JP6348779B2 - Synchronous motor drive system - Google Patents

Description

  The present invention relates to a drive system for a synchronous motor that controls the synchronous motor without using a position sensor that detects the position of the rotor of the synchronous motor.

  In technical fields such as the home appliance field, industrial equipment field, and automobile field, for example, an electric motor that drives and controls an electric motor by an inverter device for rotational speed control, torque assist control, positioning control, etc. of a fan, pump, compressor, conveyor, elevator, etc. A drive system is used. In motor drive systems in these technical fields, high-efficiency synchronous motors in which a rotor magnetic pole is constituted by a permanent magnet are widely used. In order to drive such a synchronous motor, position information of the rotor magnetic pole is required, and therefore a position sensor such as a resolver or Hall IC for detecting the magnetic pole position is required.

  However, in recent years, a technique called “sensorless control” that performs rotation speed control and torque control of a synchronous motor without using such a position sensor has become widespread. The practical use of this sensorless control can reduce the cost required to install the position sensor (the cost of the position sensor itself and the cost of the wiring of the position sensor), and downsizing the device as much as the position sensor becomes unnecessary, It can be used in poor environments.

  As a sensorless control method of a synchronous motor, a method of obtaining rotor position information mainly based on an induced voltage (speed electromotive force) generated when the rotor rotates is employed. In this method, in the zero speed region and the low speed region where the induced voltage (velocity electromotive voltage) is small, the detection sensitivity of the induced voltage decreases, and it is difficult to obtain accurate position information.

  On the other hand, the technique described in Patent Document 1 is known. In the present technology, the rotor position information is obtained based on the induced voltage generated in the non-energized phase when the synchronous motor is controlled to be energized 120 degrees. In this case, the induced voltage is a transformer electromotive voltage induced in a non-energized phase (for example, U phase) by a change in magnetic flux due to a current flowing in the energized phase (for example, V phase and W phase), unlike the speed electromotive voltage. . Since the transformer electromotive voltage induced in the non-conducting phase changes depending on the positional relationship between the non-conducting phase and the rotor magnetic pole, the position information of the magnetic pole can be obtained using the transformer electromotive voltage.

JP 2009-189176 A

Sensorless control method described in Patent Document 1, since the use of a transformer electromotive force, speed electromotive voltage is an effective control method in the zero speed range and the low speed region becomes smaller. However, in this control method, when detecting the phase voltage of the non-energized phase necessary for control, the voltage sampling timing is set at the second half of the energized period, for example, at the falling edge of the PWM pulse, in order to avoid a transient phenomenon. Therefore, noise accompanying the switching operation of the inverter device is superimposed, and the detection accuracy of the non-conducting phase induced voltage (transformer electromotive voltage) decreases.

  Therefore, the present invention provides a drive system for a synchronous motor that uses sensorless control that uses an induced voltage (transformer electromotive voltage) in a non-conducting phase and that can improve the detection accuracy of the induced voltage in a non-conducting phase. To do.

In order to solve the above problems, a synchronous motor drive system according to the present invention includes a three-phase synchronous motor and an inverter that converts DC power into three-phase AC power and outputs the three-phase AC power to the three-phase synchronous motor. A controller that controls the inverter device to energize the synchronous motor in a plurality of energization modes in which one of the three phases of the synchronous motor is a non-energized phase and the other two phases are energized phases; A phase voltage detector for detecting a three-phase AC terminal voltage, and a non-energized phase zero-cross timing detector for detecting a zero-cross of a non-energized AC terminal voltage detected by the phase voltage detector; And the controller is generated in the non-energized phase based on the AC terminal voltage of the non-energized phase detected by the phase voltage detector and the zero cross detected by the non-energized phase zero-cross timing detector. Detecting a divider electromotive voltage, sequentially switching the energization mode on the basis of a transformer electromotive voltage detected, the transformer electromotive force is detected based on the AC terminal voltage of the non-conduction phase is detected in the subsequent time of the zero crossing, The controller sequentially switches the energization mode based on the result of comparing the detected value of the transformer electromotive voltage with a predetermined reference voltage value. Furthermore, the synchronous motor drive system according to the present invention includes any one of the following means A to C.
A. The detected value of the transformer electromotive voltage is the detected value of the AC terminal voltage of the non-conducting phase, and either positive or negative is set as the reference voltage value according to the energization mode, and the controller detects it with the phase voltage detector A sample-and-hold that samples the detected value of the AC terminal voltage of the non-conducting phase after a predetermined period of time has elapsed based on the AC terminal voltage of the non-conducting phase and the zero cross detected by the non-conduction phase zero-cross timing detector The detection value of the AC terminal voltage of the non-conduction phase sampled by the circuit and the sample hold circuit is compared with the reference voltage value of the transformer electromotive voltage generated in the non-conduction phase to detect the AC terminal voltage of the non-conduction phase When the value exceeds the reference voltage value, the comparator that outputs a trigger for switching the energization mode and the energization mode are sequentially selected according to the trigger that the comparator outputs. And a conduction mode decider to switch.
B. The detected value of the transformer electromotive voltage is an average value of a plurality of detected values of the AC terminal voltage of the non-conduction phase, and either a positive or negative value is set as the reference voltage value according to the energization mode. Based on the AC terminal voltage of the non-conducting phase detected by the voltage detector and the zero cross detected by the non-conducting phase zero-cross timing detector, the detected values of the AC terminal voltage of the non-conducting phase are sampled multiple times after the zero cross. The average value calculator for calculating the average value of the detected AC terminal voltages of the non-conducting phase sampled, the average value calculated by the average value calculator, and the transformer electromotive voltage generated in the non-conducting phase Comparing with the reference voltage value, if the average value exceeds the reference voltage value, the comparator that outputs a trigger for switching the energization mode and the energization mode are ordered according to the trigger that the comparator outputs. And a conduction mode decider to switch.
C. The detected value of the transformer electromotive voltage is the absolute value of the detected value of the AC terminal voltage of the non-conducting phase, a positive value is set as the reference voltage value, and the controller is de-energized detected by the phase voltage detector Based on the AC terminal voltage of the phase and the zero cross detected by the non-energized phase zero cross timing detector, an absolute value calculator that calculates the absolute value of the detected value of the AC terminal voltage of the non-energized phase after the zero cross, The absolute value calculated by the value calculator is compared with the reference voltage value of the transformer electromotive voltage generated in the non-conduction phase.If the absolute value exceeds the reference voltage value, a trigger for switching the energization mode is generated. A comparator for outputting, and an energization mode determining unit for sequentially switching energization modes according to a trigger output by the comparator.

  According to the present invention, since the transformer electromotive voltage, which is the induced voltage of the non-conducting phase, is detected based on the zero cross of the phase voltage of the non-conducting phase, it is possible to improve the detection accuracy of the induced voltage of the non-conducting phase. . Therefore, the stability of the position sensorless control in the zero speed region and the low speed region is improved.

  Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

It is a block diagram which shows the structure of the drive system of the synchronous motor which is a 1st Example. An example of the definition of energization mode and the voltage waveform of each phase is shown. The example of a waveform of the alternating current terminal voltage in the electricity supply mode 3 of FIG. 2 is shown. The waveform example of the AC terminal voltage of a non-energized phase is shown. An example of induced voltage value detection means executed at the timing when a zero cross is detected is shown. An example of a specific circuit configuration of a non-conduction phase zero-cross detector is shown. It is a block diagram which shows the structural example of a mode switching trigger generator. It is a block diagram which shows the other structural example of a mode switching trigger generator. It is a block diagram which shows the modification of a mode switching trigger generator. It is a block diagram which shows the other modification of a mode switching trigger generator. It is a block diagram which shows the structure of the drive system of the synchronous motor which is a 2nd Example. It is a block diagram which shows the structure of the drive system of the synchronous motor which is a 3rd Example.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing the configuration of a synchronous motor drive system (hereinafter referred to as a motor drive system) according to a first embodiment of the present invention.

  The motor drive system of this embodiment drives a permanent magnet synchronous motor 4 (“PMSM” (abbreviation of Permanent Magnet Synchronous Motor) in the figure), and has a schematic configuration as follows. In other words, this motor drive system includes an inverter device 3 that outputs the three-phase AC power to the permanent magnet synchronous motor 4 by converting the DC power of the permanent magnet synchronous motor 4 and the direct current (DC) power source 31 into three-phase AC power. Non-energized phase zero cross for acquiring rotor position information of the permanent magnet synchronous motor 4 used by the controller 2 and the controller 2 for controlling the inverter device 3 so as to output an alternating voltage corresponding to the voltage command generated by the generator 1 A voltage state detector (21, 22) for detecting the voltage of each part referred to by the detector 23, the controller 2 and the non-energized phase zero-cross detector 23 is provided. In the present embodiment, as a voltage state detector, a power supply voltage detector 21 that detects a DC power supply voltage of a direct current (DC) power supply 31 of the inverter device 3 and an AC terminal voltage of the permanent magnet synchronous motor 4, that is, an output of the inverter device 3 A phase voltage detector 22 for detecting a terminal voltage (hereinafter referred to as “AC terminal voltage”) for each phase of the three-phase AC.

  Next, the configuration and details thereof will be further described.

  The command generator 1 is a circuit that generates a voltage command signal for commanding the AC terminal voltage output from the inverter device 3 to the controller 2. The command generator 1 is a controller that is positioned in front of the controller 2. For example, when controlling the speed and current of the permanent magnet synchronous motor 4, the command generator 1 is a controller including a speed control unit (ASR) and a current control unit (ACR). This voltage command becomes a modulated wave used for pulse width modulation (PWM) control.

  The controller 2 is a circuit that generates and outputs a pulse width modulated (PWM) drive control signal in order to drive the inverter device 3 in accordance with a voltage command generated by the command generator 1. In the present embodiment, the controller 2 includes a PWM generator 5, an energization mode determiner 6, a gate signal switcher 7, and a mode switch trigger generator 8 described below.

  The PWM generator 5 is a circuit that generates a pulse wave modulated PWM wave based on the voltage command output from the command generator 1. As a specific PWM modulation system, for example, a known PWM modulation system that generates a PWM wave by comparing a voltage command, that is, a modulation wave, with a triangular wave that is a carrier wave can be applied.

  The energization mode determiner 6 outputs a mode command signal for determining the energization mode (energization / non-energization of each phase) of the inverter device 3. The energization mode determiner 6 sequentially switches the mode command signal to be output using the mode switching trigger signal generated by the mode switching trigger generator 8 as a trigger.

  The gate signal switching unit 7 is a mode command signal that is an output of the energization mode determining unit 6 that indicates how the power switching elements Sup, Sun, Svp, Svn, Swp, Swn of the inverter main circuit unit 32 are switched. Determine based on. In accordance with this determination, the gate signal switching unit 7 outputs a drive control signal for turning on / off each power switching element to the inverter device 3. For example, in the energization mode (the energization mode 6 in FIG. 2) in which the U phase is the non-energization phase and the V and W phases are the energization phases, the gate signal switch 7 turns off the power switching elements Sup and Sun, A drive control signal that turns on the switching elements Svn and Swp is output. When the main energization mode is switched to the energization mode (the energization mode 1 in FIG. 2) in which the U and V phases are energized phases and the W phase is a non-energized phase, the gate signal switching unit 7 The power switching elements Sup and Svn are turned on, and the drive control signal is switched to turn off the power switching elements Swp and Swn.

  In the present embodiment, the drive control signal output from the gate signal switch 7 is converted into six gate voltage signals by the output pre-driver circuit 33, and the power switching elements Sup, Sun, Svp, Svn, Swp. , Swn are supplied to the gate terminals. In the output pre-driver circuit 33, a gate control power source (not shown) is connected to the output via a switch element, and this switch element is turned on / off by a drive control signal output from the gate signal switch 7. A gate voltage signal is created.

  The mode switching trigger generator 8 is a circuit that notifies the energization mode determiner 6 of the change of the energization mode by a mode switching trigger signal and instructs the switching of the drive control signal. The mode switching trigger generator 8 includes a reference level switching unit 9, a non-conduction phase terminal voltage value output unit 10, and a comparator 11 as described below.

  The reference level switch 9 is a circuit that outputs a reference voltage value to be compared with an induced voltage (transformer induced voltage) generated in a non-energized phase of the permanent magnet synchronous motor 4. The reference level switch 9 switches between the positive and negative values and the magnitude of the reference voltage value, and the switching timing is set by a mode command signal that is an output of the energization mode determiner 6.

  The non-conduction phase terminal voltage value output unit 10 selects the non-conduction phase AC terminal voltage from the three-phase AC terminal voltages in accordance with the mode command signal output by the conduction mode determiner 6, and selects the selected non-conduction phase. This is a circuit that samples and outputs the AC terminal voltage value according to the PWM wave generated by the PWM generator 5 and the zero-cross timing signal generated by the non-energized phase zero-cross detector 23 (see FIG. 7 described later).

  The comparator 11 compares the reference voltage value output from the reference level switch 9 and the AC terminal voltage value of the non-conduction phase terminal voltage value output unit 10 and determines the energization mode according to the comparison result. This circuit outputs a mode switching trigger signal to the device 6.

  The inverter device 3 is a circuit that converts a DC power supply voltage of the DC power supply 31 into a three-phase AC voltage by an on / off operation of a power switching element and applies the same to a permanent magnet synchronous motor. The inverter device 3 includes an inverter main circuit unit 32 including a three-phase bridge circuit composed of six power switching elements Sup, Sun, Svp, Svn, Swp, and Swn, and an output pre-driver that directly drives and controls the inverter main circuit unit 32. A circuit 33. In the inverter main circuit unit 32, each power switching element is turned on / off so that the operation of the energization mode determined by the energization mode determiner 6 is executed in accordance with the gate voltage signal output from the output predriver 33. The operation is switched. The output pre-driver circuit 33 outputs a gate voltage signal for supplying a drive control signal output from the gate signal switching unit 7 to the gate of each power switching element according to the energization mode determined by the energization mode determiner 6. To do.

  FIG. 1 shows an insulated gate bipolar transistor (IGBT) in which a diode is connected in antiparallel as a power switching element. However, the present invention is not limited to this, and other power switching elements such as a power MOSFET are applied. be able to.

  The power supply voltage detector 21 detects the DC power supply voltage value of the DC power supply 31 and outputs it to the non-energized phase zero cross detector 23 and the PWM generator 5 in the controller 2. The phase voltage detector 22 detects the AC terminal voltage value of each phase of the three-phase AC, and outputs it to the non-conduction phase terminal voltage value output unit 10 and the non-conduction phase zero-cross detector 23 in the controller 2. . Note that, based on the DC power supply voltage value detected by the power supply voltage detector 21, the PWM generator 5 sets the amplitude of the PWM, calculates the modulation factor, and uses it for PWM control.

  The non-energized phase zero cross detector 23 is a three-phase output from the drive control signal output from the gate signal switch 7, the DC power supply voltage value of the DC power supply 31 output from the power supply voltage detector 21, and the phase voltage detector 22. Based on the AC terminal voltage value of the minute, the zero cross of the AC terminal voltage of the non-conduction phase is detected, and a zero cross timing signal indicating the timing of zero crossing is output. As will be described later, the detected AC terminal voltage of the non-conduction phase is an induced voltage (transformer electromotive voltage). As described above with reference to the background art, the transformer electromotive voltage is induced in the non-conducting phase winding by changing the magnetic flux generated by the energizing phase winding regardless of the rotational speed of the rotor of the permanent magnet synchronous motor 4. The Further, since the transformer electromotive voltage varies depending on the magnetic pole position of the rotor, it includes position information of the rotor magnetic pole. For this reason, sensorless control is possible in the zero-speed region and the low-speed region by using the transformer electromotive voltage generated in the non-energized phase. Further, by detecting the zero cross timing of the transformer electromotive voltage generated in the non-conduction phase and sampling the voltage value of the transformer electromotive voltage, the influence of noise superimposed on the transformer electromotive voltage can be reduced. For this reason, since the detection accuracy of a transformer electromotive voltage improves, highly accurate sensorless control or stable sensorless control is attained.

  Next, the basic operation of this embodiment will be described.

  FIG. 2 shows a definition of the energization mode of the permanent magnet synchronous motor 4 to be controlled in this embodiment and an example of the AC terminal voltage waveform of each phase. In this figure, the energization modes 1-6 which switch every 60 electrical angles, and the inverter output of each phase are shown. For example, in the energization mode 3, the U phase is a non-energization phase, the power switching elements Sup and Sun of the inverter main circuit unit 32 in FIG. 1 are both off, the V phase is kept on and the W phase is on. SWn performs PWM (pulse width modulation) operation. In the present embodiment, a 120-degree energization method is used, but a voltage is continuously applied in the first half 60 degrees of the 120-degree energization period, and a PWM pulse voltage is applied in the second half 60 degrees.

  When such energization modes 1 to 6 are sequentially switched every 60 degrees of electrical angle, a rotating magnetic field is generated, and the permanent magnet synchronous motor 4 is driven with a rotational force. At this time, the timing for switching the energization mode is set according to the magnetic pole position of the rotor so that torque is generated for the rotor to which the permanent magnet is attached.

  In position sensorless control in general 120-degree energization, the energization mode is switched using a signal of an induced voltage (speed electromotive voltage) generated in a non-energized phase as a trigger. For example, in the energization mode 3 and the energization mode 6 in which the U phase is the non-energization phase, the speed electromotive force Emu (broken line in FIG. 2) of the permanent magnet synchronous motor 4 has a “0” volt level at the middle of each energization mode. Cross. Therefore, the transition to the next energization mode can be performed with this zero cross as a reference. However, since the speed electromotive force becomes small in the zero speed region and the low speed region, the influence of noise becomes large and detection becomes difficult.

  Therefore, in this embodiment, first, the sensorless control technique for obtaining the rotor position information using the transformer electromotive voltage generated in the non-conduction phase as described above with respect to Patent Document 1 is used. In the present sensorless control technology, the induced voltage (transformer electromotive voltage) value generated in the non-conducting phase winding changes when the pulse voltage is applied to the energizing phase winding by the inverter device 3 depending on the position of the rotor. Is used to detect the transformer electromotive voltage of the non-energized phase to obtain rotor position information. The transformer electromotive voltage is generated in the non-conducting phase due to the change in magnetic flux generated by the energized phase, regardless of the rotational speed of the rotor, so sensorless control can be performed in the zero-speed region or low-speed region depending on the rotor position. An induced voltage large enough to be used can be detected.

  In FIG. 2, the induced voltage (combination of speed electromotive voltage and transformer electromotive voltage) generated in the non-energized phase is indicated by a thick arrow. In addition, the curve shown with a dashed-dotted line in FIG. 2 shows the relationship between a rotor position (it shows with an electrical angle) and a transformer electromotive voltage in case each phase is made into a non-energized phase.

  As shown by the arrows in FIG. 2, the induced voltage (combination of speed electromotive voltage and transformer electromotive voltage) generated in the non-energized phase decreases in the minus direction in the energizing mode 3 and increases in the plus direction in the energizing mode 6. To do. Furthermore, as indicated by the arrow, the occurrence of the transformer electromotive voltage causes an induced voltage having a value larger than the speed electromotive voltage Emu, and therefore the value of the induced voltage (combination of the speed electromotive voltage and the transformer electromotive voltage) is approximately It depends on the transformer electromotive voltage. By generating a trigger signal for switching the energization mode using such an induced voltage, sensorless control can be stably executed.

  Further, as described below, the rotor position information is obtained by detecting the value of the induced voltage (transformer electromotive voltage) of the non-conducting phase at the timing when the zero cross point of the AC terminal voltage of the non-conducting phase is detected. The induced voltage (transformer induced voltage) of the non-conducting phase can be accurately detected. In the following, “induced voltage (transformer electromotive voltage)” is simply referred to as “transformer electromotive voltage”.

  FIG. 3 shows an example of the waveform of the AC terminal voltage in the energization mode 3 of FIG. 2 for each of the three-phase AC phases (U phase, V phase, W phase). Note that “on” and “off” shown in the circuit diagram respectively indicate an on state and an off state of the power switching element (IGBT in the figure). The three-phase winding of the permanent magnet synchronous motor is assumed to be star-connected. Further, the DC power supply voltage is indicated as “DC”. Further, the DC power source is a ± DC / 2 power source having a neutral point, and the neutral point potential is set to the reference potential (“0” in FIG. 3) of each AC terminal voltage. In this case, the AC terminal voltage is substantially a phase voltage with the neutral point potential of the three-phase winding connected in a star connection as a reference potential.

  In the period (i) in FIG. 3, the power switching element of the upper arm of the V phase that is the energized phase and the diode of the upper arm of the W phase that is the energized phase are in the on state, The terminal voltage is DC / 2. In period (ii), the power switching element of the lower arm of the W phase, which is the energized phase, is turned on and turned on, and the AC terminal voltage of the U phase, which is the non-energized phase, includes the rotor position information through the transient state. Indicates the transformer electromotive voltage. In the period (iii), the power switching element of the lower arm of the W phase that is the energized phase is turned off, and the power switching element of the upper arm of the V phase that is the energized phase and the upper arm of the W phase that is the energized phase again. The diode is turned on, and the AC terminal voltage of the U phase, which is a non-conducting phase, becomes DC / 2 through a transient state.

  As described above, in the period (ii) in FIG. 3, that is, in the pulse voltage (W-phase in FIG. 3) output period, a transient phenomenon is involved, so the U-phase AC terminal voltage, which is a non-conduction phase, changes slowly. To do. Therefore, by detecting the U-phase AC terminal voltage value in the period (ii) of FIG. 3, that is, in the latter half of the W-phase pulse voltage output period, the transformer electromotive voltage including the rotor information is reliably detected. Can do. Therefore, in this embodiment, the transformer electromotive voltage of the non-conduction phase is detected by detecting the value of the AC terminal voltage of the non-conduction phase at the timing when the zero crossing of the AC terminal voltage of the non-conduction phase is detected.

  FIG. 4 shows a waveform example of the AC terminal voltage of the non-conduction phase. In FIG. 4, one of the two energized phases (corresponding to the W phase in FIG. 3) PWM control signal (PWM wave generated by the PWM generator (reference numeral 5 in FIG. 1) or gate signal) 2 shows a drive control signal output from the switch (reference numeral 7 in FIG. 1). The period during which the PWM control signal is on corresponds to the period (ii) in FIG.

  As shown in FIG. 4, when the AC terminal voltage of the non-energized phase is zero crossing or later, it becomes a value close to the induced voltage (transformer electromotive voltage) including the rotor position information. Therefore, by detecting the zero cross in the period (ii) of FIG. 3, the period in which the transformer electromotive voltage including the rotor position information can be detected becomes clear, and the detection accuracy of the transformer electromotive voltage is improved. For this reason, stable position sensorless control can be realized.

  FIG. 5 shows an example of a transformer electromotive voltage value detection means executed at the timing when the zero cross is detected.

  In FIG. 5A, the AC terminal voltage value of the non-conduction phase after a predetermined time (ts) from the time of zero cross detection is sampled. Thereby, a transformer electromotive voltage value can be detected at a timing with little noise due to the operation of the power switching element. In FIG. 5B, as shown in FIG. 4, during the period when one PWM control signal of the two energized phases is on and after the zero cross detection, the transformer electromotive voltage value is set to a predetermined value. Several points are sampled a predetermined number of times at time intervals or electrical angle intervals, and an arithmetic average value of the sampled values is calculated. Thereby, the influence of the noise with respect to the detected value of a transformer electromotive voltage can be reduced. In (c) of FIG. 5, as in (b), the transformer electromotive voltage value after the zero cross detection is sampled at multiple points at a predetermined time interval or electrical angle interval, and the average value is calculated using arithmetic average or integration. Calculate. Thereby, the influence of noise can be significantly reduced.

  The number of sampling points in (c) of FIG. 5 is, for example, a number that can approximately represent the waveform of the transformer electromotive voltage during the sampling period.

  FIG. 6 shows a specific circuit configuration example of the non-energized phase zero-cross detector 23 in the block diagram of FIG. In FIG. 6, an example of the U-phase circuit configuration is shown within a chain line, but the same circuit configuration is used for the V-phase and the W-phase. Accordingly, the U-phase circuit operation will be described below, but the same applies to the V-phase and the W-phase.

  In FIG. 6, when the U-phase is a non-energized phase, the drive signals Up and Un of the U-phase power switching elements Sup and Sun (see FIG. 1) are both “Low (hereinafter referred to as L)”. The output of the NOR circuit (NOR) circuit to which is inputted becomes “High (hereinafter referred to as H)”. Further, when the U phase is the energized phase, either Up or Un is “H”, and the output of the NOR circuit to which Up and Un are input is “L”. Therefore, when the output of the NOR circuit becomes “H”, it is determined that the U phase is a non-energized phase.

  When the U phase is a non-energized phase, there are two energization modes, energization mode 3 and energization mode 6, as shown in FIG. In the energization mode 3, at the time of zero crossing, the U-phase AC terminal voltage changes from positive to negative, so the comparator output changes from “H” to “L”, and the V-phase upper arm PWM control signal, that is, the power switching element Svp The drive control signal Vp is fixed to “H”. Therefore, the output of the exclusive OR (XOR) circuit to which Vp and the comparator output are input changes from “L” to “H” at the zero crossing. Here, the zero crossing of the AC terminal voltage is detected by the comparator, but the reference voltage is ½ of the DC power supply voltage (“DC” in FIG. 3). Accordingly, as shown in FIG. 3, it can be detected that the AC terminal voltage changes between the voltage values + DC / 2 and −DC / 2 and is zero-crossed.

  In the energization mode 6, the U-phase voltage changes from negative to positive at zero crossing, so that the comparator output changes from “L” to “H”, and Vp is fixed to “L”. Therefore, the output of the XOR circuit changes from “L” to “H” at the zero cross.

  As described above, the output of the XOR circuit and the NOR circuit output that becomes “H” when the U phase is a non-conduction phase are input. It changes from “L” to “H” at the time of zero crossing of the U-phase AC terminal voltage. Thereby, the zero crossing of the AC terminal voltage of the U phase when not energized can be detected.

  Similarly to the U phase, zero crossing during non-energization can be detected for the V phase and the W phase. Further, in the non-energized phase zero-cross detector 23 of FIG. 6, the logic circuit in the subsequent stage of the non-energized phase zero-cross detector surrounded by the one-dot chain line is the output of the U-phase non-energized phase zero-cross detector and the other two-phase non- A three-input AND circuit that inputs a logical negation (NOT) of each output of the energized phase zero-cross detection circuit is provided, and a similar three-input AND circuit is also provided for the V phase and the W phase. The output of the OR circuit that inputs the outputs of these three-input AND circuits is the output of the non-conduction phase zero-cross detector 23. As a result, when only one of the outputs of the non-energized phase zero-cross detection circuits of the U, V, and W phases becomes “H”, the output of the non-energized phase zero-cross detector 23 is “H”. A zero cross timing detection signal is output.

  FIG. 7 is a block diagram showing a configuration example of the mode switching trigger generator (reference numeral 8 in FIG. 1) in FIG. In this configuration example, the transformer electromotive voltage detection means shown in FIG. 5A is applied.

  In the mode switching trigger generator 8a of FIG. 7, the non-energized phase terminal voltage value output unit 10a receives the mode command signal output from the energized mode determiner 6 (FIG. 1) and is detected by the phase voltage detector 22. A non-energized phase AC terminal voltage is selected from among the three-phase AC terminal voltages by the non-energized phase selector 100, and the selected AC terminal voltage is transmitted to the sample hold circuit 101. As the sample hold circuit 101, a known circuit including a sampler switch and a capacitor for holding a sampled potential can be applied (see, for example, Patent Document 1). Although not shown, the mode switching trigger generator 8a sets a reference potential for the AC terminal voltage. As this reference potential, for example, as in the non-energized phase zero cross detector 23 (FIG. 6), a reference potential having a value that is ½ of the DC power supply voltage can be created by resistance-dividing the DC power supply voltage ( The same applies to FIGS. 8 to 10 described later).

  In the sample hold circuit 101 shown in FIG. 7, the AC terminal voltage of the selected non-energized phase is one of the two energized phases of the PWM wave input from the PWM generator 5 (W phase in FIG. 3). When a predetermined time ts has elapsed since the time when the non-energized phase zero-cross timing signal was received during the period in which the PWM wave of FIG. 3 is on, that is, the period corresponding to the period (ii) shown in FIG. Is turned on, and the sampled AC terminal voltage value is sampled by charging the capacitor. The sampled value of the AC terminal voltage of the non-energized phase is input to the comparator 11 as a detected value of the transformer electromotive voltage (input B). The comparator 11 inputs the detection reference value of the transformer electromotive voltage output from the reference level switch 9 (input A), and compares the input AC terminal voltage value of the non-conduction phase with the detection reference value. If it is determined that the magnitude of the AC terminal voltage value of the non-energized phase exceeds the detected value reference value, a mode switching trigger is output.

  In addition, as shown in FIG. 2, the transformer electromotive voltage of a non-energized phase takes a positive / negative value by the energization mode. For this reason, the reference level switch 9 in FIG. 7 stores positive and negative values as detection reference values, and switches between these positive and negative values according to the mode command signal output from the energization mode determiner 7 (FIG. 1).

  FIG. 8 is a block diagram showing another configuration example of the mode switching trigger generator. In this configuration example, the transformer electromotive voltage detection means shown in FIGS. 5B and 5C is applied. Hereinafter, with respect to the configuration example of FIG. 8, differences from the configuration example of FIG. 7 will be mainly described. Note that the functions of the non-energized phase selector 100, the reference level switch 9 and the comparator 11 in FIG. 8 are the same as in the configuration example in FIG.

  In the mode switching trigger generator 8b of FIG. 8, the non-energized phase terminal voltage value output unit 10b receives the mode command signal output from the energized mode determiner 6 (FIG. 1) and is detected by the phase voltage detector 22. A non-energized phase AC terminal voltage is selected from the three-phase AC terminal voltages by the non-energized phase selector 100, and the selected AC terminal voltage is transmitted to the average value calculation circuit 102.

  Further, the non-conduction phase terminal voltage value output unit 10b in FIG. 8 samples the AC terminal voltage value of the non-conduction phase a plurality of times by the sample and hold circuit not shown in FIG. 8 unlike the configuration example of FIG. The average value calculator 102 for calculating the average value of the sampled AC terminal voltage values is provided.

  When the average value calculator 102 uses the detection means of FIG. 5B, the period during which the PWM wave of one of the two energized phases (corresponding to the W phase in FIG. 3) is on, that is, FIG. When the zero-cross timing signal of the non-energized phase is received in the period corresponding to the period (ii) shown in (2), the sampling operation of the AC terminal voltage value of the non-energized phase is started, and at a predetermined time interval or electrical angle interval Several points are sampled a predetermined number of times. Further, the average value calculator 102 calculates an arithmetic average value of several AC terminal voltage values sampled and stored, and outputs the calculated value to the comparator 11 as a detected value of the non-energized phase transformer electromotive voltage. To do.

  Further, when using the detection means of FIG. 5C, the average value calculator 102 starts the sampling operation when receiving the zero-cross timing signal as in the case of using the detection means of FIG. 5B described above. In a period in which the PWM wave of one of the two energized phases (corresponding to the W phase in FIG. 3) is on, that is, in a period corresponding to the period (ii) shown in FIG. The AC terminal voltage value of the selected non-conduction phase is sampled at the time interval or the electrical angle interval. Further, the average value calculator 102 calculates an average value of the AC terminal voltage values at a plurality of points sampled and stored by using arithmetic average or integration, and the calculated value is a detected value of the transformer electromotive voltage of the non-conduction phase. Is output to the comparator 11.

  FIG. 9 is a block diagram showing a modification of the mode switching trigger generator. In this modification, as the non-conduction phase terminal voltage value output device 10, the non-conduction phase terminal voltage value output device 10a shown in FIG. 7 or the non-conduction phase terminal voltage value output device 10b shown in FIG. 8 is used.

  In the mode switching trigger generator 8c of FIG. 9, unlike the configuration examples of FIGS. 7 and 8, the absolute value calculator 12 detects the detected value of the transformer electromotive voltage output from the non-conduction phase terminal voltage value output unit 10. Is calculated, and the calculated absolute value is input to the comparator 11. Here, the detection reference value that the comparator 11 compares with the absolute value is only the positive value output from the reference level generator 9c. Thus, the configuration of the controller 2 can be simplified by calculating the absolute value of the transformer electromotive voltage that takes positive and negative values and comparing only with the positive detection reference value.

  FIG. 10 is a block diagram showing another modification of the mode switching trigger generator. In the present configuration example, as the non-conduction phase terminal voltage value output device 10, the non-conduction phase terminal voltage value output device 10a shown in FIG. 7 or the non-conduction phase terminal voltage value output device 10b shown in FIG. 8 is used.

  In the mode switching trigger generator 8d of FIG. 10, unlike the configuration examples of FIGS. 7 to 9, the magnitude of the detection reference value of the transformer electromotive voltage is changed according to the rotation speed of the permanent magnet synchronous motor 4. The rotational speed of the permanent magnet synchronous motor 4 is calculated by the rotational speed calculator 13 based on the generation time interval of the mode switching trigger signal output from the comparator 11. The reference level switch 9d increases or decreases the magnitude of the detection reference value according to the rotation speed calculated by the rotation speed calculator 13. 7 and 8, the reference level switch 9d switches between positive and negative detection reference values according to the energization mode command signal.

  The basic operation of the modification of FIG. 10 will be described below.

  As described above, the value of the induced voltage of the non-conduction phase detected in the zero speed region and the low speed region is substantially the value of the transformer electromotive voltage, but the rotational speed of the permanent magnet synchronous motor 4 increases. Accordingly, the speed electromotive force generated with the rotation of the rotor is added to the transformer electromotive voltage, so that the detected value of the transformer electromotive voltage reaches the detection reference value earlier. As a result, since the switching timing of the energization mode is advanced, there is a concern that the generated torque is reduced and the acceleration time is increased.

  Therefore, in the modification of FIG. 10, the detection reference value is made variable according to the rotational speed of the permanent magnet synchronous motor 4. That is, by providing the reference level switch 9d that can change the magnitude of the detection reference value of the induced voltage according to the rotation speed calculated by the rotation speed calculator 13, the detection reference value (positive or negative) is increased as the rotation speed increases. Increase the size). As a result, in the zero speed region and the low speed region, the energization mode can be switched at an appropriate timing even if the rotational speed increases. Therefore, the permanent magnet synchronous motor can be accelerated smoothly.

  In the modification of FIG. 9, a rotation speed calculator may be provided as in FIG. 10, and the magnitude of the detection reference value of only the positive value output from the reference level generator 9c may be variable.

  FIG. 11 is a block diagram showing the configuration of a synchronous motor drive system according to a second embodiment of the present invention.

  In this embodiment, in addition to the controller 2 according to the first embodiment described above, a sine wave drive controller 14 for controlling the inverter device 3 by a 180-degree energization method is provided. As the sine wave drive controller 14, for example, a known PWM controller to which a position sensorless control method using a speed electromotive voltage is applied is applied. The control switch 15 connects either the controller 2 or the sine wave drive controller 14 to the inverter device 3 in accordance with the rotational speed of the permanent magnet synchronous motor 4. That is, the control switch 15 switches between the 120-degree energization method and the known 180-degree energization method according to the above embodiment according to the magnitude of the rotation speed.

  More specifically, the control switch 15 connects the controller 2 to the inverter device 3 in the zero speed region or the low speed region, and when the rotational speed exceeds a predetermined rotational speed value, the controller 2 And the inverter device 3 are disconnected, and the sine wave drive controller 14 is connected to the inverter device 3.

  According to the present embodiment, there is an advantage that torque ripple and harmonics are less generated compared to the 120-degree energization method, but the position of the 180-degree energization method is difficult to perform sensorless control in the zero speed region or the low speed region. While using the sensorless control method, highly accurate position sensorless control is possible in the zero speed region or the low speed region by using the controller according to the first embodiment (embodiment 1). Therefore, the permanent magnet synchronous motor can be stably driven by position sensorless control over a wide speed range.

  FIG. 12 is a block diagram showing a configuration of a synchronous motor drive system according to a third embodiment of the present invention. The circuit configuration of this embodiment is the same as that of the first embodiment described above.

  In the embodiment of FIG. 12, the inverter main circuit section 32, the power supply voltage detector 21, the phase voltage detector 22, and the non-conduction phase zero cross detector 23 are packaged as a semiconductor device 34. For example, these circuit portions (32, 21, 22, 23) may be housed in one resin case, or may be configured by one or a plurality of semiconductor integrated circuit devices that are resin-molded.

  The semiconductor device 34 includes a terminal electrode for connecting a direct current (DC) power source, an AC output terminal electrode connected to a winding terminal of the permanent magnet synchronous motor 4, a gate terminal electrode for inputting a gate voltage signal from the pre-driver circuit 33, and a power source. Detection output terminal electrode of the voltage detector 21, detection output terminal electrode of the phase voltage detector 22, and signal input terminal electrode for inputting a drive control signal from the gate signal switch 7 in the controller 2 to the non-energized phase zero cross detector 23. , A zero cross timing signal output terminal electrode for outputting a zero cross timing signal of the non-conduction phase zero cross detector 23 is provided. By connecting the permanent magnet synchronous motor 4, the controller 2, and the pre-driver circuit 33 to these terminal electrodes, a synchronous motor drive system is configured. Thereby, the drive system of a synchronous motor can be reduced in size.

  Further, the pre-driver circuit 33 may be configured by a semiconductor integrated circuit and housed in the semiconductor device 34. In this case, in place of the gate terminal electrode, a signal input terminal electrode for inputting a drive control signal from the gate signal switch 7 is provided.

  In addition, this invention is not limited to each Example mentioned above, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  For example, in addition to the permanent magnet synchronous motor, a synchronous motor having a field winding on the rotor can be used.

DESCRIPTION OF SYMBOLS 1 Command generator 2 Controller 3 Inverter apparatus 4 Permanent magnet synchronous motor 5 PWM generator 6 Energization mode determinator 7 Gate signal switcher 8, 8a, 8b, 8c, 8d Mode switch trigger generator 9, 9c, 9d Reference level Switching device 10, 10a, 10b Non-energized phase terminal voltage output device 11 Comparator 12 Absolute value calculator 13 Speed calculator 14 Sine wave drive controller 15 Control switch 21 Power supply voltage detector 22 Phase voltage detector 23 Non-energized Phase zero cross detector 31 DC power supply 32 Inverter main circuit 33 Pre-driver circuit 34 Semiconductor device 100 Non-conduction phase selector 101 Sample hold circuit 102 Average value calculator

Claims (10)

A three-phase synchronous motor,
An inverter device that converts DC power into three-phase AC power and outputs the three-phase AC power to the three-phase synchronous motor;
The inverter device is controlled to energize the three-phase synchronous motor in a plurality of energization modes in which one of the three phases of the three-phase synchronous motor is a non-energized phase and the other two phases are energized phases. A controller;
In a synchronous motor drive system comprising:
A phase voltage detector for detecting a three-phase AC terminal voltage;
A non-energized phase zero cross timing detector for detecting a zero cross of the AC terminal voltage of the non-energized phase detected by the phase voltage detector;
With
The controller is configured to transform the non-conduction phase based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero-cross timing detector. Detecting the electromotive voltage, sequentially switching the energization mode based on the detected transformer electromotive voltage ,
The transformer electromotive voltage is detected based on the AC terminal voltage of the non-conduction phase detected after the time of the zero crossing,
The controller sequentially switches the energization mode based on the result of comparing the detected value of the transformer electromotive voltage and a predetermined reference voltage value,
The detected value of the transformer electromotive voltage is a detected value of the AC terminal voltage of the non-energized phase, and a positive or negative value is set as the reference voltage value according to the energization mode,
The controller is
Based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero-cross timing detector, after a predetermined time has elapsed from the zero cross, A sample hold circuit for sampling the detected value of the AC terminal voltage; and
The detected value of the AC terminal voltage of the non-conduction phase sampled by the sample hold circuit is compared with the reference voltage value of the transformer electromotive voltage generated in the non-conduction phase, and the AC terminal of the non-conduction phase A comparator that outputs a trigger for switching the energization mode when a detected voltage value exceeds the reference voltage value;
An energization mode determiner that sequentially switches the energization mode according to the trigger output by the comparator;
The drive system of the synchronous motor, characterized in that it comprises a. A three-phase synchronous motor,
An inverter device that converts DC power into three-phase AC power and outputs the three-phase AC power to the three-phase synchronous motor;
The inverter device is controlled to energize the three-phase synchronous motor in a plurality of energization modes in which one of the three phases of the three-phase synchronous motor is a non-energized phase and the other two phases are energized phases. A controller;
In a synchronous motor drive system comprising:
A phase voltage detector for detecting a three-phase AC terminal voltage;
A non-energized phase zero cross timing detector for detecting a zero cross of the AC terminal voltage of the non-energized phase detected by the phase voltage detector;
With
The controller is configured to transform the non-conduction phase based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero-cross timing detector. Detecting the electromotive voltage, sequentially switching the energization mode based on the detected transformer electromotive voltage,
The transformer electromotive voltage is detected based on the AC terminal voltage of the non-conduction phase detected after the time of the zero crossing,
The controller sequentially switches the energization mode based on the result of comparing the detected value of the transformer electromotive voltage and a predetermined reference voltage value,
The detected value of the transformer electromotive voltage is an average value of a plurality of detected values of the AC terminal voltage of the non-energized phase, and a positive or negative value is set as the reference voltage value according to the energization mode,
The controller is
Based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero-cross timing detector, the AC terminal voltage of the non-conduction phase after the zero cross. A plurality of the detected values, and an average value calculator for calculating an average value of the detected AC terminal voltages of the non-conducting phase sampled,
When the average value calculated by the average value calculator is compared with the reference voltage value of the transformer electromotive voltage generated in the non-energized phase, the average value exceeds the reference voltage value, A comparator that outputs a trigger for switching the energization mode;
An energization mode determiner that sequentially switches the energization mode according to the trigger output by the comparator;
The drive system of the synchronous motor, characterized in that it comprises a. A three-phase synchronous motor,
An inverter device that converts DC power into three-phase AC power and outputs the three-phase AC power to the three-phase synchronous motor;
The inverter device is controlled to energize the three-phase synchronous motor in a plurality of energization modes in which one of the three phases of the three-phase synchronous motor is a non-energized phase and the other two phases are energized phases. A controller;
In a synchronous motor drive system comprising:
A phase voltage detector for detecting a three-phase AC terminal voltage;
A non-energized phase zero cross timing detector for detecting a zero cross of the AC terminal voltage of the non-energized phase detected by the phase voltage detector;
With
The controller is configured to transform the non-conduction phase based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero-cross timing detector. Detecting the electromotive voltage, sequentially switching the energization mode based on the detected transformer electromotive voltage,
The transformer electromotive voltage is detected based on the AC terminal voltage of the non-conduction phase detected after the time of the zero crossing,
The controller sequentially switches the energization mode based on the result of comparing the detected value of the transformer electromotive voltage and a predetermined reference voltage value,
The detected value of the transformer electromotive voltage is an absolute value of the detected value of the AC terminal voltage of the non-conduction phase, and a positive value is set as the reference voltage value,
The controller is
Based on the AC terminal voltage of the non-conduction phase detected by the phase voltage detector and the zero cross detected by the non-conduction phase zero cross timing detector, the AC terminal voltage of the non-conduction phase after the zero cross. An absolute value calculator that calculates the absolute value of the detected value of
Comparing the absolute value calculated by the absolute value calculator with the reference voltage value of the transformer electromotive voltage generated in the non-energized phase, the absolute value exceeds the reference voltage value, A comparator that outputs a trigger for switching the energization mode;
An energization mode determiner that sequentially switches the energization mode according to the trigger output by the comparator;
The drive system of the synchronous motor, characterized in that it comprises a. 4. The drive system for a synchronous motor according to claim 1, wherein the reference voltage value is changed in accordance with a rotational speed of the synchronous motor. 5. 4. The method according to claim 1 , wherein in one energization mode of the plurality of energization modes, one of the two energized phases is always energized and the other is energized by a PWM pulse. The drive system of the synchronous motor characterized by the above. 6. The synchronous motor drive system according to claim 5 , wherein the transformer electromotive voltage is detected based on an AC terminal voltage of the non-conduction phase detected during an ON period of the PWM pulse . 4. The non-energized phase zero-cross timing detector according to claim 1 , wherein the non-energized phase zero-cross timing detector includes a circuit for detecting a zero-cross of a non-energized phase for three phases, and any one of the circuits for the three phases. A synchronous motor drive system that outputs a zero cross detection signal when only a phase component detects a zero cross . 4. The synchronous motor drive system according to claim 1, wherein the plurality of energization modes are 120-degree energization . 5. In any one of Claims 1 thru | or 3 , Furthermore,
A sine wave drive controller for controlling the inverter device to energize 180 degrees;
A control switch that switches between control by the controller and control by the sine wave drive controller according to the rotational speed of the synchronous motor;
The drive system of the synchronous motor, characterized in that it comprises a. In any one of claims 1 to 3, a main circuit of the inverter device, the non-conduction phase zero cross timing detector, the phase voltage detector and the synchronous motor, characterized in that it is one package Drive system.

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