WO2021014948A1 - Dispositif de commande de moteur et système de moteur - Google Patents

Dispositif de commande de moteur et système de moteur Download PDF

Info

Publication number
WO2021014948A1
WO2021014948A1 PCT/JP2020/026342 JP2020026342W WO2021014948A1 WO 2021014948 A1 WO2021014948 A1 WO 2021014948A1 JP 2020026342 W JP2020026342 W JP 2020026342W WO 2021014948 A1 WO2021014948 A1 WO 2021014948A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
period
motor
pwm
signal
Prior art date
Application number
PCT/JP2020/026342
Other languages
English (en)
Japanese (ja)
Inventor
隆志 大場
Original Assignee
ミネベアミツミ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ミネベアミツミ株式会社 filed Critical ミネベアミツミ株式会社
Publication of WO2021014948A1 publication Critical patent/WO2021014948A1/fr

Links

Images

Classifications

    • 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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present invention relates to a motor control device and a motor system.
  • a motor control device for a three-phase motor drives a motor by energizing a coil of each phase using a PWM (Pulse Width Modulation, pulse width modulation) signal corresponding to each of the U, V, and W phases. It is controlled (see Patent Document 1).
  • PWM Pulse Width Modulation, pulse width modulation
  • FIG. 7 shows a waveform of one cycle of PWM signals U, V, W corresponding to the U phase, V phase, and W phase generated by a conventional motor control device, and a PWM carrier that determines the PWM cycle (simply, “carrier”. An example of the waveform of the current of the motor is shown.
  • the PWM signals of the U phase, the V phase, and the W phase all become high levels, and when shifting to the zero vector section Tz, the current I of the motor decreases toward zero.
  • the U-phase PWM signal becomes low level at time t1
  • the current I rapidly increases and a large current ripple occurs.
  • This current ripple increases as the ratio of the zero vector interval (energization stop period) Tz to one cycle of the PWM signal increases due to the optimization of the zero vector in the motor control. Periodic changes in such large current ripples cause noise.
  • the present invention has been made in view of the above, and an object of the present invention is to provide a motor control device capable of suppressing noise.
  • the motor control device includes a control unit that generates a PWM signal corresponding to each phase of a motor having a plurality of phases of coils, and a control unit for each phase based on the PWM signal.
  • the control unit includes an inverter circuit for driving a coil, and when a zero vector section in which the signal levels of the PWM signals of each phase match occurs, the control unit energizes the coil of each phase in the zero vector section. It is characterized in that an energized section is generated.
  • the motor control device (100) is applied to each phase (U, V, W) of the motor (4) having a multi-phase coil (Lu, Lv, Lw).
  • a control unit (20) that generates PWM signals (U, V, W, UH, UL, VH, VL, WH, WL) corresponding to each, and an inverter that drives the coil of each phase based on the PWM signal.
  • the control unit includes the circuit (23), and when a zero vector section (Tz) in which the signal levels of the PWM signals of each phase match is generated, the control unit sets the coil of each phase in the zero vector section. It is characterized in that an energization section (Te) to be energized is generated.
  • control unit may invert the PWM signals of each phase in the zero vector section for the same time (Te) at different timings.
  • the control unit is set by a duty ratio setting unit (39) for setting the duty ratio of the PWM signal of each phase and the duty ratio setting unit. It has a PWM signal generation unit (32) that generates the PWM signal of each phase based on the duty ratio, and one cycle of the PWM signal of each phase is the first period (A) and the remaining thirst. Including the two periods (B), the PWM signal generation unit inverts the PWM signals of each phase at different timings for a certain period of time in the first period, and is based on the duty ratio in the second period. The PWM signal may be inverted.
  • the control unit has a sawtooth-shaped first carrier (C1) having a period corresponding to the first period and a period corresponding to the second period. It further has a carrier generation unit (37) that generates a saw-like second carrier (C2), and the PWM signal generation unit has a fixed first threshold value (Udu1, Vdu1, Wdu1) and a second threshold value. Based on the result of comparison between (Udu2, Vdu2, Wdu2) and the level of the first carrier, the timing at which the PWM signal of each phase in the first period is inverted was determined and set based on the duty ratio.
  • the PWM signal of each phase in the second period is inverted.
  • the timing may be determined.
  • the motor system (1) includes the motor control device (100) and the motor (4) according to any one of [1] to [4]. It is characterized by being prepared.
  • FIG. 1 is a diagram showing a configuration example of a motor system according to an embodiment.
  • the motor system 1 shown in FIG. 1 controls the rotational operation of the motor 4.
  • the equipment on which the motor system 1 is mounted is, for example, a copier, a personal computer, a refrigerator, and the like, but the equipment is not limited thereto.
  • the motor system 1 includes at least a motor 4 and a motor control device 100.
  • the motor 4 has a plurality of coils.
  • the motor 4 has, for example, a three-phase coil including a U-phase coil Lu, a V-phase coil Lv, and a W-phase coil Lw.
  • Specific examples of the motor 4 include a three-phase brushless motor.
  • the U-phase coil Lu, the V-phase coil Lv, and the W-phase coil Lw are connected to each other by, for example, a star connection.
  • the motor control device 100 converts DC into three-phase AC by controlling ON / OFF of a plurality of switching elements connected by a three-phase bridge according to an energization pattern including a three-phase PWM signal. To drive.
  • the motor control device 100 includes an inverter circuit 23, a control unit 20, and a current detector 24.
  • the inverter circuit 23 converts the DC power supplied from the DC power supply 21 into three-phase AC by switching a plurality of switching elements, and causes the motor 4 to rotate the rotor of the motor 4 by passing the drive current of the three-phase AC to the motor 4. It is a circuit.
  • the inverter circuit 23 is applied to a plurality of energization patterns generated by the energization pattern generation unit 35 described later (more specifically, a three-phase PWM signal generated by the PWM signal generation unit 32 in the energization pattern generation unit 35). Based on this, the motor 4 is driven.
  • the inverter circuit 23 has a plurality of switching elements 25U +, 25V +, 25W +, 25U ⁇ , 25V ⁇ , 25W ⁇ connected by a three-phase bridge.
  • the switching elements 25U +, 25V +, and 25W + are high-side switching elements (upper arms) connected to the positive electrode side of the DC power supply 21 via the positive bus 22a, respectively.
  • the switching elements 25U-, 25V-, and 25W- are low-side switching elements (lower arms) connected to the negative electrode side (specifically, the ground side) of the DC power supply 21, respectively.
  • the plurality of switching elements 25U +, 25V +, 25W +, 25U-, 25V-, and 25W- correspond to each of the plurality of drive signals supplied from the drive circuit 33 based on the PWM signals included in the above-mentioned energization pattern. It turns on or off according to the drive signal.
  • a plurality of switching elements 25U +, 25V +, 25W +, 25U ⁇ , 25V ⁇ , 25W ⁇ may be simply referred to as switching elements unless otherwise specified.
  • connection point between the switching element 25U + and the switching element 25U- is connected to one end of the U-phase coil of the motor 4.
  • the connection point between the switching element 25V + and the switching element 25V- is connected to one end of the V-phase coil of the motor 4.
  • the connection point between the switching element 25W + and the switching element 25W ⁇ is connected to one end of the W-phase coil of the motor 4.
  • the other ends of the U-phase coil, the V-phase coil, and the W-phase coil are connected to each other.
  • the switching element include an N-channel MOSFET (Metal Oxide Semiconductor Field Transistor) and an IGBT (Insulated Gate Bipolar Transistor).
  • the switching element is not limited to these.
  • the current detector 24 outputs a detection signal Sd corresponding to the current value of the current flowing on the DC side of the inverter circuit 23.
  • the current detector 24 shown in FIG. 1 generates a detection signal Sd corresponding to the current value of the current flowing through the negative bus 22b.
  • the current detector 24 is, for example, a current detection element arranged on the negative bus 22b, and more specifically, a resistor (shunt resistance) inserted into the negative bus 22b.
  • a current detection element such as a shunt resistor generates a voltage signal corresponding to the current value of the current flowing through it as a detection signal Sd.
  • the current detector 24 may be a sensor such as a CT (Current Transformer) as long as it outputs a detection signal corresponding to the current value of the current flowing through the negative bus 22b.
  • the control unit 20 generates a plurality of PWM signals corresponding to each phase of the motor 4.
  • the control unit 20 includes, for example, a processor such as a CPU, various storage devices such as RAM and ROM, and peripherals such as a counter (timer), an A / D conversion circuit, a D / A conversion circuit, and an input / output I / F circuit. It is a program processing device (for example, a microcontroller) having a configuration in which circuits are connected to each other via a bus.
  • the control unit 20 is packaged as an IC (integrated circuit), but the present invention is not limited to this.
  • the control unit 20 is based on, for example, the rotation speed command ⁇ ref of the motor 4 input from the host device (not shown) and the phase current of each phase of the motor 4 based on the detection signal Sd of the current detector 24.
  • a PWM signal is generated so that the motor 4 operates properly.
  • the current flow section from the zero vector section (energization stop section) where the PWM signals of the U, V, and W phases are high level or low bell to the coil of each phase.
  • the zero vector section encode stop section
  • the PWM signals of the U, V, and W phases are high level or low bell to the coil of each phase.
  • an energized section for energizing the coils of each phase is generated in the zero vector section.
  • a PWM signal is generated so as to be performed.
  • FIG. 2 is a diagram for explaining an outline of a method for generating a PWM signal according to the present embodiment.
  • FIG. 2 shows a waveform of one cycle of PWM signals U, V, W corresponding to the U phase, V phase, and W phase generated by the motor control device 100 according to the present embodiment, and a waveform of the motor current. Is shown.
  • the PWM cycle is set by the motor based on the first period A for generating the energized section in the zero vector section and the command (rotational speed command ⁇ ref) from the host device. It is divided into a second period B for adjusting the duty ratio so that the motor rotates.
  • the first period A and the second period B are defined by two types of carriers C1 and C2.
  • Carrier C1 is a saw-like carrier whose level increases or decreases in a cycle corresponding to the first period A in the PWM cycle.
  • the carrier C2 is a saw-like carrier whose level increases or decreases in a cycle corresponding to the second period B in the PWM cycle.
  • carriers C1 and C2 are alternately generated, and one continuous set of carriers C1 and C2 determines one cycle (PWM cycle) of PWM signals U, L, and W.
  • the PWM signal U is a PWM signal for driving two switching elements constituting the upper and lower arms of the U phase.
  • the switching element of the lower arm of U phase is on (the switching element of the upper arm of U phase is off), and when the PWM signal U is at high level, the switching element of the lower arm of U phase is on. Is off (the switching element of the upper arm of the U phase is on).
  • the two switching elements constituting the upper and lower arms of the U phase complementarily operate on and off in response to a change in the level of the PWM signal U.
  • the PWM signal V is a PWM signal for driving two switching elements constituting the upper and lower arms of the V phase.
  • the switching element of the lower arm of V phase is on (the switching element of the upper arm of V phase is off), and when the PWM signal V is high level, the switching element of the lower arm of V phase is on. Is off (the switching element of the upper arm of the V phase is on).
  • the two switching elements constituting the upper and lower arms of the V phase complementarily operate on and off in response to a change in the level of the PWM signal V.
  • the PWM signal W is a PWM signal for driving two switching elements constituting the upper and lower arms of the W phase.
  • the switching element of the lower arm of W phase is on (the switching element of the upper arm of W phase is off), and when the PWM signal W is high level, the switching element of the lower arm of W phase is on. Is off (the switching element of the upper arm of the W phase is on).
  • the two switching elements constituting the upper and lower arms of the W phase complementarily operate on and off in response to a change in the level of the PWM signal W.
  • the control unit 20 inverts the signal level of the PWM signal at a predetermined timing to generate an energized section in the zero vector section, and in the second period B, the rotation speed command ⁇ ref and the phase current of each phase.
  • the signal level of the PWM signal of each phase is inverted based on the duty ratio calculated by the vector control based on.
  • the control unit 20 provides an energization period by inverting the PWM signals of each phase at different timings for a certain period of time.
  • the section Te in which the signal level of each PWM signal is inverted has the same length, and the section Te of each PWM signal is shifted from each other.
  • the control unit 20 includes a current detection unit 27, a current detection timing adjustment unit 34, a drive circuit 33, an energization pattern generation unit 35, and a clock generation as functional blocks for generating PWM signals for each phase. It has a unit 36 and a carrier generation unit 37.
  • the current detection unit 27 acquires the detection signal Sd based on a plurality of energization patterns (more specifically, three-phase PWM signals) generated by the energization pattern generation unit 35, so that the U flows through the motor 4. , V, W Phase currents Iu, Iv, Iw of each phase are detected.
  • the current detection unit 27 acquires the detection signal Sd at the acquisition timing synchronized with the plurality of energization patterns (more specifically, the three-phase PWM signals), so that the U, V flowing through the motor 4 , W The phase currents Iu, Iv, and Iw of each phase are detected.
  • the acquisition timing of the detection signal Sd is set by the current detection timing adjusting unit 34.
  • the current detection unit 27 takes in the detection signal Sd of the analog voltage generated by the current detector 24 into the A / D (Analog to Digital) converter at the acquisition timing set by the current detection timing adjustment unit 34.
  • the A / D converter is provided in the current detection unit 27.
  • the current detection unit 27 AD-converts the captured analog detection signal Sd into a digital detection signal Sd, and digitally processes the digital detection signal Sd after the AD conversion, thereby U, V, W of the motor 4.
  • the phase currents Iu, Iv, and Iw of each phase are measured.
  • the measured values of the phase currents Iu, Iv, and Iw of each phase measured by the current detection unit 27 are supplied to the energization pattern generation unit 35.
  • the clock generation unit 36 generates a clock having a predetermined frequency by the built-in oscillation circuit, and outputs the generated clock to the carrier generation unit 37.
  • the clock generation unit 36 starts operation at the same time when the power of the motor control device 100 is turned on, for example.
  • the energization pattern generation unit 35 determines the rotor position of the motor 4 based on the measured values of the phase currents Iu, Iv, and Iw of the motor 4 measured by the current detection unit 27, and the motor 4 is placed at the determined rotor position.
  • a signal for designating a pattern for energizing the inverter circuit 23 is generated so that the rotor follows.
  • the energization pattern of the inverter circuit 23 may be rephrased as a pattern for energizing the motor 4 (energization pattern of the motor 4).
  • the signal that specifies the energization pattern of the inverter circuit 23 includes, for example, a three-phase PWM signal that energizes the inverter circuit 23 so that the motor 4 rotates.
  • the energization pattern generation unit 35 generates the energization pattern of the inverter circuit 23 by vector control.
  • the method of generating the energization pattern of the inverter is not limited to vector control, and may be a method of obtaining the phase voltage of each phase by using vf control or the like.
  • the energization pattern generation unit 35 includes a duty ratio setting unit 39 and a PWM signal generation unit 32.
  • the duty ratio setting unit 39 is a functional unit for generating a PWM signal as a signal for designating the energization pattern of the inverter circuit 23.
  • the duty ratio setting unit 39 sets the duty ratio of the three-phase PWM signal based on the current detection result by the current detection unit 27.
  • the duty ratio setting unit 39 includes, for example, a vector control unit 30 and a duty ratio calculation unit 31.
  • the vector control unit 30 sets the torque current command Iqref and the exciting current based on the difference between the measured value or the estimated value of the rotation speed of the motor 4 and the rotation speed command ⁇ ref. Generate the command Idref.
  • the vector control unit 30 calculates the torque current Iq and the exciting current Id by the vector control calculation using the rotor position ⁇ based on the measured values of the phase currents Iu, Iv, and Iw by the current detection unit 27.
  • the vector control unit 30 performs, for example, a PI control calculation on the difference between the torque current command Iqref and the torque current Iq, and generates the voltage command Vq.
  • the vector control unit 30 performs, for example, a PI control calculation on the difference between the exciting current command Idref and the exciting current Id, and generates the voltage command Vd.
  • the vector control unit 30 converts the voltage commands Vq and Vd into phase voltage commands Vu *, Vv * and Vw * for each of the U, V and W phases using the rotor position ⁇ .
  • the phase voltage commands Vu *, Vv *, and Vw * of each phase are supplied to the duty ratio setting unit 39.
  • the duty ratio calculation unit 31 is a duty ratio (set value of the duty ratio of each phase) for generating a three-phase PWM signal based on the input phase voltage commands Vu *, Vv *, Vw * of each phase. Calculate Udu, Vdu, and Wdu.
  • the duty ratios Udu, Vdu, and Wdu of each phase are calculated based on the modulation factors modU, modV, and modW as shown in the following equations (1) to (3).
  • the duty ratios Udu, Vdu, and Wdu of each phase obtained based on the following equations (1) to (3) are, for example, sinusoidal waveforms having different phases by 120 degrees.
  • An example of waveforms of duty ratios Udu, Vdu, and Wud of each phase will be described later.
  • Udu modU ⁇ (carrier upper limit) ⁇ ⁇ ⁇ (1)
  • Vdu modV ⁇ (carrier upper limit) ⁇ ⁇ ⁇ (2)
  • Wdu modW ⁇ (carrier upper limit) ⁇ ⁇ ⁇ (3)
  • the PWM signal generation unit 32 is a three-phase PWM signal U, V as an energization pattern signal based on the duty ratios Udu, Vdu, Wdu of each phase set by the duty ratio setting unit 39 and the carriers C1 and C2. , W is generated.
  • carriers C1 and C2 are carrier signals whose levels increase and decrease periodically.
  • the PWM signal generation unit 32 generates three-phase PWM signals U, V, W based on the comparison result between the threshold values based on the duty ratios Udu, Vdu, and Wdu of each phase and the carriers C1 and C2.
  • the PWM signal U includes a PWM signal UH for driving the switching element of the U-phase upper arm and a PWM signal UL for driving the switching element of the U-phase lower arm.
  • the PWM signal V includes a PWM signal VH for driving the switching element of the V-phase upper arm and a PWM signal VL for driving the switching element of the V-phase lower arm.
  • the PWM signal W includes a PWM signal WH for driving the switching element of the W phase upper arm and a PWM signal WL for driving the switching element of the w phase lower arm.
  • the drive circuit 33 outputs a drive signal for switching the six switching elements 25U +, 25V +, 25W +, 25U ⁇ , 25V ⁇ , 25W ⁇ included in the inverter circuit 23 according to the energization pattern including the given PWM signal.
  • a three-phase alternating current drive current is supplied to the motor 4, and the rotor of the motor 4 rotates. Since each drive signal output from the drive circuit 33 is a signal having a logic level corresponding to the above-mentioned PWM signals UH, UL, PWM signals VH, VL, and PWM signals WH, WL, it is shown in FIG.
  • Each drive signal output from the drive circuit 33 has the same reference code as the PWM signal.
  • the current detection timing adjusting unit 34 determines the acquisition timing for the current detecting unit 27 to detect the phase currents of two of the three phases within one cycle of the PWM signal.
  • a processor for example, a CPU (Central Processing Unit) performs various calculations according to a program readable and stored in a storage device (not shown). It is realized by doing. For example, each of these functions is realized by the collaboration of hardware and software in a microcomputer including a CPU.
  • a processor for example, a CPU (Central Processing Unit)
  • FIG. 3 is a diagram showing a configuration example of a carrier generation unit 37 and a PWM signal generation unit 32 in the motor control device 100 according to the first embodiment.
  • the carrier generation unit 37 and the PWM signal generation unit 32 perform various calculations according to a program stored in a storage device such as a RAM or ROM in the MCU constituting the control unit 20 described above, and a timer (counter). It is realized by controlling peripheral circuits such as an A / D conversion circuit and an input / output I / F circuit.
  • the carrier generation unit 37 generates the above-mentioned two types of carriers C1 and C2 as the carrier C of the PWM signal of each phase.
  • the carrier generation unit 37 has a saw-like wavy carrier C1 whose level increases or decreases in a cycle corresponding to the first period A in the PWM cycle based on the clock CLK generated by the clock generation unit 36 shown in FIG.
  • a saw-like carrier C2 whose level increases or decreases in a cycle corresponding to the second period B is generated.
  • the carrier generation unit 37 includes a count unit 12, an upper limit value switching unit 13, a comparator 14, a switching control unit 15, and an upper limit value storage unit 16.
  • the counting unit 12 is realized by, for example, a counter (up counter) built in the microcontroller.
  • the clock CLK, the counting start signal, and the counting initial value signal are input to the counting unit 12.
  • the counting unit 12 starts counting the clock CLK, and by accumulating the counting values (adding 1 each time the clock CLK is input), the carriers C1 and C2 which are sawtooth carriers. Is output.
  • an initial value of counting is set in the counting unit 12, and this initial value is set by the above-mentioned initial counting value signal.
  • the comparator 14 compares the count value of the count unit 12 with the upper limit value Tx, and outputs a binary detection signal Cp indicating the comparison result. For example, when the counting value (C1 or C2) of the counting unit 12 is lower than the upper limit value Tx, the comparator 14 outputs a low-level detection signal Cp, and the counting value (C1 or C2) of the counting unit 12 is the upper limit. When the value is higher than the value Tx, the high level detection signal Cp is output.
  • the switching control unit 15 outputs a binary control signal Sc according to the detection signal Cp output from the comparator 14.
  • the switching control unit 15 is, for example, a flip-flop.
  • the switching control unit 15 switches the logic level of the control signal Sc according to the rising edge of the detection signal Cp from the comparator 14.
  • the counting unit 12 resets the clock counting value according to the detection signal Cp output from the comparator 14, and accumulates the clock counting value from the initial value specified by the counting initial value signal. For example, the counting unit 12 resets the clock count value according to the rising edge of the detection signal Cp, and accumulates the clock count value from the initial value.
  • the upper limit value storage unit 16 stores information for designating the cycles of carriers C1 and C2, that is, the lengths of the first period A and the second period B in one cycle of the PWM signal described above. Specifically, the upper limit value storage unit 16 stores the first upper limit value T1 and the second upper limit value T2.
  • the first upper limit value T1 is a value that specifies the period of the carrier C1, that is, the length of the first period A in the PWM cycle.
  • the second upper limit value T2 is a value that specifies the period of the carrier C2, that is, the length of the second period B in the PWM cycle.
  • T T1 + T2 and T1 ⁇ T2.
  • the upper limit value switching unit 13 switches the upper limit value Tx to be input to the comparator 14. Specifically, the upper limit value switching unit 13 sets the first upper limit value T1 and the second upper limit value T2 stored in the upper limit value storage unit 16 as upper limit values according to the control signal Sc output from the switching control unit 15. It is output alternately as Tx. For example, when the control signal Sc is at a low level, the upper limit value switching unit 13 gives the first upper limit value T1 to the comparator 14 as the upper limit value Tx. On the other hand, when the control signal Sc is at a high level, the upper limit value switching unit 13 gives the second upper limit value T2 to the comparator 14 as the upper limit value Tx.
  • FIG. 4 is a diagram for explaining the generation principle of carriers C1 and C2.
  • the counting unit 12 starts counting the clock CLK and accumulates the counting values.
  • the switching control unit 15 outputs, for example, a low-level control signal Sc.
  • the upper limit value switching unit 13 gives the first upper limit value T1 to the comparator 14 as the upper limit value Tx according to the low level control signal Sc.
  • the comparator 14 detects that the count value has reached the upper limit value Tx, and detects a high level. Output the signal Cp.
  • the counting unit 12 resets the counting value according to the high-level detection signal Cp, and starts the cumulative addition of the counting value of the clock CLK from zero again. As a result, the generation of the carrier C1 is completed, and the detection signal Cp of the comparator 14 is switched to the low level.
  • the switching control unit 15 inverts the logic level of the control signal Sc according to the rising edge of the detection signal Cp at time t1. That is, the logic level of the control signal Sc is switched from the low level to the high level.
  • the upper limit value switching unit 13 gives the second upper limit value T2 as the upper limit value Tx to the comparator 14 according to the high level control signal Sc.
  • the detection signal Cp is output.
  • the counting unit 12 resets the counting value according to the high-level detection signal Cp, and starts the cumulative addition of the counting value of the clock CLK from zero again. As a result, the generation of the carrier C2 is completed, and the detection signal Cp of the comparator 14 is switched to the low level.
  • the switching control unit 15 inverts the logic level of the control signal Sc according to the rising edge of the detection signal Cp at time t2. That is, the logic level of the control signal Sc is switched from the high level to the low level.
  • the upper limit value switching unit 13 again gives the first upper limit value T1 to the comparator 14 as the upper limit value Tx according to the low level control signal Sc. After that, the process is repeated in the same manner as the process from time t0 to time t2.
  • the PWM signal generation unit 32 includes a fixed threshold storage unit 40, a variable threshold calculation unit 41, a threshold switching unit 42U, 42V, 42W, a comparator 43U, 43V, 43W, a PWM circuit 44, and an interrupt controller. Has 45.
  • the fixed threshold storage unit 40 contains threshold information for providing an energization section in the zero vector section of the PWM signals U, V, W generated based on the duty ratios Udu, Vdu, Wdu calculated by the duty ratio calculation unit 31. It will be remembered. Specifically, the fixed threshold storage unit 40 corresponds to each of the U phase, the V phase, and the W phase as information for designating the timing at which the signal level of the PWM signal of each phase is switched in the second period B of the PWM cycle.
  • the fixed threshold values Udu1 and Udu2, the fixed threshold values Vdu1 and Vdu2, and the fixed threshold values Wdu1 and Wdu2 are stored.
  • the fixed threshold values Udu1 and Udu2 are values that specify the switching timing of the signal level of the U-phase PWM signal in the first period A of the PWM cycle.
  • the fixed threshold values Vdu1 and Vdu2 are values that specify the switching timing of the signal level of the V-phase PWM signal in the first period A of the PWM cycle.
  • the fixed threshold values Wdu1 and Wdu2 are values that specify the switching timing of the signal level of the W-phase PWM signal in the first period A of the PWM cycle.
  • Udu1 ⁇ Vdu1 ⁇ Wdu1 Udu2 ⁇ Vdu2 ⁇ Udu3 ⁇ Wdu2.
  • variable threshold value calculation unit 41 generates variable threshold value Udu3, Vdu3, Wdu3 so that PWM signals of U-phase, V-phase, and W-phase duty ratios Udu, Vdu, and Wdu set by the duty ratio setting unit 39 are generated. , Udu4, Vdu4, Wdu4 are calculated.
  • variable threshold values Udu3 and Udu4 are values that specify the switching timing of the signal level of the U-phase PWM signal in the second period B of the PWM cycle.
  • the variable threshold values Vdu3 and Vdu4 are values that specify the signal level switching timing of the U-phase PWM signal in the second period B of the PWM cycle.
  • the variable threshold values Wdu3 and Wdu4 are values that specify the switching timing of the signal level of the U-phase PWM signal in the second period B of the PWM cycle.
  • the variable threshold value calculation unit 41 calculates the variable threshold values Udu3 and Udu4 based on the duty ratio Udu of the U phase set by the duty ratio setting unit 39. Similarly, the variable threshold value calculation unit 41 calculates the variable threshold values Vdu3 and Vdu4 based on the duty ratio Vdu of the V phase set by the duty ratio setting unit 39, and of the W phase set by the duty ratio setting unit 39. The variable thresholds Wdu3 and Wdu4 are calculated based on the duty ratio Wdu.
  • the threshold switching units 42U, 42V, 42W switch the thresholds Udux, Vdux, Wdux to be input to the comparators 43U, 43V, 43W. Specifically, the threshold value switching units 42U, 42V, 42W set the threshold value of the output target to the fixed threshold values Udu1, Udu2, Vdu1, Vdu2, Wdu1, Wdu2 according to the switching between the first period A and the second period B. The variable threshold is switched between Udu3, Udu4, Vdu3, Vdu4, Wdu3, and Wdu4.
  • the threshold switching units 42U, 42V, 42W set the fixed thresholds Udu1, Vdu1, Wdu1 and the fixed thresholds Udu2, Vdu2, Wdu2 based on the output signals Cpu, Cpv, Cpw of the corresponding comparators 43U, 43V, 43W. It is switched alternately and output as threshold values Udux, Vdux, and Wdux.
  • the threshold value switching unit 42U sets the fixed threshold value Udu1 and the fixed threshold value Udu2 as the threshold values to be output.
  • the threshold switching unit 42 gives the fixed threshold value Udu1 as the initial value to the comparator 43U as the threshold value Udux.
  • the threshold value switching unit 42 gives the fixed threshold value Udu2 to the comparator 43U as the threshold value Udux when the signal level of the output signal Cpu of the comparator 43U is inverted.
  • the threshold switching unit 42U sets the variable threshold value Udu3 and the variable threshold value Udu4 as the threshold values to be output.
  • the threshold switching unit 42 gives the variable threshold value Udu3 as the initial value to the comparator 43U as the threshold value Udux.
  • the threshold value switching unit 42 gives the variable threshold value Udu4 to the comparator 43U as the threshold value Udux when the signal level of the output signal Cpu of the comparator 43U is inverted.
  • the threshold switching unit 42U again sets the fixed threshold value Udu1 and the fixed threshold value Udu2 as the threshold values to be output. After that, the above-mentioned process is repeated.
  • the PWM circuit 44 outputs PWM signals U, V, W having an on / off section according to a change in the voltage command of each phase based on the output signals Cpu, Cpv, Cpw from the comparators 43U, 43V, 43W.
  • the PWM signals U, V, W include six types of PWM signals, the PWM signals UH, UL, VH, VL, WH, and WL.
  • the above six types of PWM signals are given to the gate of each switching element of the inverter circuit 23. Each switching element is turned on / off by the six types of PWM signals. As a result, the U-phase, V-phase, and W-phase voltages are output from the inverter circuit 23 and applied to the motor 4.
  • the triangular wave comparison method is used in the first embodiment, but the voltage of each phase is output by using other methods such as the space vector method, not limited to the triangular wave comparison method. You may.
  • the PWM circuit 44 generates an interrupt signal Si at a predetermined timing in the second period B of the PWM cycle and gives it to the interrupt controller 45.
  • the PWM circuit 44 inputs the interrupt signal Si to the interrupt controller 45 at the timing when the PWM signal U rises, and inputs the interrupt signal Si to the interrupt controller 45 at the timing when the PWM signal V rises.
  • the interrupt controller 45 receives the interrupt signal Si from the PWM circuit 44 and gives an A / D conversion command to the current detection unit 27. For example, each time the interrupt signal Si is input, the interrupt controller 45 gives an A / D conversion command to the current detection unit 27 after a predetermined time has elapsed after receiving the interrupt signal Si. As a result, the current detection unit 27 performs A / D conversion of the detection signal Sd according to the switching of the signal level of the PWM signal of the specific phase in the second period B.
  • FIG. 5 is a diagram for explaining the principle of generating a PWM signal by the motor control device 100 according to the present embodiment.
  • the threshold switching units 42U, 42V, 42W select fixed thresholds Udu1, Vdu1, Wdu1 as initial values, and the comparator 43U is set as the thresholds Udux, Vdux, Wdux. , 43V, 43W, respectively.
  • the comparators 43U, 43V, 43W compare the carrier C1 with the fixed threshold values Udu1, Vdu1, Wdu1.
  • the comparator 43U inverts the logical level of the output signal Cpu (for example, switching from the low level to the high level).
  • the PWM circuit 44 switches the U-phase PWM signal U from the high level to the low level, and the threshold switching unit 42U selects the fixed threshold value Udu2 and gives it to the comparator 43U as the threshold value Udux.
  • the comparator 43V inverts the logical level of the output signal Cpv (for example, switching from the low level to the high level).
  • the PWM circuit 44 switches the U-phase PWM signal V from the high level to the low level, and the threshold switching unit 42V selects the fixed threshold Vdu2 and gives it to the comparator 43V as the threshold Vdux.
  • the comparator 43W inverts the logical level of the output signal Cpw (for example, switching from the low level to the high level).
  • the PWM circuit 44 switches the W-phase PWM signal W from the high level to the low level, and the threshold switching unit 42W selects the fixed threshold value Wdu2 and gives it to the comparator 43W as the threshold value Wdux.
  • the comparator 43V inverts the logical level of the output signal Cpv (for example, switching from the low level to the high level). As a result, the PWM circuit 44 switches the V-phase PWM signal V from the low level to the high level.
  • the comparator 43W inverts the logical level of the output signal Cpw (for example, switching from the low level to the high level). As a result, the PWM circuit 44 switches the W-phase PWM signal W from the low level to the high level.
  • the switching control unit 15 switches the control signal Sc from the low level to the high level.
  • the threshold switching units 42U, 42V, and 42W select variable thresholds Udu3, Vdu3, and Wdu3 according to the high-level control signal Sc, and give them to the comparators 43U, 43V, and 43W as thresholds Udux, Vdux, and Wdux, respectively.
  • the comparators 43U, 43V, 43W compare the carrier C2 with the variable threshold values Udu3, Vdu3, Wdu3.
  • the comparator 43U inverts the logical level of the output signal Cpu (for example, switching from a high level to a low level).
  • the PWM circuit 44 switches the U-phase PWM signal U from the high level to the low level, and the threshold switching unit 42U selects the variable threshold value Udu4 and gives it to the comparator 43U as the threshold value Udux.
  • the comparator 43V inverts the logical level of the output signal Cpv (for example, switching from the low level to the high level).
  • the PWM circuit 44 switches the V-phase PWM signal V from the high level to the low level, and the threshold switching unit 42V selects the variable threshold Vdu4 and gives it to the comparator 43V as the threshold Vdux.
  • the comparator 43W inverts the logical level of the output signal Cpw (for example, switching from the low level to the high level).
  • the PWM circuit 44 switches the W-phase PWM signal W from the high level to the low level, and the threshold switching unit 42W selects the variable threshold value Wdu4 and gives it to the comparator 43W as the threshold value Wdux.
  • the comparator 43U inverts the logical level of the output signal Cpu (for example, switching from the low level to the high level). As a result, the PWM circuit 44 switches the U-phase PWM signal U from low level to high level.
  • the comparator 43V inverts the logical level of the output signal Cpv (for example, switching from the low level to the high level). As a result, the PWM circuit 44 switches the V-phase PWM signal W from the low level to the high level.
  • the comparator 43W inverts the logical level of the output signal Cpw (for example, switching from the low level to the high level). As a result, the PWM circuit 44 switches the W-phase PWM signal W from the low level to the high level.
  • the switching control unit 15 switches the control signal Sc from the high level to the low level.
  • the threshold switching units 42U, 42V, and 42W select fixed thresholds Udu1, Vdu1, and Wdu1 according to the low-level control signal Sc, and output them as thresholds Udux, Vdux, and Wdux, respectively.
  • the PWM signals of each phase are repeatedly generated by the same processing as from time t0 to t12.
  • the PWM signals of each phase are generated, so that the energized sections T12, T23, T34, and T45 are generated in the zero vector section Tz.
  • reference numeral 501 indicates the current of the motor 4 when the energized sections T12, T23, T34, and T45 are generated in the zero vector section Tz of the PWM signal generated by the motor control device 100 according to the present embodiment.
  • the waveform is shown, and reference numeral 502 shows the waveform of the current of the motor 4 when the energization period does not occur in the zero vector section.
  • the motor is provided in the period from time t1 to time t5 as shown by reference numeral 501.
  • the current increases.
  • the current of the motor 4 at the end of the zero vector section Tz at time t7 becomes larger than that in the case where the energization section is not provided in the zero vector section Tz of the PWM signals U, V, W.
  • the amount of change in the current from the start time to the end time of the zero vector section Tz is smaller than that when the energization section is not provided in the zero vector section Tz of the PWM signals U, V, W, so that a large current It is possible to prevent the occurrence of ripple.
  • the energized sections T12, T23, T34, and T45 are generated in the zero vector section Tz of the PWM signals U, V, W, and a plurality of small current ripples are generated in the zero vector section to generate a large current ripple. Can be suppressed.
  • FIG. 6 is a flowchart showing the flow of the motor drive control process by the motor control device 100 according to the embodiment.
  • the motor control device 100 starts the drive control of the motor 4.
  • the motor control device 100 starts a process of generating an energization pattern for driving the motor 4 (step S10).
  • the duty ratio setting unit 39 sets the initial values of the U-phase, V-phase, and W-phase duty ratios Udu, Vdu, and Wdu
  • the carrier generation unit 37 generates carriers C1 and C2, and PWM.
  • the signal generation unit 32 generates 6 types of PWM signals that specify the energization pattern of the motor 4 by the above-mentioned method based on the carriers C1 and C2 and the duty ratios Udu, Vdu, and Wdu set as initial values. , Give to the motor 4.
  • the motor control device 100 measures the phase currents Iu, Iv, and Iw of each of the U, V, and W phases (step S11).
  • the vector control unit 30 performs current control such as PI control based on the current calculation values of the three-phase currents Iu, Iv, and Iw detected by the current detection unit 27 in step S11 (step S12).
  • the phase voltage commands Vu *, Vv *, and Vw * (control amount) of the phase are calculated (step S13).
  • the duty ratio setting unit 39 updates the duty ratio of each phase based on the phase voltage commands Vu *, Vv *, Vw * of each phase calculated in step S13 (step S14). Specifically, the duty ratio setting unit 39 calculates the duty ratios Udu, Vdu, Wdu based on the phase voltage commands Vu *, Vv *, Vw *, and the variable threshold value calculation unit 41 calculates the calculated duty ratio Udu. , Vdu, Wdu, and the variable thresholds Udu3, Udu4, Vdu3, Vdu4, Wdu3, Wdu4 are updated by the above-mentioned method.
  • the PWM signal generation unit 32 has a fixed threshold value Udu1, Udu2, Vdu1, Vdu2, Wdu1, Wdu2 and a variable threshold value Udu3, Udu4, Vdu3, Vdu4, Wdu3, Wdu4 corresponding to the updated duty ratio by the method described above. Based on the above, PWM signals U, V, and W are generated by the above-mentioned method (see FIG. 5) (step S15).
  • the motor control device 100 determines whether or not a motor stop command has been input from the host device (step S16). When the motor stop command is input, the motor control device 100 stops the generation of the PWM signal and stops the driving of the motor 4.
  • step S11 the motor control device 100 proceeds to step S11 and repeatedly executes the above processes (S11 to S16) until the motor stop command is input.
  • the motor control device 100 is a motor within the zero vector section when a zero vector section in which the signal levels of the PWM signals U, V, and W corresponding to each phase of the motor 4 match is generated.
  • the energization section of 4 is provided. According to this, as described above, it is possible to generate a plurality of small current ripples in the zero vector interval and suppress the generation of large current ripples, so that the operation of the motor due to the periodic change of large current ripples. It is possible to suppress the noise of time.
  • the motor control device 100 generates an energized section of the motor 4 by inverting the PWM signals U, V, W of each phase at different timings for the same time in the zero vector section (see FIG. 5). .. According to this, by generating an energized section in the zero vector section, it is possible to prevent each voltage of the U phase, the V phase, and the W phase from becoming a voltage different from the voltage command, and it is input from the host device. It is possible to prevent the generation of noise due to a large current ripple while realizing appropriate control of the motor 4 based on the rotation speed command ⁇ ref.
  • the motor control device 100 inverts the PWM signals U, V, and W of each phase at different timings for a certain period of time in the first period A of the PWM cycle, and sets them in the remaining second period B of the PWM cycle.
  • the PWM signals U, V, and W are inverted based on the calculated duty ratio.
  • the duty ratio is set so that the PWM cycle rotates the motor based on the first period A for generating the energized section in the zero vector section and the command (rotation speed command ⁇ ref) from the host device. Since it is divided into the second period B for adjustment, while adjusting the duty ratio of the PWM signals U, V, W of each phase so that the motor 4 rotates at the rotation speed according to the rotation speed command ⁇ ref. ,
  • the PWM signal can be easily generated so that the energized section of the motor 4 is provided in the zero vector section.
  • the motor control device 100 generates a saw-like carrier C1 having a period corresponding to the first period A and a saw-like carrier C2 having a period corresponding to the second period B, and has fixed threshold values Udu1 and Udu2.
  • Vdu1, Vdu2, Wdu1, Wdu2 and the carrier C1 level are compared with each other to determine the timing at which the PWM signals U, V, W of each phase in the first period A are inverted, and the calculated duty ratio is calculated. Timing at which the PWM signals U, V, W of each phase in the second period B are inverted based on the comparison result between the variable threshold values Udu3, Udu4, Vdu3, Vdu4, Wdu3, Wdu4 and the carrier C2 level set based on the above. To determine.
  • the threshold value of the comparison target is changed for each carrier, and the signal level of the PWM signal is inverted at an appropriate timing in each of the first period A and the second period B to obtain a desired PWM signal. It can be easily generated.
  • the first period A is provided in the first half and the second period B is provided in the second half of the PWM cycle is illustrated, but the present invention is not limited to this, and the second period B is provided in the first half of the PWM cycle.
  • the first period A may be provided in the latter half of the PWM cycle.
  • the above-mentioned flowchart shows an example for explaining the operation, and is not limited to this. That is, the steps shown in each figure of the flowchart are specific examples, and are not limited to this flow. For example, the order of some processes may be changed, other processes may be inserted between each process, and some processes may be performed in parallel.
  • Carrier generation Unit 39 ... duty ratio setting unit, 40 ... fixed threshold storage unit, 41 ... variable threshold calculation unit, 42U, 42V, 42W ... threshold switching unit, 43U, 43V, 43W ... comparer, 44 ... PWM circuit, 45 ... interrupt Controller, 100 ... Motor control device, A ... 1st period, B ... 2nd period, C, C1, C2 ... Carrier, CLK ... Clock, Cp ... Detection signal, Lu ... U phase coil, Lv ... V phase coil, Lw ... W phase coil, Sc ... control signal, Sd ... detection signal, Si ... interrupt signal, Cpu, Cpv, Cpw ... output signal, T1 ... first upper limit value, T2 ...
  • Udu, Vdu, Wdu duty Ratio, Udu1, Vdu1, Wdu1, Udu2, Vdu2, Wdu2 ... Fixed threshold, Udu3, Vdu3, Wdu3, Udu4, Vdu4, Wdu4 ... Variable threshold, UH, UL, VH, VL, WH, WL, U, V, W ... PWM signal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

Dispositif de commande de moteur pouvant réduire le bruit. Dispositif de commande de moteur (100) caractérisé en ce qu'il comprend : une unité de commande (20) qui génère un signal PWM (U, V, W) respectif pour chaque phase (U, V, W) d'un moteur (4) ayant des bobines (Lu, Lv, Lw) dans une pluralité de phases; et un circuit onduleur (23) qui commande les bobines dans les phases sur la base des signaux PWM. Le dispositif de commande de moteur est également caractérisé en ce que, s'il existe un intervalle de vecteur nul (Tz) dans laquelle les signaux PWM des phases sont au même niveau de signal, l'unité de commande produit dans l'intervalle de vecteur nul un intervalle d'excitation (Te) dans lequel les bobines dans les phases sont excitées.
PCT/JP2020/026342 2019-07-22 2020-07-06 Dispositif de commande de moteur et système de moteur WO2021014948A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019134651A JP2021019459A (ja) 2019-07-22 2019-07-22 モータ制御装置およびモータシステム
JP2019-134651 2019-07-22

Publications (1)

Publication Number Publication Date
WO2021014948A1 true WO2021014948A1 (fr) 2021-01-28

Family

ID=74193142

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/026342 WO2021014948A1 (fr) 2019-07-22 2020-07-06 Dispositif de commande de moteur et système de moteur

Country Status (2)

Country Link
JP (1) JP2021019459A (fr)
WO (1) WO2021014948A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010279141A (ja) * 2009-05-28 2010-12-09 Omron Automotive Electronics Co Ltd 電動機制御装置
JP4671000B1 (ja) * 2009-09-28 2011-04-13 ダイキン工業株式会社 相電流検出装置、及びそれを用いた電力変換装置
WO2011064970A1 (fr) * 2009-11-26 2011-06-03 パナソニック株式会社 Système de commande de charge, système de commande de moteur électrique et système de commande de véhicule
JP2013162536A (ja) * 2012-02-01 2013-08-19 Mitsubishi Electric Corp 電力変換装置
WO2017154239A1 (fr) * 2016-03-11 2017-09-14 日立オートモティブシステムズ株式会社 Dispositif d'attaque de moteur et procédé de détection de courant de phase dans un dispositif d'attaque de moteur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010279141A (ja) * 2009-05-28 2010-12-09 Omron Automotive Electronics Co Ltd 電動機制御装置
JP4671000B1 (ja) * 2009-09-28 2011-04-13 ダイキン工業株式会社 相電流検出装置、及びそれを用いた電力変換装置
WO2011064970A1 (fr) * 2009-11-26 2011-06-03 パナソニック株式会社 Système de commande de charge, système de commande de moteur électrique et système de commande de véhicule
JP2013162536A (ja) * 2012-02-01 2013-08-19 Mitsubishi Electric Corp 電力変換装置
WO2017154239A1 (fr) * 2016-03-11 2017-09-14 日立オートモティブシステムズ株式会社 Dispositif d'attaque de moteur et procédé de détection de courant de phase dans un dispositif d'attaque de moteur

Also Published As

Publication number Publication date
JP2021019459A (ja) 2021-02-15

Similar Documents

Publication Publication Date Title
US8816612B2 (en) Controller for multi-phase rotary device
WO2020196397A1 (fr) Dispositif de commande de moteur, système moteur, et procédé de commande de moteur
JP2018164347A (ja) インバータ装置、空気調和機、インバータ装置の制御方法及びプログラム
WO2020059814A1 (fr) Dispositif de commande de moteur, système de moteur, et procédé de commande d'onduleur
WO2021014947A1 (fr) Dispositif de commande de moteur et système de moteur
JP5972545B2 (ja) モータ制御装置
WO2021014948A1 (fr) Dispositif de commande de moteur et système de moteur
US11804797B2 (en) Motor controller, motor system and method for controlling motor
JP2012182874A (ja) モータ制御装置
JP2016103886A (ja) モータ制御装置
WO2021200389A1 (fr) Dispositif de commande de moteur, système moteur et procédé de commande de moteur
WO2020059815A1 (fr) Dispositif de commande de moteur, système de moteur et procédé de commande d'onduleur
WO2020196398A1 (fr) Dispositif de commande de moteur, système de moteur et procédé de commande de moteur
JP2011109848A (ja) モータ駆動制御装置
JP2022044290A (ja) モータ制御装置、モータシステム及びモータ制御方法
JP2019216566A (ja) モータ用制御装置
JP7482668B2 (ja) モータ制御装置、モータシステム及びモータ制御方法
JP2006081322A (ja) 交流電動機の制御装置
JP2022055205A (ja) モータ制御装置、モータシステム及びモータ制御方法
JP2016036231A (ja) インバータ装置
JP2021164281A (ja) モータ制御装置、モータシステム及びモータ制御方法
JP2021164280A (ja) モータ制御装置、モータシステム及びモータ制御方法
KR20100101478A (ko) 모터 제어 장치 및 제어 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20844912

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20844912

Country of ref document: EP

Kind code of ref document: A1