JP2000308386A - Motor drive control device - Google Patents
Motor drive control deviceInfo
- Publication number
- JP2000308386A JP2000308386A JP11115098A JP11509899A JP2000308386A JP 2000308386 A JP2000308386 A JP 2000308386A JP 11115098 A JP11115098 A JP 11115098A JP 11509899 A JP11509899 A JP 11509899A JP 2000308386 A JP2000308386 A JP 2000308386A
- Authority
- JP
- Japan
- Prior art keywords
- current
- motor
- phase
- duty
- excitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ブラシレスＤＣモ
ータ又はリニアモータ等のような複数の励磁相を有する
モータを矩形波を用いて駆動制御するのに好適なモータ
駆動制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control device suitable for driving and controlling a motor having a plurality of excitation phases, such as a brushless DC motor or a linear motor, using a rectangular wave.
【０００２】[0002]
【従来の技術】例えば、自動車のパワーステアリング装
置の駆動源として用いられているブラシレスＤＣモータ
は、３相以上の励磁相を有するモータであり、その駆動
は矩形波状の励磁電流によって行われる。2. Description of the Related Art For example, a brushless DC motor used as a driving source of a power steering device of an automobile is a motor having three or more exciting phases, and its driving is performed by a rectangular exciting current.
【０００３】５相ブラシレスＤＣモータの場合、モータ
駆動回路（モータ駆動制御装置）は、モータの回転子
（ロータ）の外周面を電気角で７２度ずつ隔離して取り
囲むように配設された５相（以下、これらをａ相〜ｅ相
という）の励磁コイルａ〜ｅに対し、マイクロコンピュ
ータ等の制御回路による制御下で、４相同時に励磁する
４相励磁方式により、コイルを１相ずつ順次切り替えて
矩形波電流で励磁し、ロータを回転駆動させる。[0003] In the case of a five-phase brushless DC motor, a motor drive circuit (motor drive control device) is provided so as to surround the outer peripheral surface of the rotor of the motor at an electrical angle of 72 degrees each. The excitation coils a to e of the three phases (hereinafter, referred to as a phase to e phase) are sequentially excited one by one by a four-phase excitation method in which four phases are simultaneously excited under the control of a control circuit such as a microcomputer. The rotor is switched to be excited by the rectangular wave current, and the rotor is driven to rotate.
【０００４】[0004]
【発明が解決しようとする課題】図６は、５相ブラシレ
スモータの駆動回路の概要を示す回路図である。図７
は、図６に示す５相ブラシレスモータの駆動回路の各相
の励磁電流を示す波形図である。FIG. 6 is a circuit diagram showing an outline of a drive circuit of a five-phase brushless motor. FIG.
7 is a waveform diagram showing an exciting current of each phase of the drive circuit of the five-phase brushless motor shown in FIG.
【０００５】しかしながら、従来のモータ駆動回路によ
る励磁電流の制御では、切替える２つの相（例えば、図
７のａ相とｄ相）の電流の立上がりと立下がりの変化率
が異なるため、切替えられない相（例えば、図７のｂ
相、ｃ相、ｅ相）の電流が変動し、それらの電流変動に
より過渡的なトルク変動が生じてしまう。However, in the control of the exciting current by the conventional motor drive circuit, switching cannot be performed because the rising and falling rates of the currents of the two phases to be switched (for example, phase a and phase d in FIG. 7) are different. Phase (eg, b in FIG. 7)
Phase, c-phase, and e-phase) fluctuate, and these current fluctuations cause transient torque fluctuations.
【０００６】このようなトルク変動を生じさせる相切替
時の電流変動を抑制するためには、各相の電流を制御す
ればよいが、その制御のために各相の電流を検出する必
要があり、２以上の電流検出回路が必要になる。特に、
５相ブラシレスモータの場合は、４相励磁方式を採用し
ていることから、モータ駆動回路に４つの電流検出回路
と４つの電流ループが必要であり、駆動回路の構成が複
雑化し、コストも高くなるという問題点があった。In order to suppress the current fluctuation at the time of the phase switching that causes such a torque fluctuation, the current of each phase may be controlled, but it is necessary to detect the current of each phase for the control. And two or more current detection circuits are required. In particular,
In the case of a five-phase brushless motor, since the four-phase excitation method is adopted, four current detection circuits and four current loops are required in the motor drive circuit, which complicates the configuration of the drive circuit and increases the cost. There was a problem of becoming.
【０００７】また、図７に示すような励磁電流の波形に
おいて＋側（順方向電流）の駆動デューティ（例えば、
Ｄｕｔｙ１とする。これを「上段の駆動デューティ」と
いう。）と、−側（逆方向電流）の駆動デューティ（例
えば、Ｄｕｔｙ３とする。これを「下段の駆動デューテ
ィ」という。）とが異なる場合は、モータの駆動回路に
おいて１個の電流検出回路が設けられている場合に、相
切換時における２つの相の電流の立ち上がりと立ち下が
りの電流変化率が異なるので、相切換時に他の切替えを
していない相の電流が大きく変動してしまい、その電流
の変動により過渡的なトルク変動が生じてしまう。Further, in the waveform of the exciting current shown in FIG. 7, the driving duty on the + side (forward current) (for example,
Duty1. This is called “upper drive duty”. ) Is different from the drive duty on the negative side (reverse current) (for example, Duty 3; this is called “lower drive duty”), one current detection circuit is provided in the motor drive circuit. When the phase is switched, the current change rates of the rising and falling currents of the two phases at the time of the phase switching are different, so that the current of the other phase that is not switched at the time of the phase switching greatly fluctuates, and Causes a transient torque fluctuation.
【０００８】そのトルク変動は、モータ回転時の振動と
騒音の発生原因になる。また、パワーステアリング装置
用のブラシレスＤＣモータの場合は、ハンドルをゆっく
り回転させる時に、そのトルクの変動が操舵フィーリン
グに影響するとともに、騒音の発生原因になってしま
う。[0008] The torque fluctuation causes vibration and noise during rotation of the motor. Further, in the case of a brushless DC motor for a power steering device, when the steering wheel is slowly rotated, the fluctuation of the torque affects the steering feeling and causes noise.
【０００９】本発明は上述のような事情からなされたも
のであり、本発明の目的は、ブラシレスＤＣモータを矩
形波を用いて駆動制御する場合において、トルクの変動
を抑制することができるモータ駆動制御装置を提供する
ことにある。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor drive capable of suppressing torque fluctuation when a brushless DC motor is driven and controlled using a rectangular wave. It is to provide a control device.
【００１０】[0010]
【課題を解決するための手段】本発明は、モータの励磁
電流を検出する電流検出回路を２個以上使用せず、複数
の励磁相を有するモータを駆動制御するモータ駆動制御
装置に関し、本発明の上記目的は、前記モータの各励磁
相に供給する励磁信号を生成する駆動手段と、前記各励
磁相ごとに前記励磁信号の方向決定及びオンオフに切替
えを行う制御手段とを備え、前記制御手段は、前記切替
えの時にモータの前記各励磁相の励磁電流の合計値を一
定に保つように前記励磁信号を生成することによって達
成される。SUMMARY OF THE INVENTION The present invention relates to a motor drive control device for controlling a motor having a plurality of excitation phases without using two or more current detection circuits for detecting the excitation current of the motor. The above object of the present invention comprises: a driving unit that generates an excitation signal to be supplied to each excitation phase of the motor; and a control unit that determines a direction of the excitation signal and switches on / off for each excitation phase; Is achieved by generating the excitation signal so as to keep the sum of the excitation currents of the respective excitation phases of the motor at the time of the switching.
【００１１】また、本発明の上記目的は、前記制御手段
が、前記切替時に切り替えられる前記励磁信号の変化率
を制御することによってより効果的に達成される。Further, the above object of the present invention is more effectively achieved by the control means controlling a rate of change of the excitation signal switched at the time of the switching.
【００１２】また、本発明の上記目的は、前記駆動手段
は、前記励磁信号として前記モータの複数の励磁コイル
に供給する励磁電流を生成する駆動回路を有し、前記制
御手段は、前記励磁電流の切換時に前記励磁電流が立上
がる励磁相と立下がる励磁相の電流変化率を一致させる
か又は同程度にする駆動信号を前記駆動回路に供給する
ことによってより効果的に達成される。Further, the above object of the present invention is such that the driving means has a driving circuit for generating an excitation current to be supplied to the plurality of excitation coils of the motor as the excitation signal, This is more effectively achieved by supplying a drive signal to the drive circuit to make the current change rates of the exciting phase in which the exciting current rises and the exciting phase in which the exciting current rises at the time of the switching of the same or approximately the same.
【００１３】また、本発明の上記目的は、前記制御手段
は、前記励磁電流が切替えられない励磁相に対する上段
用（順方向電流用）の第１のＰＭＷ信号と下段用（逆方
向電流用）の第３のＰＭＷ信号と、前記励磁電流が立上
がる励磁相及び／又は立下がる励磁相に対する上段用
（順方向電流用）の第２のＰＷＭ信号と下段用（逆方向
電流用）の第４のＰＷＭ信号とを合成演算することによ
り、前記駆動信号を生成することによってより効果的に
達成される。[0013] Further, the above object of the present invention is the control means, wherein the first stage PWM signal for the upper stage (for forward current) and the lower stage (for reverse current) for the exciting phase in which the exciting current is not switched. A third PWM signal for the upper stage (for forward current) and a fourth PWM signal for lower stage (for reverse current) with respect to the exciting phase in which the exciting current rises and / or the exciting phase in which the exciting current falls. This is more effectively achieved by generating the drive signal by performing a composite operation with the PWM signal of
【００１４】また、本発明の上記目的は、前記第２のＰ
ＷＭ信号及び前記第４のＰＷＭ信号のデューティ比が、
前記切替時のモータ電流、前記第１のＰＷＭ信号及び前
記第３のＰＷＭ信号のデューティ比、モータの回転角速
度、モータの逆起電圧定数、モータ駆動回路に供給され
る電源電圧及びモータと駆動回路の等価電気回路の抵抗
成分の関数である、こととすることによってより効果的
に達成される。Further, the above object of the present invention is to provide the above-mentioned second P
The duty ratio of the WM signal and the fourth PWM signal is
Motor current at the time of switching, duty ratios of the first PWM signal and the third PWM signal, a rotational angular velocity of the motor, a back electromotive force constant of the motor, a power supply voltage supplied to the motor drive circuit, and the motor and drive circuit , Which is a function of the resistance component of the equivalent electrical circuit.
【００１５】[0015]
【発明の実施の形態】本実施の形態では、５相ブラシレ
スＤＣモータを例として説明する。３相ブラシレスＤＣ
モータの場合でも同様に実施できる。上下段ともに同じ
ＰＷＭデューティで駆動する場合は、本実施形態の上段
用のＰＷＭデューティ（Ｄｕｔｙ１）＝下段用のＰＷＭ
デューティ（Ｄｕｔｙ３）として設定すればよい。そし
て、上下段ともに同じＰＷＭデューティで駆動する場合
は、モータ駆動回路において、モータの各励磁相ごとに
供給する励磁電流の方向決定及びオンオフ切替えを制御
する制御手段を設ける。制御手段は、その切替え時に切
替えられる励磁電流の変化率を制御することにより、切
替えられる２つの相の電流変化率を一致させる（又は同
程度にする）。これにより、切替えない相の電流変動が
抑制されるので、簡易な回路で、前述の過渡的なトルク
変動を抑制する。一方、図７に示すような励磁電流の波
形において＋側（順方向電流）の駆動デューティ（例え
ば、Ｄｕｔｙ１とする。これを「上段の駆動デューテ
ィ」という。）と、−側（逆方向電流）の駆動デューテ
ィ（例えば、Ｄｕｔｙ３とする。これを「下段の駆動デ
ューティ」という。）とが異なる場合は、電流変動によ
る過渡的なトルク変動を以下に示す方法で解消する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In this embodiment, a five-phase brushless DC motor will be described as an example. 3-phase brushless DC
The same can be applied to a motor. When the upper and lower stages are driven with the same PWM duty, the upper stage PWM duty (Duty1) of the present embodiment = the lower stage PWM
What is necessary is just to set as duty (Duty3). When the upper and lower stages are driven with the same PWM duty, the motor drive circuit is provided with control means for controlling the direction determination and on / off switching of the excitation current supplied for each excitation phase of the motor. The control means controls the rate of change of the exciting current switched at the time of the switching, so that the rates of current change of the two phases to be switched are made equal (or approximately equal). As a result, the current fluctuation of the phase which is not switched is suppressed, so that the above-mentioned transient torque fluctuation is suppressed with a simple circuit. On the other hand, in the waveform of the exciting current as shown in FIG. 7, the drive duty on the + side (forward current) (for example, Duty 1; this is called “upper drive duty”) and the negative side (reverse current) (For example, Duty 3; this is referred to as “lower drive duty”), transient torque fluctuation due to current fluctuation is eliminated by the following method.
【００１６】以下、本発明の実施の形態を図面を参照し
て説明する。本実施形態は基本的に特願平１０−１６０
６４１号（以下、「先行文献」という。）と同じように
説明する。ただし、違う所は、下記１）と２）である。Hereinafter, embodiments of the present invention will be described with reference to the drawings. This embodiment is basically based on Japanese Patent Application No. Hei 10-160.
No. 641 (hereinafter referred to as “prior art document”). However, different points are 1) and 2) below.
【００１７】１）先行文献の図３、図４、図５、図６に
おいて、上下段同じ駆動デューティＤｕｔｙ１を上段の
Ｄｕｔｙ１と下段のＤｕｔｙ３に分け、上下段同じ転流
相のデューティＤｕｔｙ２を上段のＤｕｔｙ２と下段の
Ｄｕｔｙ４に分ける。1) In FIG. 3, FIG. 4, FIG. 5, and FIG. 6, the same drive duty Duty1 in the upper and lower stages is divided into Duty1 in the upper stage and Duty3 in the lower stage. It is divided into Duty2 and Duty4 in the lower stage.
【００１８】２）先行文献の数１８と数１９から導いた
式は下記数５２と下記数５３、又は下記数５４と下記５
５から導く。具体的には、先行文献の数２０と数２１は
下記数５２と下記数５３を使う。2) Equations derived from Equations (18) and (19) of the preceding document are as follows: Equation (52) and Equation (53) or Equation (54) and Equation (5).
Lead from 5. Specifically, Equations 20 and 21 of the preceding document use Equations 52 and 53 below.
【００１９】＜上下段異なるデューティ（Ｄｕｔｙ１、
Ｄｕｔｙ３）駆動の場合、転流時にモータ電流の総和を
一定にするため、転流相の駆動デューティ（Ｄｕｔｙ
２、Ｄｕｔｙ４）式の導き＞以下は、上段転流を例とし
て、Ｄｕｔｙ２の導き方を紹介する（上段はｄ相とｅ相
であり、下段はｂ相とｃ相であり、転流はｄ相からａ相
である。）。上段転流と同じ導き方で、下段転流の場合
のＤｕｔｙ４の式が得られる。<Upper and lower stages have different duties (Duty1, Duty1,
In the case of the (Duty3) drive, the driving duty (Duty) of the commutation phase is set in order to keep the sum of the motor currents constant during commutation.
2. Derivation of equation (2, Duty4)> The following introduces a method of deriving Duty2 by taking an upper stage commutation as an example (upper stage is d phase and e phase, lower stage is b phase and c phase, and commutation is d From phase a to phase a). With the same derivation method as in the upper stage commutation, the Duty 4 equation for the lower stage commutation is obtained.
【００２０】上下段ＰＷＭ駆動デューティが異なる場合
は、例として下段駆動デューティＤｕｔｙ３＞＝上段駆
動デューティＤｕｔｙ１の場合を示す。その逆の場合
（Ｄｕｔｙ３＜＝Ｄｕｔｙ１）も同じ導き方でＤｕｔｙ
２を求めることができる。When the upper and lower PWM driving duties are different from each other, the lower driving duty DUTY3> = the upper driving duty DUTY1 is shown as an example. In the opposite case (Duty3 <= Duty1), the same derivation applies to Duty.
2 can be obtained.
【００２１】上段転流時の立ち下がり相の駆動デューテ
ィはＤｕｔｙ２である。ここで、式の導きを容易にする
ため、立ち上がり相の駆動デューティをＤｕｔｙ１と設
定する。Ｄｕｔｙ３＞＝Ｄｕｔｙ１＞＝Ｄｕｔｙ２を例
として紹介する。The drive duty of the falling phase during the upper stage commutation is Duty2. Here, in order to facilitate the derivation of the equation, the drive duty of the rising phase is set to Duty1. Duty3> = Duty1> = Duty2 is introduced as an example.
【００２２】図１は、モータの励磁電流の波形図であ
り、Ｄｕｔｙ１、Ｄｕｔｙ３及びＤｕｔｙ２の３つのＰ
ＷＭ信号のデューティを示すものである。FIG. 1 is a waveform diagram of the exciting current of the motor, and shows three Ps of Duty1, Duty3 and Duty2.
It shows the duty of the WM signal.
【００２３】先ず、モータコイルの中心点の電圧ｖｎの
式を導き、次に、その中心点電圧を用いて各コイルの電
圧方程式を求める。電圧方程式における各コイルの印加
電圧をＰＷＭのデューティ（Ｄｕｔｙ３、Ｄｕｔｙ１、
Ｄｕｔｙ２）で表わす。最後に、モータ電流の総和を一
定にするために、印加電圧をデューティで表わした各相
の電圧方程式に基づいて、転流相のデューティ（Ｄｕｔ
ｙ２）の式を求める。First, an equation for the voltage vn at the center of the motor coil is derived, and then a voltage equation for each coil is determined using the voltage at the center. The voltage applied to each coil in the voltage equation is determined by the PWM duty (Duty3, Duty1,
Duty 2). Finally, in order to make the sum of the motor currents constant, the duty (Dut) of the commutation phase is determined based on the voltage equation of each phase in which the applied voltage is expressed by the duty.
y2) is obtained.
【００２４】１、モータ中心点電圧ｖｎの式の導き 図１に示す３つのＰＷＭ信号は４つのパターンに分けら
れる。以下、その４つのＰＷＭのオン−オフ通電パター
ンでのモータ中心点電圧ｖｎを求める。1. Derivation of Equation of Motor Center Point Voltage vn The three PWM signals shown in FIG. 1 are divided into four patterns. Hereinafter, the motor center point voltages vn in the four PWM on-off energizing patterns are obtained.
【００２５】（ａ） Ｄｕｔｙ１、Ｄｕｔｙ３、Ｄｕｔ
ｙ２のＰＷＭがオンの状態の場合 図２は、図６に示すブラシレスモータの駆動回路につい
ての本状態の等価回路を示す回路図である。図２に基づ
き、各コイルの電圧方程式は下記数１から数５となる。
また、駆動回路のＤＣラインの電流（２ｉ1）と各相の
電流（ｉa,ｉb,ｉc,ｉd,ｉe）の関係は下記数６とな
る。(A) Duty1, Duty3, Dut
FIG. 2 is a circuit diagram showing an equivalent circuit in this state for the drive circuit of the brushless motor shown in FIG. 6. Based on FIG. 2, the voltage equation of each coil is given by the following equations (1) to (5).
Also, DC-line current of the drive circuit (2i 1) and each phase current (i a, i b, i c, i d, i e) the relationship becomes below 6.
【００２６】[0026]
【数１】 (Equation 1)
【数２】 (Equation 2)
【数３】 (Equation 3)
【数４】 (Equation 4)
【数５】 (Equation 5)
【数６】 ただし、Ｌｍ＝Ｌ−Ｍ（Ｌは各相の自己インダクタン
ス、Ｍは複数相の間の相互インダクタンス）である。(Equation 6) Here, Lm = LM (L is a self-inductance of each phase, and M is a mutual inductance between a plurality of phases).
【００２７】矩形波電流駆動であり、励磁波形は電気角
度１４４度の略台形波形であるので、逆起電圧も近似的
に台形波となる。相切替時における各相の逆起電圧の絶
対値は、ほぼ等しくなる。すなわち、下記数７で示す状
態となる。Since the drive is a rectangular wave current drive and the excitation waveform is a substantially trapezoidal waveform having an electrical angle of 144 degrees, the back electromotive voltage is also approximately a trapezoidal wave. The absolute value of the back electromotive voltage of each phase at the time of phase switching becomes substantially equal. That is, the state shown by the following equation 7 is obtained.
【００２８】[0028]
【数７】 また、各相のコイル抵抗も同じ値となる。すなわち、下
記数８で示す状態となる。(Equation 7) The coil resistance of each phase also has the same value. That is, the state shown by the following equation 8 is obtained.
【００２９】[0029]
【数８】 ここで、数１から数３を加算して、数６から数８を代入
することにより、下記数９が導きられる。(Equation 8) Here, the following Equation 9 is derived by adding Equations 1 to 3 and substituting Equations 6 to 8.
【００３０】[0030]
【数９】 また、数４と数５を加算して、数６から数８を代入する
ことにより、下記数１０が導きられる。(Equation 9) Further, by adding Equations 4 and 5 and substituting Equations 6 to 8, Equation 10 below is derived.
【００３１】[0031]
【数１０】 上記数９と数１０よりコイルの中心電圧Ｖn1をＶｂとＥ
で表すと、下記数１１となる。(Equation 10) From the above equations (9) and (10), the center voltage V n1 of the coil is defined as Vb and E.
The following equation (11) is obtained.
【００３２】[0032]
【数１１】 （ｂ）Ｄｕｔｙ２のＰＷＭがオフであり、かつＤｕｔｙ
１、Ｄｕｔｙ３のＰＷＭがオンの状態の場合 図３は、図６に示すブラシレスモータの駆動回路図にお
ける本状態の等価回路を示す回路図である。図３に基づ
き、各コイルの電圧方程式は下記数１２から数１６とな
る。また、駆動回路のＤＣラインの電流電流（２ｉ11）
と各相の電流（ｉa,ｉb,ｉc,ｉd,ｉe）の関係は下記数
１７となる。[Equation 11] (B) Duty2 PWM is off and Duty2
1. When the PWM of Duty 3 is ON FIG. 3 is a circuit diagram showing an equivalent circuit in this state in the drive circuit diagram of the brushless motor shown in FIG. Based on FIG. 3, the voltage equation of each coil is represented by the following equations (12) to (16). Also, the current (2i 11 ) of the DC line of the drive circuit
And each phase current (i a, i b, i c, i d, i e) the relationship becomes below several 17.
【００３３】[0033]
【数１２】 (Equation 12)
【数１３】 (Equation 13)
【数１４】 [Equation 14]
【数１５】 (Equation 15)
【数１６】 (Equation 16)
【数１７】 上記数１２から数１７及び上記数７、数８において、電
流に関連する項を削除し、コイルの中心電圧Ｖn11をＶ
ｂとＥで表すと、下記数１８となる。[Equation 17] In the equations (12) to (17) and the equations (7) and (8), the term related to the current is deleted, and the center voltage V n11 of the coil is changed to V
When represented by b and E, the following Expression 18 is obtained.
【００３４】[0034]
【数１８】 （ｃ）Ｄｕｔｙ１、Ｄｕｔｙ２のＰＷＭがオフであり、
かつＤｕｔｙ３のＰＷＭがオンの状態の場合 図４は、図６に示すブラシレスモータの駆動回路図にお
ける本状態の等価回路を示す回路図である。図４に基づ
き、各コイルの電圧方程式は下記数１９から数２３とな
る。また、駆動回路のＤＣラインの電流電流（２ｉ12）
と各相の電流（ｉa,ｉb,ｉc,ｉd,ｉe）の関係は下記数
２４となる。(Equation 18) (C) PWM of Duty1 and Duty2 is off,
FIG. 4 is a circuit diagram showing an equivalent circuit in this state in the drive circuit diagram of the brushless motor shown in FIG. Based on FIG. 4, the voltage equation of each coil is as shown in the following Expressions 19 to 23. Also, the current (2i 12 ) of the DC line of the drive circuit
And each phase current (i a, i b, i c, i d, i e) the relationship becomes the following Expression 24.
【００３５】[0035]
【数１９】 [Equation 19]
【数２０】 (Equation 20)
【数２１】 (Equation 21)
【数２２】 (Equation 22)
【数２３】 (Equation 23)
【数２４】 上記数１９から数２４及び上記数７、数８において、電
流に関連する項を削除し、コイルの中心電圧Ｖn12をＶ
ｂとＥで表すと、下記数２５となる。(Equation 24) In Equations 19 to 24 and Equations 7 and 8, the term related to the current is deleted, and the center voltage V n12 of the coil is set to V
When represented by b and E, the following equation 25 is obtained.
【００３６】[0036]
【数２５】 （ｄ）Ｄｕｔｙ１、Ｄｕｔｙ２、Ｄｕｔｙ３のＰＷＭが
オフの状態の場合 図５は、図６に示すブラシレスモータの駆動回路図にお
ける本状態の等価回路を示す回路図である。図５に基づ
き、各コイルの電圧方程式は下記数２６から数３０とな
る。また、駆動回路のＤＣラインの電流電流（２ｉ2）
と各相の電流（ｉa,ｉb,ｉc,ｉd,ｉe）の関係は下記数
３１となる。(Equation 25) (D) When PWM of Duty1, Duty2, and Duty3 is OFF FIG. 5 is a circuit diagram showing an equivalent circuit in this state in the brushless motor drive circuit diagram shown in FIG. Based on FIG. 5, the voltage equation of each coil is as shown in Equations 26 to 30 below. Also, the current (2i 2 ) of the DC line of the drive circuit
And each phase current (i a, i b, i c, i d, i e) the relationship becomes the following Expression 31.
【００３７】[0037]
【数２６】 (Equation 26)
【数２７】 [Equation 27]
【数２８】 [Equation 28]
【数２９】 (Equation 29)
【数３０】 [Equation 30]
【数３１】 上記数２６から数３１及び上記数７、数８において、電
流に関連する項を削除し、コイルの中心電圧Ｖn2をＶｂ
とＥで表すと、下記数３２となる。(Equation 31) In Expressions 26 to 31 and Expressions 7 and 8, the term related to the current is deleted, and the center voltage V n2 of the coil is changed to Vb.
And E, the following equation 32 is obtained.
【００３８】[0038]
【数３２】 ２、印加電圧をデューティで表す各相の電圧方程式の導
き 上述のコイルの中心電圧ｖｎを示す数１１、数１８、数
２５、数３２とそれらの式の導き過程から分かるよう
に、図１に示した４つのＰＷＭのオン−オフ通電パター
ンによってコイルの中心電圧と端子電圧は変動してい
る。その変化の周波数は、ＰＷＭの周波数程度である。
ＰＷＭの周期は、モータコイルの等価回路の電気的時定
数よりも十分小さいため、コイルの端子電圧と中心電圧
はＰＷＭの一周期中のその電圧の平均値で表すことが妥
当である。(Equation 32) 2. Derivation of the voltage equation of each phase that expresses the applied voltage by duty As can be seen from the above-described equations 11, 18, 18, 25, and 32 showing the center voltage vn of the coil and the derivation process of these equations, FIG. The center voltage and the terminal voltage of the coil fluctuate according to the on-off energization patterns of the four PWMs shown. The frequency of the change is about the frequency of PWM.
Since the PWM cycle is sufficiently smaller than the electric time constant of the equivalent circuit of the motor coil, it is appropriate that the terminal voltage and the center voltage of the coil be represented by the average value of the voltage during one PWM cycle.
【００３９】上段のａ相とｅ相のコイルにおけるａ相の
電圧方程式の印加電圧を平均値で表すことを例として示
す。図１に示した４つのＰＷＭのオン−オフ通電パター
ンのデューティは、 ａ） Ｄｕｔｙ２ ｂ）（Ｄｕｔｙ１−Ｄｕｔｙ２） ｃ）（Ｄｕｔｙ３−Ｄｕｔｙ１） ｄ）（１−Ｄｕｔｙ３） である。各通電パターンのデューティを掛ける各パター
ンのａ相の電圧方程式（数１、数１２、数１９、数２
６）の左辺の印加電圧項により、各パターン期間での印
加電圧は ａ） Ｄｕｔｙ２（Ｖｂ−Ｖn1） ｂ）（Ｄｕｔｙ１−Ｄｕｔｙ２）（Ｖｂ−Ｖn1） ｃ）（Ｄｕｔｙ３−Ｄｕｔｙ１）（−Ｖn12） ｄ）（１−Ｄｕｔｙ３）（−Ｖn2） となる。これらａ），ｂ），ｃ），ｄ）の４つの印加電
圧の合計は、下記数３３に示すように、ＰＷＭ周期内の
平均印加電圧（Ｖa−Ｖn）である。An example in which the applied voltage of the a-phase voltage equation in the upper-stage a-phase and e-phase coils is represented by an average value will be described. The duty of the on-off energization pattern of the four PWMs shown in FIG. 1 is as follows: a) Duty2 b) (Duty1-Duty2) c) (Duty3-Duty1) d) (1-Duty3). The a-phase voltage equation of each pattern multiplied by the duty of each energization pattern (Equation 1, Equation 12, Equation 19, Equation 2)
The left side of the voltage applied section 6), the voltage applied in each pattern period a) Duty2 (Vb-V n1 ) b) (Duty1-Duty2) (Vb-V n1) c) (Duty3-Duty1) (- V n12) d) (1-Duty3 ) (- V n2) to become. The sum of the four applied voltages a), b), c) and d) is the average applied voltage (V a −V n ) within the PWM cycle, as shown in the following Expression 33.
【００４０】[0040]
【数３３】 各中心電圧（Ｖn1、Ｖn11、Ｖn12、Ｖn2）を上記数１１、
数１８、数２５、数３２に代入すると、印加電圧の平均
値はデューティとＶｂ、Ｅで表すことができる。ａ相の
電圧方程式は下記数３４となる。同様にｅ相の電圧方程
式は下記数３５となる。[Equation 33] Each of the center voltages (V n1, V n11, V n12, V n2 ) is calculated by the above equation (11).
By substituting into Equations 18, 25 and 32, the average value of the applied voltage can be expressed by duty, Vb, and E. The voltage equation for the a-phase is given by the following equation (34). Similarly, the voltage equation of the e-phase is given by the following equation 35.
【００４１】[0041]
【数３４】 (Equation 34)
【数３５】 ただし、上段コイル端子の電圧平均値ｖａ、ｖｅとコイ
ル中心電圧の平均値ｖｎは、下記数３６と数３７にな
る。(Equation 35) However, the average voltage values va and ve of the upper coil terminals and the average value vn of the coil center voltage are represented by the following equations (36) and (37).
【００４２】[0042]
【数３６】 [Equation 36]
【数３７】 オフ相コイル（ｄ相）と下段コイル（ｂ、ｃ相）の電圧
方程式は、上述の上段コイルの電圧方程式の導き方と同
じ方法で求められる。オフ相の電圧方程式は下記数３８
となり、上段コイルの方定式は下記数３９、数４０とな
る。(37) The voltage equations for the off-phase coil (d phase) and the lower coil (b, c phase) are obtained in the same manner as the above-described method for deriving the voltage equation for the upper coil. The off-phase voltage equation is given by Equation 38 below.
And the equation for the upper coil is given by Equations 39 and 40 below.
【００４３】[0043]
【数３８】 (38)
【数３９】 [Equation 39]
【数４０】 ただし、オフ相の端子電圧の平均値ｖｄと下段コイル端
子の電圧平均値ｖｂ、ｖｃは、それぞれ下記数４１と数
４２で示すものとする。(Equation 40) However, the average value vd of the terminal voltage in the off-phase and the average voltage values vb and vc of the lower coil terminals are represented by the following Expressions 41 and 42, respectively.
【００４４】[0044]
【数４１】 [Equation 41]
【数４２】 ２つの転流相（立下がりのｄ相と立ち上がりのａ相）の
デューティＤｕｔｙ２をＤｕｔｙ２1とＤｕｔｙ２2、も
っと一般的な状態として設定する場合は、立下がり（オ
フ）相と立上がり相のコイル端子の電圧平均値ｖｄ、ｖ
ａは、下記数４４と数４３になる。また、中心電圧を示
す上記数３７も変わることとなるが、その変わった中心
電圧を示す数式及びその説明は省略する。(Equation 42) When the duties Duty2 of the two commutation phases (the falling d phase and the rising a phase) are set as Duty2 1 and Duty2 2 , or more general states, the coil terminals of the falling (off) phase and the rising phase Voltage average values vd, v
a becomes the following Expressions 44 and 43. In addition, the equation (37) indicating the center voltage also changes, but the mathematical expression indicating the changed center voltage and its description are omitted.
【００４５】[0045]
【数４３】 [Equation 43]
【数４４】 ３、モータ電流の総和を一定にするための、転流相のデ
ューティ（Ｄｕｔｙ２）の式の導き 上述の印加電圧をデューティで表した各相の電圧方程式
は、ＰＷＭの周期がコイルの等価回路の電気的時定数よ
りも十分小さいことを前提条件として導いた結果であ
る。したがって、数３４から数４２中の電流と電圧はＰ
ＷＭ周期内の平均値として扱う。上段転流（例えば、ｄ
相からａ相）の時は、上段各相の電流（ｉa,ｉe、ｉd）
の合計と下段各相の電流（ｉb,ｉc）の合計は、下記数
４５に示すように等しくなる。[Equation 44] 3. Derivation of equation of commutation phase duty (Duty2) for keeping the sum of motor current constant The voltage equation of each phase in which the applied voltage is represented by the duty is expressed by the following equation: This is a result derived on the premise that the electric time constant is sufficiently smaller than the electric time constant. Therefore, the current and voltage in Equations 34 to 42 are P
Treated as an average value within the WM cycle. Upper stage commutation (for example, d
When the phase of a phase), the upper phase currents (i a, i e, i d)
Is equal to the sum of the currents (i b, ic ) of the respective lower phases as shown in the following Expression 45.
【００４６】[0046]
【数４５】 ここで、Ｉはモータ電流であり、そのモータ電流は電流
検出手段によって検出する。[Equation 45] Here, I is a motor current, and the motor current is detected by current detection means.
【００４７】各コイルが対象になっているので、転流を
始める時（ｔ＝０）に上段コイルのｄ相とｅ相の電流が
同じ値であると仮定すると、ａ相の電流は零となる。Since each coil is targeted, assuming that the currents of the d-phase and e-phase of the upper coil have the same value when commutation starts (t = 0), the current of the a-phase becomes zero. Become.
【００４８】 ｉe（０）＝ｉd（０）＝（１／２）Ｉ（０） ｉａ（０）＝０ 転流の２相の電流の立上がりと立ち下がりの変化率が、
下記数４６で表わすように、同じであるとすれば、転流
期間中に任意の時の電流ｉa（ｔ）とｉd（ｔ）の総和は
下記数４６を積分することにより、下記数４７で表わす
ように求められる。 Ie (0) = id (0) = (1/2) I (0) ia (0) = 0 The rising and falling rates of the two-phase current of commutation are
As expressed by the following Expression 46, if the same, the sum of the currents at any time during the commutation period i a (t) and i d (t) by integrating the following Expression 46, the number of the following 47.
【００４９】[0049]
【数４６】 [Equation 46]
【数４７】 上記す４７から分かるように、転流期間中に転流する２
相の電流の変化率を同じにすると、その２相の電流の総
和は一定に保たれる。したがって、転流期間中に上段の
転流していない相の電流ｉe（ｔ）が変化しなければ、 ｉe（ｔ）＝ｉe（０）＝（１／２）Ｉ（０） 上記数４５より、 モータの総和電流Ｉ（ｔ）＝ｉa（ｔ）＋ｉe（ｔ）＋ｉ
d（ｔ）＝Ｉ（０） が一定に保たれ、モータの電磁トルクも一定に保たれ
る。したがって、転流期間中は下記数４８、数４９が成
り立つ。[Equation 47] As can be seen from FIG. 47, the commutation during the commutation period 2
If the rate of change of the phase current is the same, the sum of the currents of the two phases is kept constant. Therefore, if the current i e phases does not flow upper rolling (t) is changed during the commutation period, i e (t) = i e (0) = (1/2) I (0) the number of than 45, the motor of the total electric current I (t) = i a ( t) + i e (t) + i
d (t) = I (0) is kept constant, and the electromagnetic torque of the motor is also kept constant. Therefore, during the commutation period, the following Expressions 48 and 49 hold.
【００５０】[0050]
【数４８】 [Equation 48]
【数４９】 モータの総和電流が一定に保たれる時の転流相のデュー
ティ（Ｄｕｔｙ２）を求めるために、転流する２相の電
圧方程式である数３４と数３８の両辺を足し算し、数７
及び数８と数４８及び数４９を代入すると、下記数５０
が得られる。[Equation 49] In order to obtain the commutation phase duty (Duty2) when the total current of the motor is kept constant, the two sides of equations (34) and (38), which are two-phase voltage equations for commutation, are added, and
Substituting Equation 8 and Equation 48 and Equation 49 gives the following Equation 50
Is obtained.
【００５１】[0051]
【数５０】 上段の転流していない相の電圧方程式である数３５に数
７、数８と数４８、数４９を代入すると、下記数５１が
得られる。[Equation 50] By substituting Equation 7, Equation 8, Equation 48, and Equation 49 into Equation 35, which is the voltage equation of the upper non-commutated phase, Equation 51 below is obtained.
【００５２】[0052]
【数５１】 数５０及び数５１からＲｉ項を削除し、さらに数３６、
数３７、数４１を代入することにより、転流相のデュー
ティ（Ｄｕｔｙ２）が逆起電圧Ｅ（又は、モータの回転
角速度ω）、駆動回路に供給される電圧Ｖｂと上下段の
デューティ（Ｄｕｔｙ１、Ｄｕｔｙ３）を用いて、下記
数５２に表わすように求めることができる。(Equation 51) The Ri term is deleted from Equations 50 and 51, and
By substituting Equations 37 and 41, the commutation phase duty (Duty2) is equal to the back electromotive voltage E (or the rotational angular velocity ω of the motor), the voltage Vb supplied to the drive circuit, and the upper and lower stages of the duty (Duty1, Duty1). Using Duty 3), it can be obtained as shown in the following Expression 52.
【００５３】[0053]
【数５２】 ただし、Ｅ＝（１／２）Ｋｍωであり、Ｋｍ[volt・se
c]はモータの逆起電圧定数である。(Equation 52) Here, E = (1/2) Kmω, and Km [volt · se
c] is the back electromotive force constant of the motor.
【００５４】数５０と数５１からｖｎとＥ項を削除し、
数３６、数４１を代入することにより、転流相のデュー
ティ（Ｄｕｔｙ２）がモータ電流Ｉ、モータコイル、Ｆ
ＥＴ等の等価電気回路の抵抗Ｒ、駆動回路に供給される
電圧Ｖｂと上段のデューティ（Ｄｕｔｙ１）を用いて、
下記数５３に表わすように求めることができる。The vn and E terms are deleted from Equations 50 and 51,
By substituting Equations 36 and 41, the duty (Duty2) of the commutation phase becomes the motor current I, motor coil, F
Using the resistance R of the equivalent electric circuit such as ET, the voltage Vb supplied to the drive circuit, and the upper-stage duty (Duty1),
It can be obtained as shown in the following Expression 53.
【００５５】[0055]
【数５３】 ２つの転流相（立ち下がりのｄ相と立上がりのａ相）の
デューティ（Ｄｕｔｙ２）をＤｕｔｙ２1とＤｕｔｙ
２2、もっと一般的な状態として設定する場合は、数３
６、数３７、数３８の代わりに、数４３、数４４と新た
な中心電圧ｖｎの式を代入すれば、下記数５４、数５５
に表わすように、転流相のデューティ（Ｄｕｔｙ２）が
求められる。(Equation 53) Duty two commutation phase (d phase and rise of a phase of the falling edge) the (Duty2) Duty2 1 and Duty
2 2 , to set as a more general state, Equation 3
By substituting equations (43) and (44) and a new equation of the center voltage vn instead of (6), (37) and (38), the following equations (54) and (55) are obtained.
, The commutation phase duty (Duty2) is determined.
【００５６】[0056]
【数５４】 (Equation 54)
【数５５】 ４、下段転流時、モータ電流の総和を一定にするため
の、転流相のデューティ（Ｄｕｔｙ４）の式の導き 上段転流時の導き方と同じように、各ＰＷＭのオン-オ
フ通電状態パターンでのモータ中心電圧ｖｎの数式を求
め、その数式を用いて印加電圧をデューティで表わす各
相の電圧方程式を求める。最後に、モータ電流の総和を
一定にするため、転流相のデューティ(Ｄｕｔｙ４）を
求める。その結果は、下記数５６、数５７に表わすよう
になる。[Equation 55] 4. Derivation of the equation of the duty (Duty4) of the commutation phase to keep the sum of the motor currents constant at the time of the lower stage commutation. An equation of the motor center voltage vn in the pattern is obtained, and a voltage equation of each phase expressing the applied voltage by the duty is obtained using the equation. Finally, the duty (Duty4) of the commutation phase is obtained in order to keep the sum of the motor currents constant. The result is as shown in the following Expressions 56 and 57.
【００５７】[0057]
【数５６】 [Equation 56]
【数５７】 [Equation 57]
【００５８】[0058]
【発明の効果】これらにより本発明によれば、１個の電
流検出回路を用いてモータを矩形波で駆動するものにお
ける、上段と下段のＰＭＷ駆動デューティが異なる場合
に、相電流切替え時の立上がり相と立ち下がり相の電流
変化率を制御するので、相切替え時のモータ電流を一定
に保つことができて、電流変動と電磁トルク変動を抑え
ることができ、安価で低電流変動、低トルク変動の高性
能サーボモータを実現するモータ駆動制御装置を提供す
ることができる。As described above, according to the present invention, in the case where the motor is driven by a rectangular wave using one current detection circuit, when the upper and lower PWM driving duties are different, the rise at the time of phase current switching is performed. Controls the current change rate of the phase and the falling phase, so that the motor current at the time of phase switching can be kept constant, current fluctuations and electromagnetic torque fluctuations can be suppressed, and inexpensive low current fluctuations and low torque fluctuations And a motor drive control device that realizes the high-performance servomotor described above.
【００５９】また、本発明に係るモータ駆動制御装置を
電動パワーステアリングの動力源として用いれば、ブラ
シレスＤＣモータの急激なトルク変動が小さいので、電
動パワーステアリングの操舵フィーリングを向上させる
ことができ、振動ノイズを低減することができる。Further, when the motor drive control device according to the present invention is used as a power source of the electric power steering, the sharp torque fluctuation of the brushless DC motor is small, so that the steering feeling of the electric power steering can be improved. Vibration noise can be reduced.
【図１】デューティが異なる３つのＰＷＭ信号を示す波
形図である。FIG. 1 is a waveform diagram showing three PWM signals having different duties.
【図２】Ｄｕｔｙ１、Ｄｕｔｙ３、Ｄｕｔｙ２のＰＷＭ
がオンの状態のブラシレスモータの駆動回路についての
等価回路を示す回路図である。FIG. 2 PWM of Duty1, Duty3 and Duty2
FIG. 3 is a circuit diagram showing an equivalent circuit of a drive circuit of the brushless motor in a state where is turned on.
【図３】Ｄｕｔｙ２のＰＷＭがオフであり、かつＤｕｔ
ｙ１、Ｄｕｔｙ３のＰＷＭがオンの状態のブラシレスモ
ータの駆動回路についての等価回路を示す回路図であ
る。FIG. 3 shows that the PWM of Duty2 is off, and
It is a circuit diagram showing an equivalent circuit about a drive circuit of a brushless motor in the state where PWM of y1 and Duty3 is ON.
【図４】Ｄｕｔｙ１、Ｄｕｔｙ２のＰＷＭがオフであ
り、かつＤｕｔｙ３のＰＷＭがオンの状態のブラシレス
モータの駆動回路についての等価回路を示す回路図であ
る。FIG. 4 is a circuit diagram showing an equivalent circuit of a drive circuit of a brushless motor in a state where PWMs of Duty1 and Duty2 are off and a PWM of Duty3 is on.
【図５】Ｄｕｔｙ１、Ｄｕｔｙ３、Ｄｕｔｙ２のＰＷＭ
がオフの状態のブラシレスモータの駆動回路についての
等価回路を示す回路図である。FIG. 5 shows PWM of Duty1, Duty3, and Duty2.
FIG. 3 is a circuit diagram showing an equivalent circuit of a drive circuit of the brushless motor in a state where is turned off.
【図６】５相ブラシレスモータの駆動回路の概要を示す
回路図である。FIG. 6 is a circuit diagram illustrating an outline of a drive circuit of a five-phase brushless motor.
【図７】図６に示す５相ブラシレスモータの駆動回路の
各相の励磁電流を示す波形図である。7 is a waveform diagram showing an exciting current of each phase of the drive circuit of the five-phase brushless motor shown in FIG.
ｖｎ モータ中心点電圧 Ｅａ ａ相の逆起電圧 Ｅｂ ｂ相の逆起電圧 Ｅｃ ｃ相の逆起電圧 Ｅｄ ｄ相の逆起電圧 Ｅｅ ｅ相の逆起電圧 Ｌｍ 励磁コイルの等価回路におけるインダクタンス Ｒ 励磁コイルの等価回路における抵抗 Ｖｂ モータ駆動回路に供給される電源電圧 ｉａ ａ相の励磁コイルの電流 ｉｂ ｂ相の励磁コイルの電流 ｉｃ ｃ相の励磁コイルの電流 ｉｄ ｄ相の励磁コイルの電流 ｉｅ ｅ相の励磁コイルの電流 vn Motor center-point voltage Ea A phase back electromotive voltage Eb b phase back electromotive voltage Ec c phase back electromotive voltage Ed d phase back electromotive voltage Eee e phase back electromotive voltage Lm Inductance R in equivalent circuit of exciting coil Resistance in coil equivalent circuit Vb Power supply voltage supplied to motor drive circuit ia Current of excitation coil of a phase ib Current of excitation coil of b phase ic Current of excitation coil of c phase id Current of excitation coil of d phase ie e Phase excitation coil current
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成１２年４月２６日（２０００．４．２
６）[Submission date] April 26, 2000 (200.4.2
6)
【手続補正１】[Procedure amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】特許請求の範囲[Correction target item name] Claims
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【特許請求の範囲】[Claims]
Claims (5)
路を２個以上使用せず、複数の励磁相を有するモータを
駆動制御するモータ駆動制御装置において、前記モータ
の各励磁相に供給する励磁信号を生成する駆動手段と、
前記各励磁相ごとに前記励磁信号の方向決定及びオンオ
フに切替えを行う制御手段とを備え、前記制御手段は、
前記切替えの時にモータの前記各励磁相の励磁電流の合
計値を一定に保つように前記励磁信号を生成することを
特徴とするモータ駆動制御装置。1. A motor drive control device for driving and controlling a motor having a plurality of excitation phases without using two or more current detection circuits for detecting an excitation current of the motor, wherein an excitation supplied to each excitation phase of the motor is provided. Driving means for generating a signal;
Control means for determining the direction of the excitation signal for each of the excitation phases and switching on and off, the control means,
A motor drive control device, wherein the excitation signal is generated such that a total value of excitation currents of the respective excitation phases of the motor is kept constant at the time of the switching.
られる前記励磁信号の変化率を制御する請求項１に記載
のモータ駆動制御装置。2. The motor drive control device according to claim 1, wherein the control means controls a rate of change of the excitation signal switched at the time of the switching.
記モータの複数の励磁コイルに供給する励磁電流を生成
する駆動回路を有し、前記制御手段は、前記励磁電流の
切換時に前記励磁電流が立上がる励磁相と立下がる励磁
相の電流変化率を一致させるか又は同程度にする駆動信
号を前記駆動回路に供給する請求項２に記載のモータ駆
動制御装置。3. The drive unit includes a drive circuit that generates an excitation current to be supplied to a plurality of excitation coils of the motor as the excitation signal. The control unit controls the excitation current when the excitation current is switched. 3. The motor drive control device according to claim 2, wherein a drive signal for making the current change rates of the rising excitation phase and the falling excitation phase equal or substantially equal is supplied to the drive circuit. 4.
られない励磁相に対する上段用（順方向電流用）の第１
のＰＭＷ信号と下段用（逆方向電流用）の第３のＰＭＷ
信号と、前記励磁電流が立上がる励磁相及び／又は立下
がる励磁相に対する上段用（順方向電流用）の第２のＰ
ＷＭ信号と下段用（逆方向電流用）の第４のＰＷＭ信号
とを合成演算することにより、前記駆動信号を生成する
請求項３に記載のモータ駆動制御装置。4. The control means according to claim 1, wherein said control means includes a first step (for forward current) for an exciting phase in which said exciting current is not switched.
Signal and the lower (for reverse current) third PMW
Signal and a second P for the upper stage (for forward current) with respect to the exciting phase in which the exciting current rises and / or the exciting phase in which the exciting current falls.
4. The motor drive control device according to claim 3, wherein the drive signal is generated by performing a composite operation on a WM signal and a fourth PWM signal for a lower stage (for a reverse current). 5.
ＷＭ信号のデューティ比は、前記切替時のモータ電流、
前記第１のＰＷＭ信号及び前記第３のＰＷＭ信号のデュ
ーティ比、モータの回転角速度、モータの逆起電圧定
数、モータ駆動回路に供給される電源電圧及びモータと
駆動回路の等価電気回路の抵抗成分の関数である請求項
４に記載のモータ駆動制御装置。5. The second PWM signal and the fourth P signal
The duty ratio of the WM signal is the motor current at the time of the switching,
Duty ratio of the first PWM signal and the third PWM signal, angular velocity of motor, counter electromotive force constant of motor, power supply voltage supplied to motor drive circuit, and resistance component of equivalent electric circuit of motor and drive circuit The motor drive control device according to claim 4, which is a function of:
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11509899A JP3309828B2 (en) | 1999-04-22 | 1999-04-22 | Motor drive control device |
| DE19981253T DE19981253T1 (en) | 1998-06-09 | 1999-06-07 | Motor driver control system |
| PCT/JP1999/003021 WO1999065138A1 (en) | 1998-06-09 | 1999-06-07 | Motor drive control apparatus |
| US09/485,394 US6400116B1 (en) | 1998-06-09 | 1999-06-07 | Motor drive control apparatus |
| KR1020000020452A KR100710515B1 (en) | 1999-04-22 | 2000-04-18 | Motor drive control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11509899A JP3309828B2 (en) | 1999-04-22 | 1999-04-22 | Motor drive control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000308386A true JP2000308386A (en) | 2000-11-02 |
| JP3309828B2 JP3309828B2 (en) | 2002-07-29 |
Family
ID=14654172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11509899A Expired - Fee Related JP3309828B2 (en) | 1998-06-09 | 1999-04-22 | Motor drive control device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3309828B2 (en) |
| KR (1) | KR100710515B1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002369569A (en) * | 2001-06-04 | 2002-12-20 | Nsk Ltd | Brushless motor drive control unit |
| JP2017518020A (en) * | 2014-06-03 | 2017-06-29 | エムエムティー エスアー | Self-switching reversible linear actuator with two-wire control |
| CN114826036A (en) * | 2022-05-30 | 2022-07-29 | 南京凌博电子科技有限公司 | Brushless direct current motor control method capable of reducing phase-change torque pulsation |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100757997B1 (en) * | 2001-03-14 | 2007-09-11 | 아키라 호사카 | Magnetic motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2954615B2 (en) * | 1989-11-24 | 1999-09-27 | 株式会社日立製作所 | Motor drive control device |
-
1999
- 1999-04-22 JP JP11509899A patent/JP3309828B2/en not_active Expired - Fee Related
-
2000
- 2000-04-18 KR KR1020000020452A patent/KR100710515B1/en not_active IP Right Cessation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002369569A (en) * | 2001-06-04 | 2002-12-20 | Nsk Ltd | Brushless motor drive control unit |
| JP2017518020A (en) * | 2014-06-03 | 2017-06-29 | エムエムティー エスアー | Self-switching reversible linear actuator with two-wire control |
| CN114826036A (en) * | 2022-05-30 | 2022-07-29 | 南京凌博电子科技有限公司 | Brushless direct current motor control method capable of reducing phase-change torque pulsation |
| CN114826036B (en) * | 2022-05-30 | 2023-11-03 | 南京凌博电子科技有限公司 | Brushless direct current motor control method capable of reducing commutation torque pulsation |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20000077041A (en) | 2000-12-26 |
| JP3309828B2 (en) | 2002-07-29 |
| KR100710515B1 (en) | 2007-04-23 |
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