JP3144975B2 - Motor control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an electric motor which is a driving source of an industrial machine such as a robot .
Related to the motor control unit of the eye.

[0002]

2. Description of the Related Art A motor driving device according to a first conventional example will be described with reference to FIG. 3, direct current
Switching element 10 is connected between the positive and negative sides of source 110.
1 and the switching element 104 are connected in series, switches
Switching element 105 and switching element 105 are connected in series.
And switching with the switching element 103
The element 106 is connected in series. These three sets total 6
Each switching element is, for example, an insulated gate type
Transistor (IGBT).
Rectifier elements 111, 112, 11
A total of six rectifiers of 3, 114, 115 and 116
Reverse connection. That is, the cathode of each rectifier is
At the collector (high potential side) of each switching element,
The anode of each rectifier is the emitter of each switching element
(Low potential side).

[0003] The gate of each switching element is
Drive these switching elements with respect to these emitters.
Drive circuits 121, 122, 123, 12 for operating
4, 125 and 126 are connected. The above 6
Switching element, 6 rectifying elements and 6 driving circuits,
Constitutes an inverter circuit. Where the switch
Elements 101, 102 and 103 are of the inverter circuit.
The upper arm is composed of switching elements 104, 105 and
And 106 constitute the lower arm of the inverter circuit.

One end is connected to the negative side of DC power supply 110
The voltage supply terminal of the drive circuit power supply 140 is connected to the drive circuit 12
4, 125 and 126. On the other hand,
Switching elements 101, 102 and 103
Each emitter has a capacitor 131 and a capacitor 1
32 and one end of the capacitor 133 are connected.
ing. The other end of each capacitor is a drive circuit
121, 122 and 123 are connected. Sand
The capacitors 131, 132 and 133 are connected to
Pressure applied to drive circuits 121, 122 and 123 respectively
And serves to supply voltage.

The above-mentioned capacitors 131 and 132
To charge the capacitor 133 and the capacitor 133,
Diode 151, diode 152 and diode 153
It is sea urchin connection good of. That is, the diode 151
Is connected to the voltage supply terminal of capacitor 131
The anode is a voltage supply terminal of the drive circuit power supply 140
It is connected to the. The cathode of the diode 152 is
Connected to the voltage supply terminal of
Connected to the voltage supply terminal of the drive circuit power supply 140
I have. The cathode of the diode 153 is
The anode is connected to the voltage supply terminal of the
It is connected to the voltage supply terminal of the power supply 140 for the driving circuit.
The drive circuit power supply 140, three capacitors and three
Charge pump circuit is composed of
You.

[0006] Three wires connected to the output side of the inverter circuit
Is connected to one of the three terminals of the relay 166.
The other three terminals of the relay 166 are connected to a resistor 161,
It is connected to one terminal of the resistor 162 and the resistor 163.
You. In addition to the resistors 161, 162 and 163,
Are connected to each other. The above relay 166
Connects the three wires to the resistors 161, 162 and 1
Switch between short circuit and disconnection via 63, and
Does not pass through the resistors 161, 162 and 163.
It is configured to switch between shorting and disconnecting directly.
ing. With the relay 166 and three resistors, a dyna
A mix brake circuit 160 is configured. here,
As described above, “through the resistor 161, the resistor 162, and the resistor 163”
Short-circuited directly "is equivalent to the case where those resistance values are 0
I do. This dynamic brake circuit 160
For emergency stop of the motor connected to the three output lines of the motor circuit
Used for The output side of the inverter circuit and the motor
Between to detect the current flowing through the motor
Although a current detector may be inserted, the gist of the present invention and
Is irrelevant and has been omitted from the description.

[0007] In the first conventional example configured as described above,
And the switching elements 104 and 105 of the lower arm and
106 is supplied with a voltage from the drive circuit power supply 140.
Control signals from the drive circuits 124, 125 and 126
On / off driving is performed based on the above. The above switching element
When 104 is turned on, its collector potential is
It drops to near zero negative potential. As a result, the drive circuit
Via a diode 151 from a voltage supply pin sources 140
Thus, the capacitor 131 is charged with electric charge. Similarly, on
When the switching element 105 is turned on, its collector
The potential drops to near the negative potential of the DC power supply 110. That
As a result, the diode is connected from the voltage supply terminal of the drive circuit power supply 140.
The capacitor 132 is charged through the
It is. Similarly, the switching element 106 was turned on.
The collector potential is near the negative potential of the DC power supply 110
Down to. As a result, the voltage of the drive circuit power supply 140 is supplied.
From the supply terminal via the diode 153, the capacitor 13
3 is charged.

Thus, the capacitors 131, 132
And 133, a voltage is generated between both terminals.
Of the switching elements 101, 102 and 103 of the arm
Acts as a drive power supply. Switching element 10
1, 102 and 103 are capacitors 131 and 132, respectively.
Drive circuits 121, 1 to which a voltage is applied by
On / off drive based on control signals from 22 and 123
Be moved.

Next, referring to FIG . 4, a second conventional example will be described.
The electric motor driving device will be described . Second conventional example
However, the difference from the first conventional example is that three diodes are used.
How to connect. Other configurations are the same as those of the first conventional example.
The same is true.

The capacitors 171, 172 and
The diode 1 is used to charge the capacitor 173 with electric charge.
81, the diode 182 and the diode 183 are as follows.
Connected. That is, the power of the diode 181
Sword is connected to the voltage supply terminal of capacitor 171.
The anode is connected to the positive terminal of the DC power supply 110 through the resistor 191.
Connected to the side. The cathode of the diode 182 is
Connected to the voltage supply terminal of the capacitor 172, the anode
Is connected to the positive side of the DC power supply 110 via the resistor 192.
ing. Also, the cathode of the diode 183 is
Connected to the voltage supply terminal of the
193 is connected to the positive side of the DC power supply 110.
You. The above three capacitors, three diodes and three
And a resistor constitute a charge pump circuit.

The capacitors 171, 172 and
The capacitors 173 are connected to the switches of the corresponding lower arms.
When the switching elements 104, 105 and 106 are turned on
Then, electric charges are charged from the DC power supply 110.

[0012]

SUMMARY OF THE INVENTION
In the previous example, when the motor was not driven,
Switching elements 101, 102, 103, 104, 1
When 05 and 106 are not operating, the upper arm switch
To drive the switching elements 101, 102 and 103
The capacitor 131 in FIG.
132 and 133, the capacitor 171 in FIG.
172 and 173 are not charged. As it is
If you start driving the motor in the state of
Large current required due to large load on motor
, The switching elements 101, 1
Normal operation because 02 and 103 are not turned on enough
May not be secured or may be destroyed.
there were. To avoid this, take some measures
And the lower arm switching elements 104, 105 and
Turn on 106 or other methods
It is necessary to charge the sensor,
Required an additional circuit.

[0013] In order to solve the above problems, the motor control device of the present invention has the following configuration. That is, each of the first terminals is connected to the positive side of the DC power supply, and the first switching element, the second switching element, and the third switching element constituting the upper arm; and the first terminal is the second switching element of the first switching element. A fourth terminal connected to the terminal, a second terminal connected to the negative side of the DC power supply, and constituting a lower arm; a first terminal connected to a second terminal of the second switching device, a second terminal A fifth switching element connected to the negative side of the DC power supply and forming a lower arm;
A first terminal connected to the second terminal of the third switching element, a second terminal connected to the negative side of the DC power supply, and a sixth switching element forming a lower arm; the first, second, and second switching elements; Six rectifiers which are reversely connected between the first terminal and the second terminal of each of the third, fourth, fifth and sixth switching elements; and A first drive circuit for energizing the first switching element based on two terminals; a second driving circuit for energizing the second switching element based on the second terminal of the second switching element; A drive circuit; a third drive circuit for energizing the third switching element with reference to the second terminal of the third switching element; and a third drive circuit with reference to the second terminal of the fourth switching element. 4th
A fourth drive circuit for energizing the switching element; a fifth drive circuit for energizing the fifth switching element based on the second terminal of the fifth switching element; and the sixth switching element. A sixth drive circuit for energizing the sixth switching element based on the second terminal of the first switching element; and one end of the sixth driving circuit of the first switching element.
A first capacitor connected to a terminal and supplying a voltage from the other end to the first drive circuit; one end connected to the second terminal of the second switching element and the other end connected to the second drive circuit; A second capacitor for supplying a voltage to the circuit; one end connected to the second terminal of the third switching element, and a third capacitor for supplying a voltage to the third drive circuit from the other end; A drive circuit power supply connected to the negative side of the DC power supply and having a voltage supply terminal connected to each of the fourth, fifth, and sixth drive circuits; and a cathode connected to a voltage supply terminal of the first capacitor. A first diode having an anode connected to the voltage supply terminal of the drive circuit power supply;
A cathode connected to the voltage supply terminal of the second capacitor, an anode connected to the voltage supply terminal of the drive circuit power supply; a cathode connected to the voltage supply terminal of the third capacitor; A third diode whose side is connected to the voltage supply terminal of the drive circuit power supply;
A connection point between the switching element and the fourth switching element, a connection point between the second and fifth switching elements and the fifth switching element, a connection point between the third switching element and the sixth switching element, and And a dynamic brake circuit interposed between the negative side.

And the dynamic brake circuit.
Is the number of three wires connected to each of the three connection points.
A relay between at least one line and the negative side of the DC power supply.
Switches between connection and disconnection via a resistor
To switch between short-circuiting or disconnecting directly
Constitute.

Another motor control device of the present invention has the following configuration. That is, each of the first terminals is connected to the positive side of the DC power supply, and the first switching element, the second switching element, and the third switching element constituting the upper arm; and the first terminal is the second switching element of the first switching element. A fourth switching element connected to a terminal, a second terminal connected to the negative side of the DC power supply, and constituting a lower arm;
A fifth terminal connected to a second terminal of the second switching device, a second terminal connected to the negative side of the DC power supply, and a lower arm; a first terminal of the third switching device; A sixth switching element connected to a second terminal, the second terminal connected to the negative side of the DC power supply, and constituting a lower arm; the first, second, third, fourth, fifth and sixth switching elements; Six rectifying elements, each of which is reversely connected between each of the first terminal and the second terminal of the switching element; and the first switching based on the second terminal of the first switching element. A first drive circuit for energizing the element; a second drive circuit for energizing the second switching element with reference to the second terminal of the second switching element; Based on the second terminal A third drive circuit for energizing the third switching element; a fourth drive circuit for energizing the fourth switching element based on the second terminal of the fourth switching element; A fifth drive circuit for energizing the fifth switching element based on the second terminal of the fifth switching element; and the sixth switching element based on the second terminal of the sixth switching element. A sixth drive circuit for energizing the first switching element; one end connected to the second terminal of the first switching element, and a first capacitor for supplying a voltage from the other end to the first drive circuit; A second capacitor connected to the second terminal of the second switching element and supplying a voltage from the other end to the second drive circuit; one end is connected to the second terminal of the third switching element; A third capacitor for supplying a voltage from the other end to the third drive circuit; one end connected to the negative side of the DC power supply, and a voltage supply terminal connected to the fourth, fifth, and sixth drive circuits. A power supply for a driving circuit connected to each of the circuits; a first power supply having a cathode connected to a voltage supply terminal of the first capacitor and an anode connected to a positive side of the DC power supply;
A second diode having a cathode connected to the voltage supply terminal of the second capacitor and an anode connected to the positive side of the DC power supply; a cathode connected to the voltage supply terminal of the third capacitor, and an anode connected to the third capacitor. A third diode connected to the positive side of the DC power supply; a first resistor connected in series to the first diode; a second resistor connected in series to the second diode; A third resistor connected in series; a connection point between the first switching element and the fourth switching element, a connection point between the second and fifth switching elements and the fifth switching element, and a connection point between the third switching element and the fifth switching element. 6 includes a dynamic brake circuit interposed between a connection point with the switching element and the negative side of the DC power supply.

The dynamic brake circuit
Is the number of three wires connected to each of the three connection points.
A relay between at least one line and the negative side of the DC power supply.
Switches between connection and disconnection via a resistor
To switch between short-circuiting or disconnecting directly
Constitute.

The dynamic brake circuit has a first
A connection point between the switching element and the fourth switching element,
3 connected to the three connection points of the second and fifth switching elements and the connection point of the third switching element and the sixth switching element, respectively.
A relay connects or disconnects between one or two of the wires and the negative side of the DC power supply via a resistor, or switches between a direct short circuit and a disconnection. You may comprise.

With the above configuration, the die is used as an emergency stop device.
Form a natural brake circuit to ensure safe and normal operation
It is possible to provide a motor control device capable of ensuring the rolling state.

[0019]

[Action] The relay in the dynamic brake circuit
Connect a resistor between the output line of the inverter circuit and the negative side of the DC power supply.
When switching to short-circuit through the resistor or directly,
Of the first capacitor, the second capacitor and the third capacitor
One terminal is connected to the negative side of the DC power supply
Or directly connected. As a result, the electric motor
In the control device, each capacitor is
The first diode, the second diode and the third diode
Respectively charged. Also, another electric motor of the present invention
In the control device, is each capacitor connected to the positive side of the DC power supply?
From the series circuit of the first resistor and the first diode,
A second diode series circuit, a third resistor and a third diode,
Each is charged through the series circuit of the card. Like this
As a result, the voltage between both ends of each capacitor is secured, and the first switch
Element, second switching element and third switching
A first drive circuit for energizing the element, a second drive circuit, and
The third drive circuit can be operated.

[0020]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
Will be explained.

(First Embodiment) Referring to FIG. 1, a motor control according to a first embodiment of the present invention will be described.
The control device will be described. In FIG. 1, a DC power supply 10
The switching element 1 and the switch between the positive side and the negative side of
The switching element 4 and the switching element 2 are connected in series.
The switching element 5 is connected in series.
And the switching element 6 are connected in series.
You. Each of these three sets of six switching elements, for example,
Is it an insulated gate bipolar transistor (IGBT)?
Become. Here, in the case of the present embodiment,
The first terminal of the switching element is the collector and the second terminal is the emitter.
Hit. Rectifier element between the collector and emitter
Children 11, 12, 13, 14, 15, and 16
The rectifier is connected in reverse. That is, each rectifier element
The cathode is the collector of each switching element (high potential side)
In addition, the anode of each rectifier element is
(Low potential side).

The gate of each switching element is
These emitters are Drive the switching element
Driving circuits 21, 22, 23, 24, 25 and
And 26 are connected. The above six switching elements
Inverter with 6 rectifiers and 6 drive circuits
The circuit is configured. Here, switching element 1,
2 and 3 constitute the upper arm of the inverter circuit, and
Ching elements 4, 5 and 6 connect the lower arm of the inverter circuit.
Constitute.

A drive whose one end is connected to the negative side of the DC power supply 10
The voltage supply terminal of the power supply 40 for the driving circuit
5 and 26. On the other hand, the upper arm switch
The emitters of the switching elements 1, 2 and 3 are
Capacitor 31, capacitor 32 and capacitor 33
One end of each is connected. Other than those capacitors
The ends are connected to drive circuits 21, 22, and 23, respectively.
ing. That is, the capacitors 31, 32 and 33 are
The voltages at both ends are respectively applied to the drive circuits 21, 22 and 23.
In addition, it serves to supply voltage.

The capacitors 31, 32 and
The diode 5 is used to charge the capacitor 33 with electric charge.
1, the diodes 52 and 53 are connected as follows.
Has been continued. That is, the cathode of the diode 51
Is connected to the voltage supply terminal of the capacitor 31,
Is connected to the voltage supply terminal of the drive circuit power supply 40.
You. The cathode of the diode 52 is
Connected to the power supply terminal, and the anode is
It is connected to 40 voltage supply terminals. Also, Daio
Is connected to the voltage supply terminal of the capacitor 33.
And the anode is connected to the voltage supply of the drive circuit power supply 40.
Connected to the supply terminal. The drive circuit power supplies 40 and 3
Charge pump with three capacitors and three diodes
Is configured.

In the first embodiment configured as described above,
The operation of the charge pump circuit will now be described. Lower arm
The switching elements 4, 5 and 6 of the
Drive circuits 24, 25 and 26 to which a voltage is applied by 0
(On / off drive) based on the control signal from
You. When the switching element 4 is turned on, K
The potential drops to near the negative potential of the DC power supply 10. That
As a result, the diode is connected from the voltage supply terminal of the drive circuit power supply 40.
Through the capacitor 51, the capacitor 31 is charged with electric charge.
Similarly, when the switching element 5 is turned on,
The collector potential drops to near the negative potential of the DC power supply 10.
As a result, the voltage is supplied from the voltage supply terminal of the drive circuit power supply 40 to the die.
The charge is charged in the capacitor 32 through the anode 52.
You. Similarly, when the switching element 6 is turned on,
The collector potential of the DC power supply drops to near the negative potential of the DC power supply 10.
You. As a result, from the voltage supply terminal of the drive circuit power supply 40
Charge is charged in the capacitor 33 via the diode 53
Is done.

In this way, the capacitors 31, 32 and
33, a voltage is generated between both terminals and the upper arm
As a drive power source for the switching elements 1, 2 and 3
Perform the function. Switching elements 1, 2 and 3 are
Driving to which voltage is applied by the capacitors 31, 32 and 33
Based on control signals from circuits 21, 22 and 23
(On / off driving). Charge pump up to above
The description of the circuit operation is basically the same as that of the conventional example.
You.

Now, in the first embodiment of the present invention,
The configuration of the dynamic brake circuit is different from the conventional example.
Referring to FIG. 1, a dynamic brake according to the present embodiment will be described.
The configuration and operation of the circuit 60 will be described.

In FIG. 1, the output side of the inverter circuit is
One of the three terminals of the relay 66 is connected to the connected three wires.
Have been. The other three terminals of the relay 66 are
Connected to one terminal of a resistor 61, a resistor 62 and a resistor 63.
ing. The other of the resistors 61, 62 and 63
Are connected to each other. This point of connection is
Below, it is called the neutral point. In this embodiment, the neutral point
Are connected to the negative side of the DC power supply 10.

The relay 66 is connected to the three wires and the DC power source 1.
0, the resistance 61, the resistance 62, and the resistance 6
Switch between short circuit or disconnect via 3 or
the above Direct short circuit without passing through resistance 61, resistance 62 and resistance 63
It is configured to switch between cutting and cutting.
Here, “directly without the intervention of the resistors 61, 62 and 63”
"Short-circuit" is equivalent to the case where those resistance values are 0.
You. A die composed of the relay 66 and three resistors
The dynamic brake circuit 60 is connected to the output side of the inverter circuit.
Used for emergency stop of a motor connected to three wires. What
Note that the output side of the inverter circuit and the motor
A current detector is inserted to detect the current flowing through the motor
However, similar to the drawing showing the conventional example,
Since it has nothing to do with the main points of the explanation, it has been omitted from the description.

Now, here, the inverter circuit is operating.
Think about when not. That is, the inverter circuit
Indicates the voltage supplied from the DC power supply 10
Of each switching element (on / off drive)
If not, the relay 66 is turned on and the relay 66 is turned on.
Between the three output lines of the barter circuit and the negative side of the DC power supply 10
Are connected to the resistors 61, 62 and 63 (resistors as described above).
The resistance value may be 0. To make a short circuit via
deep. As a result, when the inverter circuit is not operating,
The capacitors 31, 32 and 33 in advance
You can keep. And each switching element
Each corresponding drive circuit is turned on and off to energize
By inputting a signal to the gate of each switching element,
The inverter circuit starts operating.
The relay 66 is turned off immediately before the operation of the inverter circuit starts.
Off state, the three lines on the output side of the inverter circuit and the DC power supply 1
Electrical disconnection is made between the negative side of 0. As a result, the die
The dynamic brake circuit 60 is released.

Then, the normal operation state, that is,
During the operation of the inverter circuit, the operation
The capacitors 31, 32 and 33 are connected to the lower arm switch.
For driving circuit every time switching elements 4, 5 and 6 are turned on
Charging is repeated from the power supply 40, and both terminals of each capacitor
A predetermined voltage is secured between them. Thereby, the upper arm
Switching elements 1, 2 and 3 operate normally. under
The switching elements 4, 5 and 6 of the arm
Drive circuits 24, 25 and 26 are always for drive circuits Power supply 40
It works normally because it receives voltage supply from
Not even.

In the dynamic brake circuit,
And the relay has two of the three outputs of the inverter circuit.
Or if only one cable is connected,
And the contact with the relay is two or one circuit
Similarly, the dynamic brake circuit is established. Ma
In addition, the charge pump circuit
Since the motor to be driven is connected to the output,
When the power is on, the three output lines are
Connected to the negative side of the DC power supply to charge each capacitor
Can be.

(Second embodiment) Next, referring to FIG. 2, an electric motor according to a second embodiment of the present invention will be described.
The machine driving device will be described. In the second embodiment,
What differs from the first embodiment is the connection specification of three diodes.
Is better. Other configurations are the same as those of the first embodiment.
You.

In FIG. 2, a capacitor 71 and a capacitor
To charge the capacitor 72 and the capacitor 73,
The diode 81, the diode 82 and the diode 83
Connected. That is, the power of the diode 81
The sword is connected to the voltage supply terminal of the capacitor 71,
Anode is connected to the positive side of DC power supply 10 via resistor 91
Have been. The cathode of the diode 82 is a capacitor
72 is connected to the voltage supply terminal of
It is connected to the positive side of the DC power supply 10 via the power supply. Also,
The cathode of the diode 83 supplies the voltage of the capacitor 73.
Terminal, and the anode is connected to a DC power
10 is connected to the positive side. The above three capacitors,
Charge pump circuit with three diodes and three resistors
The road is configured.

As in the first embodiment, the dynamic
The neutral point of the three resistors forming the rake circuit 60 is DC
The power supply 10 is connected to the negative side. In the second embodiment,
Therefore, even if the inverter circuit is not operating,
The race 66 is turned on. And the capacitor 7
1, the capacitor 72 and the capacitor 73
It can be charged from zero. Open the inverter circuit
Just before starting, the relay 66 is turned off and the inverter
An electric connection is established between the three output lines of the circuit and the negative side of the DC power supply 10.
Cut. As a result, the dynamic brake circuit 6
0 is released. During the operation of the inverter circuit,
The corresponding lower arm switching elements 4, 5 and 6 are off.
When the power is turned on, the electric charge is charged from the DC power supply 10. Book
In the second embodiment, the same effect as in the first embodiment is obtained.
Can be expected.

[0036]

As is apparent from the above embodiment,
Electric with dipump circuit and dynamic brake circuit
In the machine control device, the
The voltage of each capacitor of the dipump can be secured in advance, immediately after driving
When a large current is required, such as when the motor load increases.
Even if this happens, a normal operating state can be ensured. In addition,
Addition to operate charge pump before driving motive
The circuit has a minimal configuration.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram of a motor control device according to a first embodiment of the present invention.

FIG. 2 is a circuit configuration diagram of a motor control device according to a second embodiment of the present invention.

FIG. 3 is a circuit diagram of a motor driving device according to a first conventional example.
Drawing

FIG. 4 is a circuit diagram of a motor driving device according to a second conventional example.
Drawing

[Description of Signs] 1 First switching element 2 Second switching element 3 Third switching element 4 Fourth switching element 5 Fifth switching element 6 Sixth switching element 10 DC power supply 11, 12, 13, 14, 15, 16 Rectification Diode 21 First drive circuit 22 Second drive circuit 23 Third drive circuit 24 Fourth drive circuit 25 Fifth drive circuit 26 Sixth drive circuit 31, 71 First capacitor 32, 72 Second capacitor 33, 73 Third capacitor 40 Drive circuit power supply 51, 81 First diode 52, 82 Second diode 53, 83 Third diode 60 Dynamic brake circuit 61, 62, 63 Resistance 91 First resistance 92 Second resistance 93 Third resistance

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Yoshiko Nakagawa 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Minoru Matsushima 1006 Kadoma Kadoma Kadoma, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshifumi Funabashi 1006 Kazuma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Sachio Ueno 1006, Oji Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (56) Reference Document JP-A-5-35966 (JP, A)

Claims (3)

(57) [Claims] A first switching element having a first terminal connected to the positive side of the DC power supply and forming an upper arm;
A second switching element and a third switching element; a first terminal connected to the second terminal of the first switching element, a second terminal connected to the negative side of the DC power supply, and a fourth switching constituting a lower arm A first terminal connected to the second terminal of the second switching element, a second terminal connected to the negative side of the DC power supply, and a fifth switching element forming a lower arm; A sixth switching element connected to a second terminal of the third switching element, a second terminal connected to the negative side of the DC power supply, and forming a lower arm; the first, second, third, fourth, Six rectifiers, which are respectively reversely connected between the first terminal and the second terminal of the fifth and sixth switching elements; based on the second terminal of the first switching element; , The first A first drive circuit for energizing the switching element; a second drive circuit for energizing the second switching element based on the second terminal of the second switching element; and the third switching element. A third drive circuit for energizing the third switching element with reference to the second terminal of; and energizing the fourth switching element with reference to the second terminal of the fourth switching element. A fourth drive circuit for energizing the fifth switching element with reference to the second terminal of the fifth switching element; and a second drive circuit for energizing the fifth switching element with reference to the second terminal of the sixth switching element. A sixth driving circuit for energizing the sixth switching element; one end connected to the second terminal of the first switching element, and a voltage applied to the first driving circuit from the other end. A first capacitor for supplying; a second capacitor having one end connected to the second terminal of the second switching element and for supplying a voltage from the other end to the second drive circuit; one end of the third switching element; A third capacitor connected to the second terminal and supplying a voltage from the other end to the third drive circuit; one end connected to the negative side of the DC power supply, and a voltage supply terminal connected to the fourth terminal. A drive circuit power supply connected to each of the fifth and sixth drive circuits; a cathode side connected to a voltage supply terminal of the first capacitor, and an anode side connected to the voltage supply terminal of the drive circuit power supply. A first diode; a cathode side connected to the voltage supply terminal of the second capacitor, and an anode side connected to the voltage supply terminal of the drive circuit power supply. A second diode connected to the cathode; a third diode having a cathode connected to a voltage supply terminal of the third capacitor, and an anode connected to the voltage supply terminal of the power supply for the drive circuit; A connection point between the fourth switching element, a connection point between the second and fifth switching elements and the fifth switching element, a connection point between the third switching element and the sixth switching element, and a negative side of the DC power supply. A dynamic brake circuit interposed therebetween; wherein the dynamic brake circuit relays between at least one of the three wires connected to the three connection points and the negative side of the DC power supply by a relay. , Configured to switch between connecting and disconnecting via a resistor, or to directly switch between shorting and disconnecting. Motor control device. 2. A first switching element, wherein each first terminal is connected to a positive side of a DC power supply and forms an upper arm;
A second switching element and a third switching element; a first terminal connected to the second terminal of the first switching element, a second terminal connected to the negative side of the DC power supply, and a fourth switching constituting a lower arm A first terminal connected to the second terminal of the second switching element, a second terminal connected to the negative side of the DC power supply, and a fifth switching element forming a lower arm; A sixth switching element connected to a second terminal of the third switching element, a second terminal connected to the negative side of the DC power supply, and forming a lower arm; the first, second, third, fourth, Six rectifiers, which are respectively reversely connected between the first terminal and the second terminal of the fifth and sixth switching elements; based on the second terminal of the first switching element; , The first A first drive circuit for energizing the switching element; a second drive circuit for energizing the second switching element based on the second terminal of the second switching element; and the third switching element. A third drive circuit for energizing the third switching element with reference to the second terminal of; and energizing the fourth switching element with reference to the second terminal of the fourth switching element. A fourth drive circuit for energizing the fifth switching element with reference to the second terminal of the fifth switching element; and a second drive circuit for energizing the fifth switching element with reference to the second terminal of the sixth switching element. A sixth driving circuit for energizing the sixth switching element; one end connected to the second terminal of the first switching element, and a voltage applied to the first driving circuit from the other end. A first capacitor for supplying; a second capacitor having one end connected to the second terminal of the second switching element and for supplying a voltage from the other end to the second drive circuit; one end of the third switching element; A third capacitor connected to the second terminal and supplying a voltage from the other end to the third drive circuit; one end connected to the negative side of the DC power supply, and a voltage supply terminal connected to the fourth terminal. A drive circuit power supply connected to each of the fifth and sixth drive circuits; a first diode having a cathode connected to a voltage supply terminal of the first capacitor, and an anode connected to a positive side of the DC power supply; A second diode having a cathode connected to a voltage supply terminal of the second capacitor and an anode connected to the positive side of the DC power supply; and a cathode connected to the third diode. A third diode connected to a voltage supply terminal of the capacitor and having an anode connected to the positive side of the DC power supply; a first resistor connected in series to the first diode; and a series connected to the second diode. A third resistor connected in series to the third diode; a connection point between the first switching element and the fourth switching element, and a connection point between the second and fifth switching elements and the fifth switching element. A dynamic brake circuit interposed between a connection point and a connection point of the third switching element and the sixth switching element, and a negative side of the DC power supply; A relay connects or disconnects between at least one of the three wires connected to each of the points and the negative side of the DC power supply via a resistor. An electric motor control device configured to switch whether to perform short-circuiting or to directly switch between short-circuiting and disconnection. 3. A dynamic brake circuit comprising: a connection point between a first switching element and a fourth switching element;
One or two of three lines respectively connected to three connection points of a connection point between the first switching element and the fifth switching element, and a connection point between the third switching element and the sixth switching element; Between the negative side of the DC power supply,
The motor control device according to claim 1 or 2 , wherein the relay is configured to switch between connection and disconnection via a resistor, or to switch between direct short-circuit and disconnection.