JP6994979B2

JP6994979B2 - Motor control device and motor control method

Info

Publication number: JP6994979B2
Application number: JP2018029679A
Authority: JP
Inventors: 寿彦政光; 正大石島; 勇小林
Original assignee: Mitsuba Corp
Current assignee: Mitsuba Corp
Priority date: 2018-02-22
Filing date: 2018-02-22
Publication date: 2022-01-14
Anticipated expiration: 2038-02-22
Also published as: JP2019146405A

Description

本発明は、電動モータの通電制御技術に関し、特に、ＳＲモータ（Switched reluctance motor：スイッチトリラクタンスモータ）の駆動制御に適用して有効な技術に関する。 The present invention relates to an energization control technique for an electric motor, and more particularly to a technique applicable to drive control of an SR motor (Switched reluctance motor).

従来より、ＳＲモータ等のブラシレスモータでは、各相巻線の電流値を一定時間間隔でモニタしながらその駆動制御を行っている。その際、ＰＷＭ制御（パルス幅変調制御）が行われるモータでは、制御応答性を高めるべく、通電相の切り替え時にまず巻線電流値が目標電流値となるまでDuty100％にて通電を行う。そして、巻線電流値が目標電流値に到達した後、検出した電流値と目標電流値との差に応じてＰＩＤ制御を実施し、所望の回転数やトルクを得ている。 Conventionally, in a brushless motor such as an SR motor, the drive control is performed while monitoring the current value of each phase winding at regular time intervals. At that time, in the motor in which PWM control (pulse width modulation control) is performed, in order to improve the control response, first, when switching the energizing phase, energization is performed at Duty 100% until the winding current value reaches the target current value. Then, after the winding current value reaches the target current value, PID control is performed according to the difference between the detected current value and the target current value to obtain a desired rotation speed and torque.

特開２００２－３３５６８７号公報Japanese Unexamined Patent Publication No. 2002-335678 特開２００８－１９３７８９号公報Japanese Unexamined Patent Publication No. 2008-193789

しかしながら、駆動制御の際、図７（ａ）のように巻線電流値のモニタ間隔が短いと、応答性や制御精度は高いものの、制御装置にかかる負荷が大きくなる。このように電流モニタ処理が高負荷となると、他の制御処理に支障が生じるおそれがある。この場合、他の制御処理に影響を与えることなく高負荷のモニタ処理を行うには、高性能の制御素子を使用しなければならず、コストアップにつながるという問題があった。 However, in the case of drive control, if the monitor interval of the winding current value is short as shown in FIG. 7A, the load on the control device becomes large although the responsiveness and the control accuracy are high. When the current monitor processing becomes a high load in this way, there is a possibility that other control processing may be hindered. In this case, in order to perform high-load monitoring processing without affecting other control processing, a high-performance control element must be used, which causes a problem of cost increase.

これに対し、制御負荷を軽減すべく、巻線電流値のモニタ間隔を長くすると、計測間隔が空くため、目標電流値への到達を正確に把握できず、図７（ｂ）のように、電流値のオーバーシュートが発生してしまう、という問題が生じる。バッテリへの負荷を考慮すると、電流のオーバーシュートはなるべく避けることが望ましく、上述のように、モニタ間隔が短い場合、長い場合それぞれに問題点があり、目標電流値に到達するまでの制御形態を如何に最適化するかが課題となっていた。 On the other hand, if the monitoring interval of the winding current value is lengthened in order to reduce the control load, the measurement interval becomes longer, and it is not possible to accurately grasp the arrival of the target current value, as shown in FIG. 7 (b). There is a problem that the current value is overshooted. Considering the load on the battery, it is desirable to avoid current overshoot as much as possible. As mentioned above, there are problems when the monitor interval is short and when it is long, and the control mode until the target current value is reached is determined. The issue was how to optimize it.

本発明の目的は、目標電流値に到達するまでの制御形態を最適化し、制御負荷を抑えつつ、電流のオーバーシュートを防止し得るモータ制御装置・制御方法を提供することにある。 An object of the present invention is to provide a motor control device / control method capable of preventing current overshoot while suppressing a control load by optimizing a control mode until a target current value is reached.

本発明のモータ制御装置は、複数の相を有するスイッチトリラクタンスモータの駆動制御を行うモータ制御装置であって、前記スイッチトリラクタンスモータの目標出力を設定する目標出力設定部と、前記目標出力に応じた目標電流値を設定し、該目標電流値に基づいて電流指令値を生成する電流指令値生成部と、前記スイッチトリラクタンスモータに供給される通電電流の電流値を検出する電流検出部と、前記電流指令値生成部により生成された前記電流指令値と、前記電流検出部により検出された電流検出値との偏差に基づき、パルス幅変調信号からなる駆動制御信号を生成する駆動制御信号生成部と、前記駆動制御信号のDuty比に基づいて、前記スイッチトリラクタンスモータに対し通電を行う通電制御部と、前記駆動制御信号の前記Duty比を、８０％以上の高Duty比を有する初動Duty値に設定した場合に、前記スイッチトリラクタンスモータへの通電開始時から、前記通電電流が前記目標電流値又はその近傍に設定された所定の目標閾値に到達するまでの目標値到達時間を算出する目標値到達時間算出部と、前記通電制御部に対し、動作停止状態にある前記スイッチトリラクタンスモータへの通電開始から前記目標値到達時間の間、前記初動Duty値による初期通電を行わせ、該初期通電終了後に、前記駆動制御信号の前記Duty比にて通電を行わせる通電指令部と、を有することを特徴とする。
The motor control device of the present invention is a motor control device that controls the drive of a switch reluctance motor having a plurality of phases, and has a target output setting unit for setting a target output of the switch reluctance motor and the target output. A current command value generation unit that sets a corresponding target current value and generates a current command value based on the target current value, and a current detection unit that detects the current value of the energizing current supplied to the switch reluctance motor . , Drive control signal generation that generates a drive control signal consisting of a pulse width modulation signal based on the deviation between the current command value generated by the current command value generation unit and the current detection value detected by the current detection unit. Based on the Duty ratio of the drive control signal, the energization control unit that energizes the switch reluctance motor and the Duty ratio of the drive control signal are the initial Duty having a high Duty ratio of 80% or more. When set to a value, the target value arrival time from the start of energization of the switch trilatance motor until the energization current reaches a predetermined target threshold set at or near the target current value is calculated. The target value arrival time calculation unit and the energization control unit are made to perform initial energization based on the initial Duty value during the period from the start of energization of the switch trilatance motor in the stopped operation state to the target value arrival time. It is characterized by having an energization command unit for energizing at the Duty ratio of the drive control signal after the end of the initial energization.

本発明にあっては、目標値到達時間算出部により、駆動制御信号のDuty比を８０％以上の高Duty比を有する初動Duty値に設定した場合に、通電開始時から、通電電流が目標電流値又はその近傍に設定された所定の目標閾値に到達するまでの目標値到達時間を算出し、通電指令部によって、通電開始から目標値到達時間の間、初動Duty値による初期通電を行い、初期通電終了後に、駆動制御信号のDuty比にて通電を行う。この場合、通電開始から目標値到達時間の間は、駆動制御信号生成部にて算出された駆動制御信号のDuty比を用いずに初動Duty値によって初期通電を行う。そして、経過時間を監視しつつ、高Duty比の初動Duty値によって、巻線電流を目標電流値又は目標閾値まで迅速に立ち上げる。これにより、制御装置は、電流モニタによる制御負荷から解放され、処理負荷の軽減が図られる。また、巻線電流値のオーバーシュートも防止でき、バッテリへの負荷も軽減される。 In the present invention, when the duty ratio of the drive control signal is set to the initial duty value having a high duty ratio of 80% or more by the target value arrival time calculation unit, the current is the target current from the start of energization. The target value arrival time until reaching a predetermined target threshold set at or near the value is calculated, and the energization command unit performs initial energization with the initial duty value during the energization start to the target value arrival time, and the initial energization is performed. After the energization is completed, the energization is performed according to the duty ratio of the drive control signal. In this case, during the period from the start of energization to the time to reach the target value, the initial energization is performed by the initial duty value without using the duty ratio of the drive control signal calculated by the drive control signal generation unit. Then, while monitoring the elapsed time, the winding current is quickly raised to the target current value or the target threshold value by the initial duty value with a high duty ratio. As a result, the control device is released from the control load of the current monitor, and the processing load can be reduced. In addition, overshoot of the winding current value can be prevented, and the load on the battery is reduced.

前記モータ制御装置において、前記初動Duty値をDuty比１００％とし、前記通電指令部は、時間経過の監視のみによって前記スイッチトリラクタンスモータの巻線電流値を前記目標電流値に到達させるようにしても良い。これにより、目標電流値又は目標閾値（以下、適宜、目標電流値等と略記する）に到達するまでの時間が早くなり、応答性が向上する。また、前記目標閾値を、前記目標値到達時間経過後に、前記スイッチトリラクタンスモータの巻線電流値が前記目標電流値を超えてオーバーシュートしないよう、前記目標電流値の８０％以上１００％未満の値に設定し、初期通電終了後に、駆動制御信号のDuty比にて通電を行って電流のオーバーシュートを抑制しても良い。また、前記目標閾値として、前記目標電流値を超える値を設定し、前記通電指令部は、前記スイッチトリラクタンスモータの巻線電流値が前記目標電流値を超えてオーバーシュートしないよう、前記初期通電における通電時間を前記目標値到達時間よりも短くするようにしても良い。さらに、前記通電指令部により、前記モータへの通電開始から前記目標値到達時間の間、異なる複数の初動Duty値にて前記初期通電を行うようにしても良い。
In the motor control device, the initial duty value is set to 100% duty ratio, and the energization command unit causes the winding current value of the switched reluctance motor to reach the target current value only by monitoring the passage of time. Is also good. As a result, the time until the target current value or the target threshold value (hereinafter, appropriately abbreviated as the target current value or the like) is reached is shortened, and the responsiveness is improved. Further, the target threshold value is 80% or more and less than 100% of the target current value so that the winding current value of the switched reluctance motor does not exceed the target current value and overshoot after the target value arrival time elapses . It may be set to a value, and after the initial energization is completed, energization may be performed at the Duty ratio of the drive control signal to suppress current overshoot . Further, a value exceeding the target current value is set as the target threshold value, and the energization command unit performs the initial energization so that the winding current value of the switched reluctance motor does not overshoot beyond the target current value. The energization time in the above-mentioned target value may be made shorter than the target value arrival time. Further, the energization command unit may perform the initial energization at a plurality of different initial duty values during the time from the start of energization to the motor to the time when the target value is reached.

加えて、本発明のモータ制御装置は、複数の相を有するスイッチトリラクタンスモータ（ＳＲモータ）を制御対象としており、特に、車両エンジンのスタータ・ジェネレータ用のモータに本発明を適用しても良い。この場合、ＳＲモータは、電流の生成する磁界のみでトルクが発生するため、電流を早く目標電流値等まで到達させれば、その分、トルクの応答性も向上する。したがって、初期通電により巻線電流を目標電流値等まで迅速に立ち上げる本発明は、ＳＲモータに好適である。また、モータ制御装置に、ＳＲモータが発電機として機能する際、その回生動作を制御する回生制御部を設けても良く、回生制御の短時間通電（供給モード）においても、初期通電と同様の通電制御を行うことにより、短時間通電の消費電力を抑えることができ、結果として回生で得られる電力が増加する。
In addition, the motor control device of the present invention targets a switched reluctance motor (SR motor) having a plurality of phases, and the present invention may be particularly applied to a motor for a starter generator of a vehicle engine. .. In this case, since the SR motor generates torque only in the magnetic field generated by the current, if the current reaches the target current value or the like quickly, the responsiveness of the torque is improved accordingly. Therefore, the present invention in which the winding current is quickly raised to the target current value or the like by the initial energization is suitable for the SR motor. Further, the motor control device may be provided with a regenerative control unit that controls the regenerative operation when the SR motor functions as a generator, and the short-time energization (supply mode) of the regenerative control is the same as the initial energization. By controlling the energization, the power consumption of short-time energization can be suppressed, and as a result, the power obtained by regeneration increases.

一方、本発明のモータ制御方法は、複数の相を有するスイッチトリラクタンスモータの駆動制御を行うためのモータ制御方法であって、前記スイッチトリラクタンスモータの目標出力に応じた目標電流値を設定し、該目標電流値に基づいて電流指令値を生成し、前記電流指令値と、前記スイッチトリラクタンスモータに供給される通電電流の電流値との偏差に基づき、パルス幅変調信号からなる駆動制御信号を生成し、前記駆動制御信号のDuty比に基づいて、前記スイッチトリラクタンスモータに対し通電を行い、前記駆動制御信号の前記Duty比を、８０％以上の高Duty比を有する初動Duty値に設定した場合に、前記スイッチトリラクタンスモータへの通電開始時から、前記通電電流が前記目標電流値又はその近傍に設定された所定の目標閾値に到達するまでの目標値到達時間を算出し、動作停止状態にある前記スイッチトリラクタンスモータへの通電開始から前記目標値到達時間の間、前記初動Duty値による初期通電を行い、該初期通電終了後に、前記駆動制御信号の前記Duty比にて通電を行うことを特徴とする。
On the other hand, the motor control method of the present invention is a motor control method for driving and controlling a switched reluctance motor having a plurality of phases, and sets a target current value according to a target output of the switched reluctance motor . , A current command value is generated based on the target current value, and a drive control signal composed of a pulse width modulation signal based on the deviation between the current command value and the current value of the energizing current supplied to the switched reluctance motor . Is generated, and the switched reluctance motor is energized based on the Duty ratio of the drive control signal, and the Duty ratio of the drive control signal is set to the initial Duty value having a high Duty ratio of 80% or more. When set, the target value arrival time from the start of energization to the switched reluctance motor until the energization current reaches a predetermined target threshold set at or near the target current value is calculated and operated . During the time from the start of energization of the switcheded reluctance motor in the stopped state to the time when the target value is reached, the initial energization is performed by the initial Duty value, and after the initial energization is completed, the energization is performed by the Duty ratio of the drive control signal. Characterized by doing.

本発明にあっては、駆動制御信号のDuty比を８０％以上の高Duty比を有する初動Duty値に設定した場合に、通電開始時から、通電電流が目標電流値又はその近傍に設定された所定の目標電流値等に到達するまでの目標値到達時間を算出し、通電開始から目標値到達時間の間、初動Duty値による初期通電を行い、初期通電終了後に、駆動制御信号のDuty比にて通電を行う。この場合、通電開始から目標値到達時間の間は、駆動制御信号生成部にて算出された駆動制御信号のDuty比を用いずに初動Duty値によって初期通電を行う。そして、経過時間を監視しつつ、高Duty比の初動Duty値によって、巻線電流を目標電流値等まで迅速に立ち上げる。これにより、電流モニタによる制御負荷から解放され、処理負荷の軽減が図られる。また、巻線電流値のオーバーシュートも防止でき、バッテリへの負荷も軽減される。 In the present invention, when the duty ratio of the drive control signal is set to the initial duty value having a high duty ratio of 80% or more, the current is set to the target current value or its vicinity from the start of energization. The target value arrival time until reaching a predetermined target current value, etc. is calculated, the initial energization is performed by the initial duty value during the energization start to the target value arrival time, and after the initial energization is completed, the duty ratio of the drive control signal is set. And energize. In this case, during the period from the start of energization to the time to reach the target value, the initial energization is performed by the initial duty value without using the duty ratio of the drive control signal calculated by the drive control signal generation unit. Then, while monitoring the elapsed time, the winding current is quickly increased to the target current value or the like by the initial duty value with a high duty ratio. As a result, the control load of the current monitor is released, and the processing load can be reduced. In addition, overshoot of the winding current value can be prevented, and the load on the battery is reduced.

本発明のモータ制御装置によれば、駆動制御信号のDuty比を高Duty比の初動Duty値に設定した場合に、通電開始時から、通電電流が目標電流値等に到達するまでの目標値到達時間を算出する目標値到達時間算出部と、通電開始から目標値到達時間の間、初動Duty値による初期通電を行い、初期通電終了後に、駆動制御信号のDuty比にて通電を行う通電指令部を制御装置に設けたので、経過時間の監視により、巻線電流を目標電流値等まで迅速に立ち上げることが可能となる。これにより、電流モニタによる制御負荷から解放され、処理負荷の軽減が図られ、巻線電流値のオーバーシュートも防止できる。 According to the motor control device of the present invention, when the duty ratio of the drive control signal is set to the initial duty value of the high duty ratio, the target value is reached from the start of energization until the energization current reaches the target current value or the like. The target value arrival time calculation unit that calculates the time, and the energization command unit that performs initial energization with the initial duty value from the start of energization to the target value arrival time, and after the initial energization ends, energizes with the duty ratio of the drive control signal. Is provided in the control device, so that the winding current can be quickly increased to the target current value or the like by monitoring the elapsed time. As a result, the control load of the current monitor is released, the processing load is reduced, and the overshoot of the winding current value can be prevented.

本発明のモータ制御方法によれば、駆動制御信号のDuty比を高Duty比の初動Duty値に設定した場合に、通電開始時から、通電電流が目標電流値等に到達するまでの目標値到達時間を算出し、通電開始から目標値到達時間の間、初動Duty値による初期通電を行い、初期通電終了後に、駆動制御信号のDuty比にて通電を行うようにしたので、経過時間の監視により、巻線電流を目標電流値等まで迅速に立ち上げることが可能となる。これにより、電流モニタによる制御負荷から解放され、処理負荷の軽減が図られ、巻線電流値のオーバーシュートも防止できる。 According to the motor control method of the present invention, when the duty ratio of the drive control signal is set to the initial duty value of the high duty ratio, the target value is reached from the start of energization until the energization current reaches the target current value or the like. The time was calculated, the initial energization was performed by the initial duty value during the time from the start of energization to the time when the target value was reached, and after the initial energization was completed, the energization was performed by the duty ratio of the drive control signal. , It is possible to quickly raise the winding current to the target current value, etc. As a result, the control load of the current monitor is released, the processing load is reduced, and the overshoot of the winding current value can be prevented.

本発明の一実施の形態であるモータ制御装置を用いたＳＲモータ制御システムの構成を示すブロック図である。It is a block diagram which shows the structure of the SR motor control system using the motor control device which is one Embodiment of this invention. ＳＲモータの電気的な構成を模式的に表した説明図である。It is explanatory drawing which represented the electric structure of the SR motor schematically. 初期通電動作の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure of the initial energization operation. 図３の処理を行った場合の通電電流の状態を示す説明図である。It is explanatory drawing which shows the state of the energizing current at the time of performing the process of FIG. ＳＲモータにて回生動作を行う場合の制御形態（１相分：Ｕ相）を示す説明図であり、（ａ）は駆動回路１相分の構成、（ｂ）はＦＥＴ動作と巻線電流値との関係をそれぞれ示している。It is explanatory drawing which shows the control form (1 phase part: U phase) when the regenerative operation is performed by SR motor, (a) is the structure for one phase of a drive circuit, (b) is FET operation and winding current value. The relationship with each is shown. 初期通電動作の変形例を示す説明図である。It is explanatory drawing which shows the modification of the initial energization operation. 従来の初期通電動作における通電電流の状態を示す説明図である。It is explanatory drawing which shows the state of the energization current in the conventional initial energization operation.

以下、本発明の実施の形態を図面に基づいて詳細に説明する。図１は、本発明の一実施の形態であるモータ制御装置１０を用いたＳＲモータ制御システムの構成を示すブロック図であり、本発明の方法も図１のシステムにて実施される。図１の制御システムは、ＳＲモータ１と、ＳＲモータ１の通電状態（通電タイミング・通電電流値）を制御するドライバ回路（通電制御部）２と、ドライバ回路２のスイッチング素子（ＦＥＴ３１～３４）を制御しＳＲモータ１の駆動状態を制御する駆動制御部３と、から構成されている。当該制御システムにて駆動されるＳＲモータ１は、例えば、車両エンジンのスタータ・ジェネレータ（始動発電機：Integrated Starter Generator(ISG)）に適用され、エンジンのクランク軸に直結されるなどして使用される。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an SR motor control system using a motor control device 10 according to an embodiment of the present invention, and the method of the present invention is also carried out in the system of FIG. The control system of FIG. 1 includes an SR motor 1, a driver circuit (energization control unit) 2 that controls the energization state (energization timing / energization current value) of the SR motor 1, and switching elements (FETs 31 to 34) of the driver circuit 2. It is composed of a drive control unit 3 that controls the drive state of the SR motor 1 and controls the drive state of the SR motor 1. The SR motor 1 driven by the control system is applied to, for example, a vehicle engine starter generator (Integrated Starter Generator (ISG)) and is used by being directly connected to the crank shaft of the engine. To.

ＳＲモータ１は、励磁コイル（巻線）４を有するステータ５と、ステータ５内に回転自在に配置されたロータ６とを備えている。ステータ５には、径方向内側に向かって突設された複数の突極７が設けられている。各突極７には、３相の励磁コイル４（４Ｕ,４Ｖ,４Ｗ）が巻装されている。ＳＲモータ１は、ＰＷＭ（Pulse Width Modulation）制御にて駆動され、励磁コイル４に供給される巻線電流の電流値は、電流センサ４１を用いて検知される。ロータ６の外周には、径方向外側に向かって突設された複数の突極８が設けられている。突極８は、ステータ５側の突極７とは異なる個数設けられている。ロータ６の回転位置は、レゾルバ等の回転検出センサ９を用いて検知されている。各励磁コイル４は、ロータ６の回転位置に応じて選択的に通電される。これにより、ステータ５の突極７にロータ６の突極８が磁気吸引され、ロータ６に回転トルクが発生してＳＲモータ１が回転駆動する。 The SR motor 1 includes a stator 5 having an exciting coil (winding) 4 and a rotor 6 rotatably arranged in the stator 5. The stator 5 is provided with a plurality of salient poles 7 projecting inward in the radial direction. A three-phase exciting coil 4 (4U, 4V, 4W) is wound around each salient pole 7. The SR motor 1 is driven by PWM (Pulse Width Modulation) control, and the current value of the winding current supplied to the exciting coil 4 is detected by using the current sensor 41. A plurality of salient poles 8 projecting outward in the radial direction are provided on the outer periphery of the rotor 6. The number of salient poles 8 is different from that of the salient poles 7 on the stator 5 side. The rotation position of the rotor 6 is detected by using a rotation detection sensor 9 such as a resolver. Each exciting coil 4 is selectively energized according to the rotation position of the rotor 6. As a result, the salient pole 8 of the rotor 6 is magnetically attracted to the salient pole 7 of the stator 5, a rotational torque is generated in the rotor 6, and the SR motor 1 is rotationally driven.

また、当該システムでは、車両減速時等にＳＲモータ１を発電機として機能させる回生動作も実施される。回生動作に際しては、ＳＲモータ１はモータ内にマグネットが存在しないため、発電を行うには、励磁コイルに通電を行って磁束を発生させる必要がある。そこで、駆動制御部３は、回生動作を行う場合には、励磁コイル４に電力を一時的に供給し（供給モード）、ロータ６の突極８を介してモータ内に磁束を発生させる。そして、この状態で外力によってロータ６が回転すると、ロータ回転動作より発生した磁束が減少し、磁束を保持しようとすべく励磁コイル４に起電力が生じる。その結果、励磁コイル４に回生電流が発生し、バッテリ４２側に電力が回生される（回生モード）。 Further, in the system, a regenerative operation is also performed in which the SR motor 1 functions as a generator when the vehicle is decelerated or the like. Since the SR motor 1 does not have a magnet in the motor during the regenerative operation, it is necessary to energize the exciting coil to generate magnetic flux in order to generate electric power. Therefore, when performing the regenerative operation, the drive control unit 3 temporarily supplies electric power to the exciting coil 4 (supply mode), and generates magnetic flux in the motor via the salient pole 8 of the rotor 6. When the rotor 6 is rotated by an external force in this state, the magnetic flux generated by the rotor rotation operation is reduced, and an electromotive force is generated in the exciting coil 4 in order to maintain the magnetic flux. As a result, a regenerative current is generated in the exciting coil 4, and electric power is regenerated on the battery 42 side (regenerative mode).

ドライバ回路２は、駆動制御部３から入力される駆動制御信号に応じて、バッテリ４２から出力される直流電力をスイッチングし、ＳＲモータ１の各相を構成する励磁コイル４に供給する。ドライバ回路２には、各相ごとにブリッジ回路３０Ｕ,３０Ｖ,３０Ｗが形成されており、各ブリッジ回路３０Ｕ,３０Ｖ,３０Ｗには、半導体スイッチ素子であるＦＥＴがそれぞれ４個ずつ（ＦＥＴ３１～３４）設けられている。この場合、ＦＥＴは、ＳＲモータ１の上段側（バッテリ４２側：ハイサイド）と下段側（ローサイド）にそれぞれ、２個ずつ設けられている（ハイサイド：ＦＥＴ３１ａ～３１ｃ,３４ａ～３４ｃ、ローサイド：ＦＥＴ３２ａ～３２ｃ,３３ａ～３３ｃ）。ＦＥＴ３１～３４は、駆動制御部３からの駆動制御信号により適宜オン／オフされる。 The driver circuit 2 switches the DC power output from the battery 42 according to the drive control signal input from the drive control unit 3, and supplies the DC power to the exciting coils 4 constituting each phase of the SR motor 1. A bridge circuit 30U, 30V, 30W is formed in each phase of the driver circuit 2, and four FETs, which are semiconductor switch elements, are formed in each of the bridge circuits 30U, 30V, 30W (FETs 31 to 34). It is provided. In this case, two FETs are provided on the upper side (battery 42 side: high side) and two FETs on the lower side (low side) of the SR motor 1 (high side: FETs 31a to 31c, 34a to 34c, low side: FETs 32a to 32c, 33a to 33c). The FETs 31 to 34 are appropriately turned on / off by a drive control signal from the drive control unit 3.

駆動制御部３は、図１に示すように、電流指令値演算部１１、駆動制御信号生成部１２、通電指令部１３、電流検出部１４、回転位置検出部１５を備えており、制御マップ１６に格納された制御データ等に基づいてドライバ回路２を制御する。ドライバ回路２は、駆動制御部３からの指令に基づき通電相を適宜切り替えつつ、バッテリ４２から励磁コイル４Ｕ,４Ｖ,４Ｗに選択的に電力を供給してＳＲモータ１を回転駆動させる。この場合、電流検出部１４は電流センサ４１と接続されており、励磁コイル４に供給される通電電流の電流値は、電流検出部１４によって常時モニタされている。回転位置検出部１５は、回転検出センサ９と接続されており、ロータ６の回転位置もまた、回転位置検出部１５によって常時モニタされている。 As shown in FIG. 1, the drive control unit 3 includes a current command value calculation unit 11, a drive control signal generation unit 12, an energization command unit 13, a current detection unit 14, and a rotation position detection unit 15, and the control map 16 The driver circuit 2 is controlled based on the control data and the like stored in. The driver circuit 2 selectively supplies electric power from the battery 42 to the exciting coils 4U, 4V, 4W while appropriately switching the energized phase based on the command from the drive control unit 3, and rotationally drives the SR motor 1. In this case, the current detection unit 14 is connected to the current sensor 41, and the current value of the energizing current supplied to the exciting coil 4 is constantly monitored by the current detection unit 14. The rotation position detection unit 15 is connected to the rotation detection sensor 9, and the rotation position of the rotor 6 is also constantly monitored by the rotation position detection unit 15.

また、駆動制御部３には、目標値到達時間算出部１７やタイマ１８が設けられており、通電指令部１３の指示の下、通電相切り替え時における巻線電流値の最適化を図っている。さらに、駆動制御部３には、同期整流部（回生制御部）１９が設けられており、この同期整流部１９により、ＳＲモータ１が発電機として機能する際の回生動作を制御している。 Further, the drive control unit 3 is provided with a target value arrival time calculation unit 17 and a timer 18, and under the instruction of the energization command unit 13, the winding current value at the time of switching the energization phase is optimized. .. Further, the drive control unit 3 is provided with a synchronous rectification unit (regeneration control unit) 19, and the synchronous rectification unit 19 controls the regenerative operation when the SR motor 1 functions as a generator.

電流指令値演算部１１は、ＳＲモータ１に求められるトルクや発電量に対応する電流指令値を演算する部位であり、目標出力設定部２１と電流指令値生成部２２を備えている。目標出力設定部２１は、制御マップ１６を参照しつつ、負荷等に応じてＳＲモータ１の目標出力を設定する。電流指令値生成部２２は、目標出力設定部２１にて設定した目標出力に応じた目標電流値Ｉｔを設定し、この目標電流値Ｉｔに基づいて電流指令値を生成する。 The current command value calculation unit 11 is a portion that calculates a current command value corresponding to the torque required for the SR motor 1 and the amount of power generation, and includes a target output setting unit 21 and a current command value generation unit 22. The target output setting unit 21 sets the target output of the SR motor 1 according to the load and the like while referring to the control map 16. The current command value generation unit 22 sets a target current value It corresponding to the target output set by the target output setting unit 21, and generates a current command value based on the target current value It.

駆動制御信号生成部１２は、電流指令値演算部１１によって生成された電流指令値と、電流センサ４１によって検出された電流検出値との偏差に基づき、ドライバ回路２を制御するための駆動制御信号を生成する。駆動制御信号生成部１２には、フィードバック処理部２３と、ＤＵＴＹ演算部２４が設けられている。フィードバック処理部２３は、例えばＰＩＤ（Proportional-Integral-Differential：比例・積分・微分）演算により、各相ごとの電流指令値と巻線電流の検出値との偏差を制御増幅し、偏差がゼロとなるような電圧指令値を算出する。ＤＵＴＹ演算部２４は、フィードバック処理部２３により算出された電圧指令値に応じて、ドライバ回路２のＰＷＭdutyを計算し、駆動制御信号としてドライバ回路２に出力する。 The drive control signal generation unit 12 controls the driver circuit 2 based on the deviation between the current command value generated by the current command value calculation unit 11 and the current detection value detected by the current sensor 41. To generate. The drive control signal generation unit 12 is provided with a feedback processing unit 23 and a DUTY calculation unit 24. The feedback processing unit 23 controls and amplifies the deviation between the current command value for each phase and the detected value of the winding current by, for example, PID (Proportional-Integral-Differential) calculation, and the deviation becomes zero. Calculate the voltage command value so that The DUTY calculation unit 24 calculates the PWM duty of the driver circuit 2 according to the voltage command value calculated by the feedback processing unit 23, and outputs it to the driver circuit 2 as a drive control signal.

通電指令部１３は、通電相切り替え時に、初期通電動作とフィードバック処理による通常通電動作を切り替え、目標電流値Ｉｔに到達するまでの制御形態を最適化する。前述のように、巻線電流値のモニタ間隔は、図７に示したように、長短それぞれの場合に問題点がある。そこで、当該システムでは、駆動制御部３に目標値到達時間算出部１７とタイマ１８を設け、高Duty比による所定時間の初期通電動作により、巻線電流を素早く目標電流値等まで到達させ、制御負荷を増大させることなく、電流のオーバーシュートを防止している。 The energization command unit 13 switches between the initial energization operation and the normal energization operation by the feedback process at the time of switching the energization phase, and optimizes the control mode until the target current value It is reached. As described above, as shown in FIG. 7, there is a problem in the monitoring interval of the winding current value in each case of long and short. Therefore, in the system, the target value arrival time calculation unit 17 and the timer 18 are provided in the drive control unit 3, and the winding current is quickly reached to the target current value or the like by the initial energization operation for a predetermined time with a high Duty ratio, and the control is performed. It prevents current overshoot without increasing the load.

この場合、目標値到達時間算出部１７は、まず、ドライバ回路２に対する駆動制御信号のＰＷＭduty比を、８０％以上の高Duty比（例えば、Duty１００％）の初動Duty値とした場合を想定する。そして、この初動Duty値を用いた場合、ＳＲモータ１への通電開始時から、励磁コイル４への通電電流が、目標電流値Ｉｔ又は所定の目標閾値Ｉｓに到達するまでの目標値到達時間Ｔｔを算出する。このとき、目標閾値Ｉｓとしては、目標電流値Ｉｔの近傍値（例えば、目標電流値Ｉｔの８０％以上１００％未満の値：０.８Ｉｔ≦Ｉｓ＜Ｉｔ、好ましくは、９０％以上１００％未満の値：０.９Ｉｔ≦Ｉｓ＜Ｉｔ）を設定する。 In this case, the target value arrival time calculation unit 17 first assumes a case where the PWM duty ratio of the drive control signal to the driver circuit 2 is set to the initial duty value having a high duty ratio of 80% or more (for example, Duty 100%). When this initial duty value is used, the target value arrival time Tt from the start of energization of the SR motor 1 until the energization current of the exciting coil 4 reaches the target current value It or a predetermined target threshold Is. Is calculated. At this time, the target threshold value Is is a value near the target current value It (for example, a value of 80% or more and less than 100% of the target current value It: 0.8It ≦ Is <It, preferably 90% or more and less than 100%. Value: 0.9It ≦ Is <It) is set.

この場合、目標値到達時間算出部１７は、次のようにして目標値到達時間Ｔｔを算出する。まず、図２に示すように、ＳＲモータを模式的に示すと、Ｌ（コイル：単位Ｈ）とＲ（抵抗：単位Ω）にて構成されている。この場合、電流の動きは一次遅れとなり、一次遅れの電流の式は、
ｙ＝Ｋ（１－ｅ^－(ｔ/ｘ)）・・・（１）
（ｙ：電流（出力），Ｋ：電流最大値，ｔ：時間，ｘ：時定数）
と表すことができる。
一方、図２のＳＲモータの時定数は、Ｌ／Ｒ（sec）となる。また、Duty１００％の場合、電源電圧Ｅに対応した電流が流れるため、ＳＲモータの最大電流は、Ｅ／Ｒ（Ａ）となる。
したがって、前記の式（１）に基づいて目標電流値等を表すと、
目標電流値等（Ａ）＝（Ｅ／Ｒ）×（１－ｅ^{－(ｔ/(L/R))}）・・・（２）
となり、このときのｔは、目標電流値等までの到達時間（目標値到達時間Ｔｔ）となる。
そこで、目標値到達時間算出部１７は、式（２）をｔについて解くことにより、目標値到達時間Ｔｔを算出する。 In this case, the target value arrival time calculation unit 17 calculates the target value arrival time Tt as follows. First, as shown in FIG. 2, when the SR motor is schematically shown, it is composed of L (coil: unit H) and R (resistance: unit Ω). In this case, the current movement is first-order lag, and the formula for the first-order lag current is
y = K (1-e- ^{(t / x)} ) ・・・ (1)
(Y: current (output), K: maximum current value, t: time, x: time constant)
It can be expressed as.
On the other hand, the time constant of the SR motor in FIG. 2 is L / R (sec). Further, in the case of Duty 100%, since the current corresponding to the power supply voltage E flows, the maximum current of the SR motor is E / R (A).
Therefore, when the target current value or the like is expressed based on the above equation (1),
Target current value, etc. (A) = (E / R) × (1-e- ^{(t / (L / R))} ) ・・・ (2)
At this time, t is the arrival time to the target current value or the like (target value arrival time Tt).
Therefore, the target value arrival time calculation unit 17 calculates the target value arrival time Tt by solving the equation (2) for t.

図３は、通電指令部１３による初期通電動作の処理手順を示すフローチャート、図４は、図３の処理を行った場合の通電電流の状態を示す説明図である。初期通電動作は、各相の励磁コイル４Ｕ,４Ｖ,４Ｗの通電タイミングの切り替え時ごとに実施され、図３に示すように、通電指令部１３はまず、目標値到達時間算出部１７により、目標電流値等までの目標値到達時間Ｔｔを算出する（ステップＳ１）。本実施形態では、ステップＳ１にて目標電流値Ｉｔまでの目標値到達時間Ｔｔを算出する。また、この目標値到達時間Ｔｔを、初期通電動作の制御目標時間Ｔｃとして設定する（ステップＳ２）。その上で、通電指令部１３は、駆動制御信号生成部１２からドライバ回路２に対し、初動Duty値（ここでは、Duty１００％）の駆動制御信号を出力させ、ＳＲモータ１を高Duty比にて駆動させる（ステップＳ３：図４のＰ部）。 FIG. 3 is a flowchart showing a processing procedure of the initial energization operation by the energization command unit 13, and FIG. 4 is an explanatory diagram showing a state of the energizing current when the processing of FIG. 3 is performed. The initial energization operation is performed every time the energization timing of the exciting coils 4U, 4V, 4W of each phase is switched, and as shown in FIG. 3, the energization command unit 13 first targets the target value arrival time calculation unit 17. The target value arrival time Tt up to the current value or the like is calculated (step S1). In the present embodiment, the target value arrival time Tt up to the target current value It is calculated in step S1. Further, the target value arrival time Tt is set as the control target time Tc of the initial energization operation (step S2). Then, the energization command unit 13 causes the driver circuit 2 to output a drive control signal having an initial duty value (here, Duty 100%) from the drive control signal generation unit 12, and causes the SR motor 1 to have a high duty ratio. Drive (step S3: P part in FIG. 4).

また、通電指令部１３は、ＳＲモータ１を高Duty比にて駆動させると同時に、タイマ１８を用いて初期通電動作の経過時間（通電相切り替え時点からの経過時間）を計時する。そして、初期通電動作の経過時間が目標値到達時間Ｔｔに至ったか否かを確認する（ステップＳ４）。ステップＳ４にて、初期通電動作の経過時間が目標値到達時間Ｔｔに至っていない場合は、ステップＳ３に戻り高Duty比駆動を継続する。一方、初期通電動作の経過時間が目標値到達時間Ｔｔに到達した場合は、ステップＳ５に進み、初期通電動作を終了し（図４のＱ部）、フィードバックＰＩＤ制御による通常通電動作を開始してルーチンを抜ける。なお、何らかの外乱等により、目標値到達時間Ｔｔの経過時に通電電流が目標電流値Ｉｔに至っていない場合でも、その後の通常通電動作におけるＰＩＤ制御により、通電電流は速やかに目標電流値Ｉｔに到達する。 Further, the energization command unit 13 drives the SR motor 1 at a high duty ratio, and at the same time, uses a timer 18 to measure the elapsed time of the initial energization operation (elapsed time from the energization phase switching time). Then, it is confirmed whether or not the elapsed time of the initial energization operation has reached the target value arrival time Tt (step S4). If the elapsed time of the initial energization operation has not reached the target value arrival time Tt in step S4, the process returns to step S3 and the high duty ratio drive is continued. On the other hand, when the elapsed time of the initial energization operation reaches the target value arrival time Tt, the process proceeds to step S5, the initial energization operation is terminated (Q part in FIG. 4), and the normal energization operation by feedback PID control is started. Exit the routine. Even if the energization current does not reach the target current value It when the target value arrival time Tt has elapsed due to some disturbance or the like, the energization current quickly reaches the target current value It by PID control in the subsequent normal energization operation. ..

このように、当該システムでは、通電開始から目標値到達時間Ｔｔまでの間は、駆動制御信号生成部１２にて算出された駆動制御信号のDuty比を用いずに、高Duty比の初動Duty値による初期通電を行う。すなわち、駆動制御信号生成部１２からドライバ回路２に出力される駆動制御信号のＰＷＭduty比を、フィードバック処理による通常通電動作のDuty比から、一時的に初動Duty値に切り替える。これにより、モータ制御装置１０は、時間経過の監視のみにて、巻線電流を目標電流値Ｉｔまで迅速に立ち上げることができ、電流モニタによる制御負荷から解放され、制御装置の処理負荷の軽減が図られる。また、巻線電流値のオーバーシュートも防止でき、バッテリへの負荷も軽減される。加えて、ＳＲモータにあっては、電流の生成する磁界のみでトルクが発生し、トルクは電流の二乗に比例する。このため、電流を早く目標電流値Ｉｔまで到達させれば、その分、トルクの応答性も向上する。したがって、初期通電により巻線電流を目標電流値等まで迅速に立ち上げる当該システムは、ＳＲモータに特に好適である。 As described above, in the system, the initial duty value having a high duty ratio is not used during the period from the start of energization to the target value arrival time Tt without using the duty ratio of the drive control signal calculated by the drive control signal generation unit 12. Initial energization is performed by. That is, the PWM duty ratio of the drive control signal output from the drive control signal generation unit 12 to the driver circuit 2 is temporarily switched from the duty ratio of the normal energization operation by the feedback process to the initial duty value. As a result, the motor control device 10 can quickly raise the winding current to the target current value It only by monitoring the passage of time, is released from the control load by the current monitor, and reduces the processing load of the control device. Is planned. In addition, overshoot of the winding current value can be prevented, and the load on the battery is reduced. In addition, in the SR motor, torque is generated only by the magnetic field generated by the current, and the torque is proportional to the square of the current. Therefore, if the current reaches the target current value It quickly, the responsiveness of the torque is improved accordingly. Therefore, the system that quickly raises the winding current to the target current value or the like by the initial energization is particularly suitable for the SR motor.

同期整流部１９は、ＳＲモータ１が発電機として機能する際、その回生動作を制御し、供給モードや回生モードの切り替えを行う。図５は、ＳＲモータ１にて回生動作を行う場合の制御形態（１相分：Ｕ相）を示す説明図であり、（ａ）は駆動回路１相分の構成、（ｂ）はＦＥＴ動作と巻線電流値との関係をそれぞれ示している。図５（ｂ）に示すように、回生動作は、停止モードから供給モードを実行し、その後、回生モードにて電力回生を行い停止モードに戻る、という作動形態を取る。なお、回生動作においても各ＦＥＴ３１～３４はＰＷＭ制御される。 When the SR motor 1 functions as a generator, the synchronous rectifying unit 19 controls the regenerative operation and switches between the supply mode and the regenerative mode. FIG. 5 is an explanatory diagram showing a control mode (1 phase component: U phase) when the SR motor 1 performs a regenerative operation, (a) is a configuration for one drive circuit phase, and (b) is an FET operation. The relationship between and the winding current value is shown. As shown in FIG. 5B, the regenerative operation takes an operation mode in which the supply mode is executed from the stop mode, and then the power is regenerated in the regenerative mode to return to the stop mode. Even in the regenerative operation, each of the FETs 31 to 34 is PWM controlled.

供給モードでは、図５（ａ）のＦＥＴ３１ａ,３２ａがＯＮされ、励磁コイル４Ｕに一時的に電力が供給され電流が流れる。この際、ＦＥＴ３１ａ,３２ａのＯＮ→ＯＦＦ信号のタイミングに同期して、ＦＥＴ３３ａ,３４ａをＯＦＦ→ＯＮする同期整流制御が行われる。その後、ＦＥＴ３１ａ,３２ａがＯＦＦされ、次に、ＦＥＴ３３ａ,３４ａがＯＮされ、回生モードが実施される。回生モードでは、励磁コイル４Ｕに起電力が生じ、図５（ａ）のように回生電流が流れる。また、モード切替時には、貫通電流(電源→ハイサイド側ＦＥＴ→ローサイド側ＦＥＴ→電源)が流れる可能性があるため、全ＦＥＴをオフとするデッドタイムＤＴが設けられる。 In the supply mode, the FETs 31a and 32a in FIG. 5A are turned on, power is temporarily supplied to the exciting coil 4U, and a current flows. At this time, synchronous rectification control for turning the FETs 33a and 34a from OFF to ON is performed in synchronization with the timing of the ON → OFF signals of the FETs 31a and 32a. After that, the FETs 31a and 32a are turned off, then the FETs 33a and 34a are turned on, and the regeneration mode is performed. In the regenerative mode, an electromotive force is generated in the exciting coil 4U, and a regenerative current flows as shown in FIG. 5A. Further, since there is a possibility that a through current (power supply → high-side side FET → low-side side FET → power supply) flows at the time of mode switching, a dead time DT for turning off all FETs is provided.

当該システムでは、供給モードにおいて、初動Duty値と同様の高Duty比（例えば、Duty１００％）にて短時間の通電を行う。このため、供給モードにて得られる磁束量が大きくなり、回生効率の向上が図られる。また、供給モード時における短時間通電の消費電力を抑えることができ、結果として回生で得られる電力が増加する。なお、発電量を調整するため、励磁コイル４Ｕの両端を同電位とし、図５（ａ）のブリッジ回路内に電流を循環させるような「還流モード」、を「供給モード」や「回生モード」で適宜実施しても良い。 In the system, in the supply mode, energization is performed for a short time at a high duty ratio (for example, 100% duty) similar to the initial duty value. Therefore, the amount of magnetic flux obtained in the supply mode becomes large, and the regeneration efficiency can be improved. In addition, the power consumption of short-time energization in the supply mode can be suppressed, and as a result, the power obtained by regeneration increases. In order to adjust the amount of power generation, the "recirculation mode" in which both ends of the exciting coil 4U are set to the same potential and the current is circulated in the bridge circuit of FIG. 5A is referred to as the "supply mode" or the "regeneration mode". It may be carried out as appropriate.

本発明は前記実施形態に限定されるものではなく、その要旨を逸脱しない範囲で種々変更可能であることは言うまでもない。
例えば、前述の実施形態では、初動Duty値をDuty１００％としたが、ここで高Duty比による初期通電動作を行うのは、巻線電流を素早く目標電流値Ｉｔまで到達させるため（応答性向上のため）であり、その趣旨を実現できるDuty比であれば、１００％未満のDuty値であっても良い。但し、前記趣旨実現のためには８０％以上であることが好ましい。 It goes without saying that the present invention is not limited to the above-described embodiment and can be variously modified without departing from the gist thereof.
For example, in the above-described embodiment, the initial duty value is set to 100%, but the reason why the initial energization operation with a high duty ratio is performed here is to quickly reach the target current value It in the winding current (improvement of responsiveness). Therefore, the duty value may be less than 100% as long as the duty ratio can realize the purpose. However, in order to realize the above-mentioned purpose, it is preferably 80% or more.

また、前述の実施形態では、目標電流値Ｉｔまでの到達時間を目標値到達時間Ｔｔとした場合を述べたが、前述のように、目標電流値Ｉｔの近傍値である目標閾値Ｉｓまでの到達時間を目標値到達時間Ｔｔとしても良い。この場合、目標閾値Ｉｓを目標電流値Ｉｔの９０％程度とすると、目標電流値に到達する時間を短縮しつつ、オーバーシュートも抑えやすくなる。なお、応答性の向上のため、目標閾値Ｉｓとして、目標電流値Ｉｔを超える値（例えば、Ｉｔの１０５％）を設定することも可能であるが、その場合、オーバーシュート防止のため、目標値到達時間Ｔｔに対し、初期通電動作における実際の制御目標時間Ｔｃを短めに調整することが望ましい。 Further, in the above-described embodiment, the case where the arrival time to the target current value It is set as the target value arrival time Tt has been described, but as described above, the arrival to the target threshold value Is, which is a value close to the target current value It, has been described. The time may be set as the target value arrival time Tt. In this case, when the target threshold value Is is set to about 90% of the target current value It, it becomes easy to suppress overshoot while shortening the time to reach the target current value. In addition, in order to improve the responsiveness, it is possible to set a value exceeding the target current value It (for example, 105% of It) as the target threshold value Is, but in that case, in order to prevent overshoot, the target value is set. It is desirable to adjust the actual control target time Tc in the initial energization operation to be shorter than the arrival time Tt.

さらに、前述の実施形態では、目標値到達時間Ｔｔの間、初動Duty値を一定とした制御形態を示したが、目標値到達時間Ｔｔに至るまでの間で初動Duty値を変化させても良い。例えば、図６に示すように、目標値到達時間Ｔｔの初めの８割はDuty１００％とし、残りの２割はDuty８０％とするような制御形態も可能である。なお、その際のDuty値と、それを実施する時間配分、Duty値の設定数などは、モータ特性に応じて適宜設定可能である。つまり、前半５割の時間を１００％、後半５割の半分を９０％、さらに残りの後半半分を８０％とするような制御形態も可能である。 Further, in the above-described embodiment, the control mode in which the initial duty value is constant during the target value arrival time Tt is shown, but the initial duty value may be changed until the target value arrival time Tt is reached. .. For example, as shown in FIG. 6, a control mode in which the first 80% of the target value arrival time Tt is set to Duty 100% and the remaining 20% is set to Duty 80% is also possible. The duty value at that time, the time allocation for executing the duty value, the number of duty value settings, and the like can be appropriately set according to the motor characteristics. That is, a control mode in which 50% of the time in the first half is 100%, half of 50% in the second half is 90%, and the other half of the latter half is 80% is also possible.

加えて、前述の実施形態では、３相駆動のＳＲモータに本発明を適用した例を示したが、２相駆動や４相以上で駆動のＳＲモータや、ＳＲモータ以外のブラシレスモータにも本発明は適用可能である。また、目標閾値Ｉｓや初動Duty値として示した値は一例であり、本発明は前述の数値には限定されないのは言うまでもない。
In addition, in the above-described embodiment, an example in which the present invention is applied to a three-phase drive SR motor is shown, but it can also be used for a two-phase drive, an SR motor driven by four or more phases, and a brushless motor other than the SR motor. The present invention is applicable. Further, the values shown as the target threshold value Is and the initial duty value are examples, and it goes without saying that the present invention is not limited to the above-mentioned numerical values.

本発明によるモータ制御装置・制御方法は、エンジン用のスタータ・ジェネレータのみならず、電気自動車用駆動モータ等の他の車載モータや、家電製品や産業機械等に使用されるモータの駆動制御にも広く適用可能である。 The motor control device / control method according to the present invention is used not only for starter / generator for engines, but also for drive control of other in-vehicle motors such as drive motors for electric vehicles, and motors used in home appliances and industrial machines. Widely applicable.

１ＳＲモータ
２ドライバ回路
３駆動制御部
４励磁コイル
４ＵＵ相励磁コイル
４ＶＶ相励磁コイル
４ＷＷ相励磁コイル
５ステータ
６ロータ
７突極
８突極
９回転検出センサ
１０モータ制御装置
１１電流指令値演算部
１２駆動制御信号生成部
１３通電指令部
１４電流検出部
１５回転位置検出部
１６制御マップ
１７目標値到達時間算出部
１８タイマ
１９同期整流部
２１目標出力設定部
２２電流指令値生成部
２３フィードバック処理部
２４ＤＵＴＹ演算部
３０Ｕ,３０Ｖ,３０Ｗブリッジ回路
３１,３１ａ～３１ｃＦＥＴ
３２,３２ａ～３２ｃＦＥＴ
３３,３３ａ～３３ｃＦＥＴ
３４,３４ａ～３４ｃＦＥＴ
４１電流センサ
４２バッテリ
Ｉｓ目標閾値
Ｉｔ目標電流値
Ｔｔ目標値到達時間
Ｔｃ制御目標時間
ＤＴデッドタイム 1 SR motor 2 Driver circuit 3 Drive control unit 4 Excitation coil 4U U phase excitation coil 4V V phase excitation coil 4W W phase excitation coil 5 stator 6 rotor 7 salient pole 8 salient pole 9 rotation detection sensor 10 motor control device 11 current command value Calculation unit 12 Drive control signal generation unit 13 Energization command unit 14 Current detection unit 15 Rotation position detection unit 16 Control map 17 Target value arrival time calculation unit 18 Timer 19 Synchronous rectification unit 21 Target output setting unit 22 Current command value generation unit 23 Feedback Processing unit 24 DUTY calculation unit 30U, 30V, 30W Bridge circuit 31,31a to 31c FET
32,32a-32c FET
33,33a-33c FET
34,34a-34c FET
41 Current sensor 42 Battery Is Target threshold It Target current value Tt Target value arrival time Tc Control target time DT Dead time

Claims

A motor control device that controls the drive of a switched reluctance motor having multiple phases.
A target output setting unit that sets the target output of the switched reluctance motor ,
A current command value generator that sets a target current value according to the target output and generates a current command value based on the target current value, and a current command value generator.
A current detection unit that detects the current value of the energizing current supplied to the switched reluctance motor , and
A drive control signal generation unit that generates a drive control signal consisting of a pulse width modulation signal based on the deviation between the current command value generated by the current command value generation unit and the current detection value detected by the current detection unit. When,
An energization control unit that energizes the switched reluctance motor based on the duty ratio of the drive control signal, and
When the duty ratio of the drive control signal is set to the initial duty value having a high duty ratio of 80% or more, the current is the target current value or the target current value from the start of energization of the switched reluctance motor . A target value arrival time calculation unit that calculates the target value arrival time until reaching a predetermined target threshold set in the vicinity, and a target value arrival time calculation unit.
The energization control unit is made to perform initial energization based on the initial duty value during the time from the start of energization of the switched reluctance motor in the stopped operation state to the time when the target value is reached, and after the initial energization is completed, the drive control is performed. A motor control device comprising: an energization command unit for energizing at the duty ratio of a signal.

In the motor control device according to claim 1,
The initial duty value is 100% of the duty ratio, and the initial duty value is 100% .
The energization command unit is a motor control device, characterized in that the winding current value of the switched reluctance motor reaches the target current value only by monitoring the passage of time .

In the motor control device according to claim 1 or 2.
The target threshold value shall be 80% or more and less than 100% of the target current value so that the winding current value of the switched reluctance motor does not overshoot beyond the target current value after the time for reaching the target value has elapsed . A motor control device characterized by being set .

In the motor control device according to claim 1 or 2.
As the target threshold value, a value exceeding the target current value is set.
The energization command unit is characterized in that the energization time in the initial energization is shorter than the target value arrival time so that the winding current value of the switched reluctance motor does not overshoot beyond the target current value. Motor control device.

In the motor control device according to any one of claims 1 to 4.
The energization command unit is a motor control device, characterized in that the initial energization is performed at a plurality of different initial duty values during the time from the start of energization of the motor control device to the arrival time of the target value.

In the motor control device according to any one of claims 1 to 5 .
The switched reluctance motor is a motor control device, which is a motor for a starter generator of a vehicle engine .

The motor control device according to any one of claims 1 to 6 .
The motor control device is further characterized by having a regenerative control unit that controls a regenerative operation when the switched reluctance motor functions as a generator.

A motor control method for controlling the drive of a switched reluctance motor having multiple phases.
A target current value is set according to the target output of the switched reluctance motor , and a current command value is generated based on the target current value.
A drive control signal composed of a pulse width modulation signal is generated based on the deviation between the current command value and the current value of the energizing current supplied to the switched reluctance motor .
Based on the duty ratio of the drive control signal, the switched reluctance motor is energized.
When the duty ratio of the drive control signal is set to an initial duty value having a high duty ratio of 80% or more, the current is the target current value or the target current value from the start of energization of the switched reluctance motor . Calculate the target value arrival time until reaching a predetermined target threshold set in the vicinity,
During the time from the start of energization of the switched reluctance motor in the stopped operation state to the time when the target value is reached, the initial energization is performed by the initial duty value, and after the initial energization is completed, the energization is performed by the duty ratio of the drive control signal. A motor control method characterized by performing.