TWI760790B - Motor drive system and motor drive device - Google Patents

Motor drive system and motor drive device Download PDF

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TWI760790B
TWI760790B TW109124042A TW109124042A TWI760790B TW I760790 B TWI760790 B TW I760790B TW 109124042 A TW109124042 A TW 109124042A TW 109124042 A TW109124042 A TW 109124042A TW I760790 B TWI760790 B TW I760790B
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switching element
motor
upper arm
arm switching
power supply
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TW109124042A
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Chinese (zh)
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TW202107824A (en
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今孝公
山田康武
角口謙治
清水哲也
東良行
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日商三菱電機股份有限公司
日商村田機械股份有限公司
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    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0006—Arrangements for supplying an adequate voltage to the control circuit of converters
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • 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
    • H02M7/5387—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 in a bridge configuration

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Electronic Switches (AREA)

Abstract

The present invention provides a motor drive system (300), wherein an upper arm switching element of an inverter circuit (20) that drives a moving magnet type motor is driven by a gate drive circuit that uses a common power source in a gate power circuit. A control unit (23) that stops an output of a drive command for the upper arm switching element during a period when a motor control effective command is not received, and continuously switches a lower arm switching element at a time point when the power required for driving the upper arm switching element can be maintained, and the motor is driven when the motor control effective command is received. The conducting time of the lower arm switching element at the aforementioned time point is that during the period when the motor control effective command is not received, the amount of power supply voltage rise of the upper arm gate power supply during the period when the lower arm switching element is on, and the amount of power supply voltage drop of the upper arm gate power supply during the period when the lower arm switching element is off become equal.

Description

馬達驅動系統及馬達驅動裝置 Motor drive system and motor drive device

本發明係關於一種驅動馬達的馬達驅動系統及馬達驅動裝置。The present invention relates to a motor driving system and a motor driving device for driving a motor.

馬達驅動裝置係具備對馬達供給交流電力的反向器(inverter，依國立教育研究院電子計算機名詞工具書亦可稱為反用換流器或逆變器)電路。反向器電路係具有兩個以上串聯上臂(arm)開關元件與下臂開關元件的支線(leg)所構成。上臂係指高電位側，而下臂係指低電位側。The motor drive device is provided with an inverter (inverter, also referred to as an inverter or an inverter) circuit for supplying AC power to the motor. The inverter circuit is composed of two or more legs (legs) connected in series with the upper arm (arm) switching element and the lower arm switching element. The upper arm refers to the high potential side, and the lower arm refers to the low potential side.

就反向器電路所具備的各開關元件的控制而言，需要用以對各開關元件施加閘極驅動電壓的閘極驅動電路。此外，為使閘極驅動電路動作，需要閘極電源。就閘極驅動電路的電源方式而言會有下述方式：對用以驅動反向器電路的上臂開關元件的閘極電源電源電路獨立地連接閘極電源的獨立電源方式；以及對用以驅動上臂開關元件的閘極電源電路連接共同的閘極電源的共同電源方式。For the control of each switching element included in the inverter circuit, a gate driving circuit for applying a gate driving voltage to each switching element is required. In addition, in order to operate the gate drive circuit, a gate power supply is required. Regarding the power supply method of the gate drive circuit, there are the following methods: an independent power supply method in which the gate power supply circuit is independently connected to the gate power supply circuit for driving the upper arm switching element of the inverter circuit; and an independent power supply method for driving the gate power supply. A common power supply method in which the gate power supply circuit of the upper arm switching element is connected to a common gate power supply.

獨立電源方式相對於共同電源方式必須準備大量的閘極電源，所以耗費高成本。共同電源方式中，當驅動上臂開關元件時，必須預先使對應的下臂開關元件動作，以完成閘極電源電路所具備的電荷泵(charge pump)電路的充電。電荷泵電路的充電需要某程度的時間。因此，自驅動指令發出到實際ON(導通)動作或OFF(關斷)動作的時間，在上臂開關元件與下臂開關元件之間中會有不一致。而且，電荷泵電路的充電時間也會有不同，因此在上臂開關元件間中也會在ON動作或OFF動作的時間產生不一致。Compared with the common power supply system, the independent power supply system requires a large number of gate power supplies, which is costly. In the common power supply method, when driving the upper arm switching element, the corresponding lower arm switching element must be activated in advance to complete the charging of the charge pump circuit provided in the gate power supply circuit. Charging of the charge pump circuit requires a certain amount of time. Therefore, the time from the issuance of the drive command to the actual ON (on) operation or OFF (off) operation does not match between the upper arm switching element and the lower arm switching element. In addition, since the charging time of the charge pump circuit also varies, the timing of the ON operation or the OFF operation also varies among the upper arm switching elements.

下述專利文獻1的電力轉換裝置係為了使馬達動作相對於共同電源方式的閘極驅動電路提早開始，在反向器暫歇期間(反向器暫歇期間)設下臂開關元件為ON(導通)，藉此維持上臂閘極電源(上臂開關元件的閘極電源)。藉此，在下述專利文獻1的電力轉換裝置中，會在反向器暫歇期間後，使用上臂閘極電源立即開始馬達動作。The power conversion device of Patent Document 1 described below sets the lower arm switching element to be ON ( turn on), thereby maintaining the upper arm gate power supply (gate power supply of the upper arm switching element). Accordingly, in the power conversion device of the following Patent Document 1, the motor operation is immediately started using the upper arm gate power supply after the inverter pause period.

此外，藉由反向器電路所驅動的馬達大致分類為：轉子繞著旋轉軸旋轉的旋轉式馬達，及無旋轉軸而進行直線行進運動的線性馬達。一般而言線性馬達的構成為：在地面側配置作為固定部的磁鐵對，且在可動部側配置線圈的方式。在該方式中，可動部的線圈係由從馬達驅動裝置所供給的電流來驅動。In addition, motors driven by an inverter circuit are roughly classified into rotary motors in which a rotor rotates around a rotating shaft, and linear motors that perform linear motion without a rotating shaft. In general, a linear motor is configured such that a pair of magnets serving as a fixed portion is arranged on the ground side, and a coil is arranged on the movable portion side. In this method, the coil of the movable portion is driven by the current supplied from the motor drive device.

然而，在線圈位於可動部的方式中，需要使對可動部施加電源電壓所需的電源纜線追隨著可動部的線圈的動作而並排行走的機制。或者是，需要增設非接觸供電裝置等，藉此對可動部施加電源電壓的機制。在追隨著可動部的線圈的動作而使電源電纜並排行走的情形中，若如繞行般的運轉路徑的情形，會有纜線長度、纜線捻合的限制。此外，若增設非接觸供電裝置的情形，會有耗費大量費用的課題。However, in the system in which the coil is located in the movable portion, a mechanism is required for the power supply cable required to apply the power supply voltage to the movable portion to run side by side following the movement of the coil of the movable portion. Alternatively, a mechanism for applying a power supply voltage to a movable part by adding a non-contact power supply device or the like is required. In the case where the power cables are driven side by side following the movement of the coil of the movable portion, there are restrictions on the length of the cables and the twisting of the cables in the case of a detour-like running route. In addition, when a non-contact power supply device is added, there will be a problem of high cost.

對於上述的課題，亦有與一般的線性馬達相反的構成的方式，亦即將線圈作為固定部並配置於地面側，且於可動部配置磁鐵的方式。該方式係稱為：「移動磁鐵(moving magnet)方式」或「移動磁鐵控制」等。移動磁鐵方式的情形，由於可動部為磁鐵，而無須用於可動部的電源供給。因此，不會發生在於可動部配置線圈之方式的線性馬達中成為課題之纜線長度、纜線捻合的限制。此外，該移動磁鐵方式的情形，也無須非接觸供電裝置的設置。 [先前技術文獻] [專利文獻]For the above-mentioned problems, there is also a method in which a configuration is reversed from that of a general linear motor, that is, a method in which a coil is arranged on the ground side as a fixed portion, and a magnet is arranged on the movable portion. This method is called "moving magnet method" or "moving magnet control". In the case of the moving magnet method, since the movable part is a magnet, there is no need to supply power to the movable part. Therefore, the limitation of cable length and cable twisting, which is a problem in the linear motor of the system in which the coil is arranged in the movable portion, does not occur. In addition, in the case of this moving magnet method, it is not necessary to install a non-contact power supply device. [Prior Art Literature] [Patent Literature]

專利文獻1：日本特開平9-219976號公報Patent Document 1: Japanese Patent Application Laid-Open No. 9-219976

[發明所欲解決的課題][Problems to be solved by the invention]

然而，於移動磁鐵方式仍有課題。例如，若屬於可動部的動作範圍的行程(stroke)達超過某一定以上長度，以一組的線圈與一台的馬達驅動裝置，行程會無法確保，而必須準備複數組線圈及馬達驅動裝置。並且，此準備的複數個線圈當中，切換激磁對象的線圈時，需要有確保控制的連續性，以平穩地進行線圈間之切換的技術。However, there is still a problem with the method of moving the magnet. For example, if the stroke belonging to the motion range of the movable part exceeds a certain length, the stroke cannot be secured with one set of coils and one motor drive, and multiple sets of coils and motor drives must be prepared. In addition, among the prepared plurality of coils, when switching the coil to be excited, a technique is required to ensure the continuity of control and to smoothly switch between the coils.

上述專利文獻1的共同電源方式的閘極驅動電路時，若將用於下臂開關元件的充電脈衝設為長時間ON(導通)，會發生動態制動(dynamic brake)的作用達到使下臂開關元件ON(導通)之時間。動態制動係使旋轉能量熱消耗而使馬達停止的制動器。因此，在上述專利文獻1的共同電源方式的閘極驅動電路中，是無法平穩地進行移動磁鐵方式中的複數個線圈間的切換。In the gate drive circuit of the common power supply method of the above-mentioned Patent Document 1, if the charging pulse for the lower arm switching element is turned ON for a long time (conducting), a dynamic brake action occurs and the lower arm switching element is turned on. Component ON (conduction) time. The dynamic brake is a brake that heats up the rotational energy to stop the motor. Therefore, in the gate drive circuit of the common power supply method of the above-mentioned Patent Document 1, it is impossible to smoothly switch between the plurality of coils in the moving magnet method.

本發明係有鑑於上述課題所研創者，目的在於獲得在切換激磁對象的線圈時，可平穩地進行線圈間的切換的馬達驅動系統。 [解決課題的手段]The present invention was made in view of the above-mentioned problems, and an object of the present invention is to obtain a motor drive system capable of smoothly switching between coils when switching coils to be excited. [Means to solve the problem]

為解決上述課題並達成目的，本發明的馬達驅動系統係具備：第一及第二馬達驅動裝置及上位控制裝置。第一馬達驅動裝置係具備：第一控制部及第一反向器電路，且根據第一控制部所產生的第一驅動指令來驅動第一馬達。第二馬達驅動裝置係具備：第二控制部及第二反向器電路，且根據第二控制部所產生的第二驅動指令來驅動第二馬達。上位控制裝置係產生馬達控制有效指令，且根據馬達控制有效指令來控制第一及第二馬達驅動裝置的動作。第一馬達係由配置於固定部的第一線圈以及複數個磁鐵對所構成，該複數個磁鐵對係配置於以可沿第一方向的正側及負側移動之方式所構成的可動部。第二馬達係由配置於固定部且在第一方向的正側與第一線圈鄰接的第二線圈，及複數個磁鐵對所構成。第一及第二線圈係伴隨著可動部的移動依序切換與第一方向的正側或負側鄰接的線圈。上位控制裝置係對第一及第二馬達驅動裝置中之任一者輸出馬達控制有效指令。第一反向器電路的第一上臂開關元件係由第一閘極驅動電路所驅動，該第一閘極驅動電路係使用在驅動第一上臂開關元件的閘極電源電路中共同的電源。第二反向器電路的第二上臂開關元件係由第二閘極驅動電路所驅動，該第二閘極驅動電路係使用在驅動第二上臂開關元件的閘極電源電路中共同的電源。第一控制部係在未接收馬達控制有效指令的期間，停止用於第一上臂開關元件的第一驅動指令的輸出，並且對第一反向器電路的第一下臂開關元件在可維持驅動第一上臂開關元件所需的第一上臂閘極電源的第一時點持續開關交換，而在接收到馬達控制有效指令時輸出第一驅動指令。第二控制部係在未接收馬達控制有效指令的期間，停止用於第二上臂開關元件的第二驅動指令的輸出，並且對第二反向器電路的第二下臂開關元件在可維持驅動第二上臂開關元件所需的第二上臂閘極電源的第二時點持續開關交換，而在接收到馬達控制有效指令時輸出第二驅動指令。於第一時點中的第一下臂開關元件的第一導通時間，為在未接收馬達控制有效指令的期間中，於第一下臂開關元件導通之期間中第一上臂閘極電源的電源電壓上昇量，與於第一下臂開關元件關斷之期間中第一上臂閘極電源的電源電壓下降量成為相等的導通時間。於第二時點中的第二下臂開關元件的第二導通時間，為在未接收馬達控制有效指令的期間中，於第二下臂開關元件導通之期間中第二上臂閘極電源的電源電壓上昇量，與於第二下臂開關元件關斷之期間中第二上臂閘極電源的電源電壓下降量成為相等的導通時間。 [發明之效果]In order to solve the above-mentioned problems and achieve the object, the motor drive system of the present invention includes first and second motor drive devices and a host control device. The first motor driving device includes a first control unit and a first inverter circuit, and drives the first motor according to a first drive command generated by the first control unit. The second motor driving device includes a second control unit and a second inverter circuit, and drives the second motor according to a second drive command generated by the second control unit. The upper control device generates a motor control valid command, and controls the actions of the first and second motor driving devices according to the motor control valid command. The first motor is composed of a first coil disposed on the fixed portion and a plurality of magnet pairs disposed on the movable portion configured to be movable along the positive side and the negative side of the first direction. The second motor is composed of a second coil disposed on the fixed portion and adjacent to the first coil on the positive side in the first direction, and a plurality of pairs of magnets. The first and second coils sequentially switch the coils adjacent to the positive side or the negative side in the first direction in accordance with the movement of the movable portion. The upper control device outputs a motor control effective command to any one of the first and second motor drive devices. The first upper arm switching element of the first inverter circuit is driven by a first gate driving circuit using a common power supply in the gate power supply circuit driving the first upper arm switching element. The second upper arm switching element of the second inverter circuit is driven by a second gate driving circuit using a common power supply in the gate power supply circuit driving the second upper arm switching element. The first control unit stops the output of the first drive command for the first upper arm switching element while the motor control valid command is not received, and keeps the driving of the first lower arm switching element of the first inverter circuit. The first time point of the first upper arm gate power supply required by the first upper arm switching element is continuously switched, and the first driving command is output when the motor control valid command is received. The second control unit stops the output of the second drive command for the second upper arm switching element while the motor control valid command is not received, and keeps the driving of the second lower arm switching element of the second inverter circuit. The second time point of the second upper arm gate power supply required by the second upper arm switching element is continuously switched, and the second driving command is output when the motor control valid command is received. The first turn-on time of the first lower arm switching element at the first time point is the power supply of the first upper arm gate power supply during the period when the first lower arm switching element is turned on during the period when the motor control effective command is not received The voltage rise amount is equal to the on-time of the power supply voltage drop amount of the first upper arm gate power supply during the period when the first lower arm switching element is turned off. The second on-time of the second lower-arm switching element at the second time point is the power supply voltage of the second upper-arm gate power supply during the period during which the second lower-arm switching element is turned on during the period in which the motor control valid command is not received The rising amount is equal to the on-time of the power supply voltage drop of the second upper arm gate power supply during the period in which the second lower arm switching element is turned off. [Effect of invention]

根據本發明的馬達驅動系統達成在切換激磁對象的線圈時，可平穩地進行線圈間的切換的效果。The motor drive system according to the present invention achieves an effect of smoothly switching between coils when switching coils to be excited.

以下，根據圖式詳細說明本發明的實施型態的馬達驅動系統及馬達驅動裝置。另外，本發明並不受以下的實施型態所限定。Hereinafter, a motor drive system and a motor drive device according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, the present invention is not limited to the following embodiments.

實施型態1. 圖1係顯示實施型態1之使用於馬達驅動系統的馬達驅動裝置200之構成的方塊圖。如圖1所示，馬達驅動裝置200係使用從交流電源26所供給的電力，來驅動屬於負載的馬達150的驅動裝置。馬達驅動裝置200係具備：轉換電路18、反向器電路20、平滑電容器22、控制部23及閘極驅動電路24。Implementation type 1. FIG. 1 is a block diagram showing the structure of a motor driving apparatus 200 used in a motor driving system according to Embodiment 1. As shown in FIG. As shown in FIG. 1 , the motor drive device 200 is a drive device that drives the motor 150 belonging to the load using the electric power supplied from the AC power source 26 . The motor drive device 200 includes a conversion circuit 18 , an inverter circuit 20 , a smoothing capacitor 22 , a control unit 23 , and a gate drive circuit 24 .

轉換電路18係將從交流電源26所施加的交流電壓整流並轉換成直流電壓。轉換電路18的一例係由二極體電橋(diode bridge)所構成的全波整流電路。轉換電路18的輸出端係連接反向器電路20。轉換電路18與反向器電路20係藉由高電位側的直流母線27及低電位側的直流母線28來連接。在直流母線27與直流母線28之間係配置有平滑電容器22。直流母線27與直流母線28之間的電壓係稱為：「母線電壓」。平滑電容器22係承擔將母線電壓平滑，並使母線電壓穩定化的任務。The conversion circuit 18 rectifies and converts the AC voltage applied from the AC power source 26 into a DC voltage. An example of the conversion circuit 18 is a full-wave rectifier circuit composed of a diode bridge. The output terminal of the conversion circuit 18 is connected to the inverter circuit 20 . The conversion circuit 18 and the inverter circuit 20 are connected by a DC bus 27 on the high potential side and a DC bus 28 on the low potential side. A smoothing capacitor 22 is arranged between the DC bus 27 and the DC bus 28 . The voltage between the DC bus 27 and the DC bus 28 is referred to as "bus voltage". The smoothing capacitor 22 is responsible for smoothing the bus voltage and stabilizing the bus voltage.

反向器電路20係將由平滑電容器22所平滑化的直流電壓轉換成交流電壓並施加至馬達150。馬達150係藉由自反向器電路20所供給的交流電力而驅動。馬達150係設置有位置感測器130。位置感測器130係檢測馬達150中之省略圖示的轉子的旋轉位置。由位置感測器130所檢測的位置感測信號132係輸入至控制部23。The inverter circuit 20 converts the DC voltage smoothed by the smoothing capacitor 22 into an AC voltage and applies it to the motor 150 . The motor 150 is driven by the AC power supplied from the inverter circuit 20 . The motor 150 is provided with the position sensor 130 . The position sensor 130 detects the rotational position of the rotor (not shown) in the motor 150 . The position sensing signal 132 detected by the position sensor 130 is input to the control unit 23 .

控制部23係具備：處理器23a及記憶體23b。處理器23a係根據位置感測信號132，來產生用以控制反向器電路20的開關元件21的驅動指令30。閘極驅動電路24係根據驅動指令30來產生驅動電壓32。驅動電壓32係用以驅動反向器電路20的開關元件21的閘極驅動電壓。The control unit 23 includes a processor 23a and a memory 23b. The processor 23 a generates the driving command 30 for controlling the switching element 21 of the inverter circuit 20 according to the position sensing signal 132 . The gate driving circuit 24 generates the driving voltage 32 according to the driving command 30 . The driving voltage 32 is a gate driving voltage for driving the switching element 21 of the inverter circuit 20 .

處理器23a亦可為稱為微處理器、微電腦、微計算機、CPU (Central Processing Unit，中央處理器)或DSP(Digital Signal Processor，數位信號處理器)者。The processor 23a may also be referred to as a microprocessor, a microcomputer, a microcomputer, a CPU (Central Processing Unit, central processing unit) or a DSP (Digital Signal Processor, digital signal processor).

記憶體23b係保存著：藉由處理器23a讀取的程式；藉由處理器23a參照的參數；藉由處理器23a的處理而獲得的資料等。記憶體23b亦被使用作為處理器23a進行演算處理時的作業區域。記憶體23b一般而言為：RAM(Random Access Memory，隨機存取記憶體)、快閃記憶體(flash memory)、EPROM(Erasable Programmable ROM，可抹可規劃唯讀記憶體)、EEPROM(註冊商標)(Electrically EPROM，可電子清除可規劃唯獨記憶體)的非揮發性或揮發性的半導體記憶體。The memory 23b stores: programs read by the processor 23a; parameters referred to by the processor 23a; data obtained by processing by the processor 23a, and the like. The memory 23b is also used as a work area when the processor 23a performs arithmetic processing. The memory 23b is generally: RAM (Random Access Memory, random access memory), flash memory (flash memory), EPROM (Erasable Programmable ROM, Erasable Programmable Read-Only Memory), EEPROM (registered trademark) ) (Electrically EPROM, can be electronically erased and programmable only memory) non-volatile or volatile semiconductor memory.

另外，圖1中，交流電源26為三相電源，惟不限定於此。交流電源26亦可為單相電源。當交流電源26為單相電源的情形，轉換電路18係構成為與單相電源匹配。馬達150的一例為三相馬達。若馬達150為三相馬達的情形，反向器電路20亦為三相的電路構成。In addition, in FIG. 1, although the alternating current power supply 26 is a three-phase power supply, it is not limited to this. The AC power source 26 can also be a single-phase power source. When the AC power source 26 is a single-phase power source, the conversion circuit 18 is configured to match the single-phase power source. An example of the motor 150 is a three-phase motor. If the motor 150 is a three-phase motor, the inverter circuit 20 is also constituted by a three-phase circuit.

圖2係顯示圖1所示之反向器電路20的詳細構成的電路圖。如圖2所示，反向器電路20係具有：支線21A、支線21B及支線21C。支線21A、支線21B及支線21C係在直流母線27與直流母線28之間，彼此並聯。支線21A為串聯U相的上臂開關元件21UP與下臂開關元件21UN的電路部。支線21B為串聯V相的上臂開關元件21VP與下臂開關元件21VN的電路部。支線21C為串聯Ｗ相的上臂開關元件21WP與下臂開關元件21WN的電路部。FIG. 2 is a circuit diagram showing a detailed configuration of the inverter circuit 20 shown in FIG. 1 . As shown in FIG. 2 , the inverter circuit 20 includes a branch line 21A, a branch line 21B, and a branch line 21C. The branch line 21A, the branch line 21B and the branch line 21C are connected between the DC bus bar 27 and the DC bus bar 28 and are connected in parallel with each other. The branch line 21A is a circuit portion in which the U-phase upper arm switching element 21UP and the lower arm switching element 21UN are connected in series. The branch line 21B is a circuit portion in which the V-phase upper arm switching element 21VP and the lower arm switching element 21VN are connected in series. The branch line 21C is a circuit portion in which the upper arm switching element 21WP and the lower arm switching element 21WN of the W-phase are connected in series.

另外，圖2中，雖然例示上臂開關元件21UP、21VP、21WP及下臂開關元件21UN、21VN、21WN為金屬氧化物半導體場效應電晶體(Metal Oxide Semiconductor Field Effect Transistor：MOSFET)的情形，惟不限定於此。亦可使用絕緣閘雙極電晶體(Insulated Gate Bipolar Transistor：IGBT)，來取代MOSFET。In addition, in FIG. 2, although the case where the upper arm switching elements 21UP, 21VP, 21WP and the lower arm switching elements 21UN, 21VN, 21WN are metal oxide semiconductor field effect transistors (Metal Oxide Semiconductor Field Effect Transistor: MOSFET) is exemplified, it is not limited to this. An insulated gate bipolar transistor (IGBT) can also be used instead of the MOSFET.

此外，各開關元件亦可具備反向並聯的二極體。當開關元件為MOSFET的情形，MOSFET本身亦可使用於內部所具有的寄生二極體。寄生二極體亦稱為體二極體(body diode)。In addition, each switching element may have diodes connected in antiparallel. In the case where the switching element is a MOSFET, the MOSFET itself can also be used for the parasitic diode contained therein. Parasitic diodes are also called body diodes.

圖3係使用於說明實施型態1中之閘極驅動電路24的構成的電路圖。圖3中，顯示配置於圖1所示之處理器23a與反向器電路20之間的閘極驅動電路24的詳細連接關係。實施型態1中的閘極驅動電路24係共同電源方式的閘極驅動電路。FIG. 3 is a circuit diagram for explaining the configuration of the gate drive circuit 24 in the first embodiment. In FIG. 3, the detailed connection relationship of the gate driving circuit 24 disposed between the processor 23a and the inverter circuit 20 shown in FIG. 1 is shown. The gate drive circuit 24 in Embodiment 1 is a gate drive circuit of a common power supply type.

如圖3所示，實施型態1中的閘極驅動電路24係具有：閘極電源電路24a、24b、24c、24d。閘極電源電路24a、24b、24c為上臂開關元件用的閘極電源電路。閘極電源電路24a係具備：電阻241；屬於信號傳達手段及絕緣手段的光耦合器(photocoupler)242；用以維持各上臂閘極電源的電荷泵電路；及直流電源243。電荷泵電路係具有：整流二極體246；電阻245；齊納二極體(Zener diode)247；及電容器248。閘極電源電路24b、24c亦與閘極電源電路24a同樣的方式構成。As shown in FIG. 3, the gate drive circuit 24 in Embodiment 1 includes gate power supply circuits 24a, 24b, 24c, and 24d. The gate power supply circuits 24a, 24b, and 24c are gate power supply circuits for the upper arm switching element. The gate power supply circuit 24 a includes: a resistor 241 ; a photocoupler 242 serving as a signal transmission means and an insulating means; a charge pump circuit for maintaining the gate power supply of each upper arm; and a DC power supply 243 . The charge pump circuit has: a rectifier diode 246 ; a resistor 245 ; a Zener diode 247 ; and a capacitor 248 . The gate power supply circuits 24b and 24c are also configured in the same manner as the gate power supply circuit 24a.

此外，閘極電源電路24d係下臂開關元件用的閘極電源電路。依每下臂開關元件各自具備電阻241及光耦合器242的構成，除不存在有電荷泵電路以外，其餘與上臂開關元件用的閘極電源電路24a、24b、24c相同。In addition, the gate power supply circuit 24d is a gate power supply circuit for the lower arm switching element. The configuration in which each lower arm switching element is provided with a resistor 241 and a photocoupler 242 is the same as that of the gate power supply circuits 24a, 24b and 24c for the upper arm switching element except that there is no charge pump circuit.

此外，圖3所示的閘極電源電路24d為下臂閘極電源共同化並具備一個直流電源244的構成。這是因為，在反向器電路20中，下臂開關元件的源極端子彼此各自連接並為同電位，且可將該電位設為閘極電源電路24d的基準電位。因此，閘極驅動電路為獨立電源方式還是共同電源方式，係取決於上臂閘極電源是否共同化。另外，不言而喻，亦可不使下臂閘極電源共同化，而使用三個直流電源來構成。In addition, the gate power supply circuit 24d shown in FIG. 3 is a structure in which the gate power supply of the lower arm is shared and provided with one DC power supply 244 . This is because, in the inverter circuit 20, the source terminals of the lower arm switching elements are connected to each other and have the same potential, and this potential can be used as the reference potential of the gate power supply circuit 24d. Therefore, whether the gate drive circuit is an independent power supply system or a common power supply system depends on whether the upper arm gate power supply is common. In addition, it goes without saying that it is also possible to use three DC power supplies instead of commonizing the lower arm gate power supplies.

當從處理器23a發出驅動指令30時，藉由驅動指令30使光耦合器242導通。例如，驅動指令30屬於使U相的上臂開關元件21UP導通(ON)的驅動指令時，閘極電源電路24a的光耦合器242會導通，且對上臂開關元件21UP施加驅動電壓32。藉此，上臂開關元件21UP係成為ON(導通)。其他的開關元件亦以同樣的方式驅動。此外，當光耦合器242的導通被遮斷時，開關元件係成為OFF(關斷)。When the drive command 30 is issued from the processor 23a, the photocoupler 242 is turned on by the drive command 30. For example, when the drive command 30 is a drive command to turn on the U-phase upper arm switching element 21UP, the photocoupler 242 of the gate power supply circuit 24a is turned on, and the drive voltage 32 is applied to the upper arm switching element 21UP. Thereby, the upper arm switching element 21UP is turned ON (conducting). The other switching elements are also driven in the same way. Further, when the conduction of the photocoupler 242 is interrupted, the switching element is turned OFF (turned off).

接著，說明上述所說明之馬達驅動裝置200的應用例。圖4係顯示使用圖1所示之馬達驅動裝置200的實施型態1的馬達驅動系統300的構成例之圖。圖4所示的馬達驅動系統300的驅動對象為移動磁鐵方式的線性馬達。移動磁鐵方式的線性馬達中，於被構成於地面側的固定部係配置有複數個線圈，而於可動部係配置有複數個磁鐵對。各線圈係具有藉由星形結線等所結線的三個線圈構件。Next, an application example of the motor drive device 200 described above will be described. FIG. 4 is a diagram showing a configuration example of a motor drive system 300 of Embodiment 1 using the motor drive device 200 shown in FIG. 1 . The driving object of the motor drive system 300 shown in FIG. 4 is a linear motor of a moving magnet system. In the linear motor of the moving magnet system, a plurality of coils are arranged in a fixed portion formed on the ground side, and a plurality of pairs of magnets are arranged in a movable portion. Each coil system has three coil elements connected by a star connection or the like.

在圖4中，作為複數個線圈的例示，於地面側係沿著屬於第一方向的x1的正方向依序配置三個線圈100a、100b、100c。此外，作為複數個磁鐵對的例示，於構成可動部的可動台車124係搭載著三個磁鐵對120。利用線圈100a、100b、100c與搭載於可動台車124的三個磁鐵對120來構成線性馬達。In FIG. 4, as an example of a plurality of coils, three coils 100a, 100b, and 100c are sequentially arranged on the ground side along the positive direction of x1 belonging to the first direction. In addition, as an example of a plurality of magnet pairs, three magnet pairs 120 are mounted on the movable cart 124 constituting the movable portion. A linear motor is constituted by the coils 100 a , 100 b , and 100 c and three magnet pairs 120 mounted on the movable cart 124 .

磁鐵對120的磁極方向為屬於第二方向的y1的方向。y1係與x1正交的方向。三個磁鐵對120係被連結，且相鄰的磁鐵對彼此的磁極的NS係反轉180°。藉此，當可動台車124沿第一方向移動時，從線圈側所參照的磁鐵對120的磁極係成為N極與S極交替地呈現。The magnetic pole direction of the magnet pair 120 is the direction of y1 belonging to the second direction. y1 is the direction orthogonal to x1. The three magnet pairs 120 are connected, and the NS of the magnetic poles of the adjacent magnet pairs are reversed by 180°. Thereby, when the movable trolley 124 moves in the first direction, the magnetic poles of the magnet pair 120 referred from the coil side appear alternately with N poles and S poles.

將一個線圈的x1方向的長度設為L1，而將三個磁鐵對120整體的x1方向的長度設為L2。圖4之例的情形，在該等L1、L2之間具有L1＜L2＜2×L1的關係。L1＜L2＜2×L1的關係意指：除由複數個線圈所構成的線圈群的兩端以外，三個磁鐵對120會形成跨及兩個線圈的狀態，並且不存在有跨及三個以上的線圈的狀態。例外，根據系統的規格亦可具有容許跨及三個以上的線圈的狀態的情形。而且，根據系統的規格亦會有成為L1＞L2的情形。The length in the x1 direction of one coil is referred to as L1, and the length in the x1 direction of the entire three magnet pairs 120 is referred to as L2. In the case of the example of FIG. 4 , there is a relationship of L1<L2<2×L1 between these L1 and L2. The relationship of L1<L2<2×L1 means that the three magnet pairs 120 are in a state of straddle the two coils except for both ends of the coil group composed of a plurality of coils, and there is no straddle and three coils. The state of the above coil. In addition, depending on the system specification, there may be cases where the state of spanning three or more coils is allowed. Furthermore, there may be cases where L1 > L2 depending on the system specifications.

於地面側係載置有馬達驅動裝置200a、200b、200c。馬達驅動裝置200a、200b、200c的各個與線圈100a、100b、100c的各個係以1對1的方式連接。線圈100a係受馬達驅動裝置200a所輸出的電流而激磁。藉此，使線圈100a形成電磁鐵，且在與配置於可動台車124的磁鐵對120之間產生吸引力或排斥力，而可動台車124會沿x1的正方向前進。Motor drive devices 200a, 200b, and 200c are mounted on the ground side. Each of the motor drive devices 200a, 200b, and 200c is connected to each of the coils 100a, 100b, and 100c in a one-to-one manner. The coil 100a is excited by the current output from the motor drive device 200a. As a result, the coil 100a is formed as an electromagnet, and an attractive force or a repulsive force is generated between the coil 100a and the pair of magnets 120 arranged on the movable trolley 124, and the movable trolley 124 advances in the positive direction of x1.

而且，在線圈100a、100b、100c中的各個係各自配置有感測器130a、130b、130c。感測器130a、130b、130c的一例為光學感測器，光學感測器的具體係為條碼讀取機(bar code reader)。於可動台車124以可由屬於條碼讀取機的感測器130a、130b、130c讀取之方式，貼附有作為位置識別符的條碼123。另外，在圖4中，線圈100a、100b、100c係顯示一部份者，而線圈的數量係取決於系統的規模。此外，圖4中，各線圈係無間隙地配置，惟各線圈亦可空開間隙而配置。此外，感測器130a、130b、130c亦可為磁性感測器。該情形，可動台車124亦可不設置條碼123。Furthermore, sensors 130a, 130b, and 130c are arranged in the coils 100a, 100b, and 100c, respectively. An example of the sensors 130a, 130b, and 130c is an optical sensor, and a specific example of the optical sensor is a bar code reader. A barcode 123 serving as a position identifier is attached to the movable cart 124 in such a manner that it can be read by sensors 130a, 130b, and 130c belonging to a barcode reader. In addition, in FIG. 4, the coils 100a, 100b, 100c are shown in part, and the number of the coils depends on the scale of the system. In addition, in FIG. 4, although each coil is arrange|positioned without a clearance gap, each coil may be arrange|positioned with a clearance gap. In addition, the sensors 130a, 130b, 130c can also be magnetic sensors. In this case, the movable cart 124 may not be provided with the barcode 123 .

馬達驅動裝置200a係藉由通信線106與馬達驅動裝置200b連接，且馬達驅動裝置200b係藉由通信線106與馬達驅動裝置200c連接。也就是，馬達驅動裝置200a、200b、200c係藉由通信線106而串列地連接。馬達驅動裝置200a又藉由通信線106與屬於上位控制裝置的控制器125連接。The motor driving device 200 a is connected to the motor driving device 200 b via the communication line 106 , and the motor driving device 200 b is connected to the motor driving device 200 c via the communication line 106 . That is, the motor drive devices 200 a , 200 b , and 200 c are connected in series by the communication line 106 . The motor drive device 200a is further connected to the controller 125 belonging to the upper control device through the communication line 106 .

控制器125係產生控制指令140。控制指令140係通過通信線106而傳送至馬達驅動裝置200a。控制指令140係包含：運轉指令、位置指令、速度指令及馬達控制有效指令。運轉指令係用以決定使屬於可動部的可動台車124動作或停止的指令值或指令信號。位置指令係用以指示可動台車124的位置的指令值或指令信號。速度指令係用以指示可動台車124的速度的指令值或指令信號。馬達控制有效指令，茲容後述。Controller 125 generates control commands 140 . The control command 140 is transmitted to the motor driving device 200 a through the communication line 106 . The control command 140 includes: an operation command, a position command, a speed command and a motor control valid command. The operation command is used to determine a command value or a command signal for operating or stopping the movable cart 124 belonging to the movable portion. The position command is a command value or a command signal for instructing the position of the movable cart 124 . The speed command is a command value or command signal for instructing the speed of the movable cart 124 . The motor control valid command will be described later.

馬達驅動裝置200a係將接收的控制指令140傳送至馬達驅動裝置200b。馬達驅動裝置200b係將接收的控制指令140傳送至馬達驅動裝置200c。另外，圖4的連接例為一例，並不受該例所限定。若由控制器125所產生的控制指令140可傳送至馬達驅動裝置200a、200b、200c，則亦可為任何的連接型態。此外，雖然圖4中係以有線方式連接，惟亦可以無線方式連接。The motor driving device 200a transmits the received control command 140 to the motor driving device 200b. The motor driving device 200b transmits the received control command 140 to the motor driving device 200c. In addition, the connection example of FIG. 4 is an example, and it is not limited to this example. If the control command 140 generated by the controller 125 can be transmitted to the motor driving devices 200a, 200b, and 200c, it can be any connection type. In addition, although the connection in a wired manner is shown in FIG. 4, it can also be connected in a wireless manner.

接著，就圖4所示的馬達驅動系統300的動作，除圖4外，又參照圖5至圖7的圖式加以說明。圖5係將即將使馬達控制有效的線圈從第一線圈切換成第二線圈之前的動作狀態顯示於圖4之圖。圖6係將使馬達控制有效的線圈剛切換成第二線圈後的動作狀態顯示於圖4之圖。圖7係供以圖4所示之馬達驅動系統300的動作說明的時間關係圖(time chart)。補充圖示，圖4中係顯示使馬達控制有效的線圈為第一線圈時的動作的模樣。此外，圖7中係顯示使馬達控制有效的線圈從第一線圈切換成第二線圈時的動作。Next, the operation of the motor drive system 300 shown in FIG. 4 will be described with reference to the diagrams in FIGS. 5 to 7 in addition to FIG. 4 . FIG. 5 is a diagram showing the operation state immediately before the coil for which the motor control is enabled is switched from the first coil to the second coil. FIG. 6 is the diagram of FIG. 4 showing the operation state immediately after the coil that enables the motor control is switched to the second coil. FIG. 7 is a time chart for explaining the operation of the motor drive system 300 shown in FIG. 4 . In the supplementary illustration, FIG. 4 shows an operation when the coil for validating the motor control is the first coil. In addition, FIG. 7 shows the operation|movement when the coil which enables motor control is switched from a 1st coil to a 2nd coil.

圖7中，首先，在時刻 t1，藉由控制器125對馬達驅動裝置200a輸出位置指令(參照圖7(d))，且對馬達驅動裝置200a輸出馬達控制有效指令(參照圖7(f))。在圖7(f)、(g)中，以“ON(導通)”來表示接收馬達控制有效指令並且馬達控制屬於有效的狀態，而以“OFF(關斷)”來表示未接收馬達控制有效指令並且馬達控制屬於非有效的狀態。馬達驅動裝置200a的動作狀態從OFF(關斷)切換成ON(導通)，動作開始。馬達驅動裝置200a為ON(導通)狀態時，馬達驅動裝置200a係會使線圈100a激磁，所以可動台車124會被驅動而移動，可動台車124的位置產生變化(參照圖7(a))。圖7(b)係顯示由感測器130a所檢測出之可動台車124的位置資訊。位置資訊係經由馬達驅動裝置200a而傳送至控制器125。另外，雖然在圖7中，在對馬達驅動裝置200a輸出位置指令的同時刻 t1 使可動台車124的位置變化，而實際上，不言可喻會受到控制的時間延遲，使可動台車124的位置變化會比位置指令的變化還延遲而產生。In FIG. 7, first, at time t1, the controller 125 outputs a position command to the motor drive device 200a (refer to FIG. 7(d)), and outputs a motor control valid command to the motor drive device 200a (refer to FIG. 7(f) ) ). In Figs. 7(f) and (g), "ON (conduction)" indicates that the motor control valid command is received and the motor control is valid, and "OFF" indicates that the motor control is not received and is valid Command and motor control are inactive states. The operation state of the motor drive device 200a is switched from OFF (off) to ON (on), and the operation starts. When the motor driving device 200a is in the ON (conducting) state, the motor driving device 200a excites the coil 100a, so the movable cart 124 is driven to move, and the position of the movable cart 124 changes (see FIG. 7(a)). FIG. 7(b) shows the position information of the movable dolly 124 detected by the sensor 130a. The position information is transmitted to the controller 125 via the motor driving device 200a. In addition, in FIG. 7 , the position of the movable cart 124 is changed at time t1 at the same time as the position command is output to the motor drive device 200a, but in reality, it goes without saying that the position of the movable cart 124 is changed by a controlled time delay. The change occurs later than the change of the position command.

另一面，時刻 t1 時，未對馬達驅動裝置200b輸出馬達控制有效指令，而馬達驅動裝置200b的動作狀態保持為OFF(關斷)狀態(參照圖7(g))。在此，補充馬達控制有效指令。如前述，馬達控制有效指令為從控制器125所輸出的控制指令140的一者。控制器125係在輸出馬達控制有效指令時，指定將馬達控制設為有效的一個馬達驅動裝置。另外，不會對一台可動台車124同時指定複數台馬達驅動裝置。On the other hand, at time t1, the motor control valid command is not output to the motor drive device 200b, and the operation state of the motor drive device 200b is kept in the OFF state (see Fig. 7(g) ). Here, the motor control valid command is supplemented. As described above, the motor control valid command is one of the control commands 140 output from the controller 125 . When the controller 125 outputs the motor control valid command, it designates one of the motor drive devices for which the motor control is valid. In addition, a plurality of motor drive devices are not designated for one movable cart 124 at the same time.

返回圖7的說明，對於馬達驅動裝置200a的位置指令，會超過時刻t3並持續到時刻 t12 為止，而對於馬達驅動裝置200b的位置指令，從即將成為時刻t3的時刻t11開始。也就是，對於馬達驅動裝置200a、200b的位置指令會在時刻 t11、t12 間重疊(overlap)。另一方面，對於馬達驅動裝置200a的馬達控制有效指令與對於馬達驅動裝置200b的馬達控制有效指令係以不會重疊的方式在時刻 t3 進行切換 (參照圖7(f)、(g))。圖5係顯示時刻 t11 的狀態，圖6係顯示時刻 t12 的狀態。Returning to the description of FIG. 7 , the position command for the motor drive device 200a exceeds time t3 and continues until time t12, while the position command for the motor drive device 200b starts from time t11, which is about to become time t3. That is, the position commands to the motor drive devices 200a and 200b overlap between the times t11 and t12. On the other hand, the motor control valid command for the motor drive device 200a and the motor control valid command for the motor drive device 200b are switched at time t3 so as not to overlap (see FIGS. 7(f) and (g) ). Fig. 5 shows the state at time t11, and Fig. 6 shows the state at time t12.

圖5及圖6的情形，感測器130a、130b雙方係相對於條碼123處於可進行讀取的位置關係，故感測器130a、130b雙方有檢測出位置資訊(參照圖7(b)、(c))。另外，雖然省略圖示，時刻 t2 係條碼123的右端到達至感測器130b的時刻，而時刻t4係條碼123的左端脫離了感測器130a的時刻。5 and 6, both the sensors 130a, 130b are in a positional relationship with respect to the barcode 123 that can be read, so both the sensors 130a, 130b have detected position information (refer to FIG. 7(b), (c)). In addition, although not shown, time t2 is the time when the right end of the barcode 123 reaches the sensor 130b, and time t4 is the time when the left end of the barcode 123 leaves the sensor 130a.

移動磁鐵方式的線性馬達的情形，搭載於可動台車124的磁鐵對120為有限長，僅一個線圈下，無法使可動台車124在整體區域中動作。因此，如圖5及圖6所示方式，可動台車124行進某一距離，並在與磁鐵對120相對向的長度成為屬於第二線圈的線圈100b比屬於第一線圈的線圈100a還更長的時點(timing)切換馬達控制的有效。亦可以同樣方式進行自線圈100b往線圈100c的切換。當從線圈100b切換成線圈100c的情形，線圈100b成為第一線圈、線圈100c成為第二線圈。此外，當將使第一線圈激磁的馬達驅動裝置設為第一馬達驅動裝置，將使第二線圈激磁的馬達驅動裝置設為第二馬達驅動裝置時，驅動線圈100b的馬達驅動裝置200b為第一馬達驅動裝置，而驅動線圈100c的馬達驅動裝置200c為第二馬達驅動裝置。In the case of the linear motor of the moving magnet type, the magnet pair 120 mounted on the movable trolley 124 has a finite length, and the movable trolley 124 cannot be moved in the entire area with only one coil. Therefore, as shown in FIG. 5 and FIG. 6 , the movable cart 124 travels a certain distance, and the coil 100b belonging to the second coil is longer than the coil 100a belonging to the first coil in the length opposed to the magnet pair 120 The timing switches the validity of the motor control. Switching from the coil 100b to the coil 100c can also be performed in the same manner. When switching from the coil 100b to the coil 100c, the coil 100b becomes the first coil and the coil 100c becomes the second coil. In addition, when the motor driving device for exciting the first coil is the first motor driving device and the motor driving device for exciting the second coil is the second motor driving device, the motor driving device 200b for driving the coil 100b is the first motor driving device A motor driving device, and the motor driving device 200c driving the coil 100c is a second motor driving device.

在此，說明第一馬達驅動裝置為馬達驅動裝置200a，第二馬達驅動裝置為馬達驅動裝置200b之情形下的馬達驅動裝置200a、200b所具備的構成元件的關係。馬達驅動裝置200a的控制部23為第一控制部，而馬達驅動裝置200b的控制部23為第二控制部。該情形，馬達驅動裝置200a所產生的驅動指令30為第一驅動指令，而馬達驅動裝置200b所產生的驅動指令30為第二驅動指令。此外，馬達驅動裝置200a的反向器電路20為第一反向器電路，而馬達驅動裝置200b的反向器電路20為第二反向器電路。此外，馬達驅動裝置200a的上臂開關元件21UP、21VP、21WP為第一上臂開關元件，而馬達驅動裝置200b的上臂開關元件21UP、21VP、21WP為第二上臂開關元件。此外，馬達驅動裝置200a的下臂開關元件21UN、21VN、21WN為第一下臂開關元件，而馬達驅動裝置200b的下臂開關元件21UN、21VN、21WN為第二下臂開關元件。此外，馬達驅動裝置200a的閘極驅動電路24為第一閘極驅動電路，而馬達驅動裝置200b的閘極驅動電路24為第二閘極驅動電路。此外，馬達驅動裝置200a的上臂閘極電源為第一上臂閘極電源，而馬達驅動裝置200b的上臂閘極電源為第二上臂閘極電源。Here, the relationship between the components included in the motor drive devices 200a and 200b will be described when the first motor drive device is the motor drive device 200a and the second motor drive device is the motor drive device 200b. The control part 23 of the motor drive device 200a is a first control part, and the control part 23 of the motor drive device 200b is a second control part. In this case, the driving command 30 generated by the motor driving device 200a is the first driving command, and the driving command 30 generated by the motor driving device 200b is the second driving command. In addition, the inverter circuit 20 of the motor driving device 200a is a first inverter circuit, and the inverter circuit 20 of the motor driving device 200b is a second inverter circuit. In addition, the upper arm switching elements 21UP, 21VP, 21WP of the motor driving device 200a are the first upper arm switching elements, and the upper arm switching elements 21UP, 21VP, 21WP of the motor driving device 200b are the second upper arm switching elements. In addition, the lower arm switching elements 21UN, 21VN, 21WN of the motor driving device 200a are first lower arm switching elements, and the lower arm switching elements 21UN, 21VN, 21WN of the motor driving device 200b are second lower arm switching elements. In addition, the gate driving circuit 24 of the motor driving device 200a is the first gate driving circuit, and the gate driving circuit 24 of the motor driving device 200b is the second gate driving circuit. In addition, the upper arm gate power supply of the motor driving device 200a is the first upper arm gate power supply, and the upper arm gate power supply of the motor driving device 200b is the second upper arm gate power supply.

另外，雖然在上述的說明中，針對要使之動作的可動台車124的台數為一台的情形加以說明，惟未限定於此。要使之動作的可動台車124的台數亦可為複數台。若要使之動作的可動台車124的台數為複數台時，對可動台車124中的各個指定第一馬達驅動裝置。此外，依每台可動台車124，進行上述的線圈及馬達驅動裝置的切換。In addition, in the above description, the case where the number of movable carts 124 to be operated is one is explained, but it is not limited to this. The number of movable carts 124 to be operated may be plural. When the number of movable carts 124 to be operated is plural, the first motor drive device is designated for each of the movable carts 124 . In addition, the above-mentioned switching of the coil and the motor driving device is performed for each movable cart 124 .

此外，雖然在圖4至圖6的例中，以可動台車124係以沿 x1 的正方向前進之例進行說明，惟可動台車124亦可沿 x1 的負方向前進。當可動台車124沿 x1 的負方向前進時，進行從線圈100b往線圈100a的切換。該情形，第一線圈係從線圈100c切換成線圈100b，而第二線圈係從線圈100b切換成線圈100a。此外，第一馬達驅動裝置係從馬達驅動裝置200c切換成馬達驅動裝置200b，而第二馬達驅動裝置係從馬達驅動裝置200b切換成馬達驅動裝置200a。In addition, although in the example of FIG. 4 to FIG. 6, the movable cart 124 is described as an example of advancing in the positive direction of x1, the movable cart 124 may also advance in the negative direction of x1. When the movable cart 124 advances in the negative direction of x1, the switching from the coil 100b to the coil 100a is performed. In this case, the first coil system is switched from the coil 100c to the coil 100b, and the second coil system is switched from the coil 100b to the coil 100a. In addition, the first motor driving device is switched from the motor driving device 200c to the motor driving device 200b, and the second motor driving device is switched from the motor driving device 200b to the motor driving device 200a.

此外，雖然在圖5及圖6之例中，以根據與磁鐵對120相對向的長度的長短來切換馬達控制的有效之例加以說明，惟不限定於此。線圈切換的手法有各式各樣，亦可採用其他的手法。茲舉一例，可考慮根據位置感測信號132的檢測準位來切換馬達控制的有效。In addition, in the example of FIG. 5 and FIG. 6, although the effective example of switching motor control according to the length of the length which opposes the magnet pair 120 was demonstrated, it is not limited to this. There are various methods of coil switching, and other methods may also be used. As an example, it may be considered to switch the effective of motor control according to the detection level of the position sensing signal 132 .

當具有使用電荷泵電路所構成的閘極電源的閘極驅動電路24的情形，即使不需要馬達控制的情形，亦為了確保上臂閘極電源，必須持續下臂開關元件的開關交換(switching)。當持續下臂開關元件的開關交換時，藉由動態制動而使制動電流流通，對馬達產生制動力並使馬達減速。In the case of having the gate drive circuit 24 using the gate power supply constituted by the charge pump circuit, even if the motor control is not required, switching of the lower arm switching element must be continued in order to secure the gate power supply of the upper arm. When the switching of the lower arm switching element is continued, a braking current flows by dynamic braking, and a braking force is applied to the motor to decelerate the motor.

在此，說明圖3所示之閘極驅動電路24的電荷泵電路中的上臂閘極電源電壓的波形與下臂開關元件的閘極信號(閘極驅動信號)的關係。圖8係使用於說明圖3所示之上臂閘極電源電壓的波形與下臂開關元件的閘極信號的關係之圖。圖8所示的動作係在馬達控制有效指令為OFF (關斷)之期間所進行。例如，於圖7(f)所示之馬達控制有效指令為OFF(關斷)之期間(時刻 t3 之後)，如圖8所示方式，對於馬達驅動裝置200a執行使下臂開關元件的閘極信號為ON(導通)達到特定的時間之動作。Here, the relationship between the waveform of the upper arm gate power supply voltage and the gate signal (gate drive signal) of the lower arm switching element in the charge pump circuit of the gate drive circuit 24 shown in FIG. 3 will be described. FIG. 8 is a diagram for explaining the relationship between the waveform of the upper arm gate power supply voltage and the gate signal of the lower arm switching element shown in FIG. 3 . The operation shown in FIG. 8 is performed while the motor control valid command is OFF (shutdown). For example, during the period (after time t3) when the motor control valid command shown in FIG. 7(f) is OFF (after time t3), as shown in FIG. The action of the signal being ON (conducting) for a specific time.

圖8所示的時間 Ton 為下臂開關元件的ON(導通)時間，時間Toff 為下臂開關元件的OFF(關斷)時間。上臂閘極電源電壓305係光耦合器242的輸出側的電源電壓。亦即，上臂閘極電源電壓305係等同於下述電壓：施加於連接光耦合器242的電壓輸入側和整流二極體246的陰極側的連接點，與連接光耦合器242的電壓輸出側和齊納二極體247的陽極側的連接點之間的電壓。The time Ton shown in FIG. 8 is the ON (on) time of the lower arm switching element, and the time Toff is the OFF (off) time of the lower arm switching element. The upper arm gate power supply voltage 305 is the power supply voltage on the output side of the photocoupler 242 . That is, the upper arm gate power supply voltage 305 is equivalent to the voltage applied to the connection point connecting the voltage input side of the optocoupler 242 and the cathode side of the rectifier diode 246, and the voltage output side connecting the optocoupler 242 and the connection point on the anode side of the Zener diode 247.

必要電源電壓303為驅動上臂開關元件所需的上臂閘極電源的電源電壓。要使下臂開關元件動作並完成電荷泵電路之充電時的電源電壓係設為較驅動上臂開關元件所需之電源電壓還大的電源電壓。本實施型態的馬達驅動裝置200係維持上臂閘極電源電壓305，俾以不低於必要電源電壓303。The necessary power supply voltage 303 is the power supply voltage of the upper arm gate power supply required for driving the upper arm switching element. The power supply voltage for operating the lower arm switching element and completing the charging of the charge pump circuit is set to a power supply voltage higher than the power supply voltage required for driving the upper arm switching element. The motor driving device 200 of the present embodiment maintains the upper arm gate power supply voltage 305 so as not to be lower than the necessary power supply voltage 303 .

電壓下降量 ya為在下臂開關元件OFF(關斷)之期間，上臂閘極電源電壓305所下降的量。電壓上昇量 yb 為在下臂開關元件ON(導通)之期間，上臂閘極電源電壓305所上昇的量。The voltage drop amount ya is the amount by which the upper arm gate power supply voltage 305 drops while the lower arm switching element is OFF (turned off). The voltage rise amount yb is the amount by which the upper arm gate power supply voltage 305 rises while the lower arm switching element is ON (conducted).

閘極供給電壓電源 V0 係藉由直流電源243供給至閘極電源電路24a的電源電壓。電壓 Vini 係對上臂閘極電源充電完成的電壓。電壓 Vini 係較必要電源電壓303還大的電壓值。時間 Toffset 係使上臂閘極電源電壓305從 0V 上昇至電壓上昇量 yb 的下限電壓值為止所需的時間。電壓上昇量 yb 的下限電壓值為在將第一電壓值至電二電壓值為止的電壓上昇量設為電壓上昇量 yb 時的第一電壓值。上臂閘極電源電壓305係在時間 Toffset 之期間從0V上昇至第一電壓值為止，之後在時間 Ton 之期間上昇達電壓上昇量 yb 而成為第二電壓值。The gate supply voltage power V0 is a power supply voltage supplied to the gate power supply circuit 24a by the DC power supply 243 . The voltage Vini is the voltage at which the upper arm gate power supply is charged. The voltage Vini is higher than the necessary power supply voltage 303 . The time Toffset is the time required for the upper arm gate power supply voltage 305 to rise from 0V to the lower limit voltage value of the voltage rise amount yb. The lower limit voltage value of the voltage increase amount yb is the first voltage value when the voltage increase amount from the first voltage value to the electrical voltage value is set as the voltage increase amount yb. The upper arm gate power supply voltage 305 rises from 0V to the first voltage value during the time Toffset, and then rises by the voltage rise amount yb during the time Ton to become the second voltage value.

上臂閘極電源電壓305係在時間 Toff 之間使上臂閘極電源電壓305下降。馬達驅動裝置200係在上臂閘極電源電壓305成為電壓 Vini 的時點將下臂開關元件設為ON(導通)，藉此使上臂閘極電源電壓305上昇。馬達驅動裝置200係反覆上述的處理，藉此維持上臂閘極電源電壓305，俾使上臂閘極電源電壓305不會低於必要電源電壓303。The upper arm gate power supply voltage 305 drops the upper arm gate power supply voltage 305 during time Toff. The motor drive device 200 raises the upper arm gate power supply voltage 305 by turning on the lower arm switching element when the upper arm gate power supply voltage 305 becomes the voltage Vini. The motor driving device 200 repeats the above-mentioned processes, thereby maintaining the upper arm gate power supply voltage 305 so that the upper arm gate power supply voltage 305 does not fall below the necessary power supply voltage 303 .

例如，馬達驅動裝置200a屬於第一馬達驅動裝置時，第一控制部係在未接收馬達控制有效指令的期間，停止用於第一上臂開關元件的第一驅動指令的輸出，並且對於第一反向器電路的第一下臂開關元件在可維持驅動第一上臂開關元件所需的第一上臂閘極電源的第一時點持續開關交換，而在接收到馬達控制有效指令時輸出第一驅動指令。此外，馬達驅動裝置200b屬於第二馬達驅動裝置時，第二控制部係在未接收馬達控制有效指令的期間，停止用於第二上臂開關元件的第二驅動指令的輸出，並且對於第二反向器電路的第二下臂開關元件在可維持驅動第二上臂開關元件所需的第二上臂閘極電源的第二時點持續開關交換，而在接收到馬達控制有效指令時輸出第二驅動指令。For example, when the motor drive device 200a belongs to the first motor drive device, the first control unit stops the output of the first drive command for the first upper arm switching element while the motor control valid command is not received, and for the first reverse The first lower arm switching element of the forwarder circuit continues switching switching at a first time point at which the first upper arm gate power supply required for driving the first upper arm switching element can be maintained, and outputs the first driving when receiving a motor control valid command instruction. In addition, when the motor drive device 200b belongs to the second motor drive device, the second control unit stops the output of the second drive command for the second upper arm switching element while the motor control valid command is not received, and for the second reverse The second lower arm switching element of the switch circuit continues switching at a second time point at which the second upper arm gate power supply required for driving the second upper arm switching element can be maintained, and outputs a second driving command when receiving a motor control valid command .

在第一時點的開關交換中的下臂開關元件的ON(導通)時間之例為可維持第一上臂閘極電源，並且下臂開關元件的ON(導通)時間為最小的ON(導通)時間。在第二時點的開關交換中的下臂開關元件的ON(導通)時間之例為可維持第二上臂閘極電源，並且下臂開關元件的ON(導通)時間為最小的ON(導通)時間。An example of the ON (conduction) time of the lower arm switching element in the switch exchange at the first time point is that the first upper arm gate power supply can be maintained, and the ON (conduction) time of the lower arm switching element is the smallest ON (conduction) time. An example of the ON time of the lower arm switching element in the switching exchange at the second time point is that the second upper arm gate power supply can be maintained, and the ON time of the lower arm switching element is the minimum ON time. .

電荷泵電路的時間 Ton(下臂開關元件的ON(導通)時間)會為最小之情形，是在上臂閘極電源電壓305為必要電源電壓303以上，並且電壓下降量 ya 與電壓上昇量 yb 成為相等的情形。電壓下降量 ya 係以下述式(1)所示。此外，電壓上昇量 yb 係以下述式(2)所示。如此，當電壓下降量 ya 與電壓上昇量 yb 成為相等時的下臂開關元件的ON(導通)時間會成為最小的ON(導通)時間(最小的時間 Ton)。最小的ON(導通)時間係上臂閘極電源電壓305形成必要電源電壓303以上的ON(導通)時間當中，最小的ON(導通)時間。當第一馬達驅動裝置為馬達驅動裝置200a，且第二馬達驅動裝置屬於馬達驅動裝置200b時，馬達驅動裝置200a中之最小的ON(導通)時間為第一最小ON(導通)時間，而馬達驅動裝置200b中之最小的ON(導通)時間為第二最小ON(導通)時間。以下的說明中，會有將下臂開關元件的最小的ON(導通)時間稱為下臂最小ON(導通)時間的情形。The time Ton (ON (conduction) time of the lower arm switching element) of the charge pump circuit is minimized when the upper arm gate power supply voltage 305 is equal to or higher than the necessary power supply voltage 303, and the voltage drop ya and the voltage rise yb become equal situation. The voltage drop amount ya is represented by the following formula (1). In addition, the voltage rise amount yb is represented by the following formula (2). In this way, when the voltage drop amount ya and the voltage increase amount yb become equal, the ON (on) time of the lower arm switching element becomes the minimum ON (on) time (minimum time Ton). The minimum ON time is the minimum ON time among the ON times necessary for the upper arm gate power supply voltage 305 to be equal to or higher than the power supply voltage 303 . When the first motor driving device is the motor driving device 200a, and the second motor driving device is the motor driving device 200b, the minimum ON (on) time in the motor driving device 200a is the first minimum ON (on) time, and the motor The minimum ON (on) time in the driving device 200b is the second minimum ON (on) time. In the following description, the minimum ON (conduction) time of the lower arm switching element may be referred to as the lower arm minimum ON (conduction) time.

Figure 02_image001
Figure 02_image001

Figure 02_image003
Figure 02_image003

式(2)所示的電壓上昇量 yb 係根據由電荷泵電路的電阻245和電容器248以及直流電源243所構成的一般性CR電路的CR時間常數(充電時間常數)而上昇。該情形，電荷泵電路係從上臂閘極電源電壓305維持某一大小的狀態起開始充電，所以電壓上昇必須減去電壓 Vini 而算出。另一方面，式(1)所示的電壓下降量 ya 係由於從電容器248以大致定電流方式供給用於閘極驅動電路24的電壓，所以根據電容器248的定電流放電時的電壓下降而下降。The voltage rise amount yb represented by the formula (2) increases according to the CR time constant (charging time constant) of a general CR circuit composed of the resistor 245, the capacitor 248, and the DC power supply 243 of the charge pump circuit. In this case, since the charge pump circuit starts charging from a state in which the upper arm gate power supply voltage 305 maintains a certain level, the voltage increase must be calculated by subtracting the voltage Vini. On the other hand, since the voltage drop amount ya shown in the formula (1) is supplied from the capacitor 248 to the voltage for the gate drive circuit 24 by a substantially constant current, it decreases according to the voltage drop when the capacitor 248 is discharged with a constant current. .

實施型態1的馬達驅動系統300係在採用共同電源方式的閘極驅動電路24的狀態下，控制下臂開關元件的ON(導通)時間，俾使電壓下降量 ya 與電壓上昇量 yb 相等，故可使承受動態制動的影響之下臂開關元件的ON(導通)時間成為最小。藉此，馬達驅動系統300係可將確保上臂閘極電源時的動態制動的發生予以抑制為最小限。In the motor drive system 300 of the first embodiment, in the state where the gate drive circuit 24 of the common power supply method is used, the ON (on) time of the lower arm switching element is controlled so that the voltage drop amount ya is equal to the voltage rise amount yb, Therefore, the ON (conduction) time of the arm switching element under the influence of dynamic braking can be minimized. As a result, the motor drive system 300 can minimize the occurrence of dynamic braking when the upper arm gate power supply is secured.

此外，馬達驅動系統300係在反向器暫歇期間中進行電荷泵電路的充電，所以不需要將馬達控制從OFF(關斷)切換成ON(導通)時之屬於共同電源方式之缺點的事前的充電處理，而消除在線圈切換時不進行控制的期間。藉此，馬達驅動系統300能夠以在獨立電源方式無法實現之價廉的馬達驅動電路，實現效率優良的馬達控制。In addition, since the motor drive system 300 performs charging of the charge pump circuit during the inverter pause period, there is no need to pre-empt the disadvantage of the common power supply method when the motor control is switched from OFF (off) to ON (on). the charging process, and eliminates the period when no control is performed when the coil is switched. In this way, the motor drive system 300 can realize motor control with excellent efficiency using an inexpensive motor drive circuit that cannot be realized in an independent power supply method.

此外，當移動磁鐵方式的線性馬達的情形，如圖4所示方式，磁鐵對120在從第一線圈切換成第二線圈的過程，第一線圈及第二線圈的雙方存在著與磁鐵對120重疊的情形。另一面，在實施型態1的手法中，馬達控制為非有效的情形，上臂開關元件沒有設ON(導通)的情形，且在下臂開關元件中ON(導通)時間也變得極小。因此，可將由動態制動所致的干擾或衝擊的發生抑制為最小限度，且可在線圈彼此的銜接的部位，平滑地進行線圈間的切換。In addition, in the case of moving the linear motor of the magnet type, as shown in FIG. 4 , in the process of switching the magnet pair 120 from the first coil to the second coil, both the first coil and the second coil are present with the magnet pair 120 overlapping situation. On the other hand, in the method of Embodiment 1, when the motor control is ineffective, the upper arm switching element is not set to ON (conduction), and the ON (conduction) time of the lower arm switching element is extremely small. Therefore, the occurrence of disturbance and shock due to dynamic braking can be minimized, and switching between coils can be performed smoothly at the location where the coils are connected to each other.

但是，由電荷泵電路的電阻245及電容器248與開關交換頻率F的關係，當下臂最小ON(導通)時間成為開關交換頻率F的倒數的2分之1以上時，會使下臂開關元件的ON(導通)時間本身變長。亦即，當將下臂開關元件的ON(導通)時間除以下臂開關元件的動作時間而得的值，亦即工作比為50％以上時，由動態制動的影響所致的制動力會大量發生。因此，本實施型態的馬達驅動裝置200亦可設為採用滿足下述式(3)所示之條件的開關交換頻率F。也就是，亦能以開關交換頻率F會比對由電阻245及電容器248的常數所決定的CR時間常數乘以2之值的倒數還小的方式，對馬達驅動裝置200設定CR時間常數。However, due to the relationship between the resistance 245 and the capacitor 248 of the charge pump circuit and the switching frequency F, when the minimum ON (on) time of the lower arm becomes more than 1/2 of the reciprocal of the switching frequency F, the switching element of the lower arm will be reduced. The ON (on) time itself becomes long. That is, when the value obtained by dividing the ON time of the lower arm switching element by the operating time of the lower arm switching element, that is, when the duty ratio is 50% or more, the braking force due to the influence of the dynamic braking becomes large. occur. Therefore, the motor drive device 200 of the present embodiment can also be set to adopt the switching frequency F that satisfies the condition shown in the following formula (3). That is, the CR time constant can be set in the motor drive device 200 so that the switching frequency F is smaller than the inverse of the value of the CR time constant determined by the constants of the resistor 245 and the capacitor 248 multiplied by 2.

Figure 02_image005
Figure 02_image005

如以上說明的方式，根據實施型態1的馬達驅動系統，上位控制裝置係對第一及第二馬達驅動裝置中之任一者輸出馬達控制有效指令，而第一及第二控制部係組構成：在未接收馬達控制有效指令的期間，停止上臂的驅動指令的輸出，且輸出下臂的驅動指令俾使ON(導通)時間小於 Toff 。藉此，當切換由第一馬達驅動裝置所激磁的第一線圈及由第二馬達驅動裝置所激磁的第二線圈時，可平滑地進行線圈間的切換。As described above, according to the motor drive system of the first embodiment, the upper control device outputs a motor control valid command to any one of the first and second motor drive devices, and the first and second control units are composed of Configuration: During the period when the motor control effective command is not received, the output of the driving command of the upper arm is stopped, and the driving command of the lower arm is output so that the ON (on) time is less than Toff. Thereby, when switching the first coil excited by the first motor drive device and the second coil excited by the second motor drive device, the switching between the coils can be smoothly performed.

此外，實施型態1的馬達驅動系統可應用於下述方式構成的線性馬達，亦即該線性馬達為：第一馬達係由配置於固定部的第一線圈及配置於以可沿第一方向的正側及負側移動之方式構成的可動部的複數個磁鐵對所構成；第二馬達係由配置於固定部且在第一方向的正側與第一線圈鄰接的第二線圈及複數個磁鐵對所構成。此時，由第一馬達驅動裝置所激磁的第一線圈及由第二馬達驅動裝置所激磁的第二線圈係隨著可動部的移動而依序進行切換與第一方向的正側或負側鄰接的線圈。並且，上位控制裝置係對第一及第二馬達驅動裝置中之任一者輸出馬達控制有效指令，且第一及第二控制部係在未接收馬達控制有效指令的期間，停止上臂的驅動指令的輸出，且使下臂的驅動指令以會成為未達Toff之ON(導通)時間之方式輸出。藉此，即使第一及第二線圈的雙方存在與磁鐵對重疊的期間，亦無第一及第二線圈的雙發同時被激磁的情形，在下臂的驅動指令成為ON(導通)的短時間以外，開關元件為OFF(關斷)，而無動態制動電流流通。藉此，可抑制動態制動的發生。此外，在切換由第一馬達驅動裝置所激磁的第一線圈及由第二馬達驅動裝置所激磁的第二線圈時，可平滑地進行線圈間的切換。In addition, the motor drive system of Embodiment 1 can be applied to a linear motor configured in the following manner, that is, the linear motor is: the first motor is composed of the first coil arranged on the fixed part and the first coil arranged so as to be able to move along the first direction The positive side and the negative side of the motor are composed of a plurality of magnet pairs of the movable part; the second motor is arranged on the fixed part and is adjacent to the first coil on the positive side of the first direction. The second coil and a plurality of Made up of pairs of magnets. At this time, the first coil excited by the first motor driving device and the second coil excited by the second motor driving device are sequentially switched to the positive side or the negative side of the first direction as the movable part moves. adjacent coils. In addition, the upper control device outputs a motor control valid command to any one of the first and second motor drive devices, and the first and second control units stop the driving command of the upper arm while the motor control valid command is not received. output, and the drive command of the lower arm is output in such a way that the ON (conduction) time of less than Toff is output. Thereby, even if both the first and second coils overlap with the magnet pair, the first and second coils are not excited at the same time, and the drive command of the lower arm is turned ON (conducting) for a short time. Otherwise, the switching element is OFF (turned off), and no dynamic braking current flows. Thereby, occurrence of dynamic braking can be suppressed. In addition, when switching the first coil excited by the first motor drive device and the second coil excited by the second motor drive device, the switching between the coils can be performed smoothly.

此外，由於在瞬時地判斷馬達控制的有效與否，因此亦可將從上位控制裝置所傳送的馬達控制有效指令的資訊設為參數，並記憶至記憶體23b。若如此上述方式，則易使既存的功能與新規的功能的共存，可削減系統建構的成本。另外，以下顯示參數的使用方法的一例。In addition, since the validity of the motor control is judged instantaneously, the information of the motor control valid command transmitted from the upper control device can also be set as a parameter and stored in the memory 23b. In this manner, the existing functions and the functions of the new regulations can be easily coexisted, and the cost of system construction can be reduced. In addition, an example of the usage method of a parameter is shown below.

(1) 通常的馬達控制的情形 ・參數設定為“0”。 ・當參數為“0”時，且未輸出馬達控制有效指令時係將全部的開關元件設為OFF(關斷)。 (2) 移動磁鐵控制的情形 ・將參數設定為“1”。 ・當參數為“1”時，且未輸出馬達控制有效指令時將上臂的開關元件設為OFF(關斷)，且下臂的開關元件係在第一及第二時點持續開關交換。(1) In the case of normal motor control ・The parameter is set to "0". ・When the parameter is "0" and the motor control valid command is not output, all switching elements are turned OFF. (2) In case of moving magnet control ・Set the parameter to "1". ・When the parameter is "1" and the motor control valid command is not output, the upper arm switching element is turned OFF, and the lower arm switching element is continuously switched at the first and second timings.

實施型態2. 如實施型態1，馬達在動作當中切換控制對象的系統的構成中，例如必須對高速旋轉的馬達開始馬達控制。以往的馬達驅動裝置中，並未設想這樣的狀況。因此，在以往的保護功能中，盡管並非異常，也會發出位置偏差異常、速度檢測異常、位置檢測異常、速度指令異常等的警報。因此，在實施型態2中，提出利用在實施型態1所說明的馬達控制有效指令，來抑制警報的誤偵測的控制手法。Implementation type 2. As in the first embodiment, in the configuration of a system in which a motor switches control objects during operation, for example, it is necessary to start motor control for a motor that rotates at a high speed. Such a situation has not been envisaged in the conventional motor drive device. Therefore, in the conventional protection function, even if it is not abnormal, alarms such as position deviation abnormality, speed detection abnormality, position detection abnormality, and speed command abnormality are issued. Therefore, in Embodiment 2, a control method for suppressing false detection of an alarm is proposed using the motor control valid command described in Embodiment 1.

圖9係供以實施型態2之馬達驅動系統的動作說明的時間關係圖。圖9中(a)～(g)的波形係與圖7所示者相同。在實施型態2中，為了抑制警報的誤偵測，設定有使警報檢測成為有效的期間(參照圖9(h)、(i))。具體而言，在時刻 t21 (較時刻 t1晚的時刻)到時刻 t22 (較時刻 t3 早的時刻)之間中，對馬達驅動裝置200a，設定警報檢測有效期間。該警報檢測有效期間係由控制器125所設定。另外，在圖9中，警報檢測有效期間係設為較輸出馬達控制有效指令的期間還短的期間，惟亦可為與輸出馬達控制有效指令的期間相同的期間。若設為相同的期間，則時間管理變得容易，控制也變得簡易。FIG. 9 is a timing chart for explaining the operation of the motor drive system of Embodiment 2. FIG. The waveforms of (a) to (g) in FIG. 9 are the same as those shown in FIG. 7 . In Embodiment 2, in order to suppress false detection of an alarm, a period during which alarm detection is enabled is set (refer to FIGS. 9(h) and (i) ). Specifically, between time t21 (a time later than time t1) and time t22 (a time earlier than time t3), an effective period of alarm detection is set for the motor drive device 200a. The alarm detection valid period is set by the controller 125 . In addition, in FIG. 9, although the alarm detection effective period is set as the period shorter than the period in which the motor control effective command is output, it may be the same period as the period in which the motor control effective command is output. When the same period is used, time management becomes easy and control becomes easy.

根據實施型態2的馬達驅動系統，由於根據馬達控制有效指令，來設定警報檢測有效期間，所以可抑制在馬達控制非有效期間中進行了意外的動作而發出警報的情形。According to the motor drive system of the second embodiment, since the alarm detection valid period is set according to the motor control valid command, it is possible to suppress the occurrence of an alarm due to unexpected operation during the motor control invalid period.

此外，根據實施型態2的馬達驅動系統，由於設定比馬達控制為有效期間還短的警報檢測有效期間，所以可減少因誤偵測而發出警報的可能性。In addition, according to the motor drive system of the second embodiment, since the effective period for alarm detection is set shorter than the period in which the motor control is effective, the possibility of generating an alarm due to false detection can be reduced.

以下的實施型態所示的構成係顯示本發明的內容的一例，亦可與其他公知的技術結合，且在不脫離本發明內容的範圍內，亦可省略、變更構成的一部分。The structure shown in the following embodiment is an example showing the content of the present invention, and may be combined with other known techniques, and a part of the structure may be omitted or modified without departing from the content of the present invention.

18:轉換電路 20:反向器電路 21:開關元件 21A～21C:支線 21UN,21VN,21WN:下臂開關元件 21UP,21VP,21WP:上臂開關元件 22:平滑電容器 23:控制部 23a:處理器 23b:記憶體 24:閘極驅動電路 24a,24b,24c,24d:閘極電源電路 26:交流電源 27,28:直流母線 30:驅動指令 32:驅動電壓 100a,100b,100c:線圈 106:通信線 120:磁鐵對 123:條碼 124:可動台車 125:控制器 130:位置感測器 130a,130b,130c:感測器 132:位置感測信號 140:控制指令 150:馬達 200,200a,200b,200c:馬達驅動裝置 241,245:電阻 242:光耦合器 243,244:直流電源 246:整流二極體 247:齊納二極體 248:電容器 300:馬達驅動系統 303:必要電源電壓 305:上臂閘極電源電壓 L1,L2:長度 t1:時刻 t11:時刻 t12:時刻 t2:時刻 t3:時刻 t4:時刻 t21:時刻 t22:時刻 Toff:時間 Toffset:時間 Ton:時間 V0:閘極供給電壓電源 Vini:電壓 ya:電壓下降量 yb:電壓上昇量18: Conversion circuit 20: Inverter circuit 21: Switching element 21A～21C: branch line 21UN, 21VN, 21WN: lower arm switching element 21UP, 21VP, 21WP: Upper arm switching element 22: Smoothing capacitor 23: Control Department 23a: Processor 23b: Memory 24: Gate drive circuit 24a, 24b, 24c, 24d: Gate supply circuit 26: AC power 27, 28: DC bus 30: Drive command 32: drive voltage 100a, 100b, 100c: Coil 106: Communication line 120: magnet pair 123: barcode 124: Movable trolley 125: Controller 130: Position Sensor 130a, 130b, 130c: Sensors 132: Position sensing signal 140: Control command 150: Motor 200, 200a, 200b, 200c: Motor drives 241, 245: Resistors 242: Optocoupler 243, 244: DC Power 246: Rectifier diode 247: Zener Diode 248: Capacitor 300: Motor drive system 303: Necessary supply voltage 305: Upper arm gate power supply voltage L1, L2: length t1: time t11: time t12: time t2: time t3: time t4: time t21: moment t22: moment Toff: time Toffset: time Ton: time V0: Gate supply voltage power supply Vini: Voltage ya: Voltage drop amount yb: Voltage rise amount

圖1係顯示實施型態1之使用於馬達驅動系統的馬達驅動裝置之構成的方塊圖。 圖2係顯示圖1所示之反向器電路的詳細的構成的電路圖。 圖3係使用於說明實施型態1中之閘極驅動電路之構成的電路圖。 圖4顯示使用圖1所示的馬達驅動裝置的實施型態1的馬達驅動系統的構成例之圖。 圖5係將即將從第一線圈切換成第二線圈之前的動作狀態顯示於圖4之圖。 圖6係將剛切換成第二線圈後的動作狀態顯示於圖4之圖。 圖7係供以圖4所示之馬達驅動系統的動作說明的時間關係圖(time chart)。 圖8係使用於圖3所示之上臂閘極電源電壓的波形與下臂開關元件的閘極信號的關係之圖。 圖9係供以實施型態2之馬達驅動系統的動作說明的時間關係圖(time chart)。FIG. 1 is a block diagram showing the configuration of a motor driving device used in a motor driving system according to Embodiment 1. As shown in FIG. FIG. 2 is a circuit diagram showing a detailed configuration of the inverter circuit shown in FIG. 1 . FIG. 3 is a circuit diagram for explaining the configuration of the gate drive circuit in Embodiment 1. FIG. FIG. 4 is a diagram showing a configuration example of a motor drive system according to Embodiment 1 using the motor drive device shown in FIG. 1 . FIG. 5 is a diagram showing the operation state immediately before switching from the first coil to the second coil in FIG. 4 . FIG. 6 is a diagram showing the operation state immediately after switching to the second coil in FIG. 4 . FIG. 7 is a time chart for explaining the operation of the motor drive system shown in FIG. 4 . FIG. 8 is a diagram used for the relationship between the waveform of the upper arm gate power supply voltage shown in FIG. 3 and the gate signal of the lower arm switching element. FIG. 9 is a time chart for explaining the operation of the motor drive system of Embodiment 2. FIG.

100a,100b,100c:線圈 100a, 100b, 100c: Coil

106:通信線 106: Communication line

120:磁鐵對 120: magnet pair

123:條碼 123: barcode

124:可動台車 124: Movable trolley

125:控制器 125: Controller

130a,130b,130c:感測器 130a, 130b, 130c: Sensors

140:控制指令 140: Control command

200a,200b,200c:馬達驅動裝置 200a, 200b, 200c: Motor drives

300:馬達驅動系統 300: Motor drive system

L1,L2:長度 L1, L2: length

Claims (6)

一種馬達驅動系統，係具有： 第一馬達驅動裝置，係具備第一控制部及第一反向器電路，且根據前述第一控制部所產生的第一驅動指令來驅動第一馬達； 第二馬達驅動裝置，係具備第二控制部及第二反向器電路，且根據前述第二控制部所產生的第二驅動指令來驅動第二馬達；以及 上位控制裝置，係產生馬達控制有效指令，且根據前述馬達控制有效指令來控制前述第一及第二馬達驅動裝置的動作；其中， 前述第一馬達係由配置於固定部的第一線圈及複數個磁鐵對所構成，該複數個磁鐵對係配置於以可沿第一方向的正側及負側移動方式構成的可動部； 前述第二馬達係由配置於前述固定部且在前述第一方向的正側與前述第一線圈鄰接的第二線圈，及複數個前述磁鐵對所構成； 前述第一及第二線圈係隨著前述可動部的移動，而依序切換與前述第一方向的正側或負側鄰接的線圈； 前述上位控制裝置係對前述第一及第二馬達驅動裝置中的任一者輸出前述馬達控制有效指令； 前述第一反向器電路的第一上臂開關元件係由第一閘極驅動電路所驅動，該第一閘極驅動電路係使用在驅動前述第一上臂開關元件的閘極電源電路中共同的電源； 前述第二反向器電路的第二上臂開關元件係由第二閘極驅動電路所驅動，該第二閘極驅動電路係使用在驅動前述第二上臂開關元件的閘極電源電路中共同的電源； 前述第一控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第一上臂開關元件的第一驅動指令的輸出，並且對於前述第一反向器電路的第一下臂開關元件在可維持驅動前述第一上臂開關元件所需的第一上臂閘極電源的第一時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述第一驅動指令； 前述第二控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第二上臂開關元件的第二驅動指令的輸出，並且對於前述第二反向器電路的第二下臂開關元件在可維持驅動前述第二上臂開關元件所需的第二上臂閘極電源的第二時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述第二驅動指令； 前述第一時點中的前述第一下臂開關元件的第一導通時間，為在未接收前述馬達控制有效指令的期間中，於前述第一下臂開關元件導通之期間中前述第一上臂閘極電源的電源電壓上昇量，與於前述第一下臂開關元件關斷之期間中前述第一上臂閘極電源的電源電壓下降量成為相等的導通時間； 前述第二時點中的前述第二下臂開關元件的第二導通時間，為在未接收前述馬達控制有效指令的期間中，於前述第二下臂開關元件導通之期間中前述第二上臂閘極電源的電源電壓上昇量，與於前述第二下臂開關元件關斷之期間中前述第二上臂閘極電源的電源電壓下降量成為相等的導通時間。A motor drive system having: The first motor driving device is provided with a first control unit and a first inverter circuit, and drives the first motor according to the first drive command generated by the first control unit; The second motor driving device includes a second control unit and a second inverter circuit, and drives the second motor according to a second drive command generated by the second control unit; and The upper control device generates a motor control valid command, and controls the actions of the first and second motor driving devices according to the motor control valid command; wherein, The first motor is composed of a first coil arranged on the fixed portion and a plurality of magnet pairs, and the plurality of magnet pairs are arranged on the movable portion configured to be movable along the positive side and the negative side of the first direction; The second motor is composed of a second coil disposed on the fixing portion and adjacent to the first coil on the positive side of the first direction, and a plurality of the magnet pairs; The first and second coils sequentially switch the coils adjacent to the positive side or the negative side of the first direction along with the movement of the movable portion; The upper control device outputs the motor control effective command to any one of the first and second motor drive devices; The first upper arm switching element of the first inverter circuit is driven by a first gate driving circuit that uses a common power supply in the gate power supply circuit that drives the first upper arm switching element ; The second upper arm switching element of the second inverter circuit is driven by a second gate driving circuit using a common power supply in the gate power supply circuit for driving the second upper arm switching element ; The first control unit stops the output of the first drive command for the first upper arm switching element during the period when the motor control valid command is not received, and the first lower arm switching element of the first inverter circuit stops the output of the first drive command. The switching is continued at a first time point that can maintain the first upper arm gate power supply required for driving the first upper arm switching element, and the aforementioned first driving command is output when the aforementioned motor control valid command is received; The second control unit stops the output of the second drive command for the second upper arm switching element during a period in which the motor control valid command is not received, and the second lower arm switching element of the second inverter circuit stops the output of the second drive command. Switching is continued at a second time point at which the second upper arm gate power supply required for driving the second upper arm switching element can be maintained, and the second driving command is output when the motor control valid command is received; The first conduction time of the first lower arm switch element at the first time point is the first upper arm gate during the period in which the first lower arm switch element is turned on during the period in which the motor control valid command is not received. The rising amount of the power supply voltage of the pole power supply and the falling amount of the power supply voltage of the first upper arm gate power supply during the period when the first lower arm switching element is turned off become the same turn-on time; The second conduction time of the second lower arm switching element at the second time point is the second upper arm gate during the period in which the second lower arm switching element is turned on during the period in which the motor control valid command is not received. The amount of increase in the power supply voltage of the power supply is equal to the ON time period when the amount of power supply voltage drop of the second upper arm gate power supply during the period in which the second lower arm switching element is turned off. 如請求項1所述之馬達驅動系統，其中，前述第一導通時間係比前述第一下臂開關元件為關斷的時間還短的時間； 前述第二導通時間係比前述第二下臂開關元件為關斷的時間還短的時間。The motor drive system of claim 1, wherein the first on-time is shorter than the off-time of the first lower arm switching element; The second on-time is shorter than the off-time of the second lower arm switching element. 如請求項1或2所述之馬達驅動系統，其中，前述第一及第二控制部係具有記憶體， 於前述記憶體係寫入有：將從前述上位控制裝置所輸出的前述馬達控制有效指令的資訊所設成的參數； 前述第一及第二控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第一及第二上臂開關元件的第一及第二驅動指令的輸出，並且對於前述第一及第二反向器電路的第一及第二下臂開關元件在可維持驅動前述第一及第二上臂開關元件所需的第一及第二上臂閘極電源的第一及第二時點持續開關交換，而在接收到前述馬達控制有效指令時，根據前述參數切換輸出前述第一及第二驅動指令之功能的有效無效。The motor drive system according to claim 1 or 2, wherein the first and second control units have memories, Written in the memory system: parameters set from the information of the motor control effective command output from the upper control device; The first and second control sections stop the output of the first and second drive commands for the first and second upper arm switching elements during the period when the motor control valid command is not received, and for the first and second The first and second lower arm switching elements of the two-inverter circuit are continuously switched on and off at the first and second time points that can maintain the first and second upper arm gate power supplies required for driving the first and second upper arm switching elements , and when the motor control valid command is received, the function of outputting the first and second drive commands is switched to be valid or invalid according to the parameter. 一種馬達驅動系統，係具有： 第一馬達驅動裝置，係具備第一控制部及第一反向器電路，且根據前述第一控制部所產生的第一驅動指令來驅動第一馬達； 第二馬達驅動裝置，係具備第二控制部及第二反向器電路，且根據前述第二控制部所產生的第二驅動指令來驅動第二馬達；以及 上位控制裝置，係產生馬達控制有效指令，且根據前述馬達控制有效指令來控制前述第一及第二馬達驅動裝置的動作；其中， 前述第一馬達係由配置於固定部的第一線圈及複數個磁鐵對所構成，該複數個磁鐵對係配置於以可沿第一方向的正側及負側移動之方式所構成的可動部； 前述第二馬達係由配置於前述固定部且在前述第一方向的正側與前述第一線圈鄰接的第二線圈，及複數個前述磁鐵對所構成； 前述第一及第二線圈係伴隨著前述可動部的移動，而依序切換與前述第一方向的正側或負側鄰接的線圈； 前述上位控制裝置係對前述第一及第二馬達驅動裝置的任一者輸出前述馬達控制有效指令； 前述第一反向器電路的第一上臂開關元件係由第一閘極驅動電路所驅動，該第一閘極驅動電路係使用在驅動前述第一上臂開關元件的閘極電源電路中共同的電源； 前述第二反向器電路的第二上臂開關元件係由第二閘極驅動電路所驅動，該第二閘極驅動電路係使用在驅動前述第二上臂開關元件的閘極電源電路中共同的電源； 前述第一控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第一上臂開關元件的第一驅動指令的輸出，並且對於前述第一反向器電路的第一下臂開關元件在可維持驅動前述第一上臂開關元件所需的第一上臂閘極電源的第一時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述第一驅動指令； 前述第二控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第二上臂開關元件的第二驅動指令的輸出，並且對於前述第二反向器電路的第二下臂開關元件在可維持驅動前述第二上臂開關元件所需的第二上臂閘極電源的第二時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述第二驅動指令； 前述第一及第二控制部係具有記憶體， 於前述記憶體係寫入有：將從前述上位控制裝置所輸出的前述馬達控制有效指令的資訊所設成的參數； 前述第一及第二控制部係在未接收前述馬達控制有效指令的期間，停止用於前述第一及第二上臂開關元件的第一及第二驅動指令的輸出，並且對於前述第一及第二反向器電路的第一及第二下臂開關元件在可維持驅動前述第一及第二上臂開關元件所需的第一及第二上臂閘極電源的第一及第二時點持續開關交換，而接收到前述馬達控制有效指令時根據前述參數切換輸出前述第一及第二驅動指令之功能的有效無效。A motor drive system having: The first motor driving device is provided with a first control unit and a first inverter circuit, and drives the first motor according to the first drive command generated by the first control unit; The second motor driving device includes a second control unit and a second inverter circuit, and drives the second motor according to a second drive command generated by the second control unit; and The upper control device generates a motor control valid command, and controls the actions of the first and second motor driving devices according to the motor control valid command; wherein, The first motor is composed of a first coil arranged on a fixed portion and a plurality of magnet pairs, and the plurality of magnet pairs are arranged on a movable portion configured so as to be movable along the positive side and the negative side of the first direction. ; The second motor is composed of a second coil disposed on the fixing portion and adjacent to the first coil on the positive side of the first direction, and a plurality of the magnet pairs; The first and second coils sequentially switch the coils adjacent to the positive side or the negative side of the first direction along with the movement of the movable portion; The upper control device outputs the motor control effective command to any one of the first and second motor drive devices; The first upper arm switching element of the first inverter circuit is driven by a first gate driving circuit that uses a common power supply in the gate power supply circuit that drives the first upper arm switching element ; The second upper arm switching element of the second inverter circuit is driven by a second gate driving circuit using a common power supply in the gate power supply circuit for driving the second upper arm switching element ; The first control unit stops the output of the first drive command for the first upper arm switching element during the period when the motor control valid command is not received, and the first lower arm switching element of the first inverter circuit stops the output of the first drive command. The switching is continued at a first time point that can maintain the first upper arm gate power supply required for driving the first upper arm switching element, and the aforementioned first driving command is output when the aforementioned motor control valid command is received; The second control unit stops the output of the second drive command for the second upper arm switching element during a period in which the motor control valid command is not received, and the second lower arm switching element of the second inverter circuit stops the output of the second drive command. Switching is continued at a second time point at which the second upper arm gate power supply required for driving the second upper arm switching element can be maintained, and the second driving command is output when the motor control valid command is received; The first and second control units have memories, Written in the memory system: parameters set from the information of the motor control effective command output from the upper control device; The first and second control sections stop the output of the first and second drive commands for the first and second upper arm switching elements during the period when the motor control valid command is not received, and for the first and second The first and second lower arm switching elements of the two-inverter circuit are continuously switched on and off at the first and second time points that can maintain the first and second upper arm gate power supplies required for driving the first and second upper arm switching elements , and when the motor control valid command is received, the function of outputting the first and second drive commands is switched to be valid or invalid according to the parameter. 一種馬達驅動裝置，係根據從上位控制裝置所送來的馬達控制有效指令，驅動移動磁鐵方式的馬達，該馬達驅動裝置係具備： 控制部；以及 反向器電路，係具有上臂開關元件及下臂開關元件； 前述上臂開關元件係由閘極驅動電路所驅動，該閘極驅動電路係使用在驅動前述上臂開關元件的閘極電源電路中共同的電源； 前述控制部係在未接收前述馬達控制有效指令的期間，停止用於前述上臂開關元件的驅動指令的輸出，並且對於前述下臂開關元件在可維持驅動前述上臂開關元件所需的上臂閘極電源的時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述驅動指令； 於前述時刻中的前述下臂開關元件的導通時間，為在未接收前述馬達控制有效指令的期間中，於前述下臂開關元件導通之期間中前述上臂閘極電源的電源電壓上昇量，與於前述下臂開關元件關斷之期間中前述上臂閘極電源的電源電壓下降量成為相等的導通時間。A motor drive device drives a motor in a moving magnet mode according to a motor control effective command sent from a host control device, the motor drive device includes: Control; and an inverter circuit, which has an upper arm switch element and a lower arm switch element; The upper arm switching element is driven by a gate driving circuit, and the gate driving circuit uses a common power supply in the gate power supply circuit for driving the upper arm switching element; The control unit stops the output of a drive command for the upper arm switching element while the motor control valid command is not received, and can maintain the upper arm gate power supply required for driving the upper arm switching element for the lower arm switching element. The switch is continuously exchanged at the time point, and the aforementioned drive command is output when the aforementioned motor control valid command is received; The turn-on time of the lower arm switching element at the aforementioned time is the amount of power supply voltage rise of the upper arm gate power supply during the period during which the lower arm switching element is turned on during the period in which the motor control effective command is not received, and is related to During the period in which the lower arm switching element is turned off, the amount of drop in the power supply voltage of the upper arm gate power supply is equal to the ON time. 一種馬達驅動裝置，係根據從上位控制裝置所傳送來的馬達控制有效指令，驅動移動磁鐵方式的馬達，該馬達驅動裝置係具備： 控制部；以及 反向器電路，係具有上臂開關元件及下臂開關元件； 前述上臂開關元件係由閘極驅動電路所驅動，該閘極驅動電路使用在驅動前述上臂開關元件的閘極電源電路中共同的電源； 前述控制部係在未接收前述馬達控制有效指令的期間，停止用於前述上臂開關元件的驅動指令的輸出，並且對於前述下臂開關元件在可維持驅動前述上臂開關元件所需的上臂閘極電源的時點持續開關交換，而在接收到前述馬達控制有效指令時輸出前述驅動指令； 前述控制部係具有記憶體； 前述記憶體係寫入有：將從前述上位控制裝置所輸出的前述馬達控制有效指令的資訊所設成的參數； 前述控制部係在未接收前述馬達控制有效指令的期間，停止用於前述上臂開關元件的驅動指令的輸出，並且對前述反向器電路的下臂開關元件在可維持驅動前述上臂開關元件所需的上臂閘極電源的時點持續開關交換，而在接收到前述馬達控制有效指令時根據前述參數切換輸出前述驅動指令之功能的有效無效。A motor drive device for driving a motor of a moving magnet method according to a motor control effective command transmitted from a host control device, the motor drive device is provided with: Control; and an inverter circuit, which has an upper arm switch element and a lower arm switch element; The upper arm switching element is driven by a gate driving circuit, and the gate driving circuit uses a common power supply in the gate power supply circuit for driving the upper arm switching element; The control unit stops the output of a drive command for the upper arm switching element while the motor control valid command is not received, and can maintain the upper arm gate power supply required for driving the upper arm switching element for the lower arm switching element. The switch is continuously exchanged at the time point, and the aforementioned drive command is output when the aforementioned motor control valid command is received; The aforementioned control unit has a memory; The above-mentioned memory system is written with: parameters set from the information of the above-mentioned motor control effective command output from the above-mentioned upper control device; The control unit stops the output of a drive command for the upper arm switching element while the motor control valid command is not received, and the lower arm switching element of the inverter circuit is required to maintain the driving of the upper arm switching element. The time point of the upper arm gate power supply is continuously switched, and when the motor control valid command is received, the function of outputting the driving command is switched to be valid or invalid according to the parameter.
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