WO2015098942A1 - モータ駆動装置 - Google Patents
モータ駆動装置 Download PDFInfo
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- WO2015098942A1 WO2015098942A1 PCT/JP2014/084110 JP2014084110W WO2015098942A1 WO 2015098942 A1 WO2015098942 A1 WO 2015098942A1 JP 2014084110 W JP2014084110 W JP 2014084110W WO 2015098942 A1 WO2015098942 A1 WO 2015098942A1
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- motor
- voltage
- switching elements
- drive device
- lower arms
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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
- 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
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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
- H02M1/32—Means for protecting converters other than automatic disconnection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
Definitions
- the present invention relates to a motor drive device.
- overvoltage protection means as disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 2007-166815) is provided.
- the input transformer is a transformer with a load tap changer, and when the voltage exceeding the threshold is input to the inverter over a predetermined time, the tap of the transformer with the load tap changer is lowered. Switched to the side.
- the transformer with a load tap changer as described above is suitable for a large-scale electric facility, but it is not easy to apply to a drive device of an inverter controlled motor such as a home appliance.
- the time required for the power supply voltage to become excessive is extremely short, and the tap switching as described above takes too much time, so it is difficult to reliably protect such a motor drive device.
- a semiconductor element such as a semiconductor element that has a short time to withstand overvoltage cannot be protected by being interrupted by a relay.
- increasing the withstand voltage of a semiconductor element or the like only for an instantaneous excessive voltage leads to an increase in cost and size.
- an object of the present invention is to provide a motor drive device provided with a compact and low-cost overvoltage protection means for protecting a device from a momentary excessive voltage.
- each of a plurality of upper and lower arms corresponding to each of a plurality of phases of the motor is configured by connecting two switching elements in series, and a connection point formed thereby
- a motor driving device that outputs a voltage to the corresponding phase from each, and includes a power supply unit, a voltage detection unit, and a control unit.
- the power supply unit supplies a DC voltage Vdc to the upper and lower arms.
- the voltage detector is connected in parallel to the upper and lower arms.
- the control unit turns on and off the switching element. Further, the control unit turns off both the switching elements of the upper and lower arms when the detection value of the voltage detection unit exceeds a predetermined threshold value.
- the DC voltage Vdc is applied to the switching element in which the upper and lower arms are off while any of the switching elements in the upper and lower arms is operating. There is a high possibility that an excessive voltage is applied to one switching element and it is destroyed.
- the motor drive device is the motor drive device according to the first aspect, further comprising a motor brake circuit.
- the control unit brakes the motor after turning off both switching elements of the upper and lower arms.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to half that when either one is operating, so that the switching element can be protected from destruction.
- the switching element is likely to be turned on by the energy of the motor inductance component and the induced voltage due to the rotation of the motor, but after turning off both the switching elements of the upper and lower arms, the motor is electrically braked and stopped quickly.
- the energy of the inductance component can be quickly consumed, the rotational energy of the motor can be quickly attenuated, and the time during which the switching element is on can be shortened.
- the motor drive device is the motor drive device according to the first aspect or the second aspect, and further includes a resistive load and a resistive load connecting means.
- the resistive load connecting means connects or blocks between the connection point of the two switching elements and the resistive load.
- the control unit turns off both the switching elements of the upper and lower arms, and then connects the connection point and the resistive load.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to half that when either one is operating, so that the switching element can be protected from destruction.
- the switching element is likely to be turned on by the energy of the motor inductance component and the induced voltage due to the rotation of the motor, but after turning off both switching elements of the upper and lower arms, a resistive load is connected to each phase of the motor.
- a motor driving device is the motor driving device according to any one of the first to third aspects, and further includes a mechanical brake that is attachable to and detachable from a rotating shaft of the motor. .
- the control unit mechanically brakes the motor after turning off both switching elements of the upper and lower arms.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to half that when either one is operating, so that the switching element can be protected from destruction.
- the switching element is highly likely to be turned on by the energy of the motor inductance component and the induced voltage due to the rotation of the motor, but after turning off both switching elements of the upper and lower arms, the motor is mechanically braked and stopped quickly. As a result, the rotational energy of the motor is attenuated, and the time during which the switching element is on can be shortened.
- a motor driving device is the motor driving device according to any one of the first to fourth aspects, wherein the control unit has a detection value of the voltage detection unit exceeding a threshold value. After turning on all the switching elements of one of the two switching elements of all the upper and lower arms, all the switching elements are turned off.
- this motor drive device by turning on all the switching elements of one of the two switching elements of all the upper and lower arms, the current from the motor is circulated, and the DC voltage generated by the regeneration of the rotational energy of the motor is reduced. While preventing boosting, the current is attenuated to 0 by the internal impedance of the motor. After that, even if the switching elements of all the upper and lower arms are turned off and the switching elements are turned on due to the energy of the motor inductance component and the induced voltage due to the rotation of the motor, the on-time can be shortened. .
- a motor driving device is the motor driving device according to any one of the second to fifth aspects, wherein the control unit has a detection value of the voltage detection unit exceeding a threshold value. Otherwise, the brake is not applied to the motor.
- This motor drive unit suppresses unnecessary motor stops by limiting the brake operation only to overvoltage.
- a motor drive device is the motor drive device according to any one of the first to sixth aspects, and further includes a bootstrap circuit.
- the bootstrap circuit generates a higher potential than the low potential side of the switching element for driving power of the upper arm side switching element of the upper and lower arms.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to half that when either one is operating, so that the switching element can be protected from destruction.
- the voltage of the direct-current voltage section (hereinafter abbreviated as DC section) can withstand a voltage that is twice the withstand voltage of one element. .
- the midpoint potential of the upper and lower arms is about one element withstand voltage at most (there is no need to consider since the element will be destroyed if it is more than that).
- a design that can withstand the normal rated voltage (that is, one-element breakdown voltage) of the DC section is sufficient.
- a motor drive device is the motor drive device according to any one of the first to sixth aspects, and further includes an insulated power source.
- the insulated power supply is used to drive the upper arm side switching element of the upper and lower arms.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to half that when either one is operating, so that the switching element can be protected from destruction.
- the midpoint potential of the upper and lower arms is at most about one element withstand voltage (the element is destroyed beyond that). Is sufficient to have a design that can withstand the normal rated voltage (that is, one-element breakdown voltage) of the DC section.
- the motor drive device is the motor drive device according to the first aspect, further comprising a balance circuit.
- the balance circuit is disposed between a pair of DC buses connecting the power supply unit and the upper and lower arms and the connection point.
- the control unit turns on and off the switching element. Further, the control unit turns off both the switching elements of the upper and lower arms when the detection value of the voltage detection unit exceeds a predetermined threshold value.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series, and the excessive voltage applied to one switching element. Is reduced to about half of when either one is operating, so that the switching element can be protected from destruction.
- the motor drive device is the motor drive device according to the ninth aspect, wherein the balance circuit is arranged so as to correspond to each of the switching elements of the plurality of upper and lower arms.
- the overvoltage protection circuit according to the eleventh aspect of the present invention is the motor drive device according to the ninth aspect or the tenth aspect, and includes a switch.
- the switch connects or disconnects between a connection point of two switching elements connected in series and an intermediate point of a pair of balance circuits corresponding thereto.
- the control unit connects the balance circuit when the detection value of the voltage detection unit exceeds a predetermined threshold.
- a switch is arranged between the connection points NU, NV, NW and the intermediate point of the corresponding pair of balance circuits, and the balance circuit is connected only when the inverter is off, thereby Power consumption can be suppressed.
- a motor drive device is the motor drive device according to any one of the ninth to eleventh aspects, and the balance circuit is configured by a resistance element.
- both switching elements of the upper and lower arms are turned off, whereby the excessive voltage is divided across the two switching elements connected in series. Since the excessive voltage applied to one switching element is reduced to half of when one of the switching elements is operating, the switching element can be protected from destruction.
- the switching elements of the upper and lower arms when both the switching elements of the upper and lower arms are turned off, there is a high possibility that the switching elements are turned on by the energy of the motor inductance component and the induced voltage due to the rotation of the motor.
- the switching element After switching off both the switching elements of the upper and lower arms, connecting the resistive load to each phase of the motor, the switching element is turned on by consuming the energy of the motor's inductance component in the resistive load in a short time Time can be shortened.
- the motor drive device when both the switching elements of the upper and lower arms are turned off, there is a high possibility that the switching elements are turned on by the energy of the motor inductance component and the induced voltage due to the rotation of the motor. After the switching elements of both the upper and lower arms are turned off, the time during which the switching elements are turned on can be shortened by applying a mechanical brake to the motor and quickly stopping the motor.
- the motor drive device by turning on all the switching elements of one of the two switching elements of all the upper and lower arms, the current from the motor is circulated to rotate the motor. While preventing the DC voltage from being boosted due to energy regeneration, the current is attenuated by the internal impedance of the motor to zero. Thereafter, even if the switching elements of all the upper and lower arms are turned off and the switching elements are turned on by the energy and induced voltage of the inductance component of the motor, the on-time can be shortened.
- the midpoint potential of the upper and lower arms is at most about one element withstand voltage.
- a design that can withstand the normal rated voltage (ie, one-device breakdown voltage) of the DC section is sufficient.
- both the switching elements of the upper and lower arms are turned off, so that the midpoint potential of the upper and lower arms is at most about one element withstand voltage.
- a design that can withstand the normal rated voltage (that is, one-element breakdown voltage) of the DC section is sufficient.
- the DC voltage Vdc is applied to the switching element in which the upper and lower arms are turned off while any one of the switching elements in the upper and lower arms is operating, so that it becomes an excessive voltage.
- an excessive voltage is applied to one switching element that is turned off, and the possibility of destruction is high.
- the motor drive device in the case of an inverter circuit, since three pairs of upper and lower arms are connected in parallel, by connecting a balance circuit to each upper and lower arm, the DC voltage Vdc is Since the voltage is divided almost evenly across the two switching elements of each upper and lower arm, the switching elements can be protected from destruction.
- a switch is arranged between the connection points NU, NV, NW and the intermediate point of the corresponding pair of balance circuits, and the balance circuit is connected only when the inverter is off. By doing so, the power consumption of the balance circuit can be suppressed.
- the resistance element is relatively inexpensive, an increase in cost due to the installation of the balance circuit can be suppressed.
- FIG. 1 is a block diagram showing an overall configuration of a system in which a motor drive device according to a first embodiment of the present invention is employed and a circuit configuration of the motor drive device.
- FIG. 7B is a graph showing a change in the voltage Vds at both ends of a semiconductor element having an avalanche region on the graph showing the control with respect to the change in the DC voltage Vdc in FIG. 7A.
- the circuit diagram of the principal part of the motor drive device provided with the bootstrap circuit.
- the circuit diagram of the principal part of the motor drive device provided with the insulated power supply.
- the circuit diagram of the principal part of the motor drive device provided with the charge pump circuit.
- the block diagram which shows the circuit structure of the motor drive device which concerns on 4th Embodiment of this invention.
- FIG. 1 is a block diagram showing an overall configuration of a system 100 in which a motor drive device 10 according to a first embodiment of the present invention is employed and an internal configuration of the motor drive device 10.
- a system 100 includes a motor driving device 10 and a motor 51.
- the motor 51 is a three-phase brushless DC motor, and includes a stator 52 and a rotor 53.
- the stator 52 includes U-phase, V-phase, and W-phase drive coils Lu, Lv, and Lw that are star-connected.
- One ends of the drive coils Lu, Lv, and Lw are connected to drive coil terminals TU, TV, and TW of U-phase, V-phase, and W-phase wirings extending from the inverter 25, respectively.
- the other ends of the drive coils Lu, Lv, and Lw are connected to each other as a terminal TN.
- These three-phase drive coils Lu, Lv, and Lw generate an induced voltage according to the rotational speed and the position of the rotor 53 as the rotor 53 rotates.
- the rotor 53 includes a multi-pole permanent magnet composed of an N pole and an S pole, and rotates about the rotation axis with respect to the stator 52.
- the motor 51 is, for example, a compressor motor or a fan motor of a heat pump type air conditioner.
- the motor driving device 10 includes a rectifying unit 21, a smoothing capacitor 22, a voltage detecting unit 23, a current detecting unit 24, an inverter 25, a gate driving circuit 26, and a control unit 40. I have. These may be mounted on, for example, one printed board.
- the rectifying unit 21 is configured in a bridge shape by four diodes D1a, D1b, D2a, and D2b. Specifically, the diodes D1a and D1b and D2a and D2b are respectively connected in series. The cathode terminals of the diodes D1a and D2a are both connected to the plus side terminal of the smoothing capacitor 22 and function as the positive side output terminal of the rectifying unit 21. The anode terminals of the diodes D1b and D2b are both connected to the negative side terminal of the smoothing capacitor 22 and function as the negative side output terminal of the rectifying unit 21.
- connection point of the diode D1a and the diode D1b is connected to one pole of the commercial power supply 91.
- a connection point between the diode D2a and the diode D2b is connected to the other pole of the commercial power supply 91.
- the rectifying unit 21 rectifies the AC voltage output from the commercial power supply 91 to generate a DC power supply, and supplies this to the smoothing capacitor 22.
- the smoothing capacitor 22 has one end connected to the positive output terminal of the rectifying unit 21 and the other end connected to the negative output terminal of the rectifying unit 21.
- the smoothing capacitor 22 smoothes the voltage rectified by the rectifying unit 21.
- the voltage after smoothing by the smoothing capacitor 22 is referred to as a DC voltage Vdc.
- the DC voltage Vdc is applied to the inverter 25 connected to the output side of the smoothing capacitor 22. That is, the rectifying unit 21 and the smoothing capacitor 22 constitute a power supply unit 20 for the inverter 25.
- condenser although an electrolytic capacitor, a film capacitor, a tantalum capacitor etc. are mentioned, a film capacitor is employ
- the voltage detector 23 is connected to the output side of the smoothing capacitor 22 and detects the voltage across the smoothing capacitor 22, that is, the value of the DC voltage Vdc.
- the voltage detection unit 23 is configured such that two resistors connected in series with each other are connected in parallel to the smoothing capacitor 22 and the DC voltage Vdc is divided. The voltage value at the connection point between the two resistors is input to the control unit 40.
- the current detection unit 24 is connected between the smoothing capacitor 22 and the inverter 25 and connected to the negative output terminal side of the smoothing capacitor 22.
- the current detection unit 24 detects the motor current Im flowing through the motor 51 after the motor 51 is started as a total value of currents for three phases.
- the current detection unit 24 may be composed of, for example, an amplifier circuit using a shunt resistor and an operational amplifier that amplifies the voltage across the resistor.
- the motor current detected by the current detection unit 24 is input to the control unit 40.
- Inverter 25 In the inverter 25, three upper and lower arms corresponding to the U-phase, V-phase, and W-phase drive coils Lu, Lv, and Lw of the motor 51 are connected in parallel to each other and to the output side of the smoothing capacitor 22.
- an inverter 25 includes a plurality of IGBTs (insulated gate bipolar transistors, hereinafter referred to simply as transistors) Q3a, Q3b, Q4a, Q4b, Q5a, Q5b and a plurality of free-wheeling diodes D3a, D3b, D4a, D4b, D5a and D5b are included.
- IGBTs insulated gate bipolar transistors
- Transistors Q3a and Q3b, Q4a and Q4b, Q5a and Q5b are connected to each other in series to form each upper and lower arm, and the corresponding phase from each of connection points NU, NV, and NW formed thereby.
- Output lines extend toward the drive coils Lu, Lv, and Lw.
- the diodes D3a to D5b are connected in parallel to the transistors Q3a to Q5b so that the collector terminal of the transistor and the cathode terminal of the diode are connected, and the emitter terminal of the transistor and the anode terminal of the diode are connected.
- Each of these transistors and diodes connected in parallel constitutes a switching element.
- the DC voltage Vdc from the smoothing capacitor 22 is applied via the DC bus (power supply lines 801 and 802), and the transistors Q3a to Q5b are turned on and off at the timing instructed by the gate drive circuit 26.
- drive voltages SU, SV, and SW for driving the motor 51 are generated.
- the drive voltages SU, SV, SW are output to the drive coils Lu, Lv, Lw of the motor 51 from the connection points NU, NV, NW of the transistors Q3a and Q3b, Q4a and Q4b, and Q5a and Q5b.
- the inverter 25 of this embodiment is a voltage source inverter, it is not limited to it, A current source inverter may be sufficient.
- Gate drive circuit 26 The gate drive circuit 26 changes the on / off states of the transistors Q3a to Q5b of the inverter 25 based on the command voltage Vpwm from the control unit 40. Specifically, the gate drive circuit 26 includes the transistors Q3a to Q5b so that pulsed drive voltages SU, SV, and SW having a duty determined by the control unit 40 are output from the inverter 25 to the motor 51. Gate control voltages Gu, Gx, Gv, Gy, Gw, and Gz to be applied to the gate are generated. The generated gate control voltages Gu, Gx, Gv, Gy, Gw, Gz are applied to the gate terminals of the respective transistors Q3a to Q5b.
- Control unit 40 is connected to the voltage detection unit 23, the current detection unit 24, and the gate drive circuit 26.
- the control unit 40 drives the motor 51 by a rotor position sensorless method.
- it since it is not limited to a rotor position sensorless system, you may carry out by a sensor system.
- the rotor position sensorless method uses various parameters indicating the characteristics of the motor 51, the detection result of the voltage detection unit 23 after the motor 51 is started, the detection result of the current detection unit 24, a predetermined mathematical model related to the control of the motor 51, and the like.
- the rotor position and the rotational speed are estimated, the PI control for the rotational speed, the PI control for the motor current, and the like are driven.
- various parameters indicating the characteristics of the motor 51 include the winding resistance, inductance component, induced voltage, and number of poles of the motor 51 used. Since there are many patent documents regarding the rotor position sensorless control, refer to them for details (for example, Japanese Patent Laid-Open No. 2013-17289).
- control unit 40 monitors the detection value of the voltage detection unit 23, and performs protection control to turn off the transistors Q3a to Q5b when the detection value of the voltage detection unit 23 exceeds a predetermined threshold value.
- the brake circuit 61 includes three transistors 61u, 61v, and 61w.
- the transistor 61u is connected in the middle of the wiring connecting the U-phase drive coil Lu and the common connection point N.
- the transistor 61v is connected in the middle of the wiring connecting the V-phase drive coil Lv and the common connection point N.
- the transistor 61w is connected in the middle of the wiring connecting the W-phase drive coil Lw and the common connection point N.
- a reflux diode is connected to each of the transistors 61u to 61w.
- Each base of the three transistors 61u, 61v, 61w is connected to the control unit 40 via a signal line.
- control unit 40 While the motor 51 is rotating normally, the control unit 40 does not output drive signals to the bases of the three transistors 61u, 61v, 61w, and therefore, between the collectors and emitters of the three transistors 61u, 61v, 61w. Is a non-conductive state.
- control unit 40 outputs drive signals to the bases of the three transistors 61u, 61v, 61w, the collectors and emitters become conductive, the drive coils Lu, Lv, Lw are connected, and the motor 51 is braked. Take it.
- control unit 40 outputs a waveform to the gate drive circuit 26 and controls the waveform output state to drive the motor 51 at a predetermined rotational speed.
- FIG. 2A is a diagram showing how voltage is applied to the upper and lower arms during operation of the motor drive device 10
- FIG. 2B is a diagram showing how voltage is applied to the upper and lower arms when the motor drive device 10 is stopped.
- the upper arm transistor Q3a corresponding to the drive coil Lu, the lower arm transistor Q4b corresponding to the drive coil Lv, and the lower arm transistor Q5b corresponding to the drive coil Lw are turned on.
- the DC voltage Vdc is applied to the switching elements (transistors Q3b, Q4a, Q5a, diodes D3b, D4a, D5a) in which the upper and lower arms are off.
- control unit 40 determines that the detection value of the voltage detection unit 23 exceeds a predetermined threshold, the control unit 40 turns off the transistors Q3a, Q3b, Q4a, Q4b, Q5a, and Q5b of the upper and lower arms.
- the excessive voltage is applied to each of the two switching elements (transistors Q3a, Q3b, Q4a, Q4b, Q5a, Q5b, diodes D3a, D3b, D4a, D4b, D5a, D5b) connected in series. Divided at both ends. For example, the divided voltage value V1 is applied to both ends of the upper arm switching elements (transistors Q3a, Q4a, Q5a, diodes D3a, D4a, D5a), and the lower arm switching elements (transistors Q3b, Q4b, Q5b, diodes D3b, D4b). , D5b) is applied with a partial pressure value V2.
- V1 V2 if the impedance of each switching element is equal, so that the overvoltage applied to one switching element is reduced to half that when either one is operating, and each switching element is destroyed. Can be protected.
- control unit 40 After turning off the transistors Q3a to Q5b, the control unit 40 outputs drive signals to the respective bases of the three transistors 61u, 61v, 61w of the brake circuit 61, and makes the collectors and emitters conductive. As a result, the motor 51 is braked.
- the purpose of braking the motor 51 is that the diodes D3a to D5b of the switching element are likely to be turned on by the energy of the inductance component of the motor 51 and the induced voltage due to the rotation of the motor 51. Even if the diodes D3a to D5b are turned on, the time during which the diodes D3a to D5b are turned on can be shortened by applying an electric brake to the motor 51 and quickly stopping it.
- control unit 40 does not brake the motor 51 except when the detection value of the voltage detection unit 23 exceeds the threshold value. That is, unnecessary motor stops are suppressed by limiting the operation of the brake only to overvoltage.
- FIG. 3 is a block diagram showing an overall configuration of a system 100 in which a motor drive device 10 according to a second embodiment of the present invention is employed and an internal configuration of the motor drive device 10.
- the motor drive device 10 is provided with a resistance load 71 and a relay circuit 73 in place of the brake circuit 61 in the first embodiment shown in FIG. Accordingly, the resistance load 71 and the relay circuit 73 will be described here, and the other elements are the same as those in the first embodiment (the configuration excluding the brake circuit 61). Is omitted.
- the resistance load 71 is composed of three resistance elements 71u, 71v, 71w.
- the resistance element 71u is connected in the middle of a line connecting the U-phase drive coil Lu and the common connection point N.
- the resistance element 71v is connected in the middle of a line connecting the V-phase drive coil Lv and the common connection point N.
- the resistance element 71 w is connected in the middle of a line connecting the W-phase drive coil Lw and the common connection point N.
- each line is interrupted by a relay circuit 73.
- the relay circuit 73 includes a relay contact 73a for electrically opening and closing lines connecting the drive coils Lu, Lv, and Lw of each phase of the motor 51 and the corresponding resistance elements 71u, 71v, and 71w, and a relay contact 73a.
- a relay coil 73b to be operated and a transistor 73c for energizing and de-energizing the relay coil 73b are included.
- One end of the relay coil 73b is connected to the positive electrode of the driving power supply Vb, and the other end is connected to the collector side of the transistor 73c.
- the control unit 40 switches between the presence and absence of the base current of the transistor 73c, turns on and off the collector and the emitter, and energizes and de-energizes the relay coil 73b.
- control unit 40 determines that the detection value of the voltage detection unit 23 has exceeded a predetermined threshold, it is the same as in the first embodiment until the transistors Q3a to Q5b of the upper and lower arms are turned off. The description is omitted.
- the control unit 40 turns off the transistors Q3a to Q5b and then outputs a drive signal to the base of the transistor 73c of the relay circuit 73 so that each collector-emitter is in a conductive state.
- the relay coil 73b is excited, the relay contact 73a is closed, the resistance element 71u and the U-phase drive coil Lu, the resistance element 71v and the V-phase drive coil Lv, and further the resistance elements 71w and W
- the phase drive coil Lw is connected, and the energy of the inductance component of the motor 51 is consumed in a short time by the resistance elements 71u, 71v, 71w, and an electric brake is applied.
- the diodes D3a to D5b are turned on by the energy and induced voltage of the inductance component of the motor 51. Even if the diodes D3a to D5b are turned on, the energy of the inductance component of the motor 51 is converted into the resistance elements 71u, By consuming 71v and 71w in a short time, the time during which the diodes D3a to D5b are on can be shortened.
- FIG. 4 is a block diagram showing an overall configuration of a system 100 in which a motor drive device 10 according to a third embodiment of the present invention is employed and an internal configuration of the motor drive device 10.
- the motor drive device 10 according to the third embodiment can be attached to and detached from the output shaft of the motor 51 in a configuration in which the electric brake circuit 61 in the first embodiment shown in FIG. 1 is removed.
- a mechanical brake 81 is newly provided. Therefore, the brake 81 will be described here, and the other elements are the same as those in the first embodiment (the configuration excluding the brake circuit 61).
- the brake 81 is a mechanical brake, and includes an electromagnetic clutch 83 and a load 85 connected to the rotating shaft of the motor 51 via the electromagnetic clutch 83.
- the electromagnetic clutch 83 connects or releases the rotating shaft of the motor 51 and the load 85 according to a drive signal from the control unit 40.
- the load 85 is composed of a rotary disk or a rotary damper having a moment of inertia sufficiently larger than that of the rotor 53 of the motor 51 in order to attenuate the rotational force of the rotor 53.
- the load 85 is not limited to the rotary disk and the rotary damper, and the load 85 may be anything that can attenuate the rotational force of the rotor 53.
- control unit 40 determines that the detection value of the voltage detection unit 23 has exceeded a predetermined threshold, it is the same as in the first embodiment until the transistors Q3a to Q5b of the upper and lower arms are turned off. The description is omitted.
- the control unit 40 turns off the transistors Q3a to Q5b and then operates the electromagnetic clutch 83 to connect the rotating shaft of the motor 51 and the load 85.
- an electric brake or a mechanical brake is provided to brake the motor 51 with the energy of the inductance component of the motor 51 and the rotational energy of the motor 51. Is consumed in a short time, and the time during which the switching elements (diodes D3a to D5b) are on is shortened.
- control unit 40 determines that the detection value of the voltage detection unit 23 exceeds the threshold value, all the transistors in one of the two transistors Q3a, Q3b, Q4a, Q4b, Q5a, and Q5b of all the upper and lower arms After turning on, all the transistors Q3a to Q5b are turned off.
- the current from the motor 51 is returned and the rotational energy of the motor 51 is reduced. While preventing the DC voltage from being boosted due to regeneration, the current is attenuated to 0 by the internal impedance of the motor 51.
- FIG. 5 is a block diagram showing an overall configuration of a system 100 in which a motor drive device 10 according to another embodiment of the present invention is employed and an internal configuration of the motor drive device 10.
- the motor drive device 10 has a configuration in which the brake circuit 61 is removed from the first embodiment shown in FIG. Yes.
- the smoothing capacitor is an electrolytic capacitor 77. Therefore, here, the relay circuit 75 and the electrolytic capacitor 77 will be described, and the other elements are the same as those in the first embodiment (the configuration excluding the brake circuit 61). Is omitted.
- the relay circuit 75 includes a relay contact 75a for opening and closing the power supply line 801, a relay coil 75b for operating the relay contact 75a, and a transistor 75c for energizing and de-energizing the relay coil 75b. Contains.
- the controller 40 switches between the presence and absence of the base current of the transistor 75c, turns on and off the collector and the emitter, and performs energization and de-energization of the relay coil 75b.
- the relay circuit 75 closes the power supply line 801, that is, makes it conductive. On the other hand, at the time of overvoltage, the relay circuit 75 cuts off the power supply line 801 in response to a signal output from the control unit 40.
- Electrolytic capacitor 77 is an electrolytic capacitor connected in parallel with the inverter 25.
- the state in which the overvoltage is applied to the electrolytic capacitor 77 continues for a period of about 10 msec from when the relay circuit 75 receives the signal output from the control unit 40 to when the power supply line 801 is cut off. That is, it is assumed that the overvoltage value may exceed the withstand voltage of the electrolytic capacitor 77 between the time when the voltage detection unit 23 detects the overvoltage and the time when the relay circuit 75 shuts off the power supply line 801.
- FIG. 6 is a graph of voltage / current characteristics showing the relationship between the voltage applied to both ends of the electrolytic capacitor 77 and the current flowing through the electrolytic capacitor 77.
- the formation voltage when a voltage higher than the withstand voltage of the oxide film is applied, the formation of the oxide film is performed (the voltage at this time is referred to as the formation voltage), and the current flowing in the electrolytic capacitor 77 Will increase.
- the electrolytic capacitor 77 is not broken in about 10 msec, and the voltage at both ends thereof is clamped by the conversion voltage.
- FIG. 7A is a graph showing control with respect to a change in DC voltage Vdc. 5 and 7A, when the DC voltage Vdc increases and the detection value of the voltage detection unit 23 exceeds the overvoltage threshold, the control unit 40 cuts off the power supply line 801 through the relay circuit 75.
- the DC voltage Vdc exceeds the capacitor withstand voltage until the relay contact 75a of the relay circuit 75 cuts off the power supply line 801, but is clamped to the formation voltage (generally about 1.3 to 1.5 times the capacitor withstand voltage). Is done.
- the element breakdown voltage of the semiconductor switching element transistor, diode
- the relay contact 75a cuts off the power supply line 801 during the voltage clamping period, so the DC voltage Vdc is The breakdown voltage of the semiconductor device is not reached.
- the overvoltage applied to the inverter 25 can be suppressed to the formation voltage of the electrolytic capacitor 77, and the relay circuit 75 is connected to the power line 801 within that period.
- the relay circuit 75 is connected to the power line 801 within that period.
- the avalanche region is a region where a phenomenon in which carriers rapidly flow exceeding a certain breakdown voltage of a semiconductor occurs.
- FIG. 7B is a graph in which the change in the voltage Vds at both ends of the semiconductor element having the avalanche region is placed on the graph showing the control with respect to the change in the DC voltage Vdc in FIG. 7A.
- the voltage Vds across the MOSFET generally becomes higher than the DC voltage Vdc due to a surge generated by wiring inductance or a boosting operation.
- the voltage Vds rises as the DC voltage Vdc rises as the power supply voltage rises.
- the semiconductor device breakdown voltage of the MOSFET is lower than the formation voltage of the electrolytic capacitor, and the voltage Vds exceeds the semiconductor device breakdown voltage before the voltage across the electrolytic capacitor 77 is clamped by the formation voltage. Even when it is clamped by the avalanche voltage, the voltage across the electrolytic capacitor 77 is clamped by the formation voltage during that time, and then the relay contact 75a cuts off the power supply line 801.
- the avalanche operation can withstand overvoltage, so that it is not necessary to make the MOSFET a high withstand voltage product.
- the avalanche energy of the MOSFET can be suppressed by clamping the voltage across the electrolytic capacitor 77 with the formation voltage.
- a charge pump circuit is configured. Since the withstand voltage of the switch or the like is generally designed to be about the withstand voltage of one switching element (that is, about the normal DC voltage Vdc), the final withstand voltage capability is the withstand voltage of the switch or the like constituting the charge pump circuit (see FIG. 10). Limited by ability.
- the first switch element 465 is turned on and the second switch element 466 is turned off, whereby the first capacitor 461 is charged. Thereafter, the first switch element 465 is turned off and the second switch element 466 is turned on, whereby the charge accumulated in the first capacitor 461 is transferred to the second capacitor 462.
- the upper arm driving power source charged second capacitor 462 can be created. Charging of the first capacitor 461 and the second capacitor 462 is performed by the oscillation circuit 464.
- the second capacitor 462 is charged up to Vb, but since the low potential side of the second capacitor 462 is connected to Vdc, the high potential side of the second capacitor 462 becomes Vb + Vdc.
- both the first switch element 465 and the second switch element 466 need to have a breakdown voltage equal to or higher than Vb + Vdc, and are normally designed with a breakdown voltage equivalent to one switching element (that is, about a normal DC voltage Vdc). Is done. Therefore, there remains a problem that the breakdown voltage at the time of overvoltage is limited to the breakdown voltage of the first switch element 465 and the second switch element 466.
- the bootstrap system is used as a system for creating a driving power source for the upper arm side switching element (increasing the gate potential corresponding to the changing upper and lower arm connection point potential). It is preferable.
- FIG. 8 is a circuit diagram of the main part of the motor drive device 10 provided with the bootstrap circuit 31.
- a bootstrap circuit 31 is provided to increase the gate potential of the upper arm side switching element.
- the gate drive circuit 26 and the bootstrap circuit 31 will be described.
- the gate drive circuit 26 includes an upper arm side drive circuit 26a for driving the upper arm side transistors Q3a, Q4a, and Q5a, and a lower arm side transistor Q3b, A lower arm side drive circuit 26b for driving Q4b and Q5b, and 10 terminals Vcc, Vdd, Hin, Lin, Vss, Vbo, Ho, Vs, Lo, and COM.
- the positive electrode of the driving power source Vb for driving the transistor is connected to the terminal Vcc, and the positive electrode of the logic power source Vc is connected to the terminal Vdd.
- the signal line from the control unit 40 is connected to the terminal Hin and the terminal Lin, and the negative electrodes of the driving power supply Vb and the logic power supply Vc are connected to the terminal Vss and also connected to the negative electrode of the motor power supply (DC voltage Vdc). ing.
- the line branched from the high potential side pole of the capacitor 311 of the bootstrap circuit 31 is connected to the terminal Vbo, the emitters of the transistors Q3a, Q4a, and Q5a are connected to the terminal Vs, and the transistors Q3b, Q4b, and Q5b are connected to each other.
- the emitter is connected to the terminal COM.
- the gates of the transistors Q3a, Q4a, and Q5a are connected to the terminal Ho, and the gates of the transistors Q3b, Q4b, and Q5b are connected to the terminal Lo.
- the transistors Q3a, Q4a, Q5a, Q3b, Q4b, and Q5b are turned on / off by the gate drive circuit 26 controlling the gate potential via the terminal Ho and the terminal Lo.
- the operation of the gate drive circuit 26 is controlled based on a duty ratio control signal input from the control unit 40 to the terminal Hin and the terminal Lin.
- the gate drive circuit 26 includes a drive power supply Vb connected to the terminal Vcc in order to appropriately input a gate potential to the transistors Q3a, Q4a, Q5a on the upper arm side.
- the bootstrap circuit 31 is provided between the positive electrode of the transistor and the emitters of the transistors Q3a, Q4a, and Q5a.
- FIG. 8 shows only the gate drive circuit 26 corresponding to the transistors Q3a and Q3b of the upper and lower arms and the bootstrap circuit 31 corresponding to the gate drive circuit 26.
- a gate drive circuit and a bootstrap circuit are provided correspondingly.
- the bootstrap circuit 31 includes a capacitor 311, a resistor 312, and a diode 313.
- One end of the capacitor 311 is connected to a connection point NU between the emitter of the transistor Q3a on the upper arm side and the collector of the transistor Q3b on the lower arm side.
- the other end of the capacitor 311 is connected to the positive electrode of the driving power supply Vb via a resistor 312 and a diode 313.
- the resistor 312 is provided to limit the charging current of the capacitor 311, and the diode 313 is arranged in order so that the capacitor 311 is not discharged via the resistor 312, and the current does not flow to Vb even when the Vs potential changes.
- the direction is directed from the positive electrode side of the driving power supply Vb to the capacitor 311 side.
- the upper arm side drive circuit 26a inside the gate drive circuit 26 takes in a high potential from the capacitor 311 in order to control on / off of the transistor Q3a.
- the lower arm side drive circuit 26b in the gate drive circuit 26 controls on / off of the transistor Q3b. However, since the emitter side of the transistor Q3b is grounded, the potential of the positive electrode of the drive power supply Vb connected to the terminal Vcc. Can only be controlled.
- the capacitor 311 since the capacitor 311 is charged, it can be used as an upper arm side driving power source.
- the Vs potential changes between Vdc and 0 by switching of the upper and lower arm transistors, but no current flows to the Vb side due to the diode 313.
- the withstand voltage of the diode 313 is normally designed to a value that can withstand the normal rated voltage (that is, one element withstand voltage) of the DC section.
- the midpoint potential of the upper and lower arms is at most about one device breakdown voltage (there is no need to consider since the device will be destroyed if it is higher), so the bootstrap circuit 31 has a circuit configuration.
- a design that can withstand the normal rated voltage (that is, one-element breakdown voltage) of the DC section is sufficient.
- the bootstrap circuit 31 (see FIG. 8) is recommended as a method for raising the gate potential of the upper arm side switching element instead of the charge pump method, but is not limited thereto.
- FIG. 9 is a circuit diagram of the main part of the motor drive device 10 provided with the insulated power source 36.
- an insulated power source 36 is provided for each gate of the upper arm.
- FIG. 9 shows only the gate drive circuit 26 corresponding to the transistors Q3a and Q3b of the upper and lower arms and the insulated power supply 36 corresponding to the gate drive circuit 26.
- a gate drive circuit and an insulated power supply are provided.
- the middle point potential of the upper and lower arms is at most one element withstand voltage. Since the power supply becomes to the extent (the element is destroyed beyond that), a design that can withstand the normal rated voltage (that is, the one-device breakdown voltage) of the DC section is sufficient for the insulated power supply 36.
- FIG. 11 is a block diagram showing a circuit configuration of a motor drive device 10 according to a fourth embodiment of the present invention.
- the overall system 100 includes a motor driving device 10 and a motor 51.
- the motor drive device 10 has a configuration in which the brake circuit 61 is removed from the first embodiment shown in FIG. 1, and the balance circuits 33a, 33b, and 34a are newly added. , 34b, 35a, 35b, and an electrolytic capacitor is used as the smoothing capacitor 22.
- an overvoltage protection circuit 50 a portion constituted by the voltage detection unit 23, the current detection unit 24, and the balance circuits 33a, 33b, 34a, 34b, 35a, and 35b is referred to as an overvoltage protection circuit 50.
- the balance circuits 33a to 35b are composed of resistance elements.
- the pair of balance circuits 33a and 33b correspond to a pair of switching elements (transistors Q3a and Q3b and diodes D3a and D3b) constituting the upper and lower arms.
- the pair of balance circuits 34a and 34b corresponds to a pair of switching elements (transistors Q4a and Q4b and diodes D4a and D4b)
- the pair of balance circuits 35a and 35b includes a pair of switching elements (transistors Q5a, Q5b and Corresponding to the diodes D5a, D5b).
- the balance circuits 33a and 33b, 34a and 34b, 35a and 35b are connected to each other in series, and the connection points MU, MV, and MW formed thereby are transistors Q3a and Q3b, Q4a and Q4b, and Q5a and Q5b, respectively. It is connected to connection points NU, NV, NW formed by being connected in series.
- a line connecting the connection point MU and the connection point NU is a line 47u
- a line connecting the connection point MV and the connection point NV is a line 47v
- a line connecting the connection point MW and the connection point NW is a line 47w.
- control unit 40 outputs a waveform to the gate drive circuit 26 and controls the waveform output state to drive the motor 51 at a predetermined rotational speed.
- FIG. 12A is a diagram showing how voltage is applied to the upper and lower arms during operation of the motor drive device 10
- FIG. 12B is a diagram showing how voltage is applied to the upper and lower arms when the motor drive device 10 is stopped.
- the upper arm transistor Q3a corresponding to the drive coil Lu, the lower arm transistor Q4b corresponding to the drive coil Lv, and the lower arm transistor Q5b corresponding to the drive coil Lw are turned on.
- the DC voltage Vdc is applied to the off transistors of the upper and lower arms.
- control unit 40 determines that the detection value of the voltage detection unit 23 exceeds a predetermined threshold, the control unit 40 turns off the transistors Q3a, Q3b, Q4a, Q4b, Q5a, and Q5b of the upper and lower arms.
- the excessive voltage is applied to each of the two switching elements (transistors Q3a, Q3b, Q4a, Q4b, Q5a, Q5b, diodes D3a, D3b, D4a, D4b, D5a, D5b) connected in series. Divided at both ends. For example, the divided voltage value V1 is applied to both ends of the upper arm switching elements (transistors Q3a, Q4a, Q5a, diodes D3a, D4a, D5a), and the lower arm switching elements (transistors Q3b, Q4b, Q5b, diodes D3b, D4b). , D5b) is applied with a partial pressure value V2.
- the balance circuits 33a and 33b are used as switching elements (transistors Q3a and Q3b, diodes D3a and D3b), and the balance circuits 34a and 34b are used as switching elements (transistors Q4a and Q4b, diodes D4a and D4b).
- the circuits 35a and 35b are connected to correspond to the switching elements (transistors Q5a and Q5b, diodes D5a and D5b).
- the divided voltage value V1 applied to both ends of the upper arm switching elements (transistors Q3a, Q4a, Q5a, diodes D3a, D4a, D5a) and the lower arm switching elements (transistors Q3b, Q4b, Q5b, diodes D3b, D4b). , D5b) can be made equal to the partial pressure value V2 applied to both ends.
- the balance circuits 33a and 33b are transistors Q3a and Q3b and diodes D3a and D3b, the balance circuits 34a and 34b are transistors Q4a and Q4b, the diodes D4a and D4b, the balance circuits 35a and 35b are transistors Q5a and Q5b, and the diode D5a.
- the divided voltage value V1 applied to both ends of the upper arm switching elements (transistors Q3a, Q4a, Q5a, diodes D3a, D4a, D5a) and the lower arm switching elements (transistors Q3b, Q4b, Q5b, diodes D3b, D4b, D5b) can be made equal to the divided voltage value V2 at both ends, and switching elements (transistors Q3a to Q5b and diodes D3a to D5b) caused by unequal voltage division can be obtained. Destruction It is possible to prevent.
- FIG. 13 is a block diagram showing a circuit configuration of a motor drive device 10 according to the second embodiment of the present invention.
- the entire system 100 includes a motor driving device 10 and a motor 51.
- the motor drive device 10 is provided with relay circuits 43, 44, and 45 in addition to the fourth embodiment shown in FIG. Accordingly, the relay circuits 43, 44, and 45 will be described here, and the other elements are the same as those in the first embodiment, and thus the same names and symbols are assigned and detailed description thereof is omitted.
- Relay circuits 43, 44, 45 open and close lines 47u, 47v, and 47w.
- opening and closing the lines 47u, 47v, 47w means connecting or blocking between the connection point MU and the connection point NU, between the connection point MV and the connection point NV, and between the connection point MW and the connection point NW. It is to be.
- Relay circuits 43, 44, and 45 include relay contacts 43a, 44a, and 45a, relay coils 43b, 44b, and 45b, and transistors 43c, 44c, and 45c.
- Relay contacts 43a, 44a, 45a open and close lines 47u, 47v, 47w.
- Relay coils 43b, 44b, and 45b operate relay contacts 43a, 44a, and 45a.
- Transistors 43c, 44c, and 45c conduct and de-energize relay coils 43b, 44b, and 45b.
- One end of the relay coils 43b, 44b, 45b is connected to the positive electrode of the driving power supply Vb, and the other end is connected to the collector side of the transistors 43c, 44c, 45c.
- the control unit 40 switches the presence / absence of the base current of the transistors 43c, 44c, and 45c, turns on and off the collector and the emitter, and energizes and de-energizes the relay coils 43b, 44b, and 45b.
- the relay circuits 43, 44, and 45 maintain the lines 47u, 47v, and 47w in a non-conductive state.
- the drive signal is output from the control unit 40 to the bases of the transistors 43c, 44c, 45c of the relay circuits 43, 44, 45, the relay coils 43b, 44b, 45b are excited and relay contacts 43a, 44a, and 45a operate in a direction for conducting the lines 47u, 47v, and 47w.
- control unit 40 determines that the detection value of the voltage detection unit 23 has exceeded a predetermined threshold, it is the same as in the first embodiment until the transistors Q3a to Q5b of the upper and lower arms are turned off. The description is omitted.
- the control circuit 40 When the control unit 40 turns off the transistors Q3a, Q3b, Q4a, Q4b, Q5a, and Q5b of the upper and lower arms, the control circuit 40 connects the balance circuits 33a and 33b to the transistors Q3a, Q3b, and the relay circuit 43, 44, and 45, respectively.
- the balance circuits 34a and 34b are connected to the diodes D3a and D3b so as to correspond to the transistors Q4a and Q4b and the diodes D4a and D4b, and the balance circuits 35a and 35b are connected to the transistors Q5a and Q5b and the diodes D5a and D5b.
- the divided voltage value V1 applied to both ends of the upper arm switching elements (transistors Q3a, Q4a, Q5a, diodes D3a, D4a, D5a) and the lower arm switching elements (transistors Q3b, Q4b, Q5b, diodes D3b, D4b). , D5b) can be made equal to the partial pressure value V2 applied to both ends.
- the control circuit 40 When the control unit 40 turns off the transistors Q3a, Q3b, Q4a, Q4b, Q5a, and Q5b of the upper and lower arms, the control circuit 40 connects the balance circuits 33a and 33b to the transistors Q3a, Q3b, and the relay circuits 43, 44, and 45, respectively. Since the balance circuits 34a and 34b are connected to the diodes D3a and D3b so as to correspond to the transistors Q4a and Q4b and the diodes D4a and D4b, and the balance circuits 35a and 35b are connected so as to correspond to the transistors Q5a and Q5b and the diodes D5a and D5b.
- the balance circuit is connected only when the inverter is off, thereby suppressing the power consumption of the balance circuit. Can do.
- the DC voltage Vdc is applied to the balance circuit on one arm side when the switching element of the inverter is turned on. If the resistance value is R, the power consumption of the balance circuit is (Vdc) 2 / R, but in the state where the balance circuit is not connected, the power consumption of the balance circuit is (Vdc) 2 / 2R. Power consumption can be reduced to 1 ⁇ 2.
- the switch may be a semiconductor switch such as a MOSFET instead of a relay. In that case, since the balance circuit can be connected at a higher speed, the state where the partial pressure becomes uneven can be quickly removed.
- a second switch for connecting / cutting off the balance circuit itself may be further provided.
- FIG. 14 is a diagram illustrating how voltage is applied to the upper and lower arms when the balance circuits 33a and 33b are connected after the motor driving device 10 according to another embodiment is stopped.
- the second switch 47 normally has the contact 47a turned off (opened), and the relay switch 43 of the relay circuit 43 is turned on. At the same time, the second switch 47 turns on the contact 47a (closed). The power consumption of the balance circuit in the state can be made zero.
- the present invention can protect each transistor of the upper and lower arms from an overvoltage, and thus is useful not only for motor drive devices but also for other drive devices using inverters.
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Abstract
Description
(1)概要
図1は、本発明の第1実施形態に係るモータ駆動装置10が採用されているシステム100の全体構成と、モータ駆動装置10の内部構成とを示すブロック図である。図1において、システム100は、モータ駆動装置10とモータ51とで構成されている。
モータ51は、3相のブラシレスDCモータであって、ステータ52と、ロータ53とを備えている。ステータ52は、スター結線されたU相、V相及びW相の駆動コイルLu,Lv,Lwを含む。各駆動コイルLu,Lv,Lwの一方端は、それぞれインバータ25から延びるU相、V相及びW相の各配線の駆動コイル端子TU,TV,TWに接続されている。各駆動コイルLu,Lv,Lwの他方端は、互いに端子TNとして接続されている。これら3相の駆動コイルLu,Lv,Lwは、ロータ53が回転することによりその回転速度とロータ53の位置に応じた誘起電圧を発生させる。
モータ駆動装置10は、図1に示すように、整流部21と、平滑コンデンサ22と、電圧検出部23と、電流検出部24と、インバータ25と、ゲート駆動回路26と、制御部40とを備えている。これらは、例えば1枚のプリント基板上に実装されてもよい。
(2-1)整流部21
整流部21は、4つのダイオードD1a,D1b,D2a,D2bによってブリッジ状に構成されている。具体的には、ダイオードD1aとD1b、D2aとD2bは、それぞれ互いに直列に接続されている。ダイオードD1a,D2aの各カソード端子は、共に平滑コンデンサ22のプラス側端子に接続されており、整流部21の正側出力端子として機能する。ダイオードD1b,D2bの各アノード端子は、共に平滑コンデンサ22のマイナス側端子に接続されており、整流部21の負側出力端子として機能する。
平滑コンデンサ22は、一端が整流部21の正側出力端子に接続され、他端が整流部21の負側出力端子に接続されている。平滑コンデンサ22は、整流部21によって整流された電圧を平滑する。以下、説明の便宜上、平滑コンデンサ22による平滑後の電圧を直流電圧Vdcという。
電圧検出部23は、平滑コンデンサ22の出力側に接続されており、平滑コンデンサ22の両端電圧、即ち直流電圧Vdcの値を検出するためのものである。電圧検出部23は、例えば、互いに直列に接続された2つの抵抗が平滑コンデンサ22に並列接続され、直流電圧Vdcが分圧されるように構成される。それら2つの抵抗同士の接続点の電圧値は、制御部40に入力される。
電流検出部24は、平滑コンデンサ22及びインバータ25の間であって、かつ平滑コンデンサ22の負側出力端子側に接続されている。電流検出部24は、モータ51の起動後、モータ51に流れるモータ電流Imを三相分の電流の合計値として検出する。
インバータ25は、モータ51のU相、V相及びW相の駆動コイルLu,Lv,Lwそれぞれに対応する3つの上下アームが互いに並列に、且つ平滑コンデンサ22の出力側に接続されている。
ゲート駆動回路26は、制御部40からの指令電圧Vpwmに基づき、インバータ25の各トランジスタQ3a~Q5bのオン及びオフの状態を変化させる。具体的には、ゲート駆動回路26は、制御部40によって決定されたデューティを有するパルス状の駆動電圧SU,SV,SWがインバータ25からモータ51に出力されるように、各トランジスタQ3a~Q5bのゲートに印加するゲート制御電圧Gu,Gx,Gv,Gy,Gw,Gzを生成する。生成されたゲート制御電圧Gu,Gx,Gv,Gy,Gw,Gzは、それぞれのトランジスタQ3a~Q5bのゲート端子に印加される。
制御部40は、電圧検出部23、電流検出部24、及びゲート駆動回路26と接続されている。本実施形態では、制御部40は、モータ51をロータ位置センサレス方式にて駆動させている。なお、ロータ位置センサレス方式に限定されるものではないので、センサ方式で行なってもよい。
図1において、ブレーキ回路61は、3つのトランジスタ61u、61v、61wで構成されている。トランジスタ61uは、U相の駆動コイルLuと共通接続点Nとを結ぶ配線途中に接続されている。トランジスタ61vは、V相の駆動コイルLvと共通接続点Nとを結ぶ配線途中に接続されている。トランジスタ61wは、W相の駆動コイルLwと共通接続点Nとを結ぶ配線途中に接続されている。また、トランジスタ61u~61wには、それぞれ還流用のダイオードが接続されている。
以下、モータ駆動装置10の動作について説明する。図1において、制御部40は、ゲート駆動回路26への波形出力を行なうと共に、その波形出力状態を制御して、モータ51を所定回転数で駆動する。
(4-1)
モータ駆動装置10では、過大電圧発生時に上下アームの両方のトランジスタQ3a~Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子を破壊から保護することができる。
モータ駆動装置10では、モータ51のインダクタンス成分が持つエネルギー及びモータ51の回転による誘起電圧によってダイオードD3a~D5bがオンする可能性が高いが、上下アームの両方のトランジスタQ3a~Q5bをオフした後、モータ51に電気的ブレーキをかけて素早く停止させることによって、ダイオードD3a~D5bがオンしている時間を短くすることができる。
(1)概要
図3は、本発明の第2実施形態に係るモータ駆動装置10が採用されているシステム100の全体構成と、モータ駆動装置10の内部構成とを示すブロック図である。
(2-1)抵抗負荷71
図3において、抵抗負荷71は、3つの抵抗素子71u、71v、71wで構成されている。抵抗素子71uは、U相の駆動コイルLuと共通接続点Nとを結ぶラインの途中に接続されている。抵抗素子71vは、V相の駆動コイルLvと共通接続点Nとを結ぶラインの途中に接続されている。抵抗素子71wは、W相の駆動コイルLwと共通接続点Nとを結ぶラインの途中に接続されている。通常、上記各ラインはリレー回路73によって遮断されている。
リレー回路73は、モータ51の各相の駆動コイルLu,Lv,Lwと、それらに対応する各抵抗素子71u,71v,71wを結ぶラインを電気的に開閉するリレー接点73aと、リレー接点73aを動作させるリレーコイル73bと、リレーコイル73bへの通電と非通電とを行うトランジスタ73cとを含んでいる。リレーコイル73bの一端は、駆動用電源Vbの正極に接続され、他端はトランジスタ73cのコレクタ側に接続されている。制御部40は、トランジスタ73cのベース電流の有無を切り換えて、コレクタとエミッタ間をオンオフし、リレーコイル73bへの通電と非通電を行う。
以下、モータ駆動装置10の動作について説明する。なお、制御部40が、電圧検出部23の検出値が所定の閾値を超えたと判断したとき、上下アームの両方のトランジスタQ3a~Q5bをオフするところまでは、第1実施形態と同じであるので、説明を省略する。
(4-1)
モータ駆動装置10では、過大電圧発生時に上下アームの両方のトランジスタQ3a~Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子のトランジスタQ3a~Q5b及びダイオードD3a~D5bを破壊から保護することができる。
モータ駆動装置10では、モータ51のインダクタンス成分が持つエネルギー及びモータの回転による誘起電圧によってダイオードD3a~D5bがオンする可能性が高いが、上下アームの両方のトランジスタをオフした後、モータ51のインダクタンス成分がもつエネルギーを抵抗素子71u,71v,71wで短時間に消費させることによって、ダイオードD3a~D5bがオンしている時間を短くすることができる。
(1)概要
図4は、本発明の第3実施形態に係るモータ駆動装置10が採用されているシステム100の全体構成と、モータ駆動装置10の内部構成とを示すブロック図である。
ブレーキ81は、機械的ブレーキであって、電磁クラッチ83と、モータ51の回転軸に電磁クラッチ83を介して接続される負荷85とで構成されている。電磁クラッチ83は、制御部40からの駆動信号によって、モータ51の回転軸と負荷85とを連結又は解除する。
以下、モータ駆動装置10の動作について説明する。なお、制御部40が、電圧検出部23の検出値が所定の閾値を超えたと判断したとき、上下アームの両方のトランジスタQ3a~Q5bをオフするところまでは、第1実施形態と同じであるので、説明を省略する。
(4-1)
モータ駆動装置10では、過大電圧発生時に上下アームの両方のトランジスタQ3a~Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子のトランジスタQ3a~Q5b、及びダイオードD3a~D5bを破壊から保護することができる。
モータ駆動装置10では、モータ51のインダクタンス成分が持つエネルギー及び回転による誘起電圧によってダイオードD3a~D5bがオンする可能性が高いが、上下アームの両方のトランジスタQ3a~Q5bをオフした後、モータ51のインダクタンス成分がもつエネルギー及びモータ51の回転エネルギーを機械的なブレーキ81で短時間に消費させることによって、ダイオードD3a~D5bがオンしている時間を短くすることができる。
(A)
第1実施形態、第2実施形態及び第3実施形態では、電気的ブレーキ又は機械的ブレーキを設けて、モータ51のインダクタンス成分がもつエネルギーとモータ51の回転エネルギーとをモータ51にブレーキをかけることによって短時間に消費させ、スイッチング素子(ダイオードD3a~D5b)がオンしている時間を短くする、というものである。
(B-1)概要
図5は、本発明の他の実施形態に係るモータ駆動装置10が採用されているシステム100の全体構成と、モータ駆動装置10の内部構成とを示すブロック図である。
(B-2-1)リレー回路75
図5において、リレー回路75は電源ライン801を開閉する。ここで、電源ライン801を開閉するとは、電源ライン801を導通又は遮断して非導通にすることである。
電解コンデンサ77は、インバータ25と並列接続される、電解コンデンサである。ここで、リレー回路75が制御部40から信号出力を受けてから電源ライン801を遮断するまでに10msec程度の期間は、電解コンデンサ77に過電圧が印加された状態が継続する。つまり、電圧検出部23が過電圧を検出してからリレー回路75が電源ライン801を遮断するまでの間に、過電圧値が電解コンデンサ77の耐圧を超える可能性が想定される。
図7Aは、直流電圧Vdcの変化に対する制御を示すグラフである。図5及び図7Aにおいて、直流電圧Vdcが上昇し、電圧検出部23の検出値が過電圧閾値を超えたとき、制御部40はリレー回路75を介して電源ライン801を遮断する。
第3実施形態では機械的ブレーキのみを用いているが、第1実施形態や第2実施形態のようなブレーキ(電気的ブレーキ)を併用してもよい。
(D-1)チャージポンプ回路46採用時の課題
上記第1、第2及び第3実施形態では、上下アームのスイッチング素子の過電圧保護を重点に説明してきた。しかし、実使用においては、過電圧はスイッチング素子に限らず、ゲート駆動回路26の出力回路にも及ぶ。
それゆえ、上アーム側スイッチング素子の駆動用電源を作成する(変動する上下アーム接続点電位に対応してゲート電位を高める)方式としてブートストラップ方式を用いることが好ましい。
ゲート駆動回路26は、内部に、上アーム側のトランジスタQ3a,Q4a,Q5aを駆動する上アーム側駆動回路26aと、下アーム側のトランジスタQ3b,Q4b,Q5bを駆動する下アーム側駆動回路26bとを有し、外部にはVcc、Vdd、Hin、Lin、Vss、Vbo、Ho、Vs、LoおよびCOMの10個の端子を有している。
ゲート駆動回路26は、上アーム側のトランジスタQ3a,Q4a,Q5aに適切にゲート電位を入力するために、端子Vccに接続された駆動用電源Vbの正極と、トランジスタQ3a,Q4a,Q5aの各エミッタとの間に、ブートストラップ回路31が設けられている。
モータ駆動装置10では、過大電圧発生時に上下アームの両方のトランジスタQ3a~Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子を破壊から保護することができる。言い換えれば、直列接続された2つのスイッチング素子のそれぞれが素子耐圧まで耐え得るため、DC部の電圧としては、一素子耐圧の倍の電圧まで耐え得ることになる。
上記(D)では、上アーム側スイッチング素子のゲート電位を高める方式として、チャージポンプ方式に替えてブートストラップ回路31(図8参照)を推奨しているが、それに限定されるものではない。
(1)概要
図11は、本発明の第4実施形態に係るモータ駆動装置10の回路構成を示すブロック図である。図11において、全体のシステム100は、モータ駆動装置10とモータ51とで構成されている。
バランス回路33a~35bは、抵抗素子で構成されている。一対のバランス回路33a,33bは、上下アームを構成する一対のスイッチング素子(トランジスタQ3a,Q3b及びダイオードD3a,D3b)と対応する。同様に、一対のバランス回路34a,34bは、一対のスイッチング素子(トランジスタQ4a,Q4b及びダイオードD4a,D4b)と対応し、一対のバランス回路35a,35bは、一対のスイッチング素子(トランジスタQ5a,Q5b及びダイオードD5a,D5b)と対応している。
以下、モータ駆動装置10の動作について説明する。図11において、制御部40は、ゲート駆動回路26への波形出力を行なうと共に、その波形出力状態を制御して、モータ51を所定回転数で駆動する。
(4-1)
モータ駆動装置10では、制御部40が過大電圧発生時に上下アームの両方のトランジスタQ3a、Q3b,Q4a、Q4b,Q5a、Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)を破壊から保護することができる。
バランス回路33a,33bをトランジスタQ3a,Q3b、及びダイオードD3a,D3bに、バランス回路34a,34bをトランジスタQ4a,Q4b、及びダイオードD4a,D4bに、バランス回路35a,35bをトランジスタQ5a,Q5b、及びダイオードD5a,D5bに対応するように接続するので、上アームのスイッチング素子(トランジスタQ3a、Q4a、Q5a、ダイオードD3a、D4a,D5a)の両端にかかる分圧値V1と、下アームのスイッチング素子(トランジスタQ3b、Q4b、Q5b、ダイオードD3b,D4b,D5b)の両端にかかる分圧値V2とを均等にすることができ、不均等な分圧に起因するスイッチング素子(トランジスタQ3a~Q5b及びダイオードD3a~D5b)の破壊を防止することができる。
(1)概要
図13は、本発明の第2実施形態に係るモータ駆動装置10の回路構成を示すブロック図である。図13において、全体のシステム100は、モータ駆動装置10とモータ51とで構成されている。
(2-1)リレー回路43,44,45
リレー回路43,44,45は、ライン47u,47v,47wを開閉する。ここで、ライン47u,47v,47wを開閉するとは、接続点MUと接続点NUとの間、接続点MVと接続点NVとの間、接続点MWと接続点NWとの間を接続又は遮断することである。
以下、モータ駆動装置10の動作について説明する。なお、制御部40が、電圧検出部23の検出値が所定の閾値を超えたと判断したとき、上下アームの両方のトランジスタQ3a~Q5bをオフするところまでは、第1実施形態と同じであるので、説明を省略する。
(4-1)
モータ駆動装置10では、過大電圧発生時に上下アームの両方のトランジスタQ3a~Q5bをオフすることによって、過大電圧は直列接続された2つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)それぞれの両端に分圧され、1つのスイッチング素子(トランジスタQ3a~Q5b、ダイオードD3a~D5b)にかかる過大電圧はどちらか一方が動作していた時の半分に低減されるので、スイッチング素子のトランジスタQ3a~Q5b及びダイオードD3a~D5bを破壊から保護することができる。
制御部40は、上下アームの両方のトランジスタQ3a、Q3b,Q4a、Q4b,Q5a、Q5bをオフする際に、リレー回路43,44,45を介して、バランス回路33a,33bをトランジスタQ3a,Q3b及びダイオードD3a,D3bに、バランス回路34a,34bをトランジスタQ4a,Q4b及びダイオードD4a,D4bに、バランス回路35a,35bをトランジスタQ5a,Q5b及びダイオードD5a,D5bに対応するように接続するので、上アームのスイッチング素子(トランジスタQ3a、Q4a、Q5a、ダイオードD3a、D4a,D5a)の両端にかかる分圧値V1と、下アームのスイッチング素子(トランジスタQ3b、Q4b、Q5b、ダイオードD3b,D4b,D5b)の両端にかかる分圧値V2とを均等にすることができ、不均等な分圧に起因するスイッチング素子(トランジスタQ3a~Q5b及びダイオードD3a~D5b)の破壊を防止することができる。
接続点NU,NV,NWと、それに対応する一対のバランス回路の中間点との間にスイッチを配置し、インバータのオフ時のみバランス回路を接続することで、バランス回路の消費電力を抑制することができる。
(A)
スイッチはリレーではなく、MOSFETなどの半導体スイッチを用いてもよい。その場合はより高速にバランス回路を接続することができるため、分圧が不均一となる状態を早く脱することができる。
第2実施形態より更に消費電力を低減するため、バランス回路自体を接続/遮断する第2スイッチを更に設けてもよい。
20 電源供給部
23 電圧検出部
31 ブートストラップ回路
33a バランス回路
33b バランス回路
34a バランス回路
34b バランス回路
35a バランス回路
35b バランス回路
36 絶縁電源
40 制御部
43 リレー回路(スイッチ)
44 リレー回路(スイッチ)
45 リレー回路(スイッチ)
50 過電圧保護回路
51 モータ
61 ブレーキ回路
71 抵抗負荷
73 リレー回路(抵抗負荷接続手段)
81 ブレーキ(機械的ブレーキ)
Q3a トランジスタ(スイッチング素子)
Q3b トランジスタ(スイッチング素子)
Q4a トランジスタ(スイッチング素子)
Q4b トランジスタ(スイッチング素子)
Q5a トランジスタ(スイッチング素子)
Q5b トランジスタ(スイッチング素子)
D3a ダイオード(スイッチング素子)
D3b ダイオード(スイッチング素子)
D4a ダイオード(スイッチング素子)
D4b ダイオード(スイッチング素子)
D5a ダイオード(スイッチング素子)
D5b ダイオード(スイッチング素子)
NU 接続点
NV 接続点
NW 接続点
Vdc 直流電圧
Claims (12)
- モータの複数の相それぞれに対応する複数の上下アームそれぞれが、2つのスイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b、D3a、D3b、D4a、D4b、D5a、D5b)を直列に接続することによって構成され、それによって形成された接続点(NU,NV,NW)それぞれから対応する前記相へ電圧を出力するモータ駆動装置であって、
前記上下アームに直流電圧(Vdc)を供給する電源供給部(20)と、
前記上下アームに並列に接続された電圧検出部(23)と、
前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオンオフ動作させる制御部(40)と、
を備え、
前記制御部(40)は、前記電圧検出部(23)の検出値が所定の閾値を超えたとき、前記上下アームの両方の前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオフにする、
モータ駆動装置(10)。 - 前記モータのブレーキ回路(61)をさらに備え、
前記制御部(40)は、前記上下アームの両方の前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオフした後、前記モータにブレーキをかける、
請求項1に記載のモータ駆動装置(10)。 - 抵抗負荷(71)と、
前記接続点(NU,NV,NW)と前記抵抗負荷(71)との間を接続又は遮断する抵抗負荷接続手段(73)と、
をさらに備え、
前記制御部(40)は、前記上下アームの両方の前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオフした後、前記接続点(NU,NV,NW)と前記抵抗負荷(71)とを接続する、
請求項1又は請求項2に記載のモータ駆動装置(10)。 - 前記モータの回転軸に着脱可能な機械的ブレーキ(81)をさらに備え、
前記制御部(40)は、前記上下アームの両方の前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオフした後、前記モータに機械的なブレーキをかける、
請求項1から請求項3のいずれか1項に記載のモータ駆動装置(10)。 - 前記制御部(40)は、前記電圧検出部(23)の検出値が前記閾値を超えたとき、全ての前記上下アームの2つの前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)のいずれか片方のアームの前記スイッチング素子全てをオンにした後、全ての前記スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)をオフにする、
請求項1から請求項4のいずれか1項に記載のモータ駆動装置(10)。 - 前記制御部(40)は、前記電圧検出部(23)の検出値が前記閾値を超えたとき以外は、前記モータに前記ブレーキをかけない、
請求項2から請求項5のいずれか1項に記載のモータ駆動装置(10)。 - 前記上下アームの上アーム側スイッチング素子(Q3a,Q4a,Q5a)の駆動電源のために、前記スイッチング素子(Q3a,Q4a,Q5a)の低電位側よりも高い電位を生成するブートストラップ回路(31)をさらに備える、
請求項1から請求項6のいずれか1項に記載のモータ駆動装置(10)。 - 前記上下アームの上アーム側スイッチング素子(Q3a,Q4a,Q5a)の駆動に利用される絶縁電源(36)をさらに備える、
請求項1から請求項6のいずれか1項に記載のモータ駆動装置(10)。 - 前記電源供給部(20)と前記上下アームとを結ぶ一対のDCバスと前記接続点(NU,NV,NW)との間に配置されるバランス回路(33a、33b,34a、34b,35a、35b)をさらに備える、
請求項1に記載のモータ駆動装置(10)。 - 前記バランス回路(33a、33b,34a、34b,35a、35b)は、複数の前記上下アームの各スイッチング素子(Q3a、Q3b,Q4a、Q4b,Q5a、Q5b)ごとに対応するように配置されている、
請求項9に記載のモータ駆動装置(10)。 - 前記接続点(NU,NV,NW)と、それに対応する一対の前記バランス回路(33a、33b,34a、34b,35a、35b)の中間点との間を接続又は遮断するスイッチ(43,44,45)をさらに備え、
前記制御部(40)は、前記電圧検出部(23)の検出値が所定の閾値を超えたとき、前記バランス回路(33a、33b,34a、34b,35a、35b)を接続する、
請求項9又は請求項10に記載のモータ駆動装置(10)。 - 前記バランス回路(33a、33b,34a、34b,35a、35b)は、抵抗素子で構成されている、
請求項9から請求項11のいずれか1項に記載のモータ駆動装置(10)。
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