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WO2020137509A1 - Dispositif de commande d'entraînement, dispositif d'entraînement et dispositif de direction assistée - Google Patents

Dispositif de commande d'entraînement, dispositif d'entraînement et dispositif de direction assistée Download PDF

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Publication number
WO2020137509A1
WO2020137509A1 PCT/JP2019/048242 JP2019048242W WO2020137509A1 WO 2020137509 A1 WO2020137509 A1 WO 2020137509A1 JP 2019048242 W JP2019048242 W JP 2019048242W WO 2020137509 A1 WO2020137509 A1 WO 2020137509A1
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WO
WIPO (PCT)
Prior art keywords
drive
motor
control
control circuit
inverter
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/048242
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English (en)
Japanese (ja)
Inventor
香織 鍋師
北村　高志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Corp
Original Assignee
Nidec Corp
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 Nidec Corp filed Critical Nidec Corp
Priority to JP2020563030A priority Critical patent/JP7400735B2/ja
Priority to CN201980086658.XA priority patent/CN113228490A/zh
Publication of WO2020137509A1 publication Critical patent/WO2020137509A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H02M7/493—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 the static converters being arranged for operation in parallel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • 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 drive control device, a drive device, and a power steering device.
  • connectionless motor having n-phase windings (coils) and no connection between the coils.
  • a driving system called a full bridge in which an inverter is connected to both ends of each phase coil.
  • two inverters are normally driven and one inverter can be switched to the neutral point to perform three-phase control when an abnormality occurs.
  • a structure in which two inverters are controlled by two control circuits is known.
  • the first control unit controls the driving of the first inverter
  • the second control unit controls the driving of the second inverter.
  • an object of the present invention is to reduce the torque ripple while ensuring the independence of each control circuit.
  • One aspect of a drive control device is a drive control device that controls drive of a motor, and is connected to a first inverter connected to one end of a winding of the motor and to the other end of the one end.
  • a second inverter a first control circuit that performs PWM control on the first inverter, a second control circuit that performs PWM control on the second inverter, the first control circuit, and the second control circuit And a shared clock that supplies a clock signal for PWM control to both of them.
  • an aspect of a drive device includes the drive control device and a motor whose drive is controlled by the drive control device. ..
  • an aspect of a power steering device includes the drive control device, a motor whose drive is controlled by the drive control device, and a power steering mechanism driven by the motor.
  • FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit according to this embodiment.
  • FIG. 2 is a diagram schematically showing the circuit configuration of the motor drive unit according to the present embodiment.
  • FIG. 3 is a diagram showing a current value flowing in each coil of each phase of the motor.
  • FIG. 4 is a diagram schematically showing a voltage application state in a switching operation under PWM control.
  • FIG. 5 is a diagram schematically showing a state in which the application is stopped in the switching operation under the PWM control.
  • FIG. 6 is a diagram showing a PWM signal.
  • FIG. 7 is a diagram schematically showing the hardware configuration of the motor drive unit.
  • FIG. 8 is a diagram schematically showing the software configuration of the control circuit.
  • FIG. 9 is a diagram showing a circuit configuration of a motor drive unit in a modified example in which circuit wiring is different.
  • FIG. 10 is a diagram schematically showing the configuration of the electric power steering device according to the present embodiment.
  • FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit 1000 according to this embodiment.
  • the motor drive unit 1000 includes inverters 101 and 102, a motor 200, control circuits 301 and 302, and an external clock 450.
  • a motor drive unit 1000 including a motor 200 as a constituent element will be described.
  • the motor drive unit 1000 including the motor 200 corresponds to an example of the drive device of the present invention.
  • the motor drive unit 1000 may be a device for driving the motor 200, in which the motor 200 is omitted as a constituent element.
  • the motor drive unit 1000 in which the motor 200 is omitted corresponds to an example of the drive control device of the present invention. ..
  • the motor drive unit 1000 uses the two inverters 101 and 102 to convert the electric power from the power supply (403 and 404 in FIG. 2) into the electric power supplied to the motor 200.
  • the inverters 101 and 102 can convert DC power into three-phase AC power that is a U-phase, V-phase, and W-phase pseudo sine wave.
  • the two inverters 101 and 102 include current sensors 401 and 402, respectively. ..
  • the motor 200 is, for example, a three-phase AC motor.
  • the motor 200 has U-phase, V-phase, and W-phase coils.
  • the winding method of the coil is, for example, concentrated winding or distributed winding. ..
  • the first inverter 101 is connected to one end 210 of the coil of the motor 200 and applies a drive voltage to the one end 210
  • the second inverter 102 is connected to the other end 220 of the coil of the motor 200 and connected to the other end 220. Apply drive voltage.
  • connection between parts (components) means electrical connection unless otherwise specified. ..
  • the control circuits 301 and 302 include microcontrollers 341 and 342, etc., which will be described in detail later.
  • the control circuits 301 and 302 control the drive voltage of the inverters 101 and 102 based on the input signals from the current sensors 401 and 402 and the angle sensors 321 and 322.
  • a control method of the inverters 101 and 102 by the control circuits 301 and 302 for example, a control method selected from vector control and direct torque control (DTC) is used. ..
  • DTC direct torque control
  • the external clock 450 supplies a common clock signal to the two control circuits 301 and 302, and synchronizes the control of the inverters 101 and 102 in the two control circuits 301 and 302 mainly in frequency.
  • FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit 1000 according to the present embodiment. ..
  • the motor drive unit 1000 is connected to a first power source 403 and a second power source 404, which are independent of each other.
  • the power supplies 403 and 404 generate a predetermined power supply voltage (for example, 12V).
  • a DC power supply is used as the power supplies 403 and 404.
  • the power supplies 403 and 404 may be AC-DC converters or DC-DC converters, or batteries (storage batteries).
  • the first power supply 403 for the first inverter 101 and the second power supply 404 for the second inverter 102 are shown as an example, but the motor drive unit 1000 is common to the first inverter 101 and the second inverter 102. May be connected to a single power source. Further, the motor drive unit 1000 may include a power source inside. ..
  • the motor drive unit 1000 includes a first system corresponding to the one end 210 side of the motor 200 and a second system corresponding to the other end 220 side of the motor 200.
  • the first system includes the first inverter 101 and the first control circuit 301.
  • the second system includes the second inverter 102 and the second control circuit 302. Electric power is supplied from the first power supply 403 to the inverter 101 and the control circuit 301 of the first system.
  • the second inverter 102 and the control circuit 302 are supplied with power from the second power supply 404. ..
  • the first inverter 101 includes a bridge circuit having three legs. Each leg of the first inverter 101 includes a high side switch element connected between the power supply and the motor 200 and a low side switch element connected between the motor 200 and the ground. Specifically, the U-phase leg includes a high-side switch element 113H and a low-side switch element 113L. The V-phase leg includes a high side switch element 114H and a low side switch element 114L. The W-phase leg includes a high side switch element 115H and a low side switch element 115L.
  • the switch element for example, a field effect transistor (MOSFET or the like) or an insulated gate bipolar transistor (IGBT or the like) is used. When the switch element is an IGBT, a diode (free wheel) is connected in antiparallel with the switch element. ..
  • the first inverter 101 includes, for example, shunt resistors 113R, 114R, and 115R as current sensors 401 (see FIG. 1) for detecting currents flowing in windings of U-phase, V-phase, and W-phase, respectively. Prepare for each leg.
  • the current sensor 401 includes a current detection circuit (not shown) that detects a current flowing through each shunt resistor.
  • the shunt resistor may be connected between the low side switch elements 113L, 114L and 115L and the ground.
  • the resistance value of the shunt resistor is, for example, about 0.5 m ⁇ to 1.0 m ⁇ . ..
  • the number of shunt resistors may be other than three.
  • two shunt resistors 113R and 114R for U phase and V phase, two shunt resistors 114R and 115R for V phase and W phase, or two shunt resistors 113R and 115R for U phase and W phase are used. May be The number of shunt resistors used and the arrangement of shunt resistors are appropriately determined in consideration of product cost, design specifications and the like. ..
  • the second inverter 102 includes a bridge circuit having three legs. Each leg of the second inverter 102 includes a high side switch element connected between the power supply and the motor 200 and a low side switch element connected between the motor 200 and the ground. Specifically, the U-phase leg includes a high side switch element 116H and a low side switch element 116L. The V-phase leg includes a high side switch element 117H and a low side switch element 117L. The W-phase leg includes a high side switch element 118H and a low side switch element 118L. Similar to the first inverter 101, the second inverter 102 includes, for example, shunt resistors 116R, 117R and 118R. ..
  • the motor drive unit 1000 includes capacitors 105 and 106.
  • the capacitors 105 and 106 are so-called smoothing capacitors, and absorb the circulating current generated in the motor 200 to stabilize the power supply voltage and suppress the torque ripple.
  • the capacitors 105 and 106 are, for example, electrolytic capacitors, and the capacity and the number of capacitors used are appropriately determined according to design specifications and the like. ..
  • the control circuits 301 and 302 include, for example, power supply circuits 311, 312, angle sensors 321, 322, input circuits 331, 332, microcontrollers 341, 342, drive circuits 351, 352, and ROMs 361, 362. ..
  • the control circuits 301 and 302 are connected to the inverters 101 and 102. Then, the first control circuit 301 controls the first inverter 101, and the second control circuit 302 controls the second inverter 102. ..
  • the control circuits 301 and 302 can realize the closed loop control by controlling the target position (rotation angle), rotation speed, current, and the like of the rotor.
  • the rotation speed is obtained, for example, by differentiating the rotation angle (rad) with time, and is represented by the number of rotations (rpm) at which the rotor rotates in a unit time (for example, 1 minute).
  • the control circuits 301 and 302 can also control the target motor torque.
  • the control circuits 301 and 302 may include a torque sensor for torque control, but torque control is possible even if the torque sensor is omitted. Further, a sensorless algorithm may be provided instead of the angle sensors 321 and 322.
  • the power supply circuits 311 and 312 generate DC voltages (for example, 3V and 5V) required for each block in the control circuits 301 and 302. ..
  • the angle sensors 321 and 322 are resolvers or Hall ICs, for example.
  • the angle sensors 321 and 322 are also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet.
  • the angle sensors 321 and 322 detect the rotation angle of the rotor of the motor 200 and output a rotation signal representing the detected rotation angle to the microcontrollers 341 and 342.
  • the angle sensors 321 and 322 may be omitted depending on the motor control method (for example, sensorless control). ..
  • the input circuits 331 and 332 receive the motor current value detected by the current sensors 401 and 402 (hereinafter, referred to as “actual current value”).
  • the input circuits 331 and 332 convert the level of the actual current value into the input level of the microcontrollers 341 and 342 as necessary, and output the actual current value to the microcontrollers 341 and 342.
  • the input circuits 331 and 332 are analog-digital conversion circuits. ..
  • the microcontrollers 341 and 342 receive the rotation signal of the rotor detected by the angle sensors 321 and 322 and the actual current value output from the input circuits 331 and 332.
  • the microcontrollers 341 and 342 set a target current value according to the actual current value and the rotation signal of the rotor, generate a PWM signal, and output the generated PWM signal to the drive circuits 351 and 352.
  • the microcontrollers 341 and 342 generate PWM signals for controlling the switching operation (turn-on or turn-off) of each switch element in the inverters 101 and 102. ..
  • the generation of the PWM signal in each of the microcontrollers 341 and 342 is executed in synchronization with the frequency of the clock signal supplied from the common external clock 450.
  • the external clock 450 is an example of a shared clock that supplies a clock signal for PWM control to both the first control circuit 301 and the second control circuit 302. Since the clock signals obtained from the external clock 450 have the same frequency in the control circuits 301 and 302, the PWM control frequencies in the two independent control circuits 301 and 302 are synchronized and the torque ripple is reduced. Planned. ..
  • the clock signal from the external clock 450 is monitored by a monitor function such as a fail-safe clock monitor included in each of the microcontrollers 341 and 342.
  • a monitor function such as a fail-safe clock monitor included in each of the microcontrollers 341 and 342.
  • Each microcontroller 341, 342 is equipped with an internal clock 371, 372.
  • the monitor function detects the failure and the operation of each of the microcontrollers 341 and 342 to the operation according to the clock signal from the internal clocks 371 and 372. ..
  • the respective microcontrollers 341 and 342 continue to generate the PWM signal according to the clock signals from the internal clocks 371 and 372.
  • control circuits 301 and 302 monitor the clock signal from the external clock 450, and when the clock signal fails, perform PWM control with the internal clocks 371 and 372. As a result, even if the external clock 450 fails, the drive control of the motor by the PWM control is continued. ..
  • the drive circuits 351 and 352 are typically gate drivers.
  • the drive circuits 351 and 352 generate a control signal (for example, a gate control signal) that controls the switching operation of each switch element in the first inverter 101 and the second inverter 102 according to the PWM signal, and generate the control signal to each switch element.
  • the microcontrollers 341 and 342 may have the functions of the drive circuits 351 and 352. In that case, the drive circuits 351 and 352 are omitted. ..
  • the ROMs 361 and 362 are, for example, writable memories (for example, PROM), rewritable memories (for example, flash memory), or read-only memories.
  • the ROMs 361 and 362 store control programs including instruction groups for causing the microcontrollers 341 and 342 to control the inverters 101 and 102.
  • the control program is once expanded in the RAM (not shown) at boot time.
  • the control circuits 301 and 302 drive the motor 200 by performing three-phase energization control using both the first inverter 101 and the second inverter 102. Specifically, the control circuits 301 and 302 perform three-phase energization control by switching-controlling the switch element of the first inverter 101 and the switch element of the second inverter 102.
  • FIG. 3 is a diagram showing a current value flowing in each coil of each phase of the motor 200. ..
  • FIG. 3 is a current obtained by plotting current values flowing in the U-phase, V-phase, and W-phase coils of the motor 200 when the first inverter 101 and the second inverter 102 are controlled according to the three-phase energization control.
  • a waveform (sine wave) is illustrated.
  • the horizontal axis of FIG. 3 represents the motor electrical angle (deg), and the vertical axis represents the current value (A).
  • I pk represents the maximum current value (peak current value) of each phase.
  • the inverters 101 and 102 can drive the motor 200 by using, for example, a rectangular wave other than the sine wave illustrated in FIG.
  • the current waveform illustrated in FIG. 3 is generated when a voltage having a waveform corresponding to the current waveform is applied to the motor 200. Then, such a voltage is generated by the switching element of the first inverter 101 and the switching element of the second inverter 102 switching by PWM control at a high speed such as 20 kHz.
  • 4 and 5 are diagrams schematically showing a switching operation under PWM control.
  • FIG. 4 shows a state of voltage application
  • FIG. 5 shows a state of application stop. ..
  • the U-phase leg includes the high-side switch element 113H and the low-side switch element 113L on the first inverter 101 side, and the high-side switch element 116H and the low-side switch element 116L on the second inverter 102 side. ..
  • the high-side switch element 113H and the low-side switch element 113L on the side of the first inverter 101 are not turned on at the same time, and when one is turned on, the other is turned off. Similarly, the high-side switch element 116H and the low-side switch element 116L on the second inverter 102 side are not turned on at the same time. ..
  • the high side switch elements 113H and 116H are turned on in one of the two inverters 101 and 102 (the second inverter 102 in the case of FIG. 4) and the other (FIG. In the case of 4, the first inverter 101) turns on the low-side switch elements 113L and 116L. As a result, a current flows from the one side to the other side as indicated by the arrow in the figure. ..
  • FIG. 6 is a diagram showing a PWM signal. ..
  • the PWM signal is a binary pulse signal, and a first value representing voltage application and a second value representing application stop occur alternately.
  • the pulse of the PWM signal is repeated at a cycle T0, and the cycle T0 is divided into a first value duration T1 and a second value duration T2. ..
  • the PWM signal is a high frequency signal of, for example, 20 kHz, so the cycle T0 is a short cycle of, for example, 50 ⁇ sec. Therefore, the effective voltage (effective voltage) applied to the motor 200 becomes a voltage leveled in the cycle T0, and the ratio (duty) between the cycle T0 and the duration T1 of the first value is the power supply voltage and the effective voltage. Equal to the ratio of.
  • the effective voltage is a voltage that changes with time corresponding to a changing current value as shown in the current waveform of FIG. 3, for example. Such time change of the effective voltage is realized by controlling the duty of the PWM signal by the microcontrollers 341 and 342. ..
  • Each of the two microcontrollers 341 and 342 generates a carrier signal with a period T0 and generates a PWM signal based on the carrier signal.
  • the period T0 in each of the microcontrollers 341 and 342 is equal to that of the clock signal given from the external clock. Synchronize with the cycle. For this reason, the period T0 is synchronized between the microcontrollers 341 and 342 (that is, the signal frequency is synchronized), and the switching operation frequency is synchronized between the inverters 101 and 102, so that the torque ripple due to the deviation of the period T0 is suppressed.
  • FIG. 7 is a diagram schematically showing the hardware configuration of the motor drive unit 1000.
  • the motor drive unit 1000 includes, as a hardware configuration, the motor 200 described above, the first mounting board 1001, the second mounting board 1002, the housing 1003, and the connectors 1004 and 1005. ..
  • One end 210 and the other end 220 of the coil project from the motor 200 and extend toward the second mounting substrate 1002.
  • One end 210 and the other end 220 of the coil are connected to the second mounting substrate 1002. ..
  • the board surfaces of the first mounting board 1001 and the second mounting board 1002 face each other.
  • the rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other.
  • the first mounting board 1001, the second mounting board 1002, and the motor 200 are housed in the housing 1003, so that their positions are fixed. ..
  • Connectors 1004 and 1005 are attached to the first mounting board 1001 and the second mounting board 1002. Power cords from both the first power source 403 and the second power source 404 are connected to the connectors 1004 and 1005. ..
  • the first mounting board 1001 is a so-called control board, and a first control circuit 301 and a second control circuit 302 are mounted on the first mounting board 1001.
  • An external clock 450 is also mounted on the first mounting substrate 1001, and the first control circuit 301 and the second control circuit 302 are arranged symmetrically (line symmetry or point symmetry) with respect to the external clock 450.
  • the first control circuit 301 and the second control circuit 302 are connected to the external clock 450 by wires having the same length, and a clock signal is supplied. Therefore, the phase shift between the clock signals supplied to the first control circuit 301 and the second control circuit 302 is reduced, and the phase of the PWM control in each of the first control circuit 301 and the second control circuit 302 is reduced. Will synchronize. (Software configuration) Next, the software configuration of the control circuits 301 and 302 will be described.
  • FIG. 8 is a diagram schematically showing the software configuration of the control circuits 301 and 302.
  • the first control circuit 301 of the two control circuits 301 and 302 becomes the main and performs communication and the like. Therefore, the two control circuits 301 and 302 have different software configurations. ..
  • FIG. 8 shows a main program 1101 incorporated in the first control circuit 301 and a sub program 1102 incorporated in the second control circuit 302.
  • the first control circuit 301 and the second control circuit 302 operate according to the programs 1101 and 1102, respectively. ..
  • the main program 1101 includes an initial setting section 1103 that enables communication with an external device and the like, and a drive control section 1104 that controls the first inverter 101 and the like.
  • the sub program 1102 includes a drive control portion 1106 similar to the main program 1101 and also includes a time adjustment portion 1105. ..
  • the time adjustment unit 1105 brings the time when the PWM control carrier signal is started by the PWM carrier start command incorporated in the drive control unit 1106 close to the start time of the carrier signal in the main program 1101. Specifically, the time adjustment part 1105 sets a time equal to the execution time required for the instruction included in the initial setting part 1103 of the main program 1101 to be executed by the first control circuit 301 to the second control part 301.
  • the control circuit 302 has the number of instructions to be passed. ..
  • one program of the first control circuit 301 and the second control circuit 302 (for example, the sub program 1102) is from the first instruction of the program to the PWM carrier start instruction for starting the PWM control carrier signal.
  • the program portion of this time adjustment has the number of instructions for adjusting the difference between the start time of the carrier signal on the one side and the start time on the other side to the one to an integer multiple of the cycle of the carrier signal (for example, 0 times in this embodiment) Have. ..
  • the main program 1101 and the sub program 1102 start executing from the first instruction of the program when the motor drive unit 1000 is powered on. Then, while the initial setting portion 1103 of the main program 1101 is executed by the first control circuit 301, the second control circuit 302 executes the time adjustment portion 1105 of the sub program 1102. As a result, the start times of the drive control portions 1104 and 1106 of the first control circuit 301 and the second control circuit 302 match, and the start times of the carrier signals accompanying the execution of the PWM carrier start command also match. Therefore, the phase shift of carrier signals between the first control circuit 301 and the second control circuit 302 is reduced, and the phases of PWM control are synchronized. Next, a modified example of the present embodiment will be described. FIG.
  • FIG. 9 is a diagram showing a circuit configuration of a motor drive unit 1000 in a modified example in which circuit wiring is different.
  • the ground ends of the first inverter 101 and the second inverter 102 are separated. Even with such a separated structure, a torque ripple occurs when the frequency of the carrier signal shifts. Therefore, also in the modification shown in FIG. 9, the frequency of the carrier signal in both the first inverter 101 and the second inverter 102 is synchronized with each other by the common external clock 450, so that the torque ripple is suppressed. Also in this modification, the torque ripple is further suppressed by synchronizing the phase of the carrier signal with the hardware configuration shown in FIG. 7 and the software configuration shown in FIG. (Embodiment of power steering device)
  • Vehicles such as automobiles generally include a power steering device.
  • the power steering device generates an assist torque for assisting a steering torque of a steering system generated by a driver operating a steering wheel.
  • the auxiliary torque is generated by the auxiliary torque mechanism, and the driver's operation load can be reduced.
  • the auxiliary torque mechanism is composed of a steering torque sensor, an ECU, a motor, a speed reduction mechanism, and the like.
  • the steering torque sensor detects a steering torque in the steering system.
  • the ECU generates a drive signal based on the detection signal of the steering torque sensor.
  • the motor generates an auxiliary torque according to the steering torque based on the drive signal, and transmits the auxiliary torque to the steering system via the speed reduction mechanism. ..
  • the motor drive unit 1000 of the above embodiment is preferably used for a power steering device.
  • FIG. 10 is a diagram schematically showing the configuration of the electric power steering device 2000 according to the present embodiment.
  • the electric power steering device 2000 includes a steering system 520 and an auxiliary torque mechanism 540. ..
  • the steering system 520 includes, for example, a steering handle 521, a steering shaft 522 (also referred to as “steering column”), universal shaft couplings 523A and 523B, and a rotary shaft 524 (also referred to as “pinion shaft” or “input shaft”). ). ..
  • the steering system 520 includes, for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckles 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A, 529B. ..
  • the steering handle 521 is connected to the rotating shaft 524 via the steering shaft 522 and the universal shaft couplings 523A and 523B.
  • a rack shaft 526 is connected to the rotating shaft 524 via a rack and pinion mechanism 525.
  • the rack and pinion mechanism 525 has a pinion 531 provided on the rotating shaft 524 and a rack 532 provided on the rack shaft 526.
  • the right steering wheel 529A is connected to the right end of the rack shaft 526 through a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order.
  • the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order.
  • the right side and the left side correspond to the right side and the left side as seen from the driver sitting in the seat, respectively. ..
  • steering torque is generated by the driver operating the steering wheel 521, and is transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525. This allows the driver to operate the left and right steering wheels 529A and 529B. ..
  • the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an ECU 542, a motor 543, a speed reduction mechanism 544, and a power supply device 545.
  • the auxiliary torque mechanism 540 applies an auxiliary torque to the steering system 520 extending from the steering wheel 521 to the left and right steering wheels 529A and 529B.
  • the auxiliary torque may be referred to as "additional torque”. ..
  • the ECU 542 for example, the control circuits 301 and 302 shown in FIG. 1 and the like are used. Further, as the power supply device 545, for example, the inverters 101 and 102 shown in FIG. 1 and the like are used. As the motor 543, for example, the motor 200 shown in FIG. 1 or the like is used.
  • the ECU 542, the motor 543, and the power supply device 545 constitute a unit generally referred to as a “mechanical-electrical integrated motor”, the unit is, for example, a motor drive having the hardware configuration shown in FIG. 7.
  • the unit 1000 is preferably used.
  • the mechanism including the elements other than the ECU 542, the motor 543, and the power supply device 545 corresponds to an example of a power steering mechanism driven by the motor 543. ..
  • the steering torque sensor 541 detects the steering torque of the steering system 520 provided by the steering handle 521.
  • the ECU 542 generates a drive signal for driving the motor 543 based on the detection signal from the steering torque sensor 541 (hereinafter referred to as “torque signal”).
  • the motor 543 generates an auxiliary torque according to the steering torque based on the drive signal.
  • the auxiliary torque is transmitted to the rotary shaft 524 of the steering system 520 via the speed reduction mechanism 544.
  • the reduction mechanism 544 is, for example, a worm gear mechanism.
  • the auxiliary torque is further transmitted from the rotary shaft 524 to the rack and pinion mechanism 525. ..
  • the power steering device 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like, depending on the location where the auxiliary torque is applied to the steering system 520.
  • FIG. 10 shows a pinion assist type power steering device 2000.
  • the power steering device 2000 is also applied to a rack assist type, a column assist type and the like. ..
  • the microcontroller of the ECU 542 can PWM-control the motor 543 based on the torque signal, the vehicle speed signal, and the like. ..
  • the ECU 542 sets the target current value based on at least the torque signal. It is preferable that the ECU 542 set the target current value in consideration of the vehicle speed signal detected by the vehicle speed sensor, and further in consideration of the rotor rotation signal detected by the angle sensor.
  • the ECU 542 can control the drive signal of the motor 543, that is, the drive current so that the actual current value detected by the current sensor (see FIG. 1) matches the target current value. ..
  • the left and right steered wheels 529A and 529B can be operated by the rack shaft 526 using a composite torque obtained by adding the assist torque of the motor 543 to the steering torque of the driver.
  • smooth power assist with less torque ripple is realized. ..
  • the power steering device is mentioned here as an example of the drive control device of the present invention and the method of use in the drive device, the use method of the drive control device and drive device of the present invention is not limited to the above, and a pump, a compressor It can be used in a wide range. ..

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)
  • Power Steering Mechanism (AREA)

Abstract

Selon la présente invention, ce dispositif de commande d'entraînement, destiné à commander l'entraînement d'un moteur, est pourvu d'un premier onduleur qui est relié à une extrémité de l'enroulement du moteur, d'un second onduleur qui est relié à l'autre extrémité de l'enroulement, un premier circuit de commande qui effectue une commande PWM du premier onduleur, un second circuit de commande qui effectue une commande PWM du second onduleur, et une horloge partagée qui fournit un signal d'horloge de la commande PWM au premier circuit de commande et au second circuit de commande.
PCT/JP2019/048242 2018-12-28 2019-12-10 Dispositif de commande d'entraînement, dispositif d'entraînement et dispositif de direction assistée Ceased WO2020137509A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020563030A JP7400735B2 (ja) 2018-12-28 2019-12-10 駆動制御装置、駆動装置およびパワーステアリング装置
CN201980086658.XA CN113228490A (zh) 2018-12-28 2019-12-10 驱动控制装置、驱动装置及助力转向装置

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JP2018248224 2018-12-28
JP2018-248224 2018-12-28

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WO2020137509A1 true WO2020137509A1 (fr) 2020-07-02

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020003409A1 (en) * 1999-12-08 2002-01-10 Brown Fred A. Apparatus for motor synchronization
JP2002345252A (ja) * 2001-05-17 2002-11-29 Meidensha Corp 複数台の電力変換装置の運転方法とその装置
US20120013283A1 (en) * 2010-07-16 2012-01-19 Rockwell Automation Technologies, Inc. Parallel power inverter motor drive system
WO2013190609A1 (fr) * 2012-06-18 2013-12-27 三菱電機株式会社 Système d'onduleur et procédé de communication
JP2016073097A (ja) * 2014-09-30 2016-05-09 株式会社日本自動車部品総合研究所 駆動装置
WO2018180361A1 (fr) * 2017-03-31 2018-10-04 日本電産株式会社 Moteur et dispositif de direction assistée électrique

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112017001144T5 (de) * 2016-03-04 2018-11-22 Nidec Corporation Leistungsumwandlungsvorrichtung, motorantriebseinheit und elektrische servolenkungsvorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020003409A1 (en) * 1999-12-08 2002-01-10 Brown Fred A. Apparatus for motor synchronization
JP2002345252A (ja) * 2001-05-17 2002-11-29 Meidensha Corp 複数台の電力変換装置の運転方法とその装置
US20120013283A1 (en) * 2010-07-16 2012-01-19 Rockwell Automation Technologies, Inc. Parallel power inverter motor drive system
WO2013190609A1 (fr) * 2012-06-18 2013-12-27 三菱電機株式会社 Système d'onduleur et procédé de communication
JP2016073097A (ja) * 2014-09-30 2016-05-09 株式会社日本自動車部品総合研究所 駆動装置
WO2018180361A1 (fr) * 2017-03-31 2018-10-04 日本電産株式会社 Moteur et dispositif de direction assistée électrique

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CN113228490A (zh) 2021-08-06
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