JPH11235087A - Motor driving control by batch current control - Google Patents
Motor driving control by batch current controlInfo
- Publication number
- JPH11235087A JPH11235087A JP10050074A JP5007498A JPH11235087A JP H11235087 A JPH11235087 A JP H11235087A JP 10050074 A JP10050074 A JP 10050074A JP 5007498 A JP5007498 A JP 5007498A JP H11235087 A JPH11235087 A JP H11235087A
- Authority
- JP
- Japan
- Prior art keywords
- current
- motor
- circuit
- phase
- control
- 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.)
- Withdrawn
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Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ＤＣブラシレス・
モータやインダクション・モータの可変速駆動分野に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a DC brushless
In the field of variable speed driving of motors and induction motors.
【０００２】[0002]
【従来の技術】ＤＣブラシレス・モータやインダクショ
ン・モータの駆動制御手段については数多くの制御回路
と制御方法が開発されており、その１例を図５に示す。
図５において、モータ１１０の駆動回路は夫々２つのス
イッチ素子１０１と１０２、１０３と１０４、１０５と
１０６を直列接続して構成した３つのアームを備えてお
り、夫々のアームの両端は直流電源（図示せず）の両端
に並列接続してある。また、夫々のアームにおけるスイ
ッチ素子同士の接続点とモータ１１０の出力端子間には
電流センサ１０７，１０８，１０９が設けてある。夫々
のスイッチ素子は逆並列接続したダイオードを備えてお
り、スイッチ素子がオフとなった時における転流ダイオ
ードとなる。2. Description of the Related Art Numerous control circuits and control methods have been developed for drive control means for a DC brushless motor or induction motor. One example is shown in FIG.
In FIG. 5, the drive circuit of the motor 110 includes three arms each configured by connecting two switch elements 101 and 102, 103 and 104, and 105 and 106 in series, and both ends of each arm are connected to a DC power supply ( (Not shown) are connected in parallel at both ends. Current sensors 107, 108, and 109 are provided between the connection points of the switch elements of each arm and the output terminal of the motor 110. Each switch element has a diode connected in anti-parallel, and becomes a commutation diode when the switch element is turned off.
【０００３】上述したモータ駆動回路におけるスイッチ
素子をオン・オフ制御してモータを駆動する制御方法に
ついては各種の方法が公知であり、安価な制御方法とし
ては１２０°通電ドライブ方法や１８０°正弦波ドライ
ブ方法等がある。図５における制御方法は１８０°正弦
波ドライブ方法を採用した例であって、電気角１８０°
ごとに波形の極性が反転する１２０°位相のずれた３相
の正弦波信号が、制御電流指令回路１２０からの指令信
号として電流センサ１０７〜１０９からの検出信号とオ
ペアンプ１１１〜１１３において比較される。オペアン
プ１１１〜１１３の検出信号は、モータ１１０の駆動回
路におけるスイッチ素子１０１と１０２、１０３と１０
４および１０５と１０６を位相差１２０°間隔で、かつ
夫々のグループ間においては交互にオン・オフするよう
に論理回路が構成してある。Various methods are known for controlling the motor by controlling on / off of the switch elements in the above-described motor drive circuit. As inexpensive control methods, a 120 ° conduction drive method and a 180 ° sine wave drive method are known. There are driving methods and the like. The control method in FIG. 5 is an example in which a 180 ° sine wave drive method is adopted, and the electrical angle is 180 °.
A three-phase sine wave signal having a phase shift of 120 °, in which the polarity of the waveform is inverted every time, is compared as a command signal from the control current command circuit 120 with detection signals from the current sensors 107 to 109 in the operational amplifiers 111 to 113. . The detection signals of the operational amplifiers 111 to 113 correspond to the switch elements 101 and 102, 103 and 10 in the drive circuit of the motor 110.
The logic circuit is configured so that the phases 4 and 105 and 106 are turned on and off alternately at a phase difference of 120 ° and between the respective groups.
【０００４】[0004]
【発明が解決しようとする課題】上述した１８０°通電
の正弦波ドライブ方法によるとモータのトルクリップル
やモータ騒音は充分に低くてよいが、制御回路内で正弦
波を作り出さなくてはならず、複雑な回路構成となって
高価格になる。According to the above-described sine wave driving method with 180 ° conduction, the torque ripple and motor noise of the motor may be sufficiently low, but a sine wave must be generated in the control circuit. It becomes a complicated circuit configuration and becomes expensive.
【０００５】また、１２０°通電ドライブ方法では、制
御系を１つのハイブリットＩＣにとりまとめた市販品が
あり、制御回路を簡単に構成できで安価である。しかし
乍ら、１２０°方形波電流をオン・オフ制御するもので
あるから大きなトルク・リップルが発生し、モータ騒音
も大きくなる。In the 120 ° energizing drive method, there is a commercially available product in which the control system is integrated into one hybrid IC, and the control circuit can be simply constructed and is inexpensive. However, since the on / off control of the 120 ° square wave current is performed, a large torque ripple is generated and the motor noise is also increased.
【０００６】[0006]
【課題を解決するための手段】本発明は、上述した従来
技術の欠点を解消するためになされたものであって、ス
イッチ素子に流れ込む正方向電流のみを電流センサによ
って検出して一括し、この検出信号を制御電流指令信号
と比較したうえで、３相用の１８０°デューディで位相
差１２０°の方形波信号と演算してＰＷＭ電流制御信号
を生成させ、これらの信号によって夫々のスイッチ素子
をオン・オフ制御すると、３組のハーフブリッジ回路は
位相１２０°で運転され、電流方向は６０°毎に切り替
わる擬似正弦波電流制御が可能となる。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned drawbacks of the prior art, and detects only a positive current flowing into a switch element by a current sensor and collectively detects the positive current. After comparing the detection signal with the control current command signal, a PWM current control signal is generated by calculating a square wave signal having a phase difference of 120 ° with a 180 ° duty for three phases, and each switch element is generated by these signals. With the on / off control, the three sets of half-bridge circuits are operated at a phase of 120 °, and a pseudo sine wave current control in which the current direction switches every 60 ° is possible.
【０００７】[0007]
【発明の実施の形態】以下、本発明の実施例を図面を参
照しながら説明する。図１は、本発明による実施例であ
って、ＤＣブラシレス・モータまたはインダクション・
モータにも適用される駆動回路の構成を示すブロック図
である。図１において、直列接続した２つのスイッチ素
子１と２、３と４および５と６より成る３つのハーフブ
リッジ回路は、直流電源の両端に並列接続してあり、夫
々のハーフブリッジ回路におけるスイッチ素子同士の接
続点はリアクタ２０〜２２および並列コンデンサ２３〜
２５より成るＬＣ回路を介してモータ８の出力端子に接
続してある。また、２つのダイオード２６と２７、２８
と２９および３０と３１を夫々直列接続して直流電源の
両端に並列接続してある回路は、スイッチ素子１〜６が
オフとなった時における転流ダイオードを構成してい
る。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment according to the present invention, in which a DC brushless motor or an induction motor is used.
FIG. 3 is a block diagram illustrating a configuration of a drive circuit applied to a motor. In FIG. 1, three half-bridge circuits consisting of two switch elements 1 and 2, 3 and 4 and 5 and 6 connected in series are connected in parallel to both ends of a DC power supply. The connection points between the reactors 20 to 22 and the parallel capacitors 23 to
25 is connected to the output terminal of the motor 8 through an LC circuit. Also, two diodes 26, 27, 28
And 29 and 30 and 31 are connected in series and connected in parallel to both ends of the DC power supply, respectively, and constitute a commutation diode when the switch elements 1 to 6 are turned off.
【０００８】電流センサ７は転流ダイオード３１のアノ
ード側とスイッチ素子２のソース端子との間に挿入して
あるので、夫々のスイッチ素子に流れ込む正方向電流、
即ちスイッチ素子から直流電源のマイナス極へ流れる電
流のみを一括して検出する。モータの回転速度やトルク
に対応する制御電流指令値は、制御電流指令回路１０か
ら出力され、電流センサ７の検出信号と共にオペアンプ
９に入力して比較される。一方、電気角１８０°毎にオ
ン・オフ制御する方形波であって、１２０°位相のずれ
た３相の搬送波信号は、ＥＸＮＯＲ回路１５，１７，１
９の一方の端子に入力すると共に、ＮＯＴ回路１１，１
２，１３を介してＥＸＮＯＲ回路１４，１６，１８の一
方の端子に入力する。オペアンプ９からの出力信号はＥ
ＸＮＯＲ回路１４〜１９の他方の端子に入力するように
構成されており、前記３相の搬送波信号とオペアンプ９
の出力信号はＥＸＮＯＲ回路１４〜１９において演算さ
れ、スイッチ素子１〜６のゲート信号を生成する。Since the current sensor 7 is inserted between the anode side of the commutation diode 31 and the source terminal of the switch element 2, the forward current flowing into each switch element
That is, only the current flowing from the switch element to the negative pole of the DC power supply is detected collectively. The control current command value corresponding to the rotation speed and torque of the motor is output from the control current command circuit 10 and input to the operational amplifier 9 together with the detection signal of the current sensor 7 to be compared. On the other hand, a three-phase carrier signal which is a square wave whose on / off control is performed every electrical angle of 180 ° and whose phase is shifted by 120 ° is generated by the EXNOR circuits 15, 17, 1
9 and the NOT circuit 11, 1
Input to one terminal of EXNOR circuits 14, 16, 18 via 2, 13. The output signal from the operational amplifier 9 is E
The three-phase carrier signal and the operational amplifier 9 are configured to be input to the other terminals of the XNOR circuits 14 to 19.
Are output from EXNOR circuits 14 to 19 to generate gate signals of switch elements 1 to 6.
【０００９】図２は、本発明によるもう１つの実施例で
あって、モータ駆動回路を構成する夫々のスイッチ素子
は逆並列接続したダイオードを備えている。また、電流
センサ７1 ，７2 ，７3 はスイッチ素子２，４，６のソ
ース端子と直流電源のマイナス極との間に夫々設けてあ
る。上述したスイッチ素子２，４，６のオン電流のみを
検出するために、電流センサ７1 ，７2 ，７3 からの検
出信号はダイオード２０1 ，２０2 ，２０3 を介してオ
ペアンプ９に入力し、制御電流指令回路１０からの指令
値と比較される。オペアンプ９の検出信号と、３相用１
８０°デューティ、１２０°位相のずれた３相信号とを
ＮＯＴ回路１１，１２，１３およびＥＸＮＯＲ回路１４
〜１９に入力させて演算し、スイッチ素子１〜６のゲー
ト信号を生成する方法は図１におけるものと同一であ
る。FIG. 2 shows another embodiment according to the present invention, wherein each switch element constituting the motor drive circuit has a diode connected in anti-parallel. The current sensor 7 1, 7 2, 7 3 are respectively provided between the negative electrode of the DC power source and the source terminal of the switching element 2,4,6. To detect only the on current of the switch element 2, 4, 6 described above, the detection signal from the current sensor 7 1, 7 2, 7 3 diodes 20 1, 20 2, 20 input 3 to the operational amplifier 9 via the Then, it is compared with a command value from the control current command circuit 10. Detection signal of operational amplifier 9
The NOT circuits 11, 12, 13 and the EXNOR circuit 14 output the three-phase signals having an 80 ° duty and a 120 ° phase shift.
1 to 19 to calculate the gate signals of the switch elements 1 to 6 are the same as those in FIG.
【００１０】図１および図２におけるＥＸＮＯＲ回路１
４〜１９から出力されるゲート信号Ｑ1 〜Ｑ6 の信号波
形と、これらのゲート信号を入力してオン・オフ制御さ
れるスイッチ素子１〜６によって生成されるＵ相，Ｖ
相，Ｗ相の電流波形は、図４に示すような擬似正弦波と
なる。即ち、６つのスイッチ素子は夫々２つのスイッチ
素子より成るハーフブリッジ回路３組によって構成して
おり、ＰＷＭ電流制御しながら１８０°通電し、３回路
は夫々１２０°位相をずらして運転される。このために
電流方向は６０°毎に切り替わっていることが判る。ス
イッチ素子に流れ込む正方向電流を一括で制御し、スイ
ッチ素子のＰＷＭスイッチングを一括信号でオン・オフ
制御することにより、また、負荷側モータの回路インピ
ーダンスの変化を利用することにより、モータに流れ込
む電流は６０°毎に切り替わる擬似正弦波とすることが
でき、図３に示す通りである。さらに、図１に示すよう
に、駆動回路とモータとの間に簡単なＬＣ回路を挿入す
ることにより、正弦波に近づけることができる。EXNOR circuit 1 in FIGS. 1 and 2
A signal waveform of the gate signal Q 1 to Q 6 output from 4 to 19, U-phase produced by these switching elements 1 to 6 are on-off controlled by inputting a gate signal, V
The phase and W-phase current waveforms are pseudo sine waves as shown in FIG. That is, each of the six switch elements is constituted by three sets of half bridge circuits each including two switch elements. The three switches are operated at 180 ° while controlling the PWM current, and the three circuits are operated with a phase shift of 120 °. For this reason, it turns out that the current direction is switched every 60 degrees. The current flowing into the motor is controlled by collectively controlling the forward current flowing into the switch element and controlling the PWM switching of the switch element on / off by a collective signal, and by utilizing the change in the circuit impedance of the load side motor. Can be a pseudo sine wave that switches every 60 °, as shown in FIG. Further, as shown in FIG. 1, a sine wave can be approximated by inserting a simple LC circuit between the drive circuit and the motor.
【００１１】[0011]
【発明の効果】以上説明したように、６つのスイッチ素
子によって３つのハーフブリッジ回路を構成した駆動回
路において、夫々のスイッチ素子に流れ込む正方向電流
を一括して検出する電流センサを設け、３相用１８０°
デューティで位相差１２０°の信号と電流センサからの
検出信号とを比較制御することによって３つのハーフブ
リッジ回路をオン・オフ制御すると、６０°毎に電流方
向が切り替わる擬似正弦波電流が生成され、モータを駆
動させる。従って、従来技術による安価な１２０°ドラ
イブ回路と殆ど変らない安価な方法で擬似正弦波ドライ
ブが可能となるので、トルクリップやモータ騒音も少な
いドライブ方法を実現できる。As described above, in a drive circuit in which three half-bridge circuits are formed by six switch elements, a current sensor is provided for detecting the forward current flowing into each of the switch elements at a time. For 180 °
When the three half-bridge circuits are turned on / off by comparing and controlling a signal having a phase difference of 120 ° with a detection signal from the current sensor at a duty, a pseudo sine wave current is generated in which the current direction switches every 60 °, Drive the motor. Therefore, the pseudo sine wave drive can be performed by an inexpensive method which is almost the same as the inexpensive 120 ° drive circuit according to the prior art, so that a drive method with less torque clip and motor noise can be realized.
【図１】本発明によるモータ駆動回路の構成を示すブロ
ック図。FIG. 1 is a block diagram showing a configuration of a motor drive circuit according to the present invention.
【図２】本発明によるもう１つの実施例を示すブロック
図。FIG. 2 is a block diagram showing another embodiment according to the present invention.
【図３】３相モータの駆動電流波形図。FIG. 3 is a drive current waveform diagram of a three-phase motor.
【図４】ゲート信号とモータの各相電流の波形図。FIG. 4 is a waveform diagram of a gate signal and each phase current of the motor.
【図５】従来技術によるモータ駆動回路の構成を示すブ
ロック図。FIG. 5 is a block diagram showing a configuration of a motor drive circuit according to the related art.
１〜６ スイッチ素子 ７ 電流センサ ８ モータ ９ オペアンプ １０ 制御電流指令回路 １１〜１３ ＮＯＴ回路 １４〜１９ ＥＸＮＯＲ回路 1 to 6 switch element 7 current sensor 8 motor 9 operational amplifier 10 control current command circuit 11 to 13 NOT circuit 14 to 19 EXNOR circuit
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成１０年２月２３日[Submission date] February 23, 1998
【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 (1)
フブリッジ回路３組より成り、夫々のハーフブリッジ回
路の両端を直流電源の両端に並列接続すると共に、夫々
のハーフブリッジ回路におけるスイッチ素子同士の接続
点を３相モータの出力端子に接続して構成した３相モー
タの駆動回路において、 夫々のスイッチ素子に流れ込む正方向電流のみを一括し
て検出する電流センサを設け、前記３相モータに要求さ
れる回転速度やトルクに対応する制御電流指令値と前記
電流センサの検出電流とをオペアンプに入力させて比較
し、電気角１８０°毎にオン・オフを繰り返す方形波で
あって、位相差１２０°の３相の搬送波信号と前記オペ
アンプからの出力信号とを６つのＥＸＮＯＲ回路と３つ
のＮＯＴ回路より成る論理回路に入力させて演算し、前
記論理演算より生成されたＰＷＭ電流制御信号により、
前記３相モータの駆動回路を構成する３組のハーフブリ
ッジ回路を夫々１２０°位相をずらして駆動制御するよ
うにしたことを特徴とする一括電流制御によるモータ駆
動制御方法。1. A switch comprising three sets of half-bridge circuits in which two switch elements are connected in series. Both ends of each half-bridge circuit are connected in parallel to both ends of a DC power supply, and connection of the switch elements in each half-bridge circuit. In a three-phase motor drive circuit constructed by connecting points to output terminals of a three-phase motor, a current sensor is provided which collectively detects only the forward current flowing into each switch element, and is required for the three-phase motor. A control current command value corresponding to the rotation speed or torque and a detection current of the current sensor are input to an operational amplifier and compared, and a square wave that repeats on / off for every electrical angle of 180 °, and has a phase difference of 120 ° The three-phase carrier signal and the output signal from the operational amplifier are input to a logic circuit composed of six EXNOR circuits and three NOT circuits to perform an arithmetic operation. The PWM current control signal generated from the logic operation,
A motor drive control method by collective current control, wherein three half-bridge circuits constituting the drive circuit of the three-phase motor are drive-controlled with a phase shift of 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10050074A JPH11235087A (en) | 1998-02-16 | 1998-02-16 | Motor driving control by batch current control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10050074A JPH11235087A (en) | 1998-02-16 | 1998-02-16 | Motor driving control by batch current control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11235087A true JPH11235087A (en) | 1999-08-27 |
Family
ID=12848868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10050074A Withdrawn JPH11235087A (en) | 1998-02-16 | 1998-02-16 | Motor driving control by batch current control |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11235087A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001037418A1 (en) * | 1999-11-16 | 2001-05-25 | Wellington Drive Technologies Limited | Electric motor |
| GB2377097A (en) * | 2001-03-16 | 2002-12-31 | Bosch Gmbh Robert | Electrical induction machine with multi-phase converter |
| WO2005008878A1 (en) * | 2003-07-22 | 2005-01-27 | Sergio Adolfo Maiocchi | System for operating dc motors and power converters |
-
1998
- 1998-02-16 JP JP10050074A patent/JPH11235087A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001037418A1 (en) * | 1999-11-16 | 2001-05-25 | Wellington Drive Technologies Limited | Electric motor |
| US6765358B1 (en) | 1999-11-16 | 2004-07-20 | Wellington Drive Technologies Limited | Electric motor |
| GB2377097A (en) * | 2001-03-16 | 2002-12-31 | Bosch Gmbh Robert | Electrical induction machine with multi-phase converter |
| GB2377097B (en) * | 2001-03-16 | 2003-08-20 | Bosch Gmbh Robert | Electrical induction machine with multi-phase converter |
| WO2005008878A1 (en) * | 2003-07-22 | 2005-01-27 | Sergio Adolfo Maiocchi | System for operating dc motors and power converters |
| US7659678B2 (en) | 2003-07-22 | 2010-02-09 | Maiocchi Sergio A | System for operating DC motors and power converters |
| US8587238B2 (en) | 2003-07-22 | 2013-11-19 | Sergio A. Maiocchi | System for operating DC motors and power converters |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20050510 |