Motor control device

• US 10,644,636 B2
• Filed: 09/28/2018
• Issued: 05/05/2020
• Est. Priority Date: 10/05/2017
• Status: Active Grant

• Current Assignee: Jtekt Corporation (Toyota Motor Corporation)
• Original Assignee: Jtekt Corporation (Toyota Motor Corporation)
• Inventors: Sumasu, Hiroshi
• Primary Examiner(s): Masih, Karen
• Application Number:
  US16/146,029
• Publication Number:
  US 20190109555A1
• Time in Patent Office: 585 Days
• CPC Class Codes: B62D 5/04 electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
• CPC Class Codes: B62D 5/0409 Electric motor acting on the steering column
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: H02M 1/44 Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
• CPC Class Codes: H02M 7/53871 with automatic control of output voltage or current
• CPC Class Codes: H02P 21/00 Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
• CPC Class Codes: H02P 21/0003 Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
• CPC Class Codes: H02P 21/22 Current control, e.g. using a current control loop
• CPC Class Codes: H02P 27/08 with pulse width modulation

Abstract

An electric motor that is controlled by a motor control device has two-system multi-phase motor coils. The motor control device includes a common mode noise reduction unit that changes a PWM count in a PWM cycle for at least one phase in one of two systems such that a current that flows through a stray capacitance because of an output voltage for one phase in the other system is canceled out with a current that flows through the stray capacitance because of an output voltage for the at least one phase in the one system in at least one PWM cycle in a current control cycle.

Claims

1. A motor control device that controls an electric motor that has two-system multi-phase motor coils, the motor control device comprising:

a pulse width modulation (PWM) count computation unit that computes a PWM count for each phase in each system in each current control cycle that includes a plurality of PWM cycles;

a PWM count setting unit that sets the PWM count for each phase in each system in a current control cycle as a PWM count in each PWM cycle in the current control cycle for a corresponding phase in a corresponding system; and

a common mode noise reduction unit that changes the PWM count in a PWM cycle for at least one phase in one of the two systems such that a current that flows through a stray capacitance because of an output voltage for one phase in another system is canceled out with a current that flows through the stray capacitance because of an output voltage for the at least one phase in the one system in at least one PWM cycle in the current control cycle, wherein

the common mode noise reduction unit includes a PWM count change unit that changes the PWM count for the at least one phase in the one system, of a PWM signal in each PWM cycle in the current control cycle for each phase in each system, such that an output voltage waveform for the at least one phase is a waveform obtained by inverting an output voltage waveform for the one phase in the other system in the at least one PWM cycle without changing a total value of PWM counts for the at least one phase in the current control cycle.

2. The motor control device according to claim 1, wherein:

the common mode noise reduction unit changes PWM counts in a PWM cycle for second and third phases, which are two phases in the one system, such that a current that flows through a stray capacitance because of an output voltage for a first phase, which is one phase in the other system, is canceled out with a current that flows through the stray capacitance because of an output voltage for the second or third phase in each PWM cycle in the current control cycle; and

the common mode noise reduction unit includes

a first PWM count change unit that changes the PWM count for the second phase in each PWM cycle in the current control cycle such that an output voltage waveform for the second phase is a waveform obtained by inverting an output voltage waveform for the first phase in half the predetermined number of PWM cycles in the current control cycle without changing a total value of PWM counts for the second phase in the current control cycle, and

a second PWM count change unit that changes the PWM count for the third phase in each PWM cycle in the current control cycle such that an output voltage waveform for the third phase is a waveform obtained by inverting an output voltage waveform for the first phase in the other half of the predetermined number of PWM cycles in the current control cycle without changing a total value of PWM counts for the third phase in the current control cycle.

3. The motor control device according to claim 2, further comprising:

a second common mode noise reduction unit that changes PWM counts in PWM cycles for fifth and sixth phases, which are two phases in the other system and are other than the first phase, such that a current that flows through a stray capacitance because of an output voltage for a fourth phase, which is one phase in the one system and is other than the second and third phases, is canceled out with a current that flows through the stray capacitance because of an output voltage for the fifth or sixth phase in each PWM cycle in the current control cycle, wherein

the second common mode noise reduction unit includes

a third PWM count change unit that changes the PWM count for the fifth phase in each PWM cycle in the current control cycle such that an output voltage waveform for the fifth phase is a waveform obtained by inverting an output voltage waveform for the fourth phase in half the predetermined number of PWM cycles in the current control cycle without changing a total value of PWM counts for the fifth phase in the current control cycle, and

a fourth PWM count change unit that changes the PWM count for the sixth phase in each PWM cycle in the current control cycle such that an output voltage waveform for the sixth phase is a waveform obtained by inverting an output voltage waveform for the fourth phase in the other half of the predetermined number of PWM cycles in the current control cycle without changing a total value of PWM counts for the sixth phase in the current control cycle.