200538322 玖、發明說明： 【發明所屬之技術領域】 本發明係為一種電子變速器，尤指一種使電動载夏抻 制馬達速度時，可呈現多段式或無段式變速功效的電子: 速器。 欠 【先前技術】 為了增加電動載呈的心山4 一 m 執一的輸出扭力以及兼具有寬廣的速戶 二：電動載具馬達會配合機械減速傳動裝置，以進行： 速來增加扭力帶動車於 战 及杳㈣ιΓ 了要使電動載具具有舒適性 :的動力需搭配適當的機械變速器。 且有的傳動裝置為一種固定減速比的減速機構，其 p、# 厚裇扣失小、效率高等優點，但固 矩提升，但運轉極速^範圍，雖然可使啟動轉 ^文小，欲達到需要的加速性盥輸出 極速在馬達輸出功率與減速比必須做適當的選配。/、 提出==點，申請人於民國八十八年五月十九曰 知出一發明申請案，並於八 其為公告第401923號「利用作2八月十—曰核准公告， 速電動車動力控制裝置」發明專交利。，馬達之電子式兩段變 所示，其主要利用切換馬達::::二其第四“）圖 子變速之電動車動力控制裳置^士以產生兩段式電 各相線圈為雙重繞組結構，並配合=、、'°構馬達係令馬達 兩雙重繞組呈串聯或並聯，藉以二開關：供切f 結構。亦即，以電子變速控 、、、—相線圈的繞袓 制方式控制電子開關，令馬達 200538322 雙重繞組進行串並聯切換，使馬達輸出特性隨實際 適時改變，以構成電子式兩段變速之輸出特性: 么明直接對载具馬達内繞組加入電子 h壯φ I + …、而外加任 何装置或馬達，即可達到兩段式變速的目的。 一淮，别揭二相馬達線圈不但要重新並入—繞組，而且 =二相：達亦需要配合九個電子開關’才能達到二段的變 二：應用至多段變速’則勢必要重新設計各相線圈的 …且、”。冓，相對地亦需增加電子開關的數量，此外，由於 開關分別受繞組切換電路控制啟閉，當電子開關數量 化夕，繞組切換電路亦需隨之改變。是以，此— 貫改：機械式變速器的缺點，但仍有應用上的困難，是以 ，申請人再承襲前揭發明案的設計精神，再提出一種 =於擴充多段式變速的電子變速器，有助於未來電呈 的發展性及競爭力。 /、 【發明内容】 辞Μ 2纟發明的主要目的係提供一種以結構簡單的變 …、達到多段變速效果的電子式變速器，可盘載具 馬達呈一體式的結構設計。 一 ’、 、”欲達上述目的所使用之主要技術手段係令該電子式變 速&係主要連接至一個三相線圈馬達，馬達線圈上係定義 有不同線圈段，其中該電子式變速器係包含有： —個電子開關’各電子開關係包含有對應線圈的複數 /又的夕&開關接點’各段開關接點係分別連接於線圈 奴與馬達驅動電路之間； 200538322 一控制切換手段，係連接至三個 子 達 一個電子開關，以控制電 開關特定段開關接點的啟閉動作， ^ Μ決定馬達線圈與馬 驅動電路連接的匝數。 關連接於線圈及馬達 加以控制，令馬達隨 ’當馬達驅動電路導 達會輸出不同扭力， 電動載具欲開發不同 配合採用多段開關接 上述電子變速器主要藉由電子開 驅動電路之間，並且由控制切換手段 時構成有不同匝數的三相線圈，是以 通時，隨著不同匝數的線圈變化，馬 進而達到變速的功效。由是可知，者 田 段的變速功效，係依上述連接方式， 點的電子開關即可達成之。 【實施方式】 本發明係為一 圖及第二圖所示， 線圈（2 1 )〜（ 有： 種電子式變速器， 該電子變速器（工 23)的馬達（2 首先請配合參閲第一 〇 )係與一具有三相 〇)連接，主要包含 關係包含有至少二個開關接點（s : ϋ 於三相線圈（21)〜（ ：並分物 /八 各相線圈（9 1、 〜（2 3 )的適當位置透過對應電子開關 2 )的開關接點（S1) (S2)連接至〜。200538322 发明 Description of the invention: [Technical field to which the invention belongs] The present invention is an electronic transmission, especially an electronic speed controller that can exhibit multi-stage or stepless speed-change effect when the electric load summer motor is used to control the speed of the motor. Lack [prior art] In order to increase the electric torque of the Xinshan 4 one m fixed output torque and have a wide speed household II: The electric vehicle motor will cooperate with the mechanical reduction transmission to perform: speed to increase the torque drive In order to make the electric vehicle comfortable, the vehicle needs to be matched with a suitable mechanical transmission. And some transmissions are a kind of fixed reduction ratio reduction mechanism, which has the advantages of small p, # thick buckle loss, high efficiency, etc., but the solid moment is improved, but the speed is extremely high, and the starting speed is small. The required acceleration output speed must be appropriately selected in the motor output power and reduction ratio. / 、 Put forward == point, the applicant knew an application for invention on May 19th, 1988, and published it as Announcement No. 401923, "Used as August 10th-Approval Announcement, Speed Electric The "vehicle power control device" invented the exclusive profit. As shown in the electronic two-stage transformer of the motor, it mainly uses switching motors :::: two and its fourth ") Figure to change the speed of the electric vehicle power control gear to generate two-stage electric phase coils for double winding Structure, and cooperate with = ,, '° structure of the motor system to make the two double windings of the motor in series or parallel, by two switches: supply cut f structure. That is, the electronic variable speed control, and-phase coil winding control The electronic switch makes the motor 200538322 double-winding switch in series and parallel, so that the output characteristics of the motor change in time with the actual situation, to form the output characteristics of the electronic two-speed transmission: Meming directly adds electronics to the internal winding of the vehicle motor φ I +… And, with the addition of any device or motor, the purpose of two-stage speed change can be achieved. Yihuai, do n’t expose the two-phase motor coils not only re-integrate into the winding, but also = two-phase: Tat also needs to cooperate with nine electronic switches. Reaching the second stage of change two: the application to multi-stage speed change 'necessary to redesign the coils of each phase ... and, ". Alas, the number of electronic switches also needs to be increased relatively. In addition, since the switches are controlled by the winding switching circuit, the winding switching circuit also needs to be changed when the number of electronic switches becomes large. Therefore, this-continuous reform: the disadvantages of mechanical transmissions, but there are still difficulties in application. Therefore, the applicant inherited the design spirit of the previously disclosed invention, and then proposed an electronic transmission that expands the multi-stage transmission. Contribute to the development and competitiveness of the future telecom. / [Summary of the invention] The main purpose of the invention is to provide an electronic transmission with a simple structure and a multi-stage transmission effect. The disc carrier motor has an integrated structural design. The main technical means used to achieve the above purpose is to make the electronic transmission & mainly connected to a three-phase coil motor. Different coil segments are defined on the motor coil. The electronic transmission includes There are: — an electronic switch 'each electronic opening relationship includes a plurality of coils of the corresponding coil & switch contacts' each section of the switch contacts are respectively connected between the coil slave and the motor drive circuit; 200538322 a control switching means It is connected to three electronic switches to control the opening and closing action of the switch contacts in a specific section of the electrical switch. ^ M determines the number of turns connected to the motor coil and the horse drive circuit. The connection is connected to the coil and the motor to control the motor. As the motor drive circuit is turned on, it will output different torques. Electric vehicles want to develop different combinations. The multi-stage switch is used to connect the electronic transmission. The electronic transmission is mainly driven by the electronic circuit, and three turns with different turns are formed by the control switching means. Phase coil, when the coil is on, with the change of the coils of different turns, the horse then achieves the effect of variable speed. It can be seen that the speed-changing effect of the Zhetian section can be achieved according to the above-mentioned connection method, and the electronic switch can be achieved. [Embodiment] The present invention is shown in a figure and a second figure, the coil (2 1) ~ (there are: An electronic transmission, the motor of the electronic transmission (23) is connected to a motor with a three-phase 0), which mainly includes a relationship including at least two switch contacts (s: ϋ The three-phase coils (21) to (: and the divided / eight-phase coils (91, ~ (23)) are connected to ~ through the switch contacts (S1) (S2) corresponding to the electronic switches 2).
0 各電子開關可為一繼電器；及、動電路（E 一控制切換手段（4 〇 ) )〜（3 2 )的各段開關接點 以決定馬達三相線圏（2 1 ) 係控制各電子開關（3 (S1 ) ( S2)的啟閉動# 〜（2 3 )與馬達驅動電 200538322 (5 0 )連接的匝數。 上述馬達（2 Π彳 q 9 )夂以 糸主要藉由電子開關（3 0 )〜（ 3 2 )各奴開關接點（s (S2 )連接於各相線圈（2 1 ) (23)的數段適當位晉 1置與馬達驅動電路（5 0 )之 間，透過控制切換手段（ )使開關接，點（S1) (S2) 導通或關閉，決定各相線圈 動雪败…、 線圈（2 1 )〜（2 3 )與馬達驅 動電路（5 0 )連接的匝數， 数猎以酼時切換而構成具有不 同一相線圈®數的馬達（2 〇 ) J U ) §馬達驅動電路（5 〇 )啟動時’即可由控制切 „^ ^ 谀予奴（4 0 )控制不同位置的 開關接點（S1 ) ( S2)龄 μ 閉，以驅動馬達（2 0)輸出 如此一來，在電動載具的應用上，本發明確每 可提供不同段的變速切換功能。 只 如第二圖所示，係為本發明一個二段式變速的馬 圈與電子開關連接的示意圖。馬達各線圈係定義 _ 線圈段（叫㈤），並配合具有二段開關接點（叫 的電子開關（3())〜（32)。其中第—段開關 點（S1 )係連接於第—及第二線圈段（Ν” （ μ ) 郴：與馬達駆動電路之間，而第二段開關接點（幻）則連 接於第二線圈段（N2 )的自由端與馬達驅動電路之間。 當控制切換手段控制三個電子開關（3 〇 )〜（3 2 )的第一段開關接點（S1 )導通，則該馬達（2 〇 )的三 線圈（2 1 )〜（2 3 )只有一半匝數與馬達驅動電路連 接，其輸出動力較低。若控制切換手段控制三個 (οΠλ % 4 「幵]關 U )〜（3 2 )的第二段開關接點（S2 )，則馬達 200538322 2 〇 )的三相線圈（2 1 )〜（2 3 )的全部阻數將與馬 達驅動電路連接，而驅動馬達輸出較大動力。以下即為原 理說明： ^ 以一般永磁式無刷同步馬達來說，其轉矩常數為尽， 在標準單位下等於反電動勢常數而永磁式無刷同步 馬達的反電動勢可以下列公式表示之. i ααπ 其中〈是實際馬達的修正因子，ζ為總導體數，^表 馬達氣隙磁通量，P為磁極數，數，α為每相繞以 的並聯分支數（常數）。 當線龍數較少時，該反電動勢為小，故而馬達的轉 速可提高’反之，當線随數較多時，線圈的反電㈣為 是以，會降低馬達的轉速。基於第一圖的連接方式*， 弟一較佳實施例，確實可提供高、低兩段的變速，如第二 請再配合參閱第四圖所示 例，係為一二段變速的馬達線 ’各馬達線圈定義有三線圈段 有二段開關接點的電子開開（ ’係為本發明第二較佳實施 圈與電子開關的連接示意圖 (Νυ〜（Ν3)，以配合具 3〇’）〜（32’），其中 第一段開關接點 (Ν2)之相鄰點 第二段開關接點 (Ν3)之相鄰點 Ν1 ) Ν2) (S1 )係連接於第一與第二線圈段 及馬達驅動電路之間； (S2 )則連接於第二與第三線圈段 及馬達駆動電路之間；及 200538322 第三段開關接點係連接於第三線圈段（N3)自由端及 馬達驅動電路之間。 如此，藉由控制切換手段控制特定一段的開關接點開 啟，其餘二段關閉，則可變化出三種不同線圈阻數的馬達 ’是以，㈣上述反電動勢的公式，馬達會有三種不同的 轉速，如第五圖所示。 再請參閱第六圖所示，係為本發明第三較佳實施例， 各馬達線圈可^義為四線圈段（N1)〜（N4)，並配合具 有四段開關接點（S1)〜（S4)的電子開開（3〇”）〜 (3 2 ” ），其中： 第一丰又開關接點（S1 )係連接於第一與第二線圈段（ )(N2 )之相鄰點及馬達驅動電路之間； 第二段開關接點（S2)則連接於第二與第三線圈段（ N2) (N3)之相鄰點及馬達驅動電路之間； 第三段開關接點（S3)則連接於第三與第四線圈段（ N3) (N4)之相鄰點及馬達驅動電路之間丨及 第四段開關接點（S4)係連接於第四線圈段（N4)自 由端及馬達驅動電路之間。 、 單馬達（2 〇)即可構成四種不同三相線圈 阻數的態樣’而具有四段變速，如第七圖所示。 4 了使本务明的馬達複數段變速具有更平滑的輸 w特性’本發明係提供_個馬達驅動電 實施例’如第八圖所示，其包含有： _ 一轉速估測單元（5 係連接至該馬達（2 〇 ) 200538322 ' ^ /則馬達（2 〇 )的轉速變化，並輸出一對應的轉速 信號； 轉矩命令轉換器（5 2 )，其輸入端分別連接該轉 速估測I，π 早 （51)及一變速命令輸入端（53)，其内 建有轉矩函數表，依照轉速信號及變速命令輸出平滑的轉 矩函數’如第九圖所示； 一轉矩/電流命令轉換器（5 4 )，其一輸入端係連 接至该轉矩命令轉換器（5 2 )的輸出端，另一輸入端則 =過一相位控制單元（55)及一霍爾元件（56)，取 付馬達換相的狀態，再依照馬達換相狀態及轉矩函數後， 將轉矩函數換算為適當的電流驅動信號；及 一電流控制器（5 7 )，其輸入端連接至該轉矩/電 流命令轉換器的輸出端（54)，而輸出端則透過一功率 放大器（5 8 )連接至馬達（2 〇 )三相線圈，以將適告 的驅動電流輸入至馬達（2〇)，令馬達（2〇)轉動。田 上述馬達驅動電路（5 〇 )係主要設計有轉矩命令轉 換器（52)，當電子變速器有變速命令輸入時，因該轉 矩命令轉換器（5 2 )内建有對應轉矩函數表，故可作為 後級驅動電流大小的整依據，以㈣+滑上彳或平滑下 降的驅動電流，令馬達於變速過程中可輸出較為平滑變化 的轉速’而具有無段式變速效果。 以上，本發明確實無需重 僅需依照電動載具的實際變速 接有開關，即可透過電子控制 新設計馬達各相線圈繞組， 需求，於各線圈適當位置連 ’而隨時切換為具有不同線 200538322 就結構設計來說，相 電動載具。再者，由 關，故對於設計應用 能比傳統機械式的結 簡單。如本發明再配 速修正為無段變速， 技術領域上，提供一 爭力’符合產業上利 要件，爰依法具文提 圈匝數的馬達，進而達到多段變效， 當簡單，並且易於應用於多段變速的 於本發明採用多段開關接點的電子開 在多段變速的電子變速器上，輸出性 構可大幅改善，更可使得架構上更為 合前述馬達驅動電路，更可將多段變 令電動載具具有更為舒適的乘坐感。 為此，本發明確實於電動載具的 種實用性高，且可提升電動載具的競 用性，並兼具有發明新穎性及進步性 出申請 圖式簡單說明】 (一）圖式部分 第一圖：係本發明的一功能方塊圖。 第一圖·係本發明馬達線圈與電子開關第 的連接示意圖。 平乂貝她0 Each electronic switch can be a relay; and the moving circuit (E a control switching means (4 0)) to (3 2) each section of the switch contacts to determine the motor three-phase line 圏 (2 1) is to control each electronic The number of turns of the switch (3 (S1) (S2) on and off # ~ (2 3) and the motor driving electric 200538322 (50)). The above motor (2 Π 彳 q 9)) mainly uses electronic switches (3 0) to (3 2) each slave switch contact (s (S2)) is connected between the appropriate bits of each phase coil (2 1) (23) and the motor drive circuit (50) By controlling the switching means (), the switch is connected, and the points (S1) (S2) are turned on or off to determine the failure of the coils of each phase ... The coils (2 1) to (2 3) are connected to the motor drive circuit (50). The number of turns, the number of hunting and switching to form a motor with a different one-phase coil ® number (2 〇) JU) § Motor drive circuit (5 〇) at start-up can be cut by the control ^ ^ 谀 予 奴 (4 0 ) Control the switch contacts (S1) (S2) at different positions to close μ to drive the motor (20) to output. In this way, in the application of electric vehicles, the present invention can Provides the speed change function of different stages. As shown in the second figure, it is a schematic diagram of the connection of a two-stage speed-changing horse ring with an electronic switch according to the present invention. Each coil system of the motor defines a coil section (called ㈤) and cooperates with it. It has two stage switch contacts (called electronic switches (3 ()) ~ (32). Among them, the first stage switch point (S1) is connected to the first and second coil sections (N "(μ)): with the motor Between the moving circuit, and the second stage switch contact (magic) is connected between the free end of the second coil segment (N2) and the motor drive circuit. When the control switching means controls three electronic switches (3 0) ~ ( 3 2) The first stage switch contact (S1) is turned on, and then only half of the three coils (21) to (23) of the motor (20) are connected to the motor drive circuit, and its output power is low. If the control switching means controls three (οΠλ% 4 「幵] 关 U） ~ (3 2) second-stage switch contacts (S2), the motor 200538322 2 〇) three-phase coil (2 1) ~ (2 3) All the resistances will be connected to the motor drive circuit, and the drive motor will output a larger power. The following is Explanation of the principle: ^ For a general permanent magnet brushless synchronous motor, its torque constant is exhausted, which is equal to the back electromotive force constant in standard units and the back electromotive force of a permanent magnet brushless synchronous motor can be expressed by the following formula. I ααπ Where <is the correction factor for the actual motor, ζ is the total number of conductors, ^ is the air gap magnetic flux of the motor, P is the number of magnetic poles, and α is the number of parallel branches wound around each phase (constant). When the number of wire dragons is small The back electromotive force is small, so the speed of the motor can be increased. Conversely, when the line number is large, the back electromotive force of the coil is set to yes, which will reduce the speed of the motor. Based on the connection method in the first figure *, the preferred embodiment of the first one can indeed provide high and low speeds. For the second, please refer to the example shown in the fourth figure for a two-speed motor line. Each motor coil is defined as an electronic switch with three coil sections and two switch contacts ('This is a schematic diagram of the connection between the second preferred embodiment of the present invention and the electronic switch (Nυ ~ (Ν3) to match with 3〇') ~ (32 '), where the adjacent point of the first stage switch contact (N2) and the adjacent point of the second stage switch contact (N3) are N1), N2) (S1) are connected to the first and second coil sections and (S2) is connected between the second and third coil sections and the motor drive circuit; and 200538322 the third switch contact is connected to the free end of the third coil section (N3) and the motor drive circuit between. In this way, by controlling the switchover means to control the switch contact of a specific section to open and the other two sections to be closed, three different motors with different coil resistances can be changed. , As shown in the fifth figure. Please refer to FIG. 6 again, which is the third preferred embodiment of the present invention. Each motor coil can be defined as a four-coil section (N1) to (N4), and is equipped with a four-section switch contact (S1) to (S4) The electronic opening (3〇 ") ~ (3 2"), where: the first switch contact (S1) is connected to the adjacent points of the first and second coil segments () (N2) And the motor drive circuit; the second stage switch contact (S2) is connected between the adjacent points of the second and third coil sections (N2) (N3) and the motor drive circuit; the third stage switch contact ( S3) is connected between the adjacent points of the third and fourth coil segments (N3) (N4) and the motor drive circuit, and the fourth switch contact (S4) is connected to the fourth coil segment (N4) freely End and motor drive circuit. A single motor (20) can form four different three-phase coil resistance patterns' and has a four-stage speed change, as shown in the seventh figure. The present invention provides _ a motor-driven electrical embodiment 'as shown in the eighth figure, which includes: _ a speed estimation unit (5 It is connected to the motor (2 0) 200538322 '^ / then the speed of the motor (2 0) changes and outputs a corresponding speed signal; the torque command converter (5 2), its input end is connected to the speed estimation I, π early (51) and a speed command input terminal (53), which has a built-in torque function table, and outputs a smooth torque function according to the speed signal and speed command, as shown in the ninth figure; a torque / One input terminal of the current command converter (5 4) is connected to the output terminal of the torque command converter (5 2), and the other input terminal is passed through a phase control unit (55) and a Hall element ( 56), taking the commutation state of the motor, and then converting the torque function into an appropriate current drive signal according to the commutation state of the motor and the torque function; and a current controller (57), whose input terminal is connected to the The output (54) of the torque / current command converter, and the output A power amplifier (58) is connected to the three-phase coil of the motor (20) to input a suitable driving current to the motor (20) to rotate the motor (20). The above-mentioned motor drive circuit (50) ) Is mainly designed with a torque command converter (52). When the electronic transmission has a speed command input, the torque command converter (5 2) has a corresponding torque function table built in, so it can be used as a post-stage drive current. The basis of the size is based on ㈣ + sliding up 平滑 or smoothly falling driving current, so that the motor can output a relatively smooth changing speed during the speed change process, and has a stepless speed change effect. As mentioned above, the present invention does not need to be heavy. The actual transmission of the electric vehicle is connected with a switch, and the windings of the coils of each phase of the newly designed motor can be controlled electronically. Demands can be connected at appropriate positions of the coils to switch to different lines at any time. 200538322 . Moreover, because of the off, design and application can be simpler than traditional mechanical knots. For example, if the speed adjustment of the present invention is modified to stepless speed change, in the technical field, it provides a competitive force. In accordance with the industrial requirements, the motor with the number of turns is provided according to the law, thereby achieving multi-stage conversion. When simple and easy to apply to multi-speed transmission, the electronic transmission using multi-stage switch contacts of the present invention is an electronic transmission with multi-speed transmission. In the above, the output structure can be greatly improved, and the architecture can be more in line with the aforementioned motor drive circuit, and multiple stages can be changed to make the electric vehicle have a more comfortable ride. For this reason, the present invention is indeed applicable to electric vehicles. This type has high practicability and can improve the competitiveness of electric vehicles. It also has the novelty and advancement of invention. Brief description of the application drawings. (1) The first part of the schematic part: a functional block of the present invention Fig. 1 is a schematic diagram showing the connection between a motor coil and an electronic switch according to the present invention. Ping An Bei She
第三圖··係為第二I 一圖的馬達轉矩與轉速的關係圖。 苐四圖·係本發明 的連接示意圖。馬達線圈與電子開關第二較實施 = 第四圖的馬達轉矩與轉速的關係圖。 '、發明馬達線圈與電子p幵1關第三較奋施 的連接示意圖。 布竿乂貝加 第六圖的馬達轉矩與轉速的關係圖。 ",、二、纟發明馬達驅動電路的一車交佳實施例 200538322 其與馬達之間省略電子開關的連接關係。 第九圖：係為轉矩命令轉換器内建的轉矩函數對應不 同段變速曲線圖。 第十圖：係為本發明第八圖應用於第六圖的轉矩與轉 速關係圖。 (二）元件代表符號 (1〇)電子變速器 (2 0 )馬達 (2 1 )〜（2 3 )線圈 (3 0 )〜（3 2 )電子開關 (3 0 ’）〜（3 2 Ί電子開關 (3 0 〜（3 2 電子開關 (4 0 )控制切換手段 (5 0 )馬達驅動電路 (5 1 )轉速估測單元 (5 2 )轉矩命令轉換器 (53)變速命令輸入端 (5 4 )轉矩/電流命令轉換器 (5 5 )相位控制單元 (5 6 )霍爾元件 (5 7 )電流控制器 (5 8 )功率放大器The third diagram is a diagram of the relationship between the motor torque and the speed in the second diagram. Fig. 4 is a connection diagram of the present invention. The second comparison of the motor coil and the electronic switch = The graph of the relationship between the motor torque and the speed in the fourth diagram. '、 Invented a schematic diagram of the connection between the motor coil and the electronic p 幵 1. Figure 6: The relationship between motor torque and speed in the sixth figure. ", Second, Second, the invention of a motor vehicle driving circuit is a preferred embodiment of the vehicle 200538322 and the connection relationship between the electronic switch and the motor is omitted. The ninth figure: It is a graph of the speed curve corresponding to different stages of the built-in torque function of the torque command converter. The tenth graph: is the torque and speed relationship graph applied to the sixth graph in the eighth graph of the present invention. (2) Symbols of components (1〇) Electronic transmission (2 0) Motor (2 1) ~ (2 3) Coil (3 0) ~ (3 2) Electronic switch (3 0 ') ~ (3 2 Ί Electronic switch (3 0 to (3 2) Electronic switch (4 0) Control switching means (50) Motor drive circuit (5 1) Speed estimation unit (5 2) Torque command converter (53) Speed command input terminal (5 4 ) Torque / current command converter (5 5) Phase control unit (5 6) Hall element (5 7) Current controller (5 8) Power amplifier