JP3311283B2 - Drive device for brushless motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brushless motor driving apparatus for controlling the driving of a brushless motor with a sinusoidal voltage based on a position detection signal.

[0002]

2. Description of the Related Art A conventional example of this type of brushless motor driving device will be described with reference to FIGS.
First, in FIG. 12 showing the circuit configuration of the driving device, each phase bus of the three-phase AC power supply 1 is connected to each phase input terminal 3 of a rectifier circuit 2 composed of a diode or the like connected in a three-phase bridge.
u, 3v, 3w, and a smoothing capacitor 6 is connected between the positive DC power supply line 4 and the negative DC power supply line 5 of the rectifier circuit 2. Further, a switching element such as IGBTs 9 to 14 is provided as a switching circuit between the positive DC power supply line 4 and the negative DC power supply line 8 after passing the current detection resistor 7 with respect to the negative DC power supply line 5. Is connected, and its output terminals 16u, 1
6v, 16w, U phase, V of brushless motor 17, respectively
And W-phase windings are connected.

The brushless motor 17 has a position detecting means for detecting a rotational position of a rotor composed of a permanent magnet.
For example, there is provided a position detector 18 in which three position detecting elements such as a Hall element and a Hall IC are arranged at equal intervals for each electrical angle of 120 [deg]. Thus, the position detection signals Ha, Hb, Hc as shown in FIG. 13A are output as digital values with a phase difference of 120 [deg] from each other.

When the control circuit 19 receives an external speed command signal ω *, the position detection signal H from the position detector 18 is received.
a, Hb, Hc, and the DC link current iL detected by the current detection resistor 7 based on the three-phase bridge circuit 15.
Of the IGBTs 9 to 14 are generated, and these pulse width modulation signals Sg are turned on and off through the gate drive circuit 20. As a result, the windings of the brushless motor 17 have 120 [de] as shown in FIG.
g], and phase voltages Vu, Vv, Vw each having a conduction angle of 120 [deg] are repeatedly applied,
Thus, the brushless motor 17 is driven to rotate. In this case, the phase current flowing through each winding of the brushless motor 17 is
For example, as shown in FIG. 13C showing the U-phase current Iu, the waveform has a substantially rectangular shape corresponding to the phase voltage. Further, duty control is performed during energization so that the brushless motor 17 rotates following the rotation speed commanded by the speed command signal ω *, and the phase voltages Vu, V
The configuration is such that the magnitudes of v and Vw are variable. In addition,
In order to supply a necessary control voltage to the control circuit 19 and the gate drive circuit 20, a power supply circuit 21 having a DC voltage at both ends of the smoothing capacitor 6 as an input is provided.

[0005]

However, in the above-described conventional configuration, since the voltage applied to the brushless motor is a rectangular wave, the current waveform becomes a distorted waveform including many harmonics, and as a result, the output torque is rippled. This causes a problem that noise and vibration increase. Therefore, Japanese Patent Application Laid-Open Nos. Hei 3-198687 and Hei 6-2535
No. 82 addresses this problem by the following method.

Japanese Unexamined Patent Publication No. Hei 3-198687 discloses that a brushless motor is controlled by a sinusoidal current by using a sinusoidal current command generated based on a position detection signal from a position detector for current control of the brushless motor. It relates to a driving method, and is particularly intended for a servomotor. This sinusoidal current command is 120 [de]
g], a pulse signal is obtained from a position detection signal having a phase difference, an angular velocity is calculated from the cycle, and a pulse interval starting from the current pulse signal is calculated based on the angular velocity calculated from the pulse cycle in the previous section. Is generated by calculating the phase angle of. Then, the difference (current deviation) between the current command and the detected current of each phase is input to the PI controller, and then compared with the triangular wave to perform pulse width modulation control.

According to the above method, a sine-wave current can be passed through the DC brushless motor, but the voltage is output from the control device as an operation amount for current control, so that the voltage is not always sine-wave. . Furthermore, since this method aims at controlling the current of the servomotor, the control is complicated, and the cost of the apparatus is increased, for example, a plurality of current detection sensors for controlling the current are required.

On the other hand, Japanese Patent Application Laid-Open No.
This is for performing sine wave energization control for the servo motor.
In this method, an edge is detected from position detection signals having a phase difference of 120 [deg], an electrical angle of the edge at the time of the detection is determined, and a period between edges is measured. Then, the phase between the next edges is obtained by counting the clock, and adding a phase calculated using the count value, the cycle of the clock, and the cycle between the edges to the electrical angle of the edge. .

This method requires a counter for counting clocks for calculating the phase, and furthermore, the number of rotations of the motor is limited in terms of the overflow of the counter or the resolution corresponding to the frequency of the clock. For example, if the frequency of the clock is increased and the resolution is increased to preferentially use the high-speed area, the low-speed area, for example, 1
Below 00 [rpm], the counter overflows and the calculation of the phase angle becomes impossible. On the other hand, if the resolution is lowered by lowering the frequency in order to preferentially use the low-speed area,
In a high-speed region, for example, 5000 [rpm] or more, the resolution is degraded, and the sine wave becomes remarkably stair-like.

Although various proposals have been made for applying a sinusoidal voltage to a brushless motor as described above, problems such as the complicated structure and the limitation of the rotation speed range are still solved. Had not been. Although a method of directly generating a sine wave using a sine wave data table provided in advance is also conceivable, there is a limit to the angle step of the data table due to the limitation of the table storage area and the like. In order to obtain this, there has been an inconvenience such as an increase in the scale of the control device (for example, adoption of a high-precision CPU).

The present invention has been made in view of the above circumstances, and has as its object to drive and control a brushless motor with a sinusoidal voltage using a position detection signal from a position detector. An object of the present invention is to provide a brushless motor driving device having a simpler configuration and a wide operable speed range.

[0012]

In order to achieve the above object, a brushless motor driving apparatus according to the present invention comprises a switching circuit comprising a switching element for sequentially energizing a plurality of windings of a brushless motor, and a brushless motor. Position detection means for obtaining a position detection signal of a rotor of the motor, and control means for controlling a switching circuit so as to apply a sinusoidal voltage to each winding by pulse width modulating a sine wave modulation signal with a carrier signal. the drive device for a brushless motor, and the control means is configured to calculates the angular velocity of the rotor at predetermined intervals specified by the position detection signal, the period of the angular velocity and the carrier signal
, A displacement phase angle of the rotor is calculated by multiplication, a voltage phase angle corresponding to the rotor position is obtained based on the displacement phase angle, and a sine wave modulation signal is generated based on the voltage phase angle. (Claim 1).

With this configuration, the operation of the displacement phase angle is performed in units of the period of the carrier signal, and the duty of each switching element for determining the output voltage is also set for each carrier period. Can be reflected in the output voltage without wasting time, whereby the output voltage can be made into a sine wave shape corresponding to the rotor position.

The control means includes a carrier signal generating means for generating a carrier signal, a detecting means for generating a position signal at every constant phase angle based on the position detection signal, and using the phase angle of the position signal as an initial value. Signal processing means, angular velocity calculating means for calculating the angular velocity of the brushless motor using the phase angle and the time width between the position signals generated by the detection signal processing means, and the angular velocity calculating means Displacement angle calculating means for multiplying the angular velocity by a time corresponding to m periods of the carrier signal (m: natural number) to obtain a displacement phase angle that changes during m periods of the carrier signal; and a displacement phase angle obtained from the displacement angle calculating means Is sequentially added to the initial value every m periods of the carrier signal to obtain a voltage phase angle, and a pulse width modulation based on the voltage phase angle obtained by the displacement angle addition means. Signal generating means for generating a multi-phase sine wave voltage which is a modulation signal for comparing the modulated signal generated by the modulated signal generating means with the carrier signal generated by the carrier signal generating means. And a pulse width modulation means for generating a pulse width modulation signal.

With this configuration, the voltage phase angle is obtained by sequentially adding the displacement phase angle every m periods of the carrier signal based on the initial value of the phase angle of the position signal.
A voltage phase angle having a resolution corresponding to the cycle can be obtained, and thus the brushless motor can be driven and controlled by a sinusoidal voltage. In this case, the phase calculation is performed every m periods of the carrier signal used in the pulse width modulation means, while the duty setting of each switching element is performed every carrier period, so that the phase calculation in an unnecessarily short period is avoided. In addition, by setting the cycle m to a value as required, the calculation processing time can be reduced. In addition, since a counter that causes a problem such as overflow is not used in the calculation of the voltage phase angle, the configuration of the device can be simplified and the operable speed range can be widened.

In this case, if m is set to 1 and the displacement phase angle is sequentially added to the initial value for each cycle of the carrier signal to obtain the voltage phase angle (claim 3), the resolution is maximized. Therefore, a sinusoidal drive voltage with less distortion can be obtained.

It is preferable that the carrier signal is synchronized with a position signal generated based on the position detection signal. With such a configuration, when a constant-speed operation is performed, when a position signal that changes the state of the position detection signal is generated,
Since the voltage phase angle that has been sequentially added and calculated is the same as the phase angle initial value newly set as the voltage phase angle,
A sinusoidal drive voltage with less distortion can be obtained.

Further, a power factor is calculated from a voltage and a current of the brushless motor, a voltage phase angle is corrected so as to have a predetermined power factor, and a DC current waveform flowing into the switching circuit is obtained. The power factor may be determined, and the voltage phase angle may be corrected so that the power factor becomes approximately 1.

With this configuration, the motor can be operated with a high power factor and high efficiency. In particular, when the power factor is determined from the DC link current, the power factor can be determined with a simple configuration, so that the cost of the device can be reduced and the processing load on the control device associated with the power factor determination can be reduced. it can.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The configuration of the driving device in this embodiment is different from the configuration of the driving device of the conventional example shown in FIG. 12 in the control circuit. Therefore, the configuration of this control circuit will be described in detail below, and the other parts are the same as those in FIG. In the following description, “phase angle”, “detection phase angle”, and “displacement phase angle” represent the phase as the rotor position of the brushless motor, and “voltage phase angle” refers to the brushless motor generated by the control circuit. Indicates the phase of the drive voltage of the motor.
These phase angles are all expressed using electrical angles.

FIG. 1 is a block diagram showing functions of the control circuit 22. These functions are calculated and executed by a microcomputer. In FIG. 1, an edge detection unit 24 constituting a preceding stage of the detection signal processing unit 23
Detects a rising edge and a falling edge of position detection signals Ha, Hb, Hc output from a position detector 18 attached to the brushless motor 17, and detects the edges simultaneously with the initial phase angle setting unit 25 and the angular velocity calculation. A pulse signal P1 as a position signal is output to the unit 26.

As shown in FIG. 2, the position detection signals Ha, Hb and Hc indicating the rotor position of the brushless motor 17 have a phase difference of 180 [deg] from each other as shown in FIG.
g] when the brushless motor 17 rotates forward in the order of Ha, Hb, and Hc, and when the brushless motor 17 rotates in the reverse direction, Hc and Hb.
, Ha in this order. These position detection signals Ha
, Hb, and Hc are based on the reference that the rising edge of the position detection signal Ha has a phase angle of 0 [deg].
Have a phase angle of 120 [deg], and the position detection signal Hc rises at a phase angle of 240 [deg]. As a result, the rising edge and the falling edge appear in any position detection signal at every phase angle of 60 [deg], and the pulse signal P1 as the position signal generated in the edge detection unit 24 is constant at 60 [deg]. It is output with a phase interval. The section having a width of 60 [deg] is considered as one operation state (mode) for convenience, and this section is referred to as mode0 to mode5 in order from the detection phase angle 0 [deg].

In FIG. 1, upon receiving the pulse signal P1 from the edge detecting section 24, an initial phase angle setting section 25 constituting the latter part of the detection signal processing section 23 sets the detected phase angle of the position signal at that time to an initial value ( Hereinafter, this will be referred to as an initial phase angle θe) and will be set to a voltage phase angle θn described later. Table 1 shows these phase angles, operating modes (modes), and initial phase angles θe.
This shows the relationship. For example, the position detection signal Ha
Changes from 1 to 0, a pulse signal P1 is generated and the operating state changes from mode2 to mode3. The initial phase angle setting unit 25 sets the initial phase angle of mode3 at 18
0 [deg] is set to the voltage phase angle θn. However,
In this embodiment, the brushless motor 17 is driven and controlled by a sinusoidal voltage having the same voltage phase angle θn as the phase angle of the rotor position.

[0024]

[Table 1]

Each time the pulse signal P1 is output from the edge detecting section 24, the angular velocity calculating section 26 uses the phase angle (= 60 [deg]) between the pulse and the previous pulse and the time of the brushless The angular velocity ω of the motor 17 is calculated, and the calculated angular velocity ω is output to the displacement angle calculation unit 27.

The displacement angle calculator 27 multiplies the calculated angular velocity ω by the period Tc of the carrier signal Sc used for pulse width modulation, and the rotor of the brushless motor 17 rotates during one period of the carrier signal Sc. The displacement phase angle Δθ is obtained, and the displacement angle adder 28 is provided for each cycle of the carrier signal Sc.
Output to

The displacement angle adding section 28 includes an initial phase angle setting section 2
5, the voltage phase angle θn at which the initial phase angle θe is set
, The displacement angle calculation unit 2 for each cycle of the carrier signal Sc
7 are sequentially added to the voltage phase angle θn. This makes it possible to estimate the rotor position during one mode in which no position detection signal is obtained from the position detector, and to generate the voltage phase angle θn corresponding to the rotor position.

The modulation signal generator 29 includes a displacement angle adder 28
And the voltage command value V * from outside the control circuit 22 or the voltage command value V output from a speed control unit (not shown) provided inside the control circuit 22.
* Three-phase sine wave voltage V applied to brushless motor from
u *, Vv *, Vw * are obtained by calculation, and the pulse width modulation unit 30
Output to

The pulse width modulator 30 includes a carrier signal Sc such as a triangular wave generated by the carrier signal generator 31 and a three-phase sine wave voltage Vu * as a modulation signal generated by the modulation signal generator 29. , Vv *, Vw *, and compares the pulse width modulation signal S of each phase voltage of 0 or 1.
u, Sv and Sw are generated. This signal is supplied to the IGBTs 9 to 14 through the gate drive circuit 20, whereby the brushless motor is driven with a sine wave voltage. Although not shown, the control circuit 22 supplies the rotational speed ω to the speed command value ω
* A speed control unit and various protection circuits are provided to follow the *.

Next, the operation of this embodiment during constant speed operation will be described. First, the mode changes and the edge detection unit 2
4 outputs a pulse signal P1 as a position signal, the angular velocity calculator 26 calculates a time Tp and a phase angle (= π / π) between the pulse signal P1 and the preceding pulse signal P1.
The angular velocity ω of the brushless motor 17 is calculated by the expression (1) using the expression (3). At the same time, the initial phase angle setting unit 25 sets the initial phase angle θe according to Table 1 to the voltage phase angle θn
Is set to ω = phase angle between pulses / time between pulses = (π / 3) / Tp (1)

Next, the displacement angle calculator 27 calculates the displacement of the rotor of the brushless motor 17 during one cycle of the carrier signal Sc according to the equation (2) using the angular velocity ω and the cycle Tc of the carrier signal Sc. Calculate the phase angle Δθ.
This calculation may be performed every carrier cycle Tc,
When the carrier cycle Tc is constant, the same calculation is repeated. Therefore, it is sufficient to perform the calculation only once using the newly calculated angular velocity ω after the operation state changes. Δθ = ω × Tc (2)

The displacement phase angle Δθ thus obtained is
Until the change to the next mode, the displacement angle adder 28 sequentially adds the voltage phase angle θn of the initial phase angle θe to the set voltage phase angle θn for each carrier cycle Tc as shown in equation (3), Phase angle θn required to perform wave voltage drive
(N = 0, 1, 2, 3,...) Are generated. θn = θn-1 + Δθ = θn-1 + ω × Tc (3) where θ0 = θe

FIG. 3 shows a case where the frequency of the carrier signal Sc is low and therefore the carrier period Tc is large.
The horizontal axis represents the rotor phase angle, and the vertical axis represents the voltage phase angle θn calculated by equation (3). One scale on the horizontal axis corresponds to the phase angle of the rotor rotating during the carrier cycle Tc. The voltage phase angles .theta.0 to .theta.6 are calculated from the following equations (4) to (10) according to the equation (3). However,
The voltage phase angle θ0 is 0 [d, which is the initial phase angle θe of mode0.
eg].

Θ0 = 0 (4) θ1 = θ0 + ω × Tc (5) θ2 = θ1 + ω × Tc (6) θ3 = θ2 + ω × Tc (7) θ4 = θ3 + ω × Tc (8) θ5 = θ4 + ω × Tc (9) θ6 = θ5 + ω × Tc (10)

When the rotor rotates forward and reaches the position of the phase angle 0 [deg], the operating state changes from mode 5 to mode 0, and the voltage phase angle θn is the detected phase angle of the rotor position according to the equation (4). Initialized to 0 [deg]. And
Thereafter, the voltage phase angle .theta.n increases stepwise by .DELTA..theta. (= .Omega..times.Tc) for each carrier cycle Tc according to the equations (5) to (9), and then the calculation of the voltage phase angle .theta.6 is performed according to the equation (10). At almost the same time as the execution, the operation status changes to the next mode.
Changes to 1. At this time, the voltage phase angle θn is set to 60 [deg] which is the initial phase angle θe of mode1. Thus, the phase angle of the rotor position is approximately 60 [deg].
Are sequentially estimated with a resolution of / 6, and the voltage phase angle θn is obtained at the same time.

Similarly, FIG. 4 shows the voltage phase angle θn in the operation state of mode 0 when the carrier signal Sc having a higher frequency than that shown in FIG. 3 is used. At this time, the voltage phase angle θn is obtained with a resolution of approximately 60 [deg] / 8. FIG. 5 shows the voltage phase angle θn in the operation state of mode 0 when the carrier signal Sc having a higher frequency than that shown in FIG. 4 is used. At this time, the voltage phase angle θn is approximately 60 [deg].
/ 12 with a resolution of / 12.

From these figures, it can be seen that the higher the frequency of the carrier signal Sc, the higher the resolution of the voltage phase angle θn,
Actual rotor position (horizontal axis) and estimated phase angle (vertical axis)
It can be seen that the phase error with

The voltage phase angle θn thus calculated
Is used in the modulation signal generator 29 together with the voltage command value V *, and the three-phase sine wave voltages Vu *, Vv *, Vw * are calculated according to the equations (11) to (13). Vu * = V * × cos (θn) (11) Vv * = V * × cos (θn + 2π / 3) (12) Vw * = V * × cos (θn-2π / 3) (13)

FIG. 6 shows the waveforms (a) of the position detection signals Ha, Hb, Hc, the phase voltage (b) of the brushless motor, and the phase current (c). Since this phase voltage is pulse-width modulated, it has a pulse-like waveform, but is effectively equal to the sine wave voltages Vu *, Vv *, Vw *. When the induced voltage waveform of the brushless motor is a sine wave, the phase current waveform is also substantially sine wave as shown in FIG.

As described above, according to this embodiment, the pulse signal P1 as a position signal is generated every time an edge of the position detection signals Ha, Hb, Hc is detected, and the preceding pulse signal P1 and the pulse signal P1 are generated. Is calculated using the phase angle (constant) and the time between the two, and the angular velocity ω is multiplied by the cycle Tc of the carrier signal Sc to obtain a displacement phase angle Δθ at which the rotor rotates during one carrier cycle. The position of the rotor is estimated by sequentially adding the displacement phase angle Δθ to the voltage phase angle θn at which the rotor detection phase angle at the time of generation of the pulse signal is initially set every carrier cycle.

Accordingly, it is possible to obtain a voltage phase angle having an angular resolution corresponding to one cycle of the carrier signal, so that the brushless motor can be driven and controlled with a sinusoidal voltage. In this case, the phase calculation is performed for each cycle Tc of the carrier signal Sc used in the pulse width modulation unit 30. On the other hand, the duty setting of each switching element for determining the output voltage is also performed for each carrier cycle. The phase calculation in the cycle can be avoided, and the calculation result can be reflected on the output voltage without wasting time. Further, since the voltage phase angle θn is generated by an addition operation without using a counter, the configuration of the apparatus is simplified, and the problem of overflow of the counter can be avoided, so that the operable speed range can be widened.

Next, a second embodiment of the present invention will be described with reference to FIGS. The configuration of this embodiment is the same as that of the first embodiment except for the displacement angle calculation unit 27 and the displacement angle addition unit 28 in FIG. The displacement angle calculating section 27 multiplies the angular velocity ω calculated by the angular velocity calculating section 26 every time the pulse signal P1 is generated by a value twice the carrier cycle Tc, and controls the displacement of the brushless motor 17 during the two cycles of the carrier signal Sc. The configuration is such that the displacement phase angle Δθ at which the rotor rotates is obtained.
Accordingly, the displacement phase angle Δθ is output to the displacement angle adder 28 every two periods of the carrier signal Sc. Further, the displacement angle adding unit 28 calculates the voltage phase angle θ at which the initial phase angle θe is set.
Based on n, the displacement phase angle Δθ is sequentially added to the voltage phase angle θn every two cycles of the carrier signal Sc.
As a result, the voltage phase angle θn changes as shown in FIG. 7, and the voltage phase angle θn changes at every carrier cycle shown in FIG. θ2, θ4, θ6,...

According to the second embodiment configured as described above, a voltage phase angle θn having an angular resolution corresponding to two periods of a carrier signal can be obtained. In this case, although the angular resolution is reduced to 比 べ compared with the first embodiment in which the voltage phase angle is calculated for each cycle of the carrier signal, the number of times of performing the calculation is reduced to half, so that the load on the microcomputer can be reduced. it can. In general, in the low-speed region, the period of the carrier signal is much higher than the motor angular velocity, so that even if the voltage phase angle is calculated every several periods of the carrier signal, a sufficiently accurate sine-wave voltage can be output. it can.

Next, a third embodiment of the present invention will be described with reference to FIGS. The configuration is the same as that of the first embodiment except for the period Tc of the carrier signal Sc. In this embodiment, the carrier signal Sc is synchronized with the pulse signal P1 generated based on the position detection signal.

FIGS. 8 and 9 show the voltage phase angle θn in mode 0 when the period Tc of the carrier signal Sc and the period of the pulse signal P1 are not synchronized and when they are synchronized, respectively. In FIG. 8 which is not synchronized, for example, the voltage phase angle θ6 is one mode width of 60 [de].
g], and as a result, from mode 0
When the mode changes to mode 1, a case occurs where the voltage phase angle θn decreases. In such a case, the monotonic increase of the voltage phase angle θn is not guaranteed at the time of mode change, so the voltage phase angle θn is particularly high speed region or low carrier frequency.
The error of n increases. On the other hand, in FIG. 9 which is synchronized, the calculated voltage phase angle θ6 becomes 60 [deg],
The operation state changes to the next mode 1 simultaneously with the execution of the calculation. At this time, the voltage phase angle θn is set to 60 [deg] which is the initial phase angle θe of mode1. Therefore, mode
, The voltage phase angle θn continues to increase monotonically at a constant rate.

As described above, according to the present embodiment, the period Tc of the carrier signal Sc is synchronized with the period of the pulse signal P1, so that when the mode changes, the voltage phase angle θn that has been added and newly calculated is added. The set initial phase angles match, and the calculation error of the voltage phase angle θn can be minimized.

Next, a fourth embodiment of the present invention will be described with reference to FIG. The same parts as those in FIG. 12 are denoted by the same reference numerals, and the description thereof will be omitted.

The current detectors 32 and 33 composed of, for example, Hall CTs detect any two phases of the three-phase brushless motor 17, for example, a U-phase current iu and a W-phase current iw. The other one-phase current that is not detected can be obtained from the detected current values.

The control circuit 34 has substantially the same configuration as the functional block shown in FIG. 1, but a phase correction function described later is added to the displacement angle adding section 28. Further, the phase currents iu, iw obtained from the current detectors 32, 33 and the three-phase sine wave voltages Vu *, Vv *,
A power factor calculation unit (not shown) for calculating a motor power factor using Vw * is provided. The power factor calculation unit calculates the power by detecting the phase difference at the zero cross point of the voltage and current of each phase, or by using the phase voltage for three phases and the detected phase current for two phases. To obtain the motor power factor.

According to such a configuration, it is possible to drive the brushless motor with a sine wave voltage at an arbitrary command power factor. Specifically, when the motor power factor detected by the above method is behind the command power factor, the displacement angle adding unit 28 adds the phase correction angle θc to the voltage phase angle θn as shown in Expression (14). If the motor power factor is ahead of the command power factor, the displacement angle adding unit subtracts the phase correction angle θc from the voltage phase angle θn as shown in equation (15), and obtains the resulting voltage. The phase angle θn '(n = 0, 1,
2,...), The three-phase sine wave voltages Vu *, Vv *, Vw * are calculated by the modulation signal generator 29. θn ′ = θn + θc = (θn−1 + Δθ) + θc (14) θn ′ = θn−θc = (θn−1 + Δθ) −θc (15) where θc: phase correction angle θ0 = θe

According to this embodiment, it is possible to output a sinusoidal drive voltage that matches the motor power factor with the command power factor. In general, the maximum point of the efficiency of the brushless motor is near the motor power factor of 1. Therefore, by setting the command power factor to approximately 1, it is possible to obtain a high power factor and high efficiency brushless motor driving device. it can.

Next, a fifth embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. In this embodiment, the motor power factor is determined, and the voltage phase angle θn is corrected so that it becomes substantially 1. However, the method of detecting the motor power factor is different from the above-described fourth embodiment. That is, the current detectors 32 and 33 for detecting the phase current of the motor are omitted, and the motor power factor is detected using the detected value iL of the DC link current instead (see FIG. 10).

FIG. 11 shows a waveform of the DC link current iL with respect to the motor power factor. When the motor power factor is a lagging power factor or a leading power factor, 0, 60, 120,.
g], a sharp current change occurs in the DC link current iL. Also, looking at a current waveform repeated every 60 [deg], for example, a current waveform in a section of 0 to 60 [deg], when the power factor is substantially 1, the center position (30 [deg]) of the section is determined. The waveform has a symmetrical waveform when viewed before and after the phase angle. However, in the case of the lagging power factor, it shows a substantially monotonous increasing tendency in this section, and in the case of the leading power factor, it shows a substantially monotonous decreasing tendency in this section. Is shown. Accordingly, by detecting such a waveform characteristic of the DC link current iL, three states of the motor power factor of 1, lag, and advance can be determined, and equations (14) and (15) can be determined according to the states. Is used to correct the voltage phase angle θn to control the motor power factor to be approximately 1.

As described above, according to the present embodiment, the motor power factor can be detected only by a simple waveform judgment without adding expensive current detectors 32 and 33 such as Hall CT. The power factor can be controlled to approximately one. Therefore, the brushless motor can be driven with a sine wave voltage at a high power factor and high efficiency with a simpler configuration, and the processing load on the microcomputer for detecting the power factor can be reduced.

The present invention is not limited to the embodiment described above and shown in the drawings, and the following modifications or extensions are possible. The same applies to the case of a multi-phase brushless motor other than three-phase, or the case where the width of 1 mode is other than 60 [deg].

The angular velocity ω in the angular velocity calculator 26
May be averaged over several times (for example, six times) the angular velocity ω calculated for the section between the pulse and the previous pulse every time the pulse signal P1 is output. By using the angular velocity ω averaged in this way, the influence of variation of the position detector 18 can be avoided, and more stable driving can be performed. Furthermore, by using the rate of change of the angular velocity ω for several mode sections up to the present, the angular velocity ω is estimated for each carrier cycle Tc during the current mode, and (2)
The voltage phase angle θn may be calculated according to the equation (3). If the angular velocity ω is further finely estimated using the angular velocity change rate in this manner, a highly accurate sine wave voltage can be generated even during acceleration / deceleration.

Further, not only asynchronous pulse width modulation in which the carrier frequency is constant but also synchronous pulse width modulation in which the carrier frequency is varied according to the number of rotations can be similarly applied. In the case of synchronous pulse width modulation, the carrier frequency is generally set to be higher as the rotation speed is higher, so that a difference in resolution of the voltage phase angle θn caused by the rotation speed can be suppressed.

[0058]

Since the present invention is as described above,
The following effects are obtained. According to the brushless motor driving device of the present invention, the angular velocity of the rotor is calculated for each predetermined cycle specified by the position detection signal, and the displacement phase angle of the rotor is calculated by multiplying the angular velocity by the cycle of the carrier signal. Is calculated, and a voltage phase angle corresponding to the rotor position is obtained based on the displacement phase angle. Accordingly, since the calculation of the displacement phase angle is performed in units of the cycle of the carrier signal, which is the setting cycle of the output voltage duty, the displacement phase angle can be reflected on the output voltage without wasting time, and the output voltage corresponds to the rotor position. It can be sinusoidal.

According to the brushless motor driving device of the present invention, when a position signal is generated for each fixed phase angle based on the position detection signal, the phase angle and time between the previous position signal and the pulse signal are determined. Is used to calculate the angular velocity, and the angular velocity is multiplied by the m cycle time of the carrier signal to obtain a displacement phase angle at which the rotor rotates during the m cycles of the carrier signal. Then, by sequentially adding the displacement phase angle to the voltage phase angle at which the detected phase angle of the position signal is initially set every m periods of the carrier signal, the voltage phase angle corresponding to the change in the position of the rotor is calculated. I made it.

Therefore, the brushless motor can be driven and controlled by a sine wave voltage having an angular resolution corresponding to the m period of the carrier signal, and the torque ripple, noise, and vibration of the brushless motor can be reduced. in this case,
The phase calculation is performed every m periods of the carrier signal, while the duty setting of each switching element for determining the output voltage is performed only every carrier period, so that the phase calculation in an unnecessarily short period can be avoided. At the same time, by setting the period m to an appropriate value, the calculation processing time can be reduced. In addition, since a counter that causes a problem such as overflow is not used, the configuration and arithmetic processing of the device can be simplified, and the operable speed range can be widened.

According to the brushless motor driving device of the third aspect, the calculation cycle m is set to 1, and the voltage phase angle is obtained by sequentially adding the displacement phase angle for each cycle of the carrier signal. The resolution is maximized, and a sine wave drive voltage with less distortion can be obtained as compared with the case where a sine wave data table is used.

According to the fourth aspect of the present invention, the carrier signal is synchronized with the pulse signal generated based on the position detection signal. Therefore, when a constant speed operation is performed, the voltage phase angle sequentially added and the newly set phase angle initial value coincide with each other when a pulse signal in which the state of the position detection signal changes is generated.
A sine wave drive voltage with less distortion can be obtained.

According to the brushless motor driving device of the present invention, the power factor is calculated from the voltage and the current of the brushless motor (claim 5), or the power factor is determined from the DC link current. (Claim 6) Since the voltage phase angle is corrected so that the motor power factor becomes substantially 1, the brushless motor can be operated with high power factor and high efficiency. In particular, when the power factor is determined from the DC link current, detection of the phase current becomes unnecessary and the process of determining the power factor is simplified, so that the cost of the driving device can be reduced and the processing load on the control device can be reduced. it can.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a control circuit showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a relationship between an operation state and an initial phase angle with respect to a position detection signal.

FIG. 3 is a diagram illustrating a relationship between a voltage phase angle and a rotor phase angle (carrier frequency: low).

FIG. 4 is a diagram showing a relationship between a voltage phase angle and a rotor phase angle (carrier frequency: middle).

FIG. 5 is a diagram showing a relationship between a voltage phase angle and a rotor phase angle (carrier frequency: high).

FIG. 6 is a voltage / current waveform diagram of a motor in sine wave driving.

FIG. 7 is a diagram showing a relationship between a voltage phase angle added every two carrier periods and a rotor phase angle according to a second embodiment of the present invention;

FIG. 8 is a diagram showing the relationship between the voltage phase angle and the rotor phase angle when the period of the carrier signal and the period of the pulse signal are not synchronized according to the third embodiment of the present invention.

FIG. 9 is a diagram illustrating a relationship between a voltage phase angle and a rotor phase angle when the cycle of a carrier signal and the cycle of a pulse signal are synchronized.

FIG. 10 is a circuit diagram showing a fourth embodiment of the present invention.

FIG. 11 is a DC link current waveform diagram at each motor power factor showing a fifth embodiment of the present invention.

FIG. 12 is a circuit diagram showing a conventional driving device.

FIG. 13 is a waveform diagram of a position detection signal and motor voltage / current in 120 [deg] energization drive.

[Explanation of symbols]

7 is a current detection resistor, 17 is a brushless motor, 18 is a position detector, 19, 22, and 34 are control circuits, 23 is a detection signal processing unit (detection signal processing means), 24 is an edge detection unit,
25 is an initial phase angle setting unit, 26 is an angular velocity calculator (angular velocity calculator), 27 is a displacement angle calculator (displacement angle calculator),
28 is a displacement angle adder (displacement angle adder), 29 is a modulation signal generator (modulation signal generator), 30 is a pulse width modulator (pulse width modulator), 31 is a carrier signal generator (carrier signal generator) ).

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H02P 6/14

Claims (6)

(57) [Claims] 1. A switching circuit comprising a switching element for sequentially energizing windings of a plurality of phases of a brushless motor, a position detecting means for obtaining a position detection signal of a rotor of the brushless motor, and a sine wave modulation signal. Control means for controlling the switching circuit so as to apply a sinusoidal voltage to each of the windings by pulse width modulation with a carrier signal, the brushless motor driving apparatus comprising: Calculate the angular velocity of the rotor for each specified period, calculate the displacement phase angle of the rotor by multiplying the angular velocity by the cycle of the carrier signal, and further calculate the rotor position based on the displacement phase angle. A corresponding voltage phase angle is obtained, and the sine wave modulation signal is generated based on the voltage phase angle. Drive device for a brushless motor, characterized by being made. 2. A switching circuit comprising a switching element for sequentially energizing a plurality of phases of windings of the brushless motor, position detecting means for obtaining a position detection signal of a rotor of the brushless motor, and a sinusoidal pulse width. A brushless motor driving device comprising: control means for controlling the switching circuit so as to apply a voltage of a modulation waveform to each of the windings; wherein the control means includes: carrier signal generation means for generating a carrier signal; A detection signal processing means for generating a position signal for each constant phase angle based on the detection signal and setting the phase angle of the position signal as an initial value; and a phase angle between the position signals generated by the detection signal processing means. Angular velocity calculating means for calculating the angular velocity of the brushless motor using the distance and the time width; A displacement angle calculator for multiplying the calculated angular velocity by a time corresponding to m periods of the carrier signal (m: natural number) to obtain a displacement phase angle that changes during the m periods of the carrier signal; A displacement angle adding means for sequentially adding the obtained displacement phase angle to the initial value every m periods of the carrier signal to obtain a voltage phase angle; and a pulse based on the voltage phase angle obtained by the displacement angle adding means. A modulation signal generator for generating a polyphase sine wave voltage that is a modulation signal for width modulation; a modulation signal generated by the modulation signal generator; and a carrier signal generated by the carrier signal generator. And a pulse width modulation means for generating a pulse width modulation signal by comparing the two. 3. The method according to claim 2, wherein m = 1.
A driving device for the brushless motor according to the above. 4. The brushless motor driving device according to claim 2, wherein the position signal and the carrier signal are synchronized. 5. The brushless motor drive according to claim 1, wherein a power factor is calculated from a voltage and a current of the brushless motor, and a voltage phase angle is corrected so as to have a predetermined power factor. apparatus. 6. A method for detecting a DC current flowing into a switching circuit, determining a power factor from a waveform of the detected current, and correcting a voltage phase angle so that the power factor becomes substantially 1. Item 3. A brushless motor driving device according to item 1 or 2.