WO2016051743A1

WO2016051743A1 - Motor control device

Info

Publication number: WO2016051743A1
Application number: PCT/JP2015/004871
Authority: WO
Inventors: 隆宏増田; 太郎岸部
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2014-09-30
Filing date: 2015-09-25
Publication date: 2016-04-07
Also published as: CN106575940B; JPWO2016051743A1; CN106575940A; JP6454881B2

Abstract

This motor control device controls the operation of a motor and comprises a motor current detection unit for detecting current that flows through a winding in a motor provided with a stator having a three-phase winding wound therearound. The motor control device is provided with: a digital control unit that calculates a voltage command value for driving the motor; a PWM unit that outputs a PWM switching signal by pulse width modulation; a power conversion unit that applies drive voltage to the winding in accordance with the PWM switching signal; a current detection unit that uses the drive voltage to detect current that flows through the winding; a ΔΣ A/D conversion unit that converts the detected current amount into a digital signal; and a stop signal generation unit that outputs a stop signal for stopping operation of the ΔΣ A/D conversion unit. In addition, when the difference between the maximum value and the minimum value of the voltage command is equal to or less than a predetermined threshold value, the stop signal generation unit outputs the stop signal for a predetermined length of time.

Description

Motor control device

The present invention relates to a motor control device that freely controls a motor by applying a drive voltage generated by PWM control to the winding of the motor and controlling a flowing current, and more particularly, generated by applying a drive voltage to the winding. The present invention relates to a motor control device having a function of detecting a current value to be detected.

In a servo motor used in FA (Factory Automation), the position, speed, and torque of a motor are controlled so as to follow a drive command (position command) from a host device (host controller). Digital control using a microprocessor is widely used as the control arithmetic unit. Since the torque output by the synchronous motor (Surface Permanent Magnet Synchronous Motor) used in servo motors is proportional to the motor current, the motor output can be controlled freely by controlling the motor current. can do. In a PWM (Pulse Width Modulation) control method that is generally used to control a motor current, it is necessary to detect a current value of a current (hereinafter referred to as a motor current) that flows in a motor winding. In the case of digital control, the motor current is detected at regular intervals, and control is performed using PID control (proportional + integral + derivative control) or the like so as to coincide with the current command value.

FIG. 5 is a configuration diagram of a motor control device 90 including an inverter as a conventional example. This conventional motor control device 90 is provided with a current detection resistor 91 between the power converter 98 that is an inverter and the winding of the motor 30 in order to detect the current value of the motor current. The voltage generated between the two terminals of the current detection resistor 91 when the motor current flows is digitally converted by an AD (Analog-Digital) converter 95, and the digital data Di is supplied to the digital controller 97. Conventionally, the motor current is generally detected by such a configuration. Recently, it has been proposed that a ΔΣ (delta sigma) AD converter 92 is used in the AD conversion unit 95 as shown in FIG. 1). Such an AD conversion unit 95 includes, for example, a photocoupler, a digital filter, and the like in addition to the ΔΣ AD converter 92.

However, in a configuration in which a motor is driven using PWM control, this ΔΣ AD converter has a problem that it is easily affected by leakage current based on PWM control.

That is, in the conventional configuration, the voltage applied to the motor is controlled by turning on / off (hereinafter referred to as switching) a power conversion element (high-speed power switching element using a semiconductor). For this reason, a leakage current is generated at the moment of switching. Usually, the leakage current flows to a grounded location through a housing or wiring. However, there is a leakage current that passes through the shunt resistor at that time, and the voltage across the shunt resistor changes depending on the leakage current. Then, the ΔΣ AD converter converts the voltage into a 1-bit digital signal. For this reason, the current detection value after the AD conversion thinning filter includes an unnecessary current component that does not originally flow to the motor.

In digital control, unnecessary current components are processed as disturbances, and a voltage that cancels the disturbances is applied to the motor, so unnecessary torque is generated in the motor. In particular, the influence of leakage current becomes relatively large during servo lock or low speed operation where the current flowing through the motor is small and the switching timing of each phase tends to overlap. For this reason, there has been a problem that, for example, slight vibration of the motor output shaft due to unnecessary torque occurs even during the servo lock when the motor output shaft is stationary.

JP-A-7-15972

The motor control device of the present invention is a motor control device that has a motor current detection unit that detects a current flowing through a winding for a motor including a stator wound with a three-phase winding, and controls the operation of the motor. is there. The motor control device includes a digital control unit, a PWM unit, a power conversion unit, a motor current detection unit, a ΔΣ AD conversion unit, and a stop signal generation unit. The digital control unit uses the operation command from the host device, the position information from the position detection sensor, and the motor current detection value, which is the current value flowing in the winding, to calculate the voltage for driving the motor by performing position, speed or torque calculation. Calculate the command value. The PWM unit performs pulse width modulation by comparing the voltage command value with a triangular wave, and outputs a PWM switching signal. The power converter applies a driving voltage to the winding by turning on / off the switching element according to the PWM switching signal. The motor current detector converts the current flowing through the winding by the drive voltage into an analog voltage. The ΔΣ AD converter converts the analog voltage into a digital signal. The stop signal generation unit outputs a stop signal for stopping the operation of the ΔΣ AD conversion unit. The stop signal generation unit outputs a stop signal while a leakage current is generated due to ON / OFF of the switching element when the difference between the maximum value and the minimum value of the voltage command is equal to or less than a predetermined threshold. It is.

According to the motor control device of the present invention, this stop signal can reduce the adverse effect of leakage current caused by switching elements on / off, so that unnecessary torque generated in the motor is reduced and fine vibration is suppressed. Can do.

FIG. 1 is a configuration diagram of a motor control system including a motor control device according to an embodiment of the present invention. FIG. 2 is an operation waveform diagram for explaining the operation of the ΔΣ AD converter used for detecting the motor current in the motor control device. FIG. 3 is a configuration diagram of a ΔΣ AD converter in the motor control device. FIG. 4 is a configuration diagram of a stop signal generation unit in the motor control device. FIG. 5 is a block diagram of a conventional motor control device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to these embodiments.

(Embodiment)
FIG. 1 is a configuration diagram of a motor control system including a motor control device according to an embodiment of the present invention, and FIG. 2 is an operation waveform diagram for explaining the operation of a ΔΣ AD converter used for detecting a motor current. FIG. 3 is a configuration diagram of the ΔΣ AD converter for detecting the motor current.

As shown in FIG. 1, the motor control system 100 is configured such that the motor control device 10 controls the operation of the motor 30 according to the command control of the host device 35.

The host device 35 is configured by using, for example, a personal computer and controls the motor control device 10 by a command or the like. The host device 35 and the motor control device 10 are communicatively connected via a control bus line or the like. A command from the host device 35 is transmitted to the motor control device 10, and information from the motor control device 10 is transmitted to the host device. 35.

1 is preferably a three-phase brushless motor that is widely used in terms of efficiency and controllability. The motor 30, which is a three-phase brushless motor, includes a stator in which windings of phases U, V, and W are wound around a stator core, and a rotor having permanent magnets. The drive voltage Vd generated by the motor control device 10 is applied as the drive voltage VdU for the U-phase winding, as the drive voltage VdV for the V-phase winding, and as the drive voltage VdW for the W-phase winding. As a result, the rotor rotates. In order to detect the position of the rotor, a position detection sensor 31 such as a rotary encoder, a linear scale, or a hall CT is disposed in the vicinity of the rotor. The position detection sensor 31 outputs the detected position information of the rotor to the motor control device 10 as position information Sen. A method for estimating the position of the motor from the detected current value without using a device such as a rotary encoder may be used.

Next, the motor control device 10 includes a digital control unit 17 for controlling the rotation operation of the motor 30, a PWM unit 16 for generating a PWM signal, and a power conversion unit 18 for energizing and driving the windings of the motor 30. In addition, the motor current detector 11, the AD converter 15, and the stop signal generator 19 are provided to detect and process the motor current.

The digital control unit 17 is composed of a DSP (Digital Signal Processor), microcomputer software, ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array) logic circuit. That is, the digital control unit (hereinafter simply referred to as a control unit as appropriate) 17 is configured to execute each process according to software indicating a processing procedure such as a program. The control unit 17 mainly processes a digital signal composed of a data string in which data of a predetermined number of bits are arranged as a signal to be processed.

The control unit 17 receives information on operation commands for commanding position, speed, torque, and the like from the host device 35. In addition, the control unit 17 transmits information of the motor control device 10 and the like to the host device 35. The control unit 17 controls the rotation operation of the motor 30 together with a communication function for transmitting such information, and performs operation control so that the motor 30 performs a predetermined movement such as speed and position.

As an example of more specific processing of the control unit 17, the control unit 17 executes the following control processing based on feedback control. The control unit 17 generates a speed command by performing position control calculation based on the operation command for instructing the position from the host device 35 and the position information Sen of the position detection sensor 31. Next, the control unit 17 calculates a motor speed value corresponding to the actual speed of the motor 30 by differentiating the position information Sen, and calculates a current command by speed control calculation from the motor speed and the speed command. Next, the control unit 17 calculates a current from the U-phase motor current detection value DiU and the W-phase motor current detection value DiW obtained via the motor current detection unit 11 and the AD conversion unit 15 and the calculated current command. The voltage command for each phase is calculated by control calculation. Then, the control unit 17 uses the U-phase voltage command value SwU, the V-phase voltage command value SwV, and the W-phase voltage command as voltage command values Sw indicating the U-phase, V-phase, and W-phase voltage commands for driving the motor. The value SwW is output.

Next, the PWM unit 16 includes a microcomputer built-in peripheral circuit (peripheral), an ASIC or FPGA logic circuit, and, as shown in FIG. 2, for example, a triangular wave carrier signal formed by an up / down counter and each phase The voltage command value Sw is compared with each other to perform pulse width modulation (PWM) to generate a PWM switching signal (hereinafter simply referred to as a PWM signal, as appropriate) Pw of each phase.

2 shows the triangular wave carrier signal, the voltage command value Sw, and the PWM signal Pw. As shown in FIG. 2, in the region 1 in which the triangular wave level sequentially increases, the PWM signal Pw rises from the high level to the low level when the triangular wave level becomes equal to or higher than the voltage command value Sw level. Go down. Then, in the region 2 in which the triangular wave level gradually decreases, the PWM signal Pw rises from the low level to the high level when the triangular wave level becomes equal to or lower than the voltage command level. By repeating such an operation, the PWM unit 16 generates a PWM signal Pw composed of a pulse width or a pulse train having a duty ratio corresponding to the level of the voltage command value Sw for each phase. The PWM signal Pw generated in this way is supplied to the power converter 18.

The power converter 18 receives the PWM signal Pw of each phase from the PWM unit 16 to generate a drive voltage Vd, and uses the U-phase drive voltage VdU, the V-phase drive voltage VdV, and the W-phase drive voltage VdW as a motor. These voltages are applied to the respective windings of the motor 30 via lines. The power conversion unit 18 is a so-called inverter, and includes a high-speed power switching element such as an IGBT (Insulated Gate Bipolar Transistor) or a power MOSFET and a power conversion element such as a diode. The power conversion unit 18 uses a switching element such as an IGBT to generate a drive voltage Vd by switching, that is, turning on / off the voltage supplied from the power source in accordance with the PWM signal Pw. Recently, an integrated power module using an IPM (Intelligent Power Module) incorporating a pre-drive circuit for driving a power conversion element is often used.

When the drive voltage Vd is applied to the winding, the motor current detection unit 11 detects the amount of motor current flowing through the winding and outputs it as a current detection signal Si. Specifically, motor currents flowing through the U-phase motor line and the W-phase motor line are converted into voltages, respectively, and output as a U-phase current detection signal SiU and a W-phase current detection signal SiW. As the motor current detection unit 11, a shunt resistor is generally used when the motor current is small, and a CT (Current Transfer) is generally used when the motor current is large. The current detection signal Si output from the motor current detection unit 11 is supplied to the AD conversion unit 15.

As shown in FIG. 1, a ΔΣ AD converter (hereinafter simply referred to as an AD converter) 15 includes a first AD converter 15U to which a U-phase current detection signal SiU is supplied, and a W-phase current. And a second AD converter 15W to which the detection signal SiW is supplied. Each of the AD converters 15 includes a ΔΣ AD converter 12, an AD conversion thinning filter 14, and a clock generator 13. The supplied analog signal is converted into a digital signal and output. In particular, in this embodiment, a ΔΣ AD converter (hereinafter simply referred to as an AD converter) 12 which is a ΔΣ analog-digital converter as described above is used.

FIG. 3 is a block diagram of such an AD converter 15, and details of the stop signal generator 19 of FIG. 3 will be described below.

3, first, the clock generation unit 13 includes a clock generator 130 and an AND gate 131. The clock generator 130 generates an original clock Cka that determines the conversion cycle of the AD converter 12. Further, the logical product 131 calculates the logical product of the original clock Cka and a stop signal Stp, which will be described later, and outputs it as an AD conversion clock Ckc. Further, the frequency of the original clock Cka may be determined by the AD conversion resolution required for the current control of the digital control unit 17 and the allowable delay due to the thinning of the filter, and a frequency of several tens of MHz is usually used.

Next, the AD converter 12 includes, for example, a comparator that compares with a threshold value, and compares the supplied current detection signal Si with the threshold value. Next, the AD converter 12 converts the comparison result to a binary value to convert it into a 1-bit digital signal. The AD converter 12 outputs the converted 1-bit digital signal as an AD conversion signal dSi for each AD conversion clock Ckc. That is, the AD conversion signal dSi output from the AD converter 12 is a signal composed of pulses. For example, the high and low levels of the signal correspond to the values 1 and 0 of the 1-bit digital signal. Thus, the ΔΣ AD converter 12 converts the input analog voltage into a 1-bit digital signal.

Next, the AD conversion decimation filter 14 (hereinafter referred to as a decimation filter as appropriate) is a digital filter having a sinc function in frequency characteristics called a sinc filter, and includes an adder 140 including an adder and a subtractor. And a subtracting unit 141. The adder 140 generates the multi-bit addition data Dsi by integrating the AD conversion signal dSi, which is a 1-bit digital signal output from the AD converter 12, with an adder for each AD conversion clock Ckc. . The number of bits of the addition data Dsi corresponds to the AD conversion resolution of the AD converter 15. Next, the AD conversion clock frequency divider 142 generates a thinned clock Ckn obtained by dividing the AD conversion clock by 1 / N (N is a power of 2 and n is an integer). That is, the frequency is divided from a high clock rate of the AD conversion clock Ckk called a so-called oversampling clock to a thinned-out clock Ckn at a desired low clock rate. The subtraction unit 141 operates for each thinning clock Ckn, and obtains a frequency characteristic that becomes a sinc function by calculating a difference between the previous value and the current value of the addition data Dsi. A low-pass characteristic filter is realized by the thinning filter 14 composed of the adder 140 and the subtractor 141, and the motor after the filter that cuts the high-frequency noise and converts it into the number of bits of a desired resolution. A current detection value Di is generated.

Thus, the motor current detection value DiU generated by the first AD conversion unit 15U and the motor current detection value DiW generated by the second AD conversion unit 15W are supplied to the digital control unit 17. The digital control unit 17 performs a current control calculation using the supplied motor current detection values DiU and DiW, and calculates a voltage command value Sw for generating each drive voltage Vd.

By the way, as described above, the motor control device 10 generates the drive voltage Vd in which the drive waveform for driving the winding is formed in a pseudo manner by the PWM pulse by switching the switching element connected to the power source. . For this reason, a leakage current is generated at the moment of switching, and this leakage current affects the AD converter 15 as noise or the like, and as a result, the accuracy of the motor current detection values DiU and DiW may deteriorate. Therefore, in this embodiment, in order to suppress the influence of the leakage current, a stop signal generation unit 19 is further provided as shown in FIG. In the present embodiment, the stop signal generation unit 19 uses the stop signal Stp described below to stop the operation of the AD conversion unit 15 for a predetermined period, thereby suppressing the influence of the leakage current. Yes.

Furthermore, as described in the background art, the influence of the leakage current becomes relatively large when the motor 30 is in a low driving state such as a servo lock where the motor 30 is stopped or a low speed rotation. For this reason, in the present embodiment, the voltage command value Sw of each phase corresponding to the driving state is used, for example, it is determined that the stop valid mode is in only low driving, and the stop signal Stp is output. Is also controlling.

As shown in FIGS. 1 and 3, the stop signal generator 19 is supplied with the voltage command value Sw for each phase and the PWM signal Pw for each phase. Then, the stop signal generation unit 19 first determines whether or not it is the stop effective mode based on the voltage command value Sw of each phase. Further, the stop signal generation unit 19 generates a stop signal Stp having a predetermined timing and a predetermined pulse width by using an edge where the level of the supplied PWM signal Pw changes. This stop signal Stp is supplied to each AD converter 15 in the stop valid mode, and further supplied to one input of the AND gate 131 of the clock generator 13. With this configuration, when the stop signal Stp indicates a clock stop, the original clock Cka is not output from the clock generation unit 13 using the AND gate 131, and conversely, the stop signal Stp does not indicate a clock stop. At this time, the clock generator 13 outputs the original clock Cka as the AD conversion clock Ckc.

FIG. 4 is a block diagram showing an example of such a stop signal generator 19.

1 to 4, specifically, an example is shown in which the clock is stopped when the stop signal Stp is at a low level. First, as shown in FIG. 1, FIG. 3 and FIG. 4, the stop signal generator 19 includes a U-phase voltage command value SwU, a V-phase voltage command value SwV, a W-phase voltage command value SwW, PWM signal PwU, V-phase PWM signal PwV, and W-phase PWM signal PwW are supplied. In this embodiment, as shown in FIG. 2, the area between the upper and lower vertices in the level direction of the triangular wave is defined as one area, and the following operation is performed for each area.

First, the stop signal generator 19 extracts the maximum value and the minimum value among the U-phase voltage command value SwU, the V-phase voltage command value SwV, and the W-phase voltage command value SwV. Next, the stop signal generator 19 calculates a difference ΔVcmd between the extracted maximum value and minimum value. Then, the stop signal generator 19 compares with a predetermined threshold value Vth. Based on the comparison result, the stop signal generation unit 19 sets the stop valid mode in which the output of the stop signal is valid according to the stop signal output determination in the region where the difference ΔVcmd is smaller than the threshold value Vth (for example, the region of FIG. 2). 1), if it is equal to or higher than the threshold value Vth, a stop signal is not output as a stop invalid mode in which output determination is not performed (for example, in the case of region 2 in FIG. 2).

In the configuration example of the stop signal generation unit 19 illustrated in FIG. 4, first, the maximum / minimum value extraction unit 191 includes a U-phase voltage command value SwU, a V-phase voltage command value SwV, and a W-phase voltage command value SwV. The maximum value MxS and the minimum value Mxn are extracted. Next, the difference calculator 192 calculates a difference ΔVcmd between the extracted maximum value MxS and minimum value Mxn. Next, the comparator 193 compares the difference ΔVcmd with the threshold value Vth, and the comparison result is output as the stop mode signal STmd. In FIG. 4, an OR gate 197 is provided as an output switch for the stop signal Stp. Further, a case is shown in which the stop valid mode is set when the stop mode signal STmd is at a low level and the stop invalid mode is set when the stop mode signal STmd is at a high level. That is, the stop signal Stp indicating the clock stop at a low level is output from the stop signal generation unit 19 via the OR gate 197 in the stop valid mode. Conversely, in the stop invalid mode, the output of the stop signal generator 19 is always at a high level, and the stop signal Stp is not output.

Here, in the case of a normal three-phase brushless motor, the voltage command values Sw of the U-phase, V-phase, and W-phase are sine wave voltage commands, and are each in a state of being shifted by 120 electrical degrees. In this case, the difference ΔVcmd between the maximum value and the minimum value of the three-phase voltage command value Sw is almost equal to the voltage command value in which two phases of the three-phase voltage command values Sw are the maximum value or the minimum value. It becomes. That is, at the timing when the waveforms of the two phases overlap, two of the three phases have the same voltage command value, and the two phases have a voltage command value of either the maximum value or the minimum value. The difference ΔVcmd here is a value obtained by subtracting them.

The stop signal generation unit 19 detects a case where the timing of the change of the fall and the rise of each PWM signal Pw coincides or approximates between the phases by such a stop mode determination operation. Is in stop effective mode. That is, for example, when the timing of change of the PWM signal Pw coincides or approximates, such as during servo lock, the leakage current increases and the influence increases. On the other hand, in the present embodiment, the case where the influence of the leakage current is large is detected by the operation using the level of the voltage command value Sw.

Next, the stop signal generator 19 uses the U-phase PWM signal PwU, the V-phase PWM signal PwV, and the W-phase PWM signal PwW to determine the output timing of the stop signal Stp. First, the stop signal generation unit 19 sets the stop signal Stp to a low level when any of the PWM signals Pw first changes in the region. Next, in order to determine the timing for returning the stop signal Stp to the high level, a timer is used to operate the timer only while the stop signal Stp is at the low level. Then, the stop signal generator 19 sets the stop signal to high level after the time Tstp has elapsed.

In the configuration example of the stop signal generation unit 19 shown in FIG. 4, first, the change detector 194 first selects one of the input PWM signal PwU, PWM signal PwV, and PWM signal PwW within the region. When the change occurs, the timing generation unit 196 and the timer 195 are notified of the timing. Thereby, the timing generation unit 196 sets the stop signal Stp to a low level and outputs it. The timer 195 also starts the timer operation and counts until the timer counter reaches a predetermined value. The timer 195 notifies the timing generation unit 196 of a reset signal when a predetermined time Tstp elapses. Based on the timing of this notification, the timing generation unit 196 sets the stop signal Stp to high level and outputs it. As described above, the stop signal Stp is output to the OR gate 197.

Here, the threshold value Vth and the time Tstp may be set to values at which the influence of the leakage current is minimized by measuring the motor current detection value Di when the servo is locked. For example, the threshold value Vth is about 10% of the maximum value of the voltage command value Sw, and the time Tstp is a time obtained by adding the duration of leakage current due to switching (generally several μs) to the time when the triangular wave changes by the threshold value Vth. You can make it longer.

In addition, in order to determine the output of the stop signal Stp, the leakage current may be monitored using the motor current detection value Di, and the stop signal Stp may be set to a low level when the leakage current occurs.

Next, in the clock generation unit 13 of the AD conversion unit 15, whether or not the original clock Cka is output is controlled by the stop signal Stp from the stop signal generation unit 19, and is output as an AD conversion clock Ckc including a clock stop period.

As a specific example, as shown in FIG. 2, when the stop signal Stp is at a low level, the AD conversion clock Ckk and the thinning clock Ckn are stopped, and the operations of the AD converter 12 and the thinning filter 14 are also stopped. As a method of stopping, only the thinning clock Ckn is stopped. Alternatively, there is a method in which the motor current detection value Di is not used in the digital control unit 17 in accordance with the stop signal Stp.

As described above, by adopting a configuration in which the operation of the AD conversion unit 15 is stopped for a certain period of time after switching of the power conversion element, it is possible to reduce deterioration in detection accuracy of the current detection signal Si due to leakage current generated during that period. And since the electric current detection signal Si with which mixing of the unnecessary component was suppressed is obtained, the unnecessary torque which generate | occur | produces in a motor becomes small and it can suppress a fine vibration.

By the way, as described above, the influence of the leakage current becomes relatively large when the motor 30 is in a low driving state such as a servo lock where the motor 30 is stopped or a low speed rotation. For this reason, in addition to using the voltage command value Sw of each phase, the stop effective mode can be determined using the motor current detection value Di and the motor speed.

For example, when the motor current detection value Di is used, the following may be performed. That is, the stop signal generation unit 19 monitors the motor current detection value Di from the AD conversion unit 15 of FIG. When the motor current detection value Di is greater than or equal to a predetermined current value (current threshold value), the stop signal Stp is not output. When the motor current detection value Di is less than the current threshold value, the stop signal Stp is determined according to the output determination described above. Output. The current threshold value may be a current value that reduces the influence of erroneous detection of leakage current on the motor current, and is about 10% of the motor rated current.

Also, when using the motor speed, the following should be done. That is, the stop signal generator 19 monitors the motor speed from the digital controller 17. When the motor speed is equal to or higher than a predetermined speed (speed threshold value), the stop signal Stp is not output. When the motor speed is less than the speed threshold value, the stop signal Stp is output by the above-described output determination. The speed threshold may be a speed at which the influence of the leakage current on the motor current is reduced, and is several hundreds r / min.

By adopting the configuration as described above, it becomes possible to take measures against deterioration in detection accuracy due to leakage current by focusing only at the time of servo lock or low-speed operation where the influence of leakage current becomes large.

As described above, the motor control device according to the present invention can reduce erroneous detection of leakage current due to switching of the power conversion element by stopping the operation of the ΔΣ AD conversion unit when the voltage command is small. For this reason, unnecessary torque generated in the motor is reduced and fine vibrations can be suppressed. Therefore, the present invention is particularly effective as a control device that detects motor current and performs motor control.

DESCRIPTION OF

SYMBOLS

10,90 Motor control apparatus 11 Motor current detection part 12 ΔΣ type AD converter 13 Clock generation part 14 AD

conversion thinning filter

15, 15U, 15W, 95 AD conversion part 16

PWM part

17, 97

Digital control part

18, 98 Power conversion part 19 Stop signal generator 30 Motor 31 Position detection sensor 35 Host device 100 Motor control system 130 Clock generator 131 AND gate 140 Adder 141 Subtractor 142 AD conversion clock divider

Claims

A motor control device that has a motor current detection unit that detects a current flowing through the winding with respect to a motor including a stator wound with a three-phase winding, and controls the operation of the motor,
Digital that calculates the voltage command value for driving the motor by calculating the torque based on the operation command from the host device, the motor position information from the position detection sensor, and the motor current detection value that is the current value flowing through the winding. A control unit;
A PWM unit that performs pulse width modulation by comparing the voltage command value with a triangular wave, and outputs a PWM switching signal;
A power converter that applies a drive voltage to the winding by turning on / off a switching element according to the PWM switching signal;
The motor current detection unit that converts the current flowing through the winding by the drive voltage into an analog voltage;
A ΔΣ AD converter for converting the analog voltage into a digital signal;
A stop signal generator for outputting a stop signal for stopping the operation of the ΔΣ AD converter,
When the difference between the maximum value and the minimum value of the voltage command is equal to or less than a predetermined threshold, the stop signal generation unit outputs the stop signal while a leakage current is generated due to ON / OFF of the switching element. The motor control apparatus characterized by the above-mentioned.
The stop signal generation unit includes a timer, and when the occurrence of the leakage current is detected, starts the output of the stop signal and the timer operation, and outputs the stop signal until the timer counter reaches a predetermined value. The motor control device according to claim 1.
The said stop signal production | generation part starts the output of the said stop signal when either of the said PWM switching signals changes between the upper and lower vertices of the said triangular wave for the first time, The Claim 1 or Claim 2 characterized by the above-mentioned. Motor control device.
The ΔΣ AD converter is
A ΔΣ AD converter that converts the analog voltage into a 1-bit digital signal;
An AD conversion decimation filter that converts the 1-bit digital signal into a multi-bit digital signal and outputs the converted signal as the motor current detection value;
A clock generation unit that generates a clock for operating the ΔΣ AD converter and the AD conversion decimation filter;
4. The motor control device according to claim 1, wherein the clock is stopped by the stop signal. 5.
5. The stop signal generation unit according to claim 1, wherein the stop signal generation unit does not output a stop signal when the detected motor current value is equal to or greater than a predetermined value. 6. Motor control device.
6. The motor control according to claim 1, wherein the stop signal generation unit does not output a stop signal when the motor speed exceeds a predetermined value. 7. apparatus.