CN110224641A - Motor control integrated circuit - Google Patents
Motor control integrated circuit Download PDFInfo
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- CN110224641A CN110224641A CN201910085425.XA CN201910085425A CN110224641A CN 110224641 A CN110224641 A CN 110224641A CN 201910085425 A CN201910085425 A CN 201910085425A CN 110224641 A CN110224641 A CN 110224641A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/923—Specific feedback condition or device
- Y10S388/9281—Counter or back emf, CEMF
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The motor control of embodiment has with integrated circuit: current detecting part, is configured at direct current portion to detect the phase current of synchronous motor；Duty ratio generating unit generates the PWM duty cycle instruction of 3 phases in a manner of following the rotation position of above-mentioned synchronous motor；PWM generator is instructed based on above-mentioned PWM duty cycle, generates the pwm signal mode for generating mutually different 3 phase of phase at the center of signal pulse of each phase；Timing signal generating unit is detected, is instructed based on above-mentioned PWM duty cycle, generates the detection timing signal of above-mentioned phase current；Current change quantity test section detects the phase current of above-mentioned synchronous motor based on signal and above-mentioned detection timing signal that above-mentioned current detecting part generates, and then detects the variable quantity of above-mentioned phase current；And rotation position operational part, based on the variable quantity detected by the current change quantity test section, the operation signal synchronous with the rotation position of above-mentioned synchronous motor.
Description
Technical field
Embodiments of the present invention are related to motor control integrated circuit.
Background technique
In the past, as in~method of the rotation position of high-speed domain estimation permanent magnet synchronous motor, such as according to permanent magnetism
The input voltage and electric current of synchronous motor come the operation induced voltage proportional to the speed of permanent magnet synchronous motor, rotor flux,
And the method estimated based on induced voltage is widely used.In this estimation mode, in addition to what inverter was applied
The driving voltage of motor is used for other than operation, calculates rotation also according to calculated induced voltage and the signal according to the induced voltage
Indexing is set, it is therefore desirable to be used PI controller, observer, also be needed the parameter to gain etc. to set in these controllers
Meter adjustment.
In addition, it is unstable that there are sensorless strategies due to the driving condition according to motor, set parameter
Problem substitutes pure position sensor i.e. rotary transformer (resolver), encoder, Hall sensor etc. to realize,
Need the designing technique and experience of height.
In addition, as in~the sensorless drive mode of high-speed domain, just like under type: detection exists under being powered at 120 degree
The phase for the induced voltage that no energization section generates, and based on this switching energized phase.According to which, without setting for controller
Meter etc. can be realized as sensorless drive.But step mode is defined in 120 degree of energizations, makes an uproar in addition to current of electric distorts
Other than sound deteriorates, there is also the projects that sensorless drive can not be carried out in extremely low fast domain.
Patent Document 1: in Japanese Unexamined Patent Publication 2007-336641 bulletin, disclose using voltage vector apply in electric current
The method of variable quantity detection position.This method, resolution ratio is small, but the adjustment without control parameter, it is thus possible to carry out without biography
Sensor sine wave drive.
But in Patent Document 1, in order to detect electric current, need to configure three shunt resistances in inverter circuit.?
Micro-machine, motor of field of household appliances etc. are constructed in motor driven systems with easy constituted, cost effective to be taken seriously.Cause
This, uses single shunt current detection mode that single shunt resistance is configured in direct current portion, and it is desirable that with the detection mode pair more
The position Sensorless Control mode answered.
Summary of the invention
Therefore it provides a kind of motor control integrated circuit, is able to carry out nothing corresponding with single shunt current detection mode
Position sensor control.
The motor control of embodiment has with integrated circuit: current detecting part, is configured at direct current portion to detect and synchronizes electricity
The phase current of motivation；
Duty ratio generating unit generates the PWM duty cycle of 3 phases in a manner of following the rotation position of above-mentioned synchronous motor
Instruction；
PWM generator is instructed based on above-mentioned PWM duty cycle, and the phase for generating the center of the signal pulse of each phase of generation is mutual
The pwm signal mode of different 3 phase；
Timing signal generating unit is detected, is instructed based on above-mentioned PWM duty cycle, the detection timing for generating above-mentioned phase current is believed
Number；
Current change quantity test section, based on signal and above-mentioned detection timing signal that above-mentioned current detecting part generates, detection
The phase current of above-mentioned synchronous motor, and then detect the variable quantity of above-mentioned phase current；And
Rotation position operational part, based on the variable quantity detected by the current change quantity test section, operation and above-mentioned same
Walk the synchronous signal in the rotation position of motor.
Detailed description of the invention
Fig. 1 is the functional block diagram of the composition of the expression motor drive control device in an embodiment.
Fig. 2 is the waveform diagram for indicating the 3 phase triangular waves used as PWM carrier wave.
Fig. 3 is the figure for indicating to constitute the on-state of the switch element of inverter circuit with space vector.
Fig. 4 is using DC voltage VDCIndicate the figure of the size of phase voltage when each voltage vector generates.
Fig. 5 is the phase for indicating size and induced voltage that can be detected in the voltage vector of each voltage section generation
Figure.
Fig. 6 is the generation rate for indicating the voltage vector generated in the case where having used general triangular wave comparison method
Figure.
Fig. 7 is the figure for indicating the generation rate of the voltage vector generated in the case where having used 3 phase triangular wave comparison method.
Fig. 8 is pwm signal, the DC current I indicated with voltage vector V0, V1, V2 on the upside of corresponding U, V phaseDC, electricity
The figure of stream detection 1~t4 of timing t.
Fig. 9 is the pwm signal waveform and DC current I indicated in previous triangular wave comparison methodDCFigure.
Figure 10 is the pwm signal waveform and DC current I indicated in 3 phase triangular wave comparison methodsDCFigure.
Figure 11 is the flow chart for the process content for indicating that device for detecting rotational position carries out.
Figure 12 is the flow chart for indicating the content of the position detection operation in step S1.
Figure 13 is the figure for indicating the action waveforms in each portion.
Specific embodiment
Therefore it provides a kind of motor control integrated circuit, is able to carry out nothing corresponding with single shunt current detection mode
Position sensor control.
The motor control of embodiment has with integrated circuit: current detecting part, is configured at direct current portion to detect and synchronizes electricity
The phase current of motivation；
Duty ratio generating unit generates the PWM duty cycle of 3 phases in a manner of following the rotation position of above-mentioned synchronous motor
Instruction；
PWM generator is instructed based on above-mentioned PWM duty cycle, generates that generating the signal pulse of each phase, the phase at center is mutual
The pwm signal mode of different 3 phase；
Timing signal generating unit is detected, is instructed based on above-mentioned PWM duty cycle, the detection timing for generating above-mentioned phase current is believed
Number；
Current change quantity test section, based on signal and above-mentioned detection timing signal that above-mentioned current detecting part generates, detection
The phase current of above-mentioned synchronous motor, and then detect the variable quantity of above-mentioned phase current；And
Rotation position operational part, based on the variable quantity detected by the current change quantity test section, operation and above-mentioned same
Walk the synchronous signal in the rotation position of motor.
Hereinafter, being illustrated referring to attached drawing to an embodiment.Fig. 1 is the composition for indicating motor drive control device
Functional block diagram.DC power supply 1 is the electric power source for having the permanent magnet synchronous motor 2 of permanent magnet to rotor and being driven.Direct current
AC power source can also be transformed to the power supply of direct current by source 1.Inverter circuit 3 is by 6 switch elements, such as N-channel
MOSFET4U+, 4Y+, 4W+, 4U-, 4Y-, 4W- carry out 3 phase bridge joints and constitute, and are generated based on aftermentioned PWM generator 5
3 phasors 6 switching signals, generate driving motor 2 voltage.
The voltage Vdc of the detection DC power supply 1 of voltage detection department 6.Current detecting part 7 is connected to the negative side of inverter circuit 3
Between power supply line and the negative side terminal of DC power supply 1.Electricity of the current detecting part 7 generally by having used shunt resistance, Hall CT etc.
Flow sensor and signal processing circuit are constituted, and detect the DC current Idc flowed in motor 2.
Current change quantity test section 8, based on the detection inputted from aftermentioned voltage section and detection timing signal generating unit 9
Timing signal t1~t4 detects 4 DC current Idc, and calculates the difference value of every 2 detected values as variable quantity dIDC1、
dIDC2.Induced voltage operational part 10 is based on variable quantity dIDC1、dIDC2, the induced voltage of any 2 phase is as E in 3 phase of operationnow、
Epre。
Rotation position operational part 11, according to the induced voltage E of 2 phasesnow、Epre, find out the induced voltage of remaining 1 phase, and root
According to the induced voltage of 3 phase obtained, the rotation position detected value θ c of motor 2 is calculated.3 phase voltage command value generating units 12, root
According to the instruction value, that is, voltage amplitude instruction value Vamp and voltage-phase instruction value φ v and rotation position assigned from upper control device
θ c is set, voltage instruction value Vu, Vv, Vw of 3 phases are generated.
Duty ratio generating unit 13, with 3 phase voltage command value Vu, Vv, Vw divided by DC voltage Vdc, thus each phase of operation
Modulation instructions, duty ratio instruct Du, Dv, Dw.As shown in Figure 2, each alternate phase difference is 120 by carrier wave generating unit 14
3 phase triangular signals of degree are as carrier wave used in PWM control, conveying wave, output to PWM generator 5.In Fig. 2, with three
On the basis of the trough of angle wave, the pwm signal pulse of each phase is generated.
PWM generator 5 compares 3 phase modulation instructions Du, Dv, Dw with the 3 phase triangular waves inputted from carrier wave generating unit 14
Compared with generating the pwm signal pulse of each phase.Dead time is added to the pulse of every 1 phase, is generated respectively to the N-channel above and below 3 phases
Switching signal U+, U-, V+, V-, W+, W- of MOSFET4 output.
Voltage section and detection timing signal generating unit 9, are entered 3 phase modulation instructions Du, Dv, Dw.The voltage section and
Timing signal generating unit 9 is detected, 3 phase modulation instructions Du, Dv, Dw are based on, with condition shown in (1) formula to by electric angle period 6 etc.
Voltage section (0)~(5) after point are differentiated, and the differentiation result is exported to current change quantity test section 8, induced voltage
Operational part 10 and rotation position operational part 11.
If Du > Dv > Dw → Sector=0
Elseif Dv > Du > Dw → Sector=1
Elseif Dv > Dw > Du → Sector=2
Elseif Dw > Dv > Du → Sector=3
Elseif Dw > Du > Dv → Sector=4
Else → Sector=5 ... (1)
Also, about detection timing signal t1~t4 above-mentioned, also according to voltage section (0)~(5) differentiation result and
It generates.
In above composition, component other than motor 2 and inverter circuit 3 constitutes device for detecting rotational position
15.Also, the component after inverter circuit 3 has been added to device for detecting rotational position 15 and has constituted motor drive control device 16.
In addition, in the present embodiment, device for detecting rotational position 15 is constituted in the inside of microcomputer with hardware.That is, motor 2
Speed control, current control etc. realized by software, and by device for detecting rotational position 15 as hardware or according to hardware
Composition and be set to the inside of microcomputer or integrated circuit.
Next, being illustrated to the principle of the detection rotation position in present embodiment.The detection of rotation position uses
The induced voltage (EMF:electromotive force) generated by the rotation of motor.(2) formula indicates permanent magnet synchronous motor
3 phase voltage equations.The 3rd, the right is induced voltage item, the information including rotation position θ.
[numerical expression 1]
Wherein,
Vu, Vv, Vw:U, V, W phase voltage [V]
Iu, Iv, Iw:U, V, W phase current [A]
Lu, Lv, Lw:U, V, W phase inductance [H]
R: wire resistor [Ω]
φf: the armature interlinkage flux [Wb] of permanent magnet
ω: motor speed [rad/s]
Here, the size of phase voltage when each voltage vector in space vector figure shown in Fig. 3 generates, is able to use straight
Galvanic electricity presses VDCIt indicates as shown in Figure 4.Also, U phase voltage equation when voltage vector V1 (100) applies is (3) formula.
[numerical expression 2]
The current change quantity dIu generated at this time is labeled as dIu (100), (3) formula is deformed, obtains (4) formula.
[numerical expression 3]
Similarly, the W phase current when applying the voltage vector V2 (110) in space vector figure shown in Fig. 3 changes
When amount is set as (110) dIw, become (5) formula.
[numerical expression 4]
Further, it is assumed that the influence of the conspicuousness (saliency) of motor is smaller for the magnetic flux of permanent magnet, and
It is approximately Lu=Lw=L.Also, when (5) formula additional to (4) formula, the sum of zero of phase current, so (6) formula of acquisition.
[numerical expression 5]
Similarly, the sum of voltage vector V2 (110) and current change quantity when (010) V3 is indicated with (7) formula.
[numerical expression 6]
Also, the summation of phase current and induced voltage is zero, therefore after operation-(6) formula-(7) formula, obtains (8) formula.
[numerical expression 7]
Here, the rotational speed omega of motor be certain degree it is very fast in the state of, (6), (7), (8) formula the right be the 1st
" the 2nd, thus can the voltage drop as caused by resistance be the right the 1st be approximately zero.Using these as the induced electricity of 3 phases
When Eu, Ev, Ew being pressed to indicate, (9) formula is obtained.
[numerical expression 8]
That is, if using voltage vector apply in current change quantity, be able to detect 3 phases that phase difference is respectively 2 π/3
Induced voltage.Also, 3 detected phase induced voltages are subjected to 3-phase/2 phase transformation with (10) formula, and anti-with (11) formula operation
Tangent, so as to find out rotation position θ c.
[numerical expression 9]
In addition, using voltage vector V1, V2 apply when voltage vector when, found out V phase induced voltage Ev, but to complete
When portion's voltage vector carries out generalization, become relationship shown in fig. 5.That is, according to the voltage vector induction that can be detected of generation
Voltage mutually switches.Also, the voltage vector that each voltage section generates is different.Such as voltage section (0) generate voltage to
Amount is only V1 (100), V2 (110).Therefore, in the current change quantity in (9) formula, dIu (100), dIw are only able to detect
(110), and dIv (010) can not be detected.In addition, closely, also generating other voltage vectors, but here, press each voltage zone
Section extracts highest 2 voltage vectors of generation rate.
Therefore, for space vector shown in Fig. 3, it is conceived to the timing of voltage section switching.It is rigid in such as voltage section
After being just switched to (1) from (0), during voltage vector V2 (110), V3 (010) in voltage section (1) are generated, Neng Goujian
Survey current change quantity dIw (110), dIv (010).By them, it is able to detect this induced voltage Enow=Eu.In addition, cutting
Voltage section before changing is (0), so being able to detect current change quantity during voltage vector V1 (100), V2 (110) are generated
dIu(100),dIw(110).Induced voltage Ev is able to detect by them.As previous induced voltage EpreIt saves.
Also, if by the time required for the switching of voltage section with motor 2 revolve cycle turnover in comparison can
To say that very fast control area is considered as zero, then according to Enow(Eu) and Epre(Ev), the induced electricity of the 3rd phase is found out based on (9) formula
Press Ew.If finding out the induced voltage of 3 phases, rotation position θ is found out by (10), (11) formulac。
In addition, each phase current variable quantity on (9) formula left side, in the present embodiment according to DC current IDCAccording to (12) formula
It finds out.
[numerical expression 10]
Here, in order to detect the electric current of 3 phases according to each switching mode, needing to generate corresponding voltage as (12) formula
Vector is to detect each phase current.When using general triangular wave comparison method to generate the pwm signal of 3 phases, for example, modulating
In the case that rate is 0.3, each voltage vector is generated as shown in Figure 6.Horizontal axis is electric angle, and the longitudinal axis is each electricity in the PWM1 period
The generation ratio for the amount of pressing to.In contrast, when using that 3 phase triangular waves are as carrier wave shown in document described as follows, each voltage
The generation ratio of vector increases as shown in Figure 7.
Document name: " electrical association's semiconductor power mapping mode investigates special commission: " semi-conductor electricity force transformation electricity
Road ", electrical to learn (1987) "
For example, the ratio that will test during voltage vector needed for current change quantity generates is set as the 0.2 of PWM cycle,
It is represented by dashed line in Fig. 6.In this case, by single triangular wave carrier comparison method, in addition to each voltage vector V0 and V7 with
Outside and not up to 0.2, it can not detect.When in contrast, using 3 phase triangular wave carrier, as shown in Figure 7, each voltage zone
It is 0.2 or more that 2 voltage vectors necessary to the induced voltage of corresponding phase are detected in section.Necessary current change quantity as a result,
It becomes able to detect.
In addition, detection current change quantity necessary to voltage vector generation during, according to specification of inverter etc. without
Together.Fig. 8 shows with it is under voltage vector V0 (000), V1 (100), the corresponding switch state of V2 (110), U, V phase upper
Side pwm signal and DC current IDC, 1~t4 of current detecting timing t.
For example, switch state from voltage vector V0 variation be V1 when, electric current IDCIn switch transient state generate arteries and veins
It is dynamic, therefore in the timing t 1 that have passed through certain degree time from the time of variation, carry out electric current IDCThe 1st sampling.It should
Waiting time is set as PWM cycle Tpwm0.1.Since then, further across cycle Tpwm0.1 amount after timing t 2 carry out
2nd sampling finds out current change quantity Δ IDC。
In addition, timing t 1, t2 detect be U phase (+) current change quantity, timing t 3, t4 detect be W phase (-)
Current change quantity.In this way, in order to accurately detect electric current IDC, need to substantially ensure the phase that specific voltage vector generates
Between, but if during the generation that can then substantially ensure necessary voltage vector, being able to carry out rotation using 3 phase triangular wave carriers
The detection of θ c is set in indexing.
Fig. 9, Figure 10 indicate previous triangular wave comparison method and pwm signal waveform and direct current in 3 phase triangular wave comparison methods
Electric current IDC.It is found that 3 phase triangular wave comparison methods generate the pwm signal of 120 degree of phase differences, so the generation time of each voltage vector
Increase, thus DC current IDCConduction time increase compared with Fig. 9.
Next, 1 to Figure 13 being illustrated referring to Fig.1 to the effect of present embodiment.Figure 11 and Figure 12 is based on before this
The principle of explanation, the flow chart of the main process content for indicating the progress of device for detecting rotational position 14.Firstly, being transported in rotation position
Calculation portion 11 carries out when position detection operation shown in Figure 12 (S1), and duty ratio generating unit 13 calculates each phase duty ratio Du, Dv, Dw
(S2).Current voltage section is substituted into when " previous section " (S3) by signal generation portion 9, (1) formula is based on, according to each phase duty
Current voltage section (S4) is found out than Du, Dv, Dw.PWM generator 5 will based on 3 phase triangular wave carriers and each phase duty ratio Du,
Each phase pwm signal that Dv, Dw are generated is exported to inverter circuit 3 (S5).
Position detection operation in step S1 executes as shown in Figure 12.Current change quantity test section 8, according to direct current
Flow IDC, find out the current change quantity dI of 2 phase corresponding with the voltage section at the momentDC1、dIDC2(S11).Induced voltage operational part
10, to the previous induced voltage E detectedpreSubstitute into this induced voltage E detectednowWhen (S12), according to curent change
Measure dIDC1、dIDC2, detect this induced voltage Enow(S13)。
Next, it is determined that whether current voltage section is different from previous voltage section (S14), if it is identical voltage
Section (no) then ends processing.On the other hand, if voltage section difference (YES), according to induced voltage Enow、Epre, find out
The induced voltage E of 3 phases3(S15).Also, to induced voltage Enow、Epre、E3, 3-phase/2 phase transformation is carried out by (10) formula, is gone forward side by side
The arctangent cp cp operation of row (11) formula, finds out rotation position θ c (S16).
Figure 13 indicates the action waveforms in each portion.Based on the modulation instructions of each phase, circulate 3 phase currents, driving motor 2.At this point,
This induced voltage that induced voltage operational part 10 is found out is passed through according to detected current change quantity it is found that being able to detect
Enow.Dotted line is the timing of each voltage section switching, is switched to Eu, Ev, Ew by the induced voltage that each voltage section detects.
Also, it is found out in the switching timing of voltage section according to this induced voltage and the induced voltage of previous voltage section
Rotation position is θ c.It is recognized that while there is the error of certain degree relative to actual rotation position θ, but with by 1 period 6 of electric angle
The resolution ratio of equal part is able to detect position.
As described above, according to the present embodiment, duty ratio generating unit 13, in a manner of following the rotation position of motor 2
3 phase duty ratios instruction Du, Dv, Dw are generated, PWM generator 5 uses 3 phase triangular waves as carrier wave, instructs according to 3 phase duty ratios
Du, Dv, Dw generate the pwm signal mode for generating 120 degree of phase phase difference of 3 phases at the center of signal pulse of each phase.Signal is raw
Duty ratio is based at portion 9 and instructs Du, Dv, Dw, generates detection timing signal t1~t4 of phase current.
Current change quantity test section 8, the signal generated based on current detecting part 7 and detection timing signal t1~t4, detection
The phase current of motor 2, and detect the variable quantity of the phase current.Rotation position operational part 11 is based on passing through current change quantity inspection
The variable quantity that survey portion 8 detects, the operation signal synchronous with the rotation position of motor 2.With this configuration, the constant of motor 2
Setting, adjustment of control gain etc. become not needing, and can directly pass through operation according to the current change quantity detected and find out rotation
Indexing is set.
In addition, induced voltage operational part 10, after the induced voltage of the variable quantity of phase current 3 phases of calculating, by the sense of 3 phases
Answering voltage transformation is the voltage of 2 phases of orthogonal coordinate system, and carries out arctangent cp cp operation for the voltage of 2 phases, so as to find out rotation
Position.Specifically, setting is all by electric angle according to the group of 2 high voltage vectors of generation rate for the pwm signal mode of 3 phases
Voltage section (0)~(5) after 6 equal part of phase, the induced voltage E of the 1st phase of voltage section operation before transferpre, next exist
The induced voltage E of the 2nd phase of voltage section operation after transfernow, and according to induced voltage Epre、EnowThe induced electricity of the 3rd phase of operation
Press E3.The induced voltage of this 3 phase is transformed to voltage E α, the E β of 2 phases of orthogonal coordinate system, the voltage of 2 phases is carried out anyway
Cut operation tan- 1(E α/E β), so as to find out rotation position θ c.Thereby, it is possible to effectively operation rotation position θ c.
(other embodiments)
In order to generate the pwm signal of 3 phases as in the present embodiment, both phase can be utilized flat without using 3 kinds of carrier waves
Shifting function etc. realizes that also can use accounts for setting a kind of carrier wave with using state of equal value in the case where 3 phase triangular waves
The method of the changes such as the comparison polarity that timing, the pulse of empty ratio generate etc..As long as in short, to generate the center of each phase signals pulse
Phase differ the pwm signal mode that 120 degree of mode generates 3 phases each other.
In addition, phase difference is not necessarily set as 120 degree, as long as assigning the phase of the phase difference of same degree, substantially 120 degree
Difference.
In addition, detection electric current timing do not need it is consistent with the period of PWM carrier wave, can also be with the 2 of such as carrier cycle
Again, 4 times of period is detected.Therefore, to the current detecting timing signal of current change quantity test section input, root is needed not be
According to the signal itself that carrier wave obtains, it is also possible to the signal generated with individual timer.
Current detecting part is either shunt resistance is also possible to CT.
Wide arc gap semiconductor of MOSFET, IGBT, power transistor, SiC, GaN etc. etc. can be used in switch element.
Several embodiments of the invention are described, but these embodiments prompt as an example, it is intended that
It is not the range for limiting invention.These new embodiments can be implemented in such a way that others are various, not depart from hair
In the range of bright objective, it is able to carry out various omissions, displacement, change.These embodiments and modifications thereof, included in invention
In range and objective, and it is included in the invention and its equivalent range that claims are recorded.
Claims (4)
1. a kind of motor control integrated circuit, has:
Current detecting part is configured at direct current portion to detect the phase current of synchronous motor；
Duty ratio generating unit generates the PWM duty cycle instruction of 3 phases in a manner of following the rotation position of above-mentioned synchronous motor；
PWM generator is instructed based on above-mentioned PWM duty cycle, is generated and is generated the phase at the center of signal pulse of each phase mutually not phase
The pwm signal mode of 3 same phases；
Timing signal generating unit is detected, is instructed based on above-mentioned PWM duty cycle, generates the detection timing signal of above-mentioned phase current；
Current change quantity test section is detected above-mentioned based on signal and above-mentioned detection timing signal that above-mentioned current detecting part generates
The phase current of synchronous motor, and then detect the variable quantity of above-mentioned phase current；And
Rotation position operational part, based on the variable quantity detected by the current change quantity test section, operation and above-mentioned synchronous electricity
The synchronous signal in the rotation position of motivation.
2. motor control integrated circuit as described in claim 1, wherein
Above-mentioned PWM generator generates the pwm signal mode of the phase at above-mentioned center poor 120 degree of 3 phases each other.
3. motor control integrated circuit as claimed in claim 1 or 2, wherein
Above-mentioned rotation position operational part has induced voltage operational part, and the induced voltage operational part is according to the variation of above-mentioned phase current
Amount calculates the induced voltage of 3 phases,
The induced voltage of above-mentioned 3 phase is transformed to the voltage of 2 phases of orthogonal coordinate system,
Arctangent cp cp operation is carried out to the voltage of above-mentioned 2 phase, so as to find out above-mentioned rotation position.
4. motor control integrated circuit as claimed in claim 3, wherein
Above-mentioned detection timing signal generating unit, for the pwm signal mode of above-mentioned 3 phase, setting is according to high upper 2 of generation rate
The group of voltage vector exports 6 voltage sections after 6 equal part of electric angle period to above-mentioned rotation position operational part,
Above-mentioned induced voltage operational part, the induced voltage of the 1st phase of operation in the voltage section before transfer, then after the transfer
The induced voltage of the 2nd phase of voltage section operation, and according to the induced voltage of above-mentioned 1st phase and above-mentioned 2nd phase, the 3rd phase of operation
Induced voltage.
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| JP2018036535A JP6805197B2 (en) | 2018-03-01 | 2018-03-01 | Integrated circuit for motor control |
| JP2018-036535 | 2018-03-01 |
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Also Published As
| Publication number | Publication date |
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| KR102260101B1 (en) | 2021-06-03 |
| CN110224641B (en) | 2023-04-28 |
| JP2019154114A (en) | 2019-09-12 |
| KR20190104875A (en) | 2019-09-11 |
| JP6805197B2 (en) | 2020-12-23 |
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