circuits in the upper and lower arms of each phase in the inverter circuit 10. This allows the motor control device 1 according to the embodiment of the present disclosure to switch from the 120-degree conduction method to the three-phase modulation negative phase method without any dead time.

[0168] (4. Switching from Three-Phase Modulation Negative Phase Mode to 120-Degree Conduction Mode) The process for switching from the three-phase modulation negative phase mode to the 120-degree conduction mode will be described.

[0169] [Motor Control Processing] Figure 32 is a diagram illustrating an example of motor control processing according to the embodiment. Figure 32 is a flowchart illustrating the processing steps of the conduction control unit 36 ​​and the determination unit 34 when switching from the three-phase modulation reverse phase method to the 120-degree conduction method. First, the conduction control unit 36 ​​controls the conduction of the upper arm 11 and the lower arm 12 of each phase in the inverter circuit 10 (step S121). Next, if a request to switch to the 120-degree conduction method is issued (step S122, Yes), the determination unit 34 determines to switch to the 120-degree conduction method (step S123). Next, the switching compensation unit 41 performs switching compensation processing (step S130).

[0170] Thereafter, the process proceeds to step S121. Steps S121 and S123 correspond to a conduction control procedure and a determination procedure, respectively. Step S130 corresponds to a switching compensation procedure. Steps S121 and S123 correspond to a conduction control step and a determination step, respectively. Step S130 corresponds to a switching compensation step.

[0171] [Processing of Switching Compensation Unit 41] FIG. 33 is a diagram illustrating an example of the switching compensation process according to the embodiment. FIG. 33 is a flowchart illustrating the processing procedure in the switching compensation unit 41. FIG. 33 also illustrates the switching compensation process (step S130) of FIG. 32. First, the switching compensation unit 41 maintains the conduction type of the phase that transitions to the PWM phase of the 120-degree conduction method (step S131). Next, the switching compensation unit 41 determines whether the phase is a high-side PWM control type (step S132). As a result, if the phase is a high-side PWM control type (step S132, Yes), the switching compensation unit 41 proceeds to the process of step S133.

[0172] On the other hand, if the control type is not high-side PWM (step S132, No), the switching compensation unit 41 determines whether the control type is low-side PWM (step S134). As a result, if the control type is low-side PWM (step S134, Yes), the switching compensation unit 41 proceeds to the process of step S135. On the other hand, if the control type is not low-side PWM (step S134, No), the control type is both-side PWM, so the switching compensation unit 41 completes the process and returns to the original process.

[0173] In step S133, the switching compensation unit 41 transitions to a low fixed phase (Lo phase) when the upper arm 11 of the PWM phase is off and the lower arm 12 is on, and the process returns to the original processing. Also, in step S135, the switching compensation unit 41 transitions to a high fixed phase (HI phase) when the upper arm 11 of the PWM phase is on and the lower arm 12 is off, and the process returns to the original processing. Note that the conduction type held in step S131 is applied to the PWM phase in the 120-degree conduction method.

[0174] FIG. 34 is a diagram showing an example of a combination that does not cause a short circuit between the upper and lower arms when switching from the three-phase modulation reverse phase method to the 120-degree conduction method. FIG. 34 shows an example of a combination of phase states before and after switching that are compensated for by the switching compensation unit 41. In FIG. 34, for the three-phase modulation reverse phase method, combinations of PWM phase polarities (peak-on type and valley-on type) for the U phase, V phase, and W phase are shown. In addition, the 120-degree conduction method is shown separately for high-side PWM control type, low-side PWM control type, and both-side PWM control type.

[0175] 34, when switching to the 120-degree conduction high-side PWM control type, it is assumed that the U phase, V phase, and W phase transition to the PWM phase, HIZ phase, and low fixed phase, respectively. Also, when switching to the 120-degree conduction low-side PWM control type, it is assumed that the U phase, V phase, and W phase transition to the high fixed phase, HIZ phase, and PWM phase, respectively. Also, when switching to the 120-degree conduction both-side PWM control type, it is assumed that the U phase, V phase, and W phase transition to the PWM phase, HIZ phase, and PWM phase, respectively.

[0176] As shown in FIG. 34, when switching from the three-phase modulation negative phase system to the 120-degree conduction high-side PWM control system, crest switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively (1). Also, crest switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (valley-on type), respectively (2). Also, valley switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively (3). Furthermore, valley switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively (4). Valley switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (peak-on type), respectively (5). Peak switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively (6).

[0177] 34, when switching from the three-phase modulation negative phase system to the 120-degree conduction low-side PWM control system, crest switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively (7). Also, crest switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (valley-on type), respectively (8). Also, crest switching can be used when the U, V, and W phases of the three-phase modulation negative phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively (9). Furthermore, valley switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively (10). Furthermore, valley switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (peak-on type), respectively (11). Furthermore, valley switching can be used to address cases where the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively (12).

[0178] As shown in FIG. 34, when switching from the three-phase modulation reverse phase system to the 120-degree conduction system with both-side PWM control, if the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (peak-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively, peak switching or valley switching can be used (13). Also, if the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (valley-on type), respectively, peak switching or valley switching can be used (14). Also, if the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively, peak switching or valley switching can be used (16). Furthermore, when the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (peak-on type), respectively, crest switching or valley switching can be used (17). Note that when the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (peak-on type), PWM phases (valley-on type), and PWM phases (peak-on type), respectively, switching is not possible (15). Similarly, when the U, V, and W phases of the three-phase modulation reverse phase system are PWM phases (valley-on type), PWM phases (peak-on type), and PWM phases (valley-on type), respectively, switching is also not possible (18).

[0179] [In the Case of Three-Phase Modulation Reverse Phase Method (Switching to High-Side PWM Control Type)] FIGS. 35 to 40 are diagrams showing an example of switching in the three-phase modulation reverse phase method (switching to High-Side PWM control type).

[0180] FIG. 35 illustrates the transition of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (peak-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the PWM phase (peak-on type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (peak-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 35 illustrates an example in which the combination (1) in FIG. 34 is applied.

[0181] FIG. 36 illustrates the transition of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the PWM phase (peak-on type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (peak-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 36 illustrates an example in which the combination (2) in FIG. 34 is applied.

[0182] FIG. 37 shows the transitions of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the PWM phase (peak-on type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (peak-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 37 shows an example in which the combination (3) in FIG. 34 is applied.

[0183] FIG. 38 illustrates the transition of the U, V, and W phases from the PWM phase (valley-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the PWM phase (valley-on type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (valley-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 38 illustrates an example in which the combination (4) in FIG. 34 is applied.

[0184] FIG. 39 illustrates the transition of the U, V, and W phases from the PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the PWM phase (valley-on type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (valley-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 39 illustrates an example in which the combination (5) in FIG. 34 is applied.

[0185] FIG. 40 shows the transitions of the U, V, and W phases from the PWM phase (valley-ON type), PWM phase (peak-ON type), and PWM phase (valley-ON type) in the three-phase modulation reverse phase system to the PWM phase (valley-ON type), HIZ phase, and low fixed phase in the 120-degree conduction system. The conduction type (valley-ON type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. Furthermore, the upper arm and lower arm are switched between the off state and the on state in the PWM phase (W phase) in the three-phase modulation reverse phase system that transitions to the low fixed phase. FIG. 40 shows an example in which the combination (6) in FIG. 34 is applied.

[0186] [In the Case of Three-Phase Modulation Reverse Phase Method (Switching to Low-Side PWM Control Type)] FIGS. 41 to 46 are diagrams showing an example of switching in the three-phase modulation reverse phase method (switching to Low-Side PWM control type).

[0187] FIG. 41 shows the transition of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (peak-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction system, respectively. The conduction type (valley-on type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 41 shows an example in which the combination (7) in FIG. 34 is applied.

[0188] FIG. 42 shows the transition of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction system, respectively. The conduction type (valley-on type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 42 shows an example in which the combination (8) in FIG. 34 is applied.

[0189] FIG. 43 shows the transition of the U, V, and W phases from the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system, respectively. The conduction type (peak-on type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 43 shows an example in which the combination (9) in FIG. 34 is applied.

[0190] FIG. 44 shows the transition of the U, V, and W phases from the PWM phase (valley-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system, respectively. The conduction type (peak-on type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 44 shows an example of applying the combination (10) in FIG. 34 .

[0191] FIG. 45 shows the transition of the U, V, and W phases from the PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system, respectively. The conduction type (peak-on type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 45 shows an example in which the combination (11) in FIG. 34 is applied.

[0192] FIG. 46 shows the transition of the U, V, and W phases from the PWM phase (valley-ON type), PWM phase (peak-ON type), and PWM phase (valley-ON type) in the three-phase modulation reverse phase system to the high fixed phase, HIZ phase, and PWM phase (valley-ON type) in the 120-degree conduction system, respectively. The conduction type (valley-ON type) is maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. Furthermore, in the PWM phase (U phase) in the three-phase modulation reverse phase system that transitions to the high fixed phase, the upper arm and the lower arm are switched between the on state and the off state, respectively. FIG. 46 shows an example in which the combination (12) in FIG. 34 is applied.

[0193] [In the case of three-phase modulation reverse phase method (switching to both-side PWM control type)] Figures 47A, 47B, 48A, 48B, 49A, 49B, 50A and 50B are diagrams showing an example of switching in the three-phase modulation reverse phase method (switching to both-side PWM control type).

[0194] 47A and 47B show cases where the U phase, V phase, and W phase transition from the PWM phase (peak-on type), PWM phase (peak-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the PWM phase (peak-on type), HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction system, respectively. FIG. 47A shows the case of crest switching. FIG. 47B shows the case of valley switching. The conduction type (peak-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. The conduction type (valley-on type) is also maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. FIGS. 47A and 47B show an example of applying the combination (13) in FIG. 34.

[0195] 48A and 48B show cases where the U phase, V phase, and W phase transition from the PWM phase (peak-on type), PWM phase (valley-on type), and PWM phase (valley-on type) in the three-phase modulation reverse phase system to the PWM phase (peak-on type), HIZ phase, and PWM phase (valley-on type) in the 120-degree conduction system, respectively. FIG. 48A shows the case of peak switching. FIG. 48B shows the case of valley switching. The conduction type (peak-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. The conduction type (valley-on type) is also maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. FIGS. 48A and 48B show an example of applying the combination (14) in FIG. 34.

[0196] 49A and 49B show cases where the U phase, V phase, and W phase transition from the PWM phase (valley-on type), PWM phase (valley-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the PWM phase (valley-on type), HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system, respectively. FIG. 49A shows the case of peak switching. FIG. 49B shows the case of valley switching. The conduction type (valley-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. The conduction type (peak-on type) is also maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. FIGS. 49A and 49B show an example of applying the combination (16) in FIG. 34.

[0197] 50A and 50B show cases where the U phase, V phase, and W phase transition from the PWM phase (valley-on type), PWM phase (peak-on type), and PWM phase (peak-on type) in the three-phase modulation reverse phase system to the PWM phase (valley-on type), HIZ phase, and PWM phase (peak-on type) in the 120-degree conduction system, respectively. FIG. 50A shows the case of peak switching. FIG. 50B shows the case of valley switching. The conduction type (valley-on type) is maintained in the PWM phase (U phase) in the three-phase modulation reverse phase system. The conduction type (peak-on type) is also maintained in the PWM phase (W phase) in the three-phase modulation reverse phase system. FIGS. 50A and 50B show an example of applying the combination (17) in FIG. 34.

[0198] As explained above, it can be seen that (1)-(14), (16) and (17) in Figure 34 do not cause a short circuit between the upper and lower arms when switching from the three-phase modulation reverse phase method to the 120-degree conduction method.

[0199] In this way, when switching from the three-phase modulation negative-phase conduction method to the 120-degree conduction method, the motor control device 1 according to the embodiment of the present disclosure can suppress short circuits in the upper and lower arms of each phase in the inverter circuit 10. This allows the motor control device 1 according to the embodiment of the present disclosure to switch from the three-phase modulation negative-phase conduction method to the 120-degree conduction method without any dead time.

[0200] (5. Hardware Configuration) Fig. 51 is a diagram showing an example of the hardware configuration of the control unit 30 of the motor control device 1 according to the embodiment. As shown in Fig. 51, the control unit 30 includes a computer including a processor 101, a memory 102, an input / output unit 103, and a bus 104. The processor 101, the memory 102, and the input / output unit 103 can send and receive information to and from each other via the bus 104.

[0201] The processor 101 executes the functions of the control unit 30 by reading and executing a motor control program stored in the memory 102. The processor 101 is, for example, an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

[0202] The memory 102 includes one or more of a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), and an electrically erasable programmable read-only memory (EEPROM). The input / output unit 103 includes, for example, an AD converter, a DA converter, and an input / output port.

[0203] The motor control device 1 may also include a data reading unit that reads a computer-readable motor control program from a recording medium on which the program is recorded. The processor 101 controls the data reading unit to obtain the motor control program from the recording medium and store the obtained motor control program in the memory 102. The recording medium may include, for example, one or more of a non-volatile or volatile semiconductor memory, a magnetic disk, a flexible memory, an optical disk, a compact disk, and a DVD (Digital Versatile Disc).

[0204] The motor control device 1 may also include a communication unit that receives the motor control program from a server via a network. In this case, the processor 101 can obtain the motor control program from the server via the communication unit and store the obtained motor control program in the memory 102.

[0205] The control unit 30 may also include an integrated circuit such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

[0206] In this way, when bidirectionally switching between the 120-degree conduction scheme and the three-phase modulation reverse phase scheme, the motor control device 1 of the present disclosure performs control to match the on / off states of the upper and lower arms in the two conduction phases of the 120-degree conduction scheme before and after the switching, thereby preventing short circuits between the upper and lower arms in the inverter circuit even when there is no dead time.

[0207] Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present disclosure. Furthermore, components of different embodiments and modifications may be combined as appropriate.

[0208] The series of processes performed by each device described in this specification may be realized using software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance, for example, in a storage medium (non-transitory medium) provided inside or outside each device. Then, each program is loaded into RAM when executed by a computer, and executed by a processor such as a CPU.

[0209] Furthermore, the processes described herein using flowcharts and sequence diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Furthermore, additional process steps may be employed, and some process steps may be omitted.

[0210] (Effects) The motor control device 1 includes an inverter circuit 10 having an upper arm and a lower arm for each of the three phases, a conduction control unit 36 ​​that controls the conduction of the upper arm and the lower arm for each of the three phases in the inverter circuit 10, and a decision unit that decides to switch from a 120-degree conduction method in which two of the three phases are conduction phases and the remaining phase is a non-conduction phase to a three-phase modulation reverse phase method in which the three phases are PWM-controlled PWM phases and one of the three phases is PWM-controlled with opposite phases in which the conduction wave forms that turn the upper arms on and off are PWM-controlled for one phase and the other two phases in opposite phases, and the conduction control unit 36 ​​includes a switching compensation unit 41 that matches the on / off states of the upper arms and lower arms in the two conduction phases before and after the switch from the 120-degree conduction method decided by the decision unit to the three-phase modulation reverse phase method, and the motor control device is configured to perform PWM control of the PWM phase corresponding to the non-conduction phase in an opposite phase to the two PWM phases when the two PWM phases corresponding to the conduction phases are in phase with each other. This prevents short circuits between the upper and lower arms.

[0211] In addition, the conduction control unit 36 ​​can selectively use a first conduction type and a second conduction type which have mutually different phases of conduction wave forms for turning on and off the upper arm of the PWM phase, and the center of the on period of the conduction wave form of one of the first conduction type and the second conduction type may be during the off period of the conduction wave form of the other conduction type.

[0212] Furthermore, the conduction control unit 36 ​​may perform control of the 120-degree conduction method by setting one of the two conduction phases to a PWM phase and setting the other conduction phase to a fixed phase in which either the upper arm or the lower arm is always on, while switching the combination of conduction phases and non-conduction phases in the three phases every 60 degrees, and the switching compensation unit 41 may set the conduction type of the PWM phase of the two conduction phases before and after the switching to the conduction type of the PWM phase of the corresponding three-phase modulation reverse phase method. This makes it possible to prevent short circuits between the upper and lower arms in high-side PWM control and low-side PWM control types.

[0213] Furthermore, the conduction control unit 36 ​​may control the 120-degree conduction method by making each of the two conduction phases PWM phases, turning on and off the upper and lower arms of one conduction phase using PWM control in which the on-ratio of the upper arm is greater than the on-ratio of the lower arm, and turning on and off the upper and lower arms of the other conduction phase using PWM control that is complementary to the PWM control of one conduction phase, while switching the combination of conduction and non-conduction phases in the three phases every 60 degrees, and the switching compensation unit 41 may set the conduction types of the two conduction phases and the two PWM phases of the three-phase modulation reverse phase method that correspond to the two conduction phases before and after the switching to be consistent. This makes it possible to prevent short circuits between the upper and lower arms in both-side PWM control.

[0214] The motor control device 1 includes an inverter circuit 10 having an upper arm and a lower arm for each of three phases, a conduction control unit 36 ​​that controls the conduction of the upper arm and the lower arm for each of the three phases in the inverter circuit 10, and a decision unit that determines whether to switch from a three-phase modulation reverse-phase system, in which the three phases are PWM-controlled and one of the three phases is PWM-controlled with the other two phases being PWM-controlled with opposite phases for turning on and off the upper arms, to a 120-degree conduction system, in which two of the three phases are energized and the remaining phase is de-energized, and the conduction control unit 36 ​​includes a switching compensation unit 41 that matches the on / off states of the upper arm and the lower arm in the two energized phases before and after the switch from the three-phase modulation reverse-phase system to the 120-degree conduction system determined by the decision unit. This prevents short circuits in the upper and lower arms.

[0215] In addition, the conduction control unit 36 ​​can selectively use a first conduction type and a second conduction type which have mutually different phases of conduction wave forms for turning on and off the upper arm of the PWM phase, and the center of the on period of the conduction wave form of one of the first conduction type and the second conduction type may be during the off period of the conduction wave form of the other conduction type.

[0216] Furthermore, the conduction control unit 36 ​​may perform control of the 120-degree conduction method by setting one of the two conduction phases to a PWM phase and setting the other conduction phase to a fixed phase in which either the upper arm or the lower arm is always on, while switching the combination of conduction phases and non-conduction phases in the three phases every 60 degrees, and the switching compensation unit 41 may set the conduction type of the PWM phase of the two conduction phases before and after the switching to the conduction type of the PWM phase of the corresponding three-phase modulation reverse phase method. This makes it possible to prevent short circuits between the upper and lower arms in high-side PWM control and low-side PWM control types.

[0217] Furthermore, the conduction control unit 36 ​​may control the 120-degree conduction method by making each of the two conduction phases PWM phases, turning on and off the upper and lower arms of one conduction phase using PWM control in which the on-ratio of the upper arm is greater than the on-ratio of the lower arm, and turning on and off the upper and lower arms of the other conduction phase using PWM control that is complementary to the PWM control of one conduction phase, while switching the combination of conduction and non-conduction phases in the three phases every 60 degrees, and the switching compensation unit 41 may set the conduction types of the two PWM phases and the two conduction phases of the three-phase modulation reverse phase method corresponding to the two conduction phases, respectively, to be consistent before and after the switching. This makes it possible to prevent short circuits between the upper and lower arms in the both-side PWM control method.

[0218] The motor module includes any one of the motor control devices 1 described above and a motor 2 controlled by the motor control device 1. This makes it possible to prevent a short circuit between the upper and lower arms of the inverter circuit 10.

[0219] The motor control program instructs a computer to execute a conduction control procedure for controlling conduction of the upper and lower arms of each of three phases in an inverter circuit 10 having an upper arm and a lower arm for each of the three phases; a determination procedure for switching from a 120-degree conduction method, in which two of the three phases are conducted and the remaining phase is not conducted, to a three-phase modulation negative-phase method in which the three phases are PWM-controlled and the upper arms of one of the three phases are PWM-controlled in opposite phases to each other; and a switching compensation procedure for matching the on / off states of the upper and lower arms of the two conducted phases before and after the switch from the 120-degree conduction method to the three-phase modulation negative-phase method determined by the determination procedure. The conduction control procedure further performs PWM control of the PWM phase corresponding to the non-conductive phase in an opposite phase to the two PWM phases when the two PWM phases corresponding to the conducted phases are in phase with each other, thereby preventing a short circuit between the upper and lower arms.

[0220] The motor control program causes the computer to execute a conduction control procedure for controlling conduction of the upper and lower arms of each of three phases in an inverter circuit 10 having an upper arm and a lower arm for each of the three phases, a determination procedure for determining whether to switch from a three-phase modulation reverse-phase system, in which the three phases are PWM-controlled and one of the three phases is PWM-controlled with the other two phases being PWM-controlled with opposite phases for turning on and off the upper arms, to a 120-degree conduction system, in which two of the three phases are energized and the remaining phase is de-energized, and a switching compensation procedure for matching the on / off states of the upper and lower arms in the two energized phases before and after the switch from the three-phase modulation reverse-phase system determined by the determination procedure to the 120-degree conduction system. This prevents short circuits in the upper and lower arms.

[0221] The motor control method includes a conduction control step of controlling conduction of the upper and lower arms of each of three phases in an inverter circuit (10) having upper and lower arms for each of the three phases, a determination step of switching from a 120-degree conduction method in which two of the three phases are conducted and the remaining phase is not conducted to a three-phase modulation negative-phase method in which the three phases are PWM-controlled and the upper arms of one of the three phases are PWM-controlled in opposite phases to each other, and a switching compensation step of matching the on / off states of the upper and lower arms of the two conducted phases before and after the switch from the 120-degree conduction method determined in the determination step to the three-phase modulation negative-phase method, and the conduction control step further includes a step of PWM-controlling a PWM phase corresponding to a non-conductive phase in an opposite phase to the two PWM phases when the two PWM phases corresponding to the conducted phases are in phase with each other, thereby preventing a short circuit between the upper and lower arms.

[0222] The motor control method includes a conduction control step of controlling conduction of the upper and lower arms of each of three phases in an inverter circuit 10 having an upper arm and a lower arm for each of the three phases, a determination step of switching from a three-phase modulation reverse-phase mode in which the three phases are PWM-controlled and one of the three phases is PWM-controlled with the other two phases being PWM-controlled with opposite phases for turning on and off the upper arms to a 120-degree conduction mode in which two of the three phases are energized and the remaining phase is de-energized, and a switching compensation step of matching the on / off states of the upper and lower arms in the two energized phases before and after the switch from the three-phase modulation reverse-phase mode determined in the determination step to the 120-degree conduction mode, thereby preventing a short circuit between the upper and lower arms.

[0223] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

Claims

1. An inverter circuit having an upper arm and a lower arm for each of three phases; a conduction control unit that controls conduction of the upper arm and the lower arm for each of the three phases in the inverter circuit; and a determination unit that determines a switch from a 120-degree conduction method in which two of the three phases are conduction phases and the remaining one is a non-conduction phase to a three-phase modulation reverse phase method in which the three phases are PWM-controlled PWM phases and one of the three phases is PWM-controlled with reverse phases in which the conduction wave form for turning on and off the upper arm is different from each other, and the conduction control unit includes a switching compensation unit that matches the on / off states of the upper arm and the lower arm in the conduction phases of the two phases before and after the switch from the 120-degree conduction method to the three-phase modulation reverse phase method determined by the determination unit, a motor control device which performs PWM control of the PWM phase corresponding to the non-energized phase in a phase opposite to that of the two PWM phases when the two PWM phases corresponding to the energized phases are in phase with each other.

2. The motor control device according to claim 1, wherein the conduction control unit is capable of selectively using a first conduction type and a second conduction type having mutually different phases of conduction wave forms for turning on and off the upper arm of the PWM phase, and the center of the on period of the conduction wave form of one of the first conduction type and the second conduction type is within the off period of the conduction wave form of the other conduction type.

3. The motor control device according to claim 2, wherein the conduction control unit controls one of the two conduction phases to the PWM phase and the other conduction phase to a fixed phase in which either the upper arm or the lower arm is always on, while switching the combination of the conduction phases and the non-conduction phases in the three phases every 60 degrees, as control of the 120-degree conduction method, and the switching compensation unit sets the conduction type of the PWM phase of the two conduction phases to the conduction type of a corresponding PWM phase of the three-phase modulation reverse phase method before and after switching.

4. The motor control device according to claim 2, wherein the conduction control unit controls the 120-degree conduction method by setting each of the two conduction phases to the PWM phase, turning on and off the upper arm and the lower arm of one conduction phase by PWM control in which the on-ratio of the upper arm is greater than the on-ratio of the lower arm, and turning on and off the upper arm and the lower arm of the other conduction phase by PWM control complementary to the PWM control of the one conduction phase, while switching the combination of the conduction phases and the non-conduction phases in the three phases every 60 degrees, and the switching compensation unit sets the conduction types of the two conduction phases and the two PWM phases of the three-phase modulation reverse phase method corresponding to the conduction phases of the two phases respectively before and after switching to be the same.

5. A motor control device comprising: an inverter circuit having an upper arm and a lower arm for each of three phases; a continuity control unit which controls the continuity of the upper arm and the lower arm for each of the three phases in the inverter circuit; and a determination unit which determines a switch from a three-phase modulation reverse phase system which makes the three phases PWM controlled and PWM controls one of the three phases and the other two phases with mutually different reverse phases in the phases of the conduction waves which turn on and off the upper arms, to a 120-degree conduction system in which two of the three phases are conduction phases and the remaining phase is a non-conduction phase, wherein the continuity control unit comprises a switching compensation unit which matches the on / off states of the upper arm and the lower arm in the conduction phases of the two phases before and after the switch from the three-phase modulation reverse phase system to the 120-degree conduction system determined by the determination unit.

6. The motor control device according to claim 5, wherein the conduction control unit is capable of selectively using a first conduction type and a second conduction type having mutually different phases of conduction wave forms for turning on and off the upper arm of the PWM phase, and the center of the on period of the conduction wave form of one of the first conduction type and the second conduction type is within the off period of the conduction wave form of the other conduction type.

7. The motor control device according to claim 6, wherein the conduction control unit controls one of the two conduction phases to the PWM phase and the other conduction phase to a fixed phase in which either the upper arm or the lower arm is always on, while switching the combination of the conduction phases and the non-conduction phases in the three phases every 60 degrees, as control of the 120-degree conduction method, and the switching compensation unit sets the conduction type of the PWM phase of the two conduction phases to the conduction type of a corresponding PWM phase of the three-phase modulation reverse phase method before and after switching.

8. The motor control device according to claim 6, wherein the conduction control unit, as control of the 120-degree conduction method, sets each of the two conduction phases to the PWM phase, turns on and off the upper arm and the lower arm of one conduction phase by PWM control in which the on-ratio of the upper arm is greater than the on-ratio of the lower arm, and turns on and off the upper arm and the lower arm of the other conduction phase by PWM control complementary to the PWM control of the one conduction phase, while switching combinations of the conduction phases and the non-conduction phases in the three phases every 60 degrees, and the switching compensation unit sets the conduction types of the two PWM phases of the three-phase modulation reverse phase method corresponding to the conduction phases of the two phases respectively before and after switching to be consistent.

9. A motor module comprising a motor control device according to any one of claims 1 to 4 and a motor controlled by said motor control device.

10. A motor module comprising a motor control device according to any one of claims 5 to 8 and a motor controlled by said motor control device.

11. A computer is caused to execute a conduction control procedure for controlling conduction of the upper arm and the lower arm of each of three phases in an inverter circuit having an upper arm and a lower arm for each of the three phases; a determination procedure for determining a switchover from a 120-degree conduction method in which two of the three phases are conduction phases and the remaining one is a non-conduction phase to a three-phase modulation reverse phase method in which the three phases are PWM-controlled PWM phases and one of the three phases is PWM-controlled with reverse phases in which the conduction wave form for turning on and off the upper arm is different from each other; and a switching compensation procedure for matching the on / off states of the upper arm and the lower arm in the two conduction phases before and after the switchover from the 120-degree conduction method determined by the determination procedure to the three-phase modulation reverse phase method, the conduction control step further performs PWM control of the PWM phase corresponding to the non-energized phase in a phase opposite to that of the two PWM phases when the two PWM phases corresponding to the energized phases are in phase with each other.

12. A motor control program that causes a computer to execute the following steps: a conduction control procedure for controlling the conduction of the upper arm and the lower arm of each of three phases in an inverter circuit having an upper arm and a lower arm for each of the three phases; a determination procedure for deciding to switch from a three-phase modulation reverse phase method in which the three phases are PWM-controlled and one of the three phases and the other two phases are PWM-controlled with mutually different reverse phases in the conduction wave form that turns the upper arm on and off, to a 120-degree conduction method in which two of the three phases are conduction phases and the remaining phase is a non-conduction phase; and a switching compensation procedure for matching the on / off states of the upper arm and the lower arm in the conduction phases of the two phases before and after switching from the three-phase modulation reverse phase method determined by the determination procedure to the 120-degree conduction method.

13. An inverter circuit having an upper arm and a lower arm for each of three phases, comprising: a conduction control step for controlling conduction of the upper arm and the lower arm for each of the three phases; a determination step for determining a switchover from a 120-degree conduction method in which two of the three phases are conduction phases and the remaining one is a non-conduction phase to a three-phase modulation reverse phase method in which the three phases are PWM-controlled PWM phases and one of the three phases is PWM-controlled with reverse phases in which the conduction wave form for turning on and off the upper arm is different from each other; and a switchover compensation step for matching the on / off states of the upper arm and the lower arm in the conduction phases of the two phases before and after the switchover from the 120-degree conduction method determined by the determination step to the three-phase modulation reverse phase method, The motor control method, wherein the conduction control step further includes a step of PWM controlling the PWM phase corresponding to the non-energized phase to have an opposite phase to the two PWM phases when the two PWM phases corresponding to the energized phases are in phase with each other.

14. A motor control method comprising: a conduction control step of controlling conduction of the upper arm and the lower arm of each of three phases in an inverter circuit having an upper arm and a lower arm for each of the three phases; a determination step of deciding to switch from a three-phase modulation reverse phase method in which the three phases are PWM-controlled and one of the three phases and the other two phases are PWM-controlled with mutually different reverse phases in the conduction wave form that turns the upper arms on and off, to a 120-degree conduction method in which two of the three phases are conduction phases and the remaining phase is a non-conduction phase; and a switching compensation step of matching the on / off states of the upper arm and the lower arm in the conduction phases of the two phases before and after the switching from the three-phase modulation reverse phase method determined by the determination step to the 120-degree conduction method.

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