JP4945473B2 - Motor controller for electric oil pump - Google Patents

Description

  The present invention relates to a motor control device for an electric oil pump, and more particularly to a motor control device for an electric oil pump which is suitable when a brushless motor is used for driving an electric oil pump provided in an oil pump circuit.

  Hybrid vehicles that are driven by gasoline engines and electric motors have been developed to improve fuel economy and environmental issues. The hybrid vehicle performs so-called idle stop control for stopping the engine when the vehicle is stopped. For this reason, an electric oil pump system driven by a motor is employed in order to ensure an oil pressure for driving an actuator such as an oil lubrication system for a transmission and a clutch for operating the transmission during idle stop.

  The operating oil of an electric oil pump type oil pump driven by a motor changes in viscosity depending on temperature, so that the flow rate changes and the oil pressure also changes. For this purpose, for example, it is known to change the operating voltage of an oil pump drive motor for the purpose of changing the flow rate of hydraulic oil depending on the oil temperature (see, for example, Patent Document 1).

JP 2002-206630 A

  However, as described in Patent Document 1, when the relationship between the operating voltage of the oil pump driving motor and the oil temperature is changed to a one-to-one relationship according to the oil temperature, for example, the motor driving power supply voltage changes. When the brushless motor is operated by speed control or torque control, the oil temperature and the motor operating voltage may not always have a one-to-one relationship. It cannot be suppressed.

  When the oil pump is driven by an electric motor, there are basically a torque control system for controlling the motor torque and a rotational speed control system for controlling the rotational speed of the motor.

  In this case, for example, in the case of torque control, constant control is performed with the motor torque necessary for driving the oil pump, but the so-called blowing phenomenon in which the pump rotates at a rotational speed higher than necessary for the pump due to the balance with the load. May occur. In addition, vibration or abnormal noise may occur from the hydraulic pump or the motor.

  In the case of rotational speed control, constant control is performed at the motor rotational speed necessary for driving the oil pump. However, if the pump operates at a motor torque more than necessary due to the balance with the load, the motor and control are controlled. The thermal tolerance of the device may be exceeded.

  The object of the present invention is to use a brushless motor for driving an electric oil pump. When speed control or torque control is used for motor control, even if the oil temperature changes, the motor oil pump needs An object of the present invention is to provide a motor control device for an electric oil pump that can be controlled to have a rotational speed and torque.

(1) In order to achieve the above object, the present invention includes a pump hydraulic circuit having an electric oil pump, a brushless motor that drives the electric oil pump, and a temperature sensor that detects an oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump used in a hydraulic pump system having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside, wherein the control command generation The means controls the motor torque of the brushless motor and limits the motor rotation speed of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, or , The motor rotation speed command value as the control command, and the temperature sensor. On the basis of the oil temperature information, it controls the motor rotation speed of the brushless motor, which limits the motor torque of the brushless motor, the motor control device, said control command generation means, the brushless motor Current detection means for detecting the current of the motor, position / speed detection calculation means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor, and the current detected by the current detection means is fed back to control the current. Current control means, brushless control means for performing vector calculation by inputting the output signal Iq ** of the current control means, the rotational speed ω1 * of the position / speed detection calculation means and the d-axis current command value Id of the brushless motor And PWM INV (PWM inverter) means controlled by the output of the brushless control means, The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor, and controls the brushless motor directly connected to the electric oil pump by the PWM INV means. The control command generation means inputs a torque command value τc as the control command, and inputs an oil temperature signal T of the electric oil pump to generate a torque command value τm. Means, constant conversion means for converting the torque command value τm into a current command value Iq1, temperature-rotation speed command conversion means for inputting the oil temperature signal T of the electric oil pump and generating a rotation speed command value ω1 , A speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *, and an output of the speed deviation means A speed control means for a current instruction value Iq2 output of said speed control means, the sum of the said current command value Iq1, as and a current instruction adding means for generating a q-axis current command value Iq * of the brushless motor It is a thing.
With this configuration, when a brushless motor is used for driving an electric oil pump, even if the oil temperature changes when speed control or torque control is used for motor control, the rotational speed of the motor required by the electric oil pump is required. And can be controlled to be torque.

( 2 ) In order to achieve the above object, the present invention includes a pump hydraulic circuit having an electric oil pump, a brushless motor that drives the electric oil pump, and a temperature sensor that detects an oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump used in a hydraulic pump system having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside, wherein the control command generation The means controls the motor torque of the brushless motor and limits the motor rotation speed of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, or , A motor rotation speed command value as the control command, and the temperature sensor Based on the output oil temperature information, the motor rotation speed of the brushless motor is controlled and the motor torque of the brushless motor is limited. The motor control device includes the control command generating means, the brushless motor Current detection means for detecting the current of the motor, position / speed detection calculation means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor, and the current detected by the current detection means are fed back to control the current Current control means, and an output signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and a brushless control for performing vector calculation Means, and PWM INV (PWM inverter) means controlled by the output of the brushless control means, The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor, and controls the brushless motor directly connected to the electric oil pump by the PWM INV means. In addition to driving, the control command generating means inputs a rotational speed command value ωc as the control command, and also inputs an oil temperature signal T of the electric oil pump to generate a rotational speed command value ω1 − Rotational speed command value generating means, temperature-current command limit value converting means for inputting the oil temperature signal T of the electric oil pump and generating the current command limit value Iq4, the rotational speed command value ω1 and the actual motor rotational speed speed deviation means for calculating a speed deviation from ω1 *, speed control means for inputting the speed deviation and outputting a current command value Iq1, and the current indicator Constant conversion means for converting the value Iq1 into a constant value and outputting a current command value Iq3; and input of the current command value Iq3, and a final current command value based on a current command limit value Iq4 generated by the temperature-current command limit value conversion means. Current limiting means for generating Iq *.

( 3 ) In order to achieve the above object, the present invention includes a pump hydraulic circuit having an electric oil pump, a brushless motor that drives the electric oil pump, and a temperature sensor that detects an oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump used in a hydraulic pump system having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside, wherein the control command generation The means controls the motor torque of the brushless motor and limits the motor rotation speed of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, or , A motor rotation speed command value as the control command, and the temperature sensor Based on the output oil temperature information, the motor rotation speed of the brushless motor is controlled and the motor torque of the brushless motor is limited. The motor control device includes the control command generating means, the brushless motor Current detection means for detecting the current of the motor, position / speed detection calculation means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor, and the current detected by the current detection means are fed back to control the current Current control means, and an output signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and a brushless control for performing vector calculation Means, and PWM INV (PWM inverter) means controlled by the output of the brushless control means, The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor, and controls the brushless motor directly connected to the electric oil pump by the PWM INV means. The control command generation means drives the temperature-torque command conversion means for generating a torque command value τm by inputting the oil temperature signal T of the electric oil pump as the control command, and the torque command value τm as a current. Constant conversion means for converting to the command value Iq1, temperature-rotation speed command conversion means for inputting the oil temperature signal T of the electric oil pump and generating the rotation speed command value ω1, the rotation speed command value ω1 and the motor actual value A speed deviation means for calculating a speed deviation from the rotational speed ω1 *, a speed control means for receiving an output of the speed deviation means, and the speed A current command value Iq2 the output control means, the sum of the said current command value Iq1, is obtained so as to include a current command adder means for generating a q-axis current command value Iq * of the brushless motor.

( 4 ) In order to achieve the above object, the present invention includes a pump hydraulic circuit having an electric oil pump, a brushless motor that drives the electric oil pump, and a temperature sensor that detects an oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump used in a hydraulic pump system having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside, wherein the control command generation The means controls the motor torque of the brushless motor and limits the motor rotation speed of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, or , A motor rotation speed command value as the control command, and the temperature sensor Based on the output oil temperature information, the motor rotation speed of the brushless motor is controlled and the motor torque of the brushless motor is limited. The motor control device includes the control command generating means, the brushless motor Current detection means for detecting the current of the motor, position / speed detection calculation means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor, and the current detected by the current detection means are fed back to control the current Current control means, and an output signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and a brushless control for performing vector calculation Means, and PWM INV (PWM inverter) means controlled by the output of the brushless control means, The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor, and controls the brushless motor directly connected to the electric oil pump by the PWM INV means. The control command generating means inputs a temperature-rotational speed command value generating means for inputting the oil temperature signal T of the electric oil pump as the control command and generates a rotational speed command value ω1, and the electric oil A temperature-current command limit value converting means for inputting the oil temperature signal T of the pump and generating a current command limit value Iq4, and a speed deviation for calculating a speed deviation between the rotation speed command value ω1 and the actual motor rotation speed ω1 *. Means, a speed control means for inputting the speed deviation and outputting a current command value Iq1, a constant conversion of the current command value Iq1, and a current command value constant converting means for outputting q3 and current limiting means for inputting the current command value Iq3 and generating a final current command value Iq * by a current command limit value Iq4 generated by the temperature-current command limit value converting means. It is intended to provide.

( 5 ) In order to achieve the above object, the present invention provides a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting the oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump having a control command generating means for outputting a q-axis current command to the brushless motor based on a control command from the outside. The command generation means generates the control command values of the optimum motor torque and motor rotation speed obtained by obtaining the relationship between the oil temperature and torque at which the hydraulic pump is optimally operated and the relationship between the oil temperature and motor rotation speed in advance. The motor torque of the brushless motor is incorporated based on a motor torque command value that is a control command from the outside. With Gosuru, on the basis of the motor torque command value and controls the control command generation means inside the optimum motor speed so as, or, based on the motor rotational speed command value is a control command from the outside, the brushless The motor rotation speed of the motor is controlled, and the brushless motor torque is controlled to be optimal inside the control command generation means based on the motor rotation speed command value. The control generation means Torque command value τc is inputted as a command, constant conversion means for converting the command value τc into a current command value Iq1, and the torque command value τc is inputted to generate a rotational speed command value ω1. Command value converting means, speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the motor actual rotational speed ω1 *, and the speed deviation means Current control value for inputting the output of the motor, current command value Iq2 of the output of the speed deviation means, and current command value Iq1 are added, and current command addition for generating the q-axis current command value Iq * of the brushless motor Means .
With this configuration, when a brushless motor is used for driving an electric oil pump, even if the oil temperature changes when speed control or torque control is used for motor control, the rotational speed of the motor required by the electric oil pump is required. And can be controlled to be torque.

( 6 ) In order to achieve the above object, the present invention provides a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting the oil temperature of the pump hydraulic circuit. A brushless motor control device for an electric oil pump having a control command generating means for outputting a q-axis current command to the brushless motor based on a control command from the outside. The command generation means generates the control command values of the optimum motor torque and motor rotation speed obtained by obtaining the relationship between the oil temperature and torque at which the hydraulic pump is optimally operated and the relationship between the oil temperature and motor rotation speed in advance. The motor torque of the brushless motor is incorporated based on a motor torque command value that is a control command from the outside. And controlling the motor rotational speed command value to be an optimum motor rotational speed inside the control command generating means based on the motor torque command value, and based on the motor rotational speed command value being a control command from the outside. The motor rotation speed of the motor is controlled, and the brushless motor torque is controlled to be optimal inside the control command generation means based on the motor rotation speed command value. The control generation means Constant conversion means for inputting a rotational speed command value ωc as a command and outputting the rotational speed command value ω1, and rotational speed command value-torque command value converting means for inputting the rotational speed command value ωc and generating a torque command τ A torque command value-current command limit value converting means for generating a current command limit value Iq4 from the torque command value τ, and the rotational speed command value ω The speed deviation means for calculating the speed deviation between 1 and the actual motor speed ω1 *, the speed control means for inputting the speed deviation and outputting the current command value Iq1, the constant conversion of the current command value Iq1, and the current Constant conversion means for outputting the command value Iq3 and the current command value Iq3 are inputted, and the final current command value Iq * is generated by the current command limit value Iq4 generated by the torque command value τ-current command limit value Iq4 conversion means. Current limiting means.

  According to the present invention, when a brushless motor is used for driving an electric oil pump, even when the oil temperature changes when the speed control or the torque control is used for the motor control, the motor oil pump needs. It can be controlled so as to have a rotational speed and torque.

Hereinafter, the configuration of the motor control device for the electric oil pump according to the first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of an AT hydraulic pump system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 1 is a block diagram showing a configuration of an AT hydraulic pump system to which a motor control device for an electric oil pump according to a first embodiment of the present invention is applied.

  As an oil pump for supplying the oil of the oil pan 10 to the mission 7 and the actuator 8, a mechanical oil pump 6 and an electric oil pump 1 are provided. The mechanical oil pump 6 is driven by the output of the engine. Therefore, the mechanical oil pump 6 is used when the normal engine is rotating. However, the electric oil pump 1 is used because the mechanical oil pump 6 cannot be driven at an idle stop when the engine is stopped.

  The electric oil pump 1 that operates during idle stop is driven by a brushless motor 2 that is directly connected. The brushless motor 2 is controlled by a motor control means (MCU) 3 based on a command from a host AT control unit (ATCU) 4. The MCU 3 controls the brushless motor 2 to drive the oil pump 1, and causes the oil in the electric oil pipe 5 to flow in the direction of the arrow FP2.

  On the other hand, during normal operation of the vehicle, that is, while the engine is being driven, the oil in the oil pan 10 is fed to the transmission 7 and the actuator 8 via the hydraulic pipe 9 by the mechanical oil pump 6 driven by the vehicle engine. Flowing in the direction, the mission 7 is lubricated and the actuator 8 is driven. In that case, the oil to the electric oil pump 1 is blocked by the check valve 11 and does not flow.

  When the idling stop is performed, the engine speed decreases, the mechanical pump 6 also decreases in speed, and the hydraulic pressure in the hydraulic pipe 9 also decreases. At the same time as the idling stop, the AT control device 4 issues a motor start command to the motor control means 3 to drive the brushless motor 2 to rotate the electric oil pump 1 so that the oil flowing through the electric oil pipe 5 flows in the direction of the arrow FP2. And gradually increase the hydraulic pressure. When the oil pressure of the mechanical oil pump 6 decreases and the oil pressure of the electric oil pump 1 that has been blocked by the check valve 11 exceeds a certain threshold, the oil is supplied to the electric oil pipe 5, the electric oil pump 1, and the check valve. 11, The operation | movement which circulates through the path | route of the mission 7, the actuator 8, and the oil pan 10 is performed.

  The oil used for hydraulic control has a large temperature dependency, and the viscosity becomes low at high temperatures, so that the pump 1 is operated at a high speed in order to ensure the oil pressure. On the other hand, when the temperature is low, the viscosity becomes high, and the hydraulic pressure is secured even if the rotation speed of the pump 1 is low. In this case, the oil temperature is detected by the oil temperature sensor 12, and information on the oil temperature is input to the motor control device 3.

Here, the operation characteristics when the electric oil pump is driven by the brushless motor in the AT hydraulic pump system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 2 is an operational characteristic diagram when the electric oil pump is driven by a brushless motor in the AT hydraulic pump system to which the electric oil pump motor control device according to the first embodiment of the present invention is applied.

  In FIG. 2, the horizontal axis indicates the motor rotation speed ωm, and the vertical axis indicates the motor torque τm. In the case of a pump load, the oil load varies greatly with temperature, so that the motor load varies greatly with temperature.

  Solid lines T1, T2, and T3 indicate changes due to temperature. When the solid line T1 is low temperature (high viscosity), the solid line T2 is normal temperature and the solid line T3 is high temperature (low viscosity). Therefore, for example, when the maximum output characteristic of the motor changes with temperature, the load characteristic is that when the oil is at a low temperature (high viscosity), the load balance point is a point, and as the temperature increases, b Move to point c.

  Accordingly, the operating point of the relationship between the rotational speed and the torque is N1-τ1, N2-τ2, N3-τ3.

  Dashed lines L1 and L2 indicate a case where the motor load changes. When the motor load changes from L1 to L2, the operating points (balance points with the load) are similarly a ′, b ′ and c ′. And move.

Next, the output characteristics of the brushless motor controlled by the motor controller for the electric oil pump according to the present embodiment will be described with reference to FIG.
FIG. 3 is an output characteristic diagram of the brushless motor controlled by the motor control device for the electric oil pump according to the first embodiment of the present invention.

  In FIG. 3, the horizontal axis indicates the motor torque τm, and the vertical axis indicates the motor rotation speed ωm.

  In FIG. 3, the required output characteristic is a characteristic connecting a, b, and c. However, when operated by torque control and speed control, the following operation is performed.

  In the case of constant motor torque control, the operating point moves to the points where the required output characteristic is point a → a ′, point b → b ′, and point c → c ′. In the case of constant motor rotation speed control, point a moves to point ⇒a "and point b moves to point ⇒b".

  In other words, the motor rotation speed in the case of torque control may exceed the required rotation speed (ω1 to ω3) points a, b, and c and reach high speeds a ′, b ′, and c ′.

  On the other hand, the motor torque in the case of speed control becomes a ", b" point, etc. of the required torque (τ1-τ3) points a, b, c, etc., and is output up to the motor maximum output exceeding the output required for the load. Therefore, the shaded portion shown in FIG.

Next, the basic configuration of the electric oil pump drive system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 4 is a block diagram showing a basic configuration of an electric oil pump drive system to which the electric oil pump motor control device according to the first embodiment of the present invention is applied. The same reference numerals as those in FIG. 1 indicate the same parts.

  A torque command or a rotational speed command is input to the motor control means 3 as a control command. Further, the oil temperature information detected by the oil temperature sensor 12 is input to the motor control means 3.

  An example of operation when the torque control method is applied to the electric oil pump drive will be described. For example, a torque command is given to the motor control means 3 as a control command from the host AT control device, while an oil temperature temperature sensor is installed in the hydraulic pipe section or the electric oil pump section for the oil temperature flowing through the electric oil pump 1. 12 and the signal is input to the motor control means 3. The motor control means 3 performs arithmetic control so that the necessary motor torque is obtained in accordance with the input torque command and the oil temperature, and arithmetic control is performed so that the motor rotational speed does not become overspec. The motor control means 3 outputs a motor driving force to the brushless motor 2 and drives the electric oil pump 1 directly connected to the motor 2 to circulate the oil in the electric oil pipe 5.

  In the case of the speed control method, a rotational speed command is given to the motor control means 3 as a control command from the host AT control device, while the oil temperature of the oil flowing through the electric oil pump 1 is changed to a hydraulic piping unit or an electric oil pump unit Is detected by the oil temperature sensor 12 installed in the motor, and a signal is input to the motor control means 3. The motor control means 3 controls and controls the motor torque so as not to become an over-spec, while controlling and controlling the motor rotational speed to be the optimum motor speed according to the input rotational speed command and the oil temperature. The motor control means 3 outputs a motor driving force to the brushless motor 2 and drives the electric oil pump 1 directly connected to the motor 2 to circulate the oil in the electric oil pipe 5.

Next, the control contents for preventing overspec in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIGS.
FIG. 5 is an explanatory diagram of control contents for preventing overspec of motor torque in the motor control device for the electric oil pump according to the first embodiment of the present invention. FIG. 6 is an explanatory diagram of the control content for preventing overspec of the motor rotation speed in the motor control device for the electric oil pump according to the first embodiment of the present invention.

  Next, referring to FIG. 5 and FIG. 6, a method for preventing overspec with respect to the required load and achieving optimal control will be described.

  In the electric oil pump 1, the oil pressure changes because the oil viscosity changes depending on the oil temperature. Therefore, the required rotational speed required for the pump changes, and it is necessary to change the rotational speed of the motor that drives the pump.

Therefore, in order to operate the motor to the optimum value, the torque and rotation speed of the motor may be controlled to the optimum values required by the pump. That is, as shown in FIGS. 5 and 6, if the relationship between the oil temperature T and the motor torque τm and the relationship between the oil temperature T and the motor rotation speed ωm is controlled to be the relationship shown in the following equations (1) and (2): good.

Motor torque τm = −a1 · X + b1 (1)
Motor rotation speed ωm = + a2 · X + b2 (2)

Here, a1: Oil temperature vs. motor torque value gain (Δτm / ΔT)
a2: Oil temperature vs. motor rotation speed value gain (Δωm / ΔT)
b1: Motor torque threshold value b2: Motor rotation speed threshold value.

Next, other control contents for preventing overspec in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIGS.
FIG. 7 is an explanatory diagram of other control contents for preventing over-specification of the motor torque in the motor control device for the electric oil pump according to the first embodiment of the present invention. FIG. 8 is an explanatory diagram of other control contents for preventing overspec of the motor rotation speed in the motor control device for the electric oil pump according to the first embodiment of the present invention.

  In the example shown in FIGS. 5 and 6, the motor torque with respect to the oil temperature and the set value of the motor rotation speed with respect to the oil temperature are linearly related. However, as shown in FIGS. The speed may be in a non-linear relationship. In this case, the speed may be obtained by function calculation, or may be given as a data table map and given as a torque command for driving the motor or a rotational speed command.

Next, the detailed configuration of the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIGS. 9 to 12.
Initially, the whole structure of the motor control apparatus for electric oil pumps by this embodiment is demonstrated using FIG.
FIG. 9 is a block diagram showing the overall configuration of the motor control device for the electric oil pump according to the first embodiment of the present invention. The same reference numerals as those in FIGS. 1 and 4 indicate the same parts.

  The motor control means 3 receives the torque command value τc or the rotational speed command value ωc of the control signal from the host AT control means. Further, the oil temperature signal Tc of the pump hydraulic circuit detected by the oil temperature sensor 12 is input to the motor control means 3.

  The motor control means 3 includes control command generation means 31, current detectors 32 and 33, current detection means 34, current control means 35, position / speed detection calculation means 36, brushless control means 37, PWM INV. (PWM inverter) means 38 and a current deviation calculator 39 are provided.

  The control command generating means 31 generates a q-axis current command value Iq * of the brushless motor in accordance with the torque command value τc or the rotation speed command value ωc and the oil temperature signal Tc. Details of the control command generation means 31 will be described later with reference to FIGS.

  The detailed configuration when the torque command value τc is input to the control command generating means 31 is as shown in FIG. At this time, the control command generating means 31 generates the q-axis current command value Iq * of the brushless motor corresponding to the torque command value τc that is the input control input by the torque control method, and the rotational speed of the motor is overspec. The q-axis current command value Iq * of the brushless motor is limited so as not to enter the region.

  Further, the detailed configuration when the rotational speed command value ωc is input to the control command generating means 31 is as shown in FIG. At this time, the control command generating means 31 generates the q-axis current command value Iq * of the brushless motor according to the rotational speed command value ωc that is the input control input by the rotational speed control method, and the motor torque exceeds The q-axis current command value Iq * of the brushless motor is limited so as not to enter the specification area.

  The current detectors 32 and 33 detect two-phase currents Iu and Iw of the three-phase current supplied to the motor 2. The position / speed detection calculating means 36 calculates the magnetic pole position θm and the motor rotation speed ω1 * based on the brushless motor currents Iu and Iw detected by the current detectors 32 and 33. The motor rotation speed ω1 * is input to the control command generation means 31.

  The current detection unit 34 receives the signals detected by the current detectors 32 and 33, and detects the q-axis current Iqf of the brushless motor using the magnetic pole position θm.

  The current control means 35 receives and calculates the current command value Iq * output from the control command generating means 31 and the deviation value (Iq * −Iqf) obtained by the current deviation calculator 39 from the current feedback value Iqf. The second current command value Iq ** is output.

  The brushless control unit 37 includes an output signal Iq ** of the current control unit 35, a rotational speed ω1 * output by the position / speed detection calculation unit 36, and a d-axis current command value Id (for example, Id = 0) of the brushless motor. Is input, vector calculation is performed, and three-phase voltage command values Vu, Vv, and Vw are output.

  The PWM INV (PWM inverter) means 38 includes a switching element therein, converts the DC power supplied from the battery into three-phase AC power, and supplies it to the motor 2. The PWM INV (PWM inverter) means 38 turns on and off the switching element according to the three-phase voltage command values Vu, Vv, Vw from the brushless control means 37.

  The electric oil pump 1 is driven by a brushless motor 2 directly connected to the electric oil pump 1 by PWM INV38.

  In the above configuration, when a control command is generated from the host AT control device to the motor control means 3, the control command generation means 31 receives the input torque command value τc or the rotational speed command value ωc and the oil temperature of the electric oil pump. Based on the T signal and the motor rotation speed ω1 * of the feedback signal, a current command value Iq * is output by means described later so as to have the characteristics shown in FIGS.

  The brushless control means 37 receives the current command value Iq **, the d-axis current command value Id, and the rotational speed ω1 * of the brushless motor, and performs vector calculation.

  The PWM INV means 38 inputs the output voltages Vu, Vv, Vw of the brushless control means 37, converts the three-phase alternating current and then rotates the brushless motor 2 to drive the electric oil pump 1.

Next, the detailed configuration of the control command generating means 31 used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. In FIG. 10, the control command generating means 31 is operated by the torque control method.
FIG. 10 is a block diagram showing the configuration of the control command generating means used in the motor control device for the electric oil pump according to the first embodiment of the present invention. In addition, the same code | symbol as FIG. 9 has shown the same part.

  FIG. 10 shows a case where control is performed by a torque control method, and the input signal is a torque command value τc.

  The control command generation means 31 includes a temperature-torque command conversion means 312, a constant conversion means 313, a temperature-rotation speed command conversion means 314, a speed deviation means 315, a speed control means 316, and a current command addition means 317. It has.

  The temperature-torque command conversion means 312 receives the torque command value τc of the control signal from the host AT control means and the oil temperature signal T of the electric oil pump, and generates a torque command value τm. Constant conversion means 313 converts torque command value τm into current command value Iq1.

  The temperature-rotation speed command conversion means 314 receives the oil temperature signal T of the electric oil pump and generates a rotation speed command value ω1. The speed deviation means 315 calculates a deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *. The speed control means 316 receives the output of the speed deviation means 315 and outputs a current command value Iq2.

  The current command addition means 317 adds the current command value Iq2 output from the speed control means 316 and the current command value Iq1, and generates a q-axis current command value Iq * for the brushless motor.

  The operation of the configuration shown in FIG. 10 will be described.

  The temperature-torque command conversion means 312 inputs the torque command value τc and the oil temperature T, calculates the optimum value of the required torque at the oil temperature T, or determines from the table map, and outputs the torque command value τm. The calculation in the temperature-torque command conversion means 312 is calculated, for example, from the relationship between the oil temperature T and the torque command value τm shown in FIG. The torque command value to be input is a fixed value, for example. Therefore, the torque command value τm can be calculated according to the oil temperature T as shown in FIG. Further, when there are two types of torque command values τc, a torque command value is provided for the first torque command value τc1 indicated by a solid line in FIG. 10 and for a second torque command value τc2 indicated by a broken line. Accordingly, a torque command value τm for the oil temperature T with the two lines switched is calculated. The same applies when there are three or more types of torque command values.

  Next, the constant conversion means 313 converts the torque command value τm into a current command value Iq1.

  On the other hand, the rotational speed value limiting operation in the torque control method will be described.

  The temperature-rotation speed command conversion means 314 inputs the oil temperature T, calculates the optimum value of the rotation speed necessary for the oil temperature T or determines it from a table map, and outputs the rotation speed command value ω1. The calculation in the temperature-rotation speed command conversion means 314 is calculated, for example, from the relationship between the oil temperature T and the rotation speed command value ω1 shown in FIG.

  The speed control means 316 takes the deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 * by the speed deviation means 315, and outputs the second current command value Iq2 after speed control calculation. The current command adding means 317 adds the current command value Iq1 and the second current command value Iq2 to obtain a current command value Iq *.

  The rotational speed limiting operation during the torque control operation is as follows. When the rotational speed limit value ω1 determined from the oil temperature is output by the temperature-rotational speed command conversion means 314, the speed deviation becomes zero when the actual rotational speed ω1 * of the motor is larger than the limit value ω1. Thus, the output of the speed deviation means 315 becomes negative, and the current command addition means 317 is subtracted from the second current command value Iq2 via the speed control means 316, so that the speed deviation means 315 becomes zero, and the motor The actual rotational speed ω1 * of the motor is matched with the rotational speed limit value ω1 to limit the rotational speed. On the other hand, when the actual rotational speed ω1 * is lower than the rotational speed limit value ω1, an operation for increasing the rotational speed can be performed to maintain the required rotational speed.

Next, another detailed configuration of the control command generating means used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. In FIG. 11, the control command generating means operates in the rotational speed control system.
FIG. 11 is a block diagram showing another configuration of the control command generation means used in the motor control device for the electric oil pump according to the first embodiment of the present invention. In addition, the same code | symbol as FIG. 9 has shown the same part.

  FIG. 11 shows a case where the control command generating means 31 performs control by the rotational speed control method, and the input signal is the rotational speed command value ωc.

  The control command generation means 31 includes a temperature-rotation speed command value generation means 321, a temperature-current command limit value conversion means 322, a speed deviation means 323, a speed control means 324, a constant conversion means 325, and a current limit means. 326.

  The temperature-rotational speed command value generating means 321 receives the rotational speed command value ωc of the control signal from the host AT control means and the oil temperature signal T of the electric oil pump, and generates the rotational speed command value ω1. The temperature-current command limit value conversion means 322 receives the oil temperature signal T of the electric oil pump and generates a current command limit value Iq4. The speed deviation unit 323 calculates a deviation between the rotation speed command value ω1 generated by the temperature-rotation speed command value generation unit 321 and the actual motor rotation speed ω1 *. The speed control means 324 receives the speed deviation output from the speed deviation means 323 and outputs a current command value Iq1. Constant conversion means 325 performs constant conversion on current command value Iq1 output from speed control means 324, and outputs current command value Iq3. The current command means 326 receives the current command value Iq3 output from the constant conversion means 325, and generates the final current command value Iq * based on the current command limit value Iq4 generated by the temperature-current command limit value conversion means 322. .

  The operation of the configuration shown in FIG. 11 will be described. The temperature-rotation speed command generation means 321 inputs the rotation speed command value ωc and the oil temperature T, calculates the optimum value of the necessary rotation speed for the oil temperature T or determines from the table map, and the rotation speed command value ω1 is output. The calculation in the temperature-rotation speed command generating means 321 is calculated from, for example, the relationship between the oil temperature T and the rotation speed command value ωc shown in FIG. The input rotation speed command value ωc is, for example, a fixed value. Therefore, as shown in FIG. 6, the rotational speed command value ωc can be calculated according to the oil temperature T. Further, when there are two types of rotational speed command values ωc, there are provided for the first rotational speed command value ωc2 shown by a solid line in FIG. 11 and for the second rotational speed command value ωc2 shown by a broken line. The rotation speed command value ω1 for the oil temperature T obtained by switching the two lines is calculated according to the rotation speed command value. The same applies to the case where there are three or more rotational speed command values.

  The speed deviation means 323 takes a deviation between the rotational speed command value ω1 and the actual rotational speed ω1 * of the motor fed back. The speed control means 324 outputs a current command value Iq1 for performing speed control so that the actual rotational speed ω1 * of the motor is the same as the rotational speed command value ω1. The current command value Iq1 generates a current command value Iq3 via the constant conversion means 325.

  The torque limiting operation in the speed control is as follows.

  The temperature-current command limit value conversion means 322 calculates a necessary current limit value for the oil temperature T, or obtains Iq4 from table data and outputs it. The current limiting unit 326 compares the input current command Iq3 with the current limit value Iq4, and limits the current command Iq3 so as not to exceed the current limit value Iq4. The result is output as the final current command value Iq *.

Next, the control operation by the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG.
FIG. 12 is an explanatory diagram of a control operation by the motor control device for the electric oil pump according to the first embodiment of the present invention.

  When the method of the present embodiment described above is used, as shown in FIG. 12, in the electric oil pump driven brushless motor system, even when the oil temperature changes, the required rotational speed ωm of the motor with the required characteristics from the oil pump Since the motor torque τm is determined, the motor and the oil pump do not operate in an operation region more than necessary. Accordingly, it is possible to operate at the necessary motor output points P1, P2, P3 shown in FIG. 12, for example.

  As described above, according to the present embodiment, when the electric oil pump driving motor is driven by torque control, even if there is a load fluctuation, the motor speed is limited to the required motor speed according to the oil temperature change. Is possible. Further, when the electric oil pump driving motor is driven by the rotational speed control, even when there is a load fluctuation, it is possible to limit the motor torque to a necessary value according to the oil temperature change. Therefore, in the electric oil pump drive brushless motor system, even when the oil temperature of the oil pump changes, the motor rotation speed and motor torque required by the electric oil pump can be controlled to optimum values.

  In addition, it is possible to reduce the occurrence of vibrations and abnormal sounds due to abnormal rotation of the electric oil pump. Furthermore, since the hydraulic pressure and flow rate of the electric oil pump can be controlled to the required characteristics, there is no generation of output more than necessary, and the thermal loss of the motor and controller can be reduced.

Next, the configuration and operation of the motor control device for the electric oil pump according to the second embodiment of the present invention will be described with reference to FIGS.
Next, the basic configuration of the electric oil pump drive system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 13: is a block diagram which shows the basic composition of the electric oil pump drive system to which the motor control apparatus for electric oil pumps by the 2nd Embodiment of this invention is applied. The same reference numerals as those in FIGS. 1 and 4 indicate the same parts.

  The basic configuration of the electric oil pump drive system shown in FIG. 13 is basically the same as that shown in FIG. 4, but the control command for the motor control means 3 ′ is sent by the oil temperature sensor 12. The only difference is that it is only information on the detected oil temperature.

  The basic configuration of the motor control means 3 ′ is the same as that shown in FIG. 9, but the configuration of the control command generation means 31 in FIG. 9 is slightly different. The details are shown in FIG. The generating means 31 'and the control command generating means 31A' shown in FIG.

Next, the detailed configuration of the control command generating means used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. In FIG. 14, the control command generating means operates by the rotational speed control method.
FIG. 14 is a block diagram showing the configuration of the control command generation means used in the motor control device for the electric oil pump according to the second embodiment of the present invention. In addition, the same code | symbol as FIG. 11 has shown the same part.

  FIG. 14 shows a case where the control command generating means 31 ′ is controlled by the rotational speed control method, and the input signal is only the oil temperature T.

  The control command generation means 31 ′ includes a temperature-rotation speed command value generation means 321 ′, a temperature-current command limit value conversion means 322, a speed deviation means 323, a speed control means 324, a constant conversion means 325, a current Limiting means 326.

  An oil temperature signal T of the electric oil pump is input to the temperature-rotation speed command value generating means 321 ′, and an optimum value of the necessary rotation speed is calculated for the oil temperature T or determined from a table map, and the rotation speed command The value ω1 is output. The calculation in the temperature-rotation speed command generating means 321 'is calculated from, for example, the relationship between the oil temperature T and the rotation speed command value ωc shown in FIG. Here, the rotation speed command value ωc is a fixed value set in advance. Therefore, as shown in FIG. 6, the rotational speed command value ωc can be calculated according to the oil temperature T.

  The temperature-current command limit value conversion means 322 receives the oil temperature signal T of the electric oil pump and generates a current command limit value Iq4. The speed deviation unit 323 calculates a deviation between the rotation speed command value ω1 generated by the temperature-rotation speed command value generation unit 321 and the actual motor rotation speed ω1 *. The speed control means 324 receives the speed deviation output from the speed deviation means 323, and outputs the current command value Iq1. Constant conversion means 325 performs constant conversion on current command value Iq1 output from speed control means 324 and outputs current command value Iq3. A current command value Iq3 output from the constant conversion unit 325 is input to the current limiting unit 326, and a final current command value Iq * is generated based on the current command limit value Iq4 generated from the temperature-current command limit value conversion unit 322. .

  The torque limiting operation in the speed control is as follows.

  The temperature-current command limit value conversion means 322 calculates a necessary current limit value for the oil temperature T, or obtains Iq4 from table data and outputs it. The current limiting unit 326 compares the input current command Iq3 with the current limit value Iq4, and limits the current command Iq3 so as not to exceed the current limit value Iq4. The result is output as the final current command value Iq *.

Next, the detailed configuration of the control command generating means used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. FIG. 15 shows the control command generating means that operates in a torque control system.
FIG. 15 is a block diagram showing another configuration of the control command generating means used in the motor control device for the electric oil pump according to the second embodiment of the present invention. In addition, the same code | symbol as FIG. 10 has shown the same part.

  FIG. 15 shows a case where the control command generating means 31A 'performs control by the torque control method, and the input signal is only the oil temperature T.

  The control command generation means 31A ′ includes a temperature-torque command conversion means 312 ′, a constant conversion means 313, a temperature-rotation speed command conversion means 314, a speed deviation means 315, a speed control means 316, and a current command addition means. 317.

  The temperature-torque command conversion means 312 'inputs the oil temperature signal T of the electric oil pump and generates a torque command value τm. Constant conversion means 313 converts torque command value τm into current command value Iq1.

  The temperature-rotation speed command conversion means 314 receives the oil temperature signal T of the electric oil pump and generates a rotation speed command value ω1. The speed deviation means 315 calculates a deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *. The speed control means 316 receives the output of the speed deviation means 315 and outputs a current command value Iq2.

  The current command addition means 317 adds the current command value Iq2 output from the speed control means 316 and the current command value Iq1, and generates a q-axis current command value Iq * for the brushless motor.

  Next, the operation will be described.

  The temperature-torque command conversion means 312 'inputs the oil temperature T, calculates the optimum value of the necessary torque at the oil temperature T, or determines from the table map, and outputs the torque command value τm. The calculation in the temperature-torque command conversion means 312 'is calculated from, for example, the relationship between the oil temperature T and the torque command value τm shown in FIG. Here, the torque command value is a fixed value set in advance. Therefore, the torque command value τm can be calculated according to the oil temperature T as shown in FIG. Next, the constant conversion means 313 converts the torque command value τm into a current command value Iq1.

  On the other hand, the rotational speed value limiting operation in the torque control method will be described.

  The temperature-rotation speed command conversion means 314 inputs the oil temperature T, calculates the optimum value of the rotation speed necessary for the oil temperature T or determines it from a table map, and outputs the rotation speed command value ω1. The calculation in the temperature-rotation speed command conversion means 314 is calculated, for example, from the relationship between the oil temperature T and the rotation speed command value ω1 shown in FIG.

  The speed control means 316 takes the deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 * by the speed deviation means 315, and outputs the second current command value Iq2 after speed control calculation. The current command adding means 317 adds the current command value Iq1 and the second current command value Iq2 to obtain a current command value Iq *.

  The rotational speed limiting operation during the torque control operation is as follows. When the rotational speed limit value ω1 determined from the oil temperature is output by the temperature-rotational speed command conversion means 314, the speed deviation becomes zero when the actual rotational speed ω1 * of the motor is larger than the limit value ω1. Thus, the output of the speed deviation means 315 becomes negative, and the current command addition means 317 is subtracted from the second current command value Iq2 via the speed control means 316, so that the speed deviation means 315 becomes zero, and the motor The actual rotational speed ω1 * of the motor is matched with the rotational speed limit value ω1 to limit the rotational speed. On the other hand, when the actual rotational speed ω1 * is lower than the rotational speed limit value ω1, an operation for increasing the rotational speed can be performed to maintain the required rotational speed.

  The optimum values of the temperature-rotation speed command value and the temperature-current command limit value need to be grasped in advance because the characteristics of the load oil pump are different.

  According to the embodiment described above, in the electric oil pump driven brushless motor system, even when the oil temperature of the oil pump changes, the motor rotational speed and the motor torque required by the electric oil pump are controlled to optimum values. it can.

  As described above, according to the present embodiment, when the electric oil pump driving motor is driven by torque control, even if there is a load fluctuation, the motor speed is limited to the required motor speed according to the oil temperature change. Is possible. Further, when the electric oil pump driving motor is driven by the rotational speed control, even when there is a load fluctuation, it is possible to limit the motor torque to a necessary value according to the oil temperature change. Therefore, in the electric oil pump drive brushless motor system, even when the oil temperature of the oil pump changes, the motor rotation speed and motor torque required by the electric oil pump can be controlled to optimum values.

  In addition, it is possible to reduce the occurrence of vibrations and abnormal sounds due to abnormal rotation of the electric oil pump. Furthermore, since the hydraulic pressure and flow rate of the electric oil pump can be controlled to the required characteristics, there is no generation of output more than necessary, and the thermal loss of the motor and controller can be reduced.

Next, the configuration and configuration of a motor control device for an electric oil pump according to a third embodiment of the present invention will be described with reference to FIGS.
First, the configuration of an AT hydraulic pump system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 16 is a block diagram showing a configuration of an AT hydraulic pump system to which the electric oil pump motor control device according to the third embodiment of the present invention is applied.

  The configuration of FIG. 16 is the same as that shown in FIG. 1, but the difference is that the temperature detection signal of the oil temperature sensor 12 is input to the host AT control device 4. Therefore, the configuration and operation of the MCU 3 ″ are slightly different, and the configuration and operation of the control command generation means 31 are different from the configuration of the MCU 3 shown in FIG. 9, but this point will be described later with reference to FIG. The detailed description of the other AT hydraulic pump system configuration is the same as FIG.

Next, the basic configuration of the electric oil pump drive system to which the electric oil pump motor control device according to the present embodiment is applied will be described with reference to FIG.
FIG. 17 is a block diagram showing a basic configuration of an electric oil pump drive system to which the electric oil pump motor control device according to the third embodiment of the present invention is applied. The same reference numerals as those in FIGS. 1 and 4 indicate the same parts.

  The basic configuration of the electric oil pump drive system shown in FIG. 17 is basically the same as that shown in FIG. 4, but the control command for the motor control means 3 ″ is a torque command or a rotational speed command. Is different, but the oil temperature signal is not input.

  The basic configuration of the motor control means 3 "is the same as that shown in FIG. 9, but the configuration of the control command generating means 31 in FIG. 9 is slightly different. The details are shown in FIG. The generating means 31 "A and the control command generating means 31" B shown in FIG. 19 are used.

Next, the detailed configuration of the control command generating means used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. In FIG. 18, the control command generation means operates in a torque control system.
FIG. 18 is a block diagram showing another configuration of the control generating means used in the electric oil pump motor control device according to the third embodiment of the present invention. In addition, the same code | symbol as FIG. 10 has shown the same part.

In FIG. 18, the control command generating means 31 "A is a case where control is performed by the torque control method, and the input signal is only the torque command value τc.
Note that the torque command value τc of the control command given to the control means 31 ″ A by the host AT control device 4 is corrected by the oil temperature by the ATCU 4. Therefore, the torque command value τc that changes depending on the AT oil temperature is Entered.

  The control command generation means 31 "A includes a constant conversion means 313, a torque-rotation speed command conversion means 327, a speed deviation means 315, a speed control means 316, and a current command addition means 317.

  Constant conversion means 313 converts torque command value τc into current command value Iq1. The torque-rotational speed command conversion means 327 receives the torque command value τc of the control command and generates a rotational speed command value ω1.

  The speed deviation means 315 calculates a deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *. The speed control means 316 receives the output of the speed deviation means 315 and outputs a current command value Iq2. The current adding unit 317 adds the current command value Iq2 output from the speed control unit 316 and the current command value Iq1, and generates the q-axis current command value Iq * of the brushless motor.

  Next, the operation in the configuration shown in FIG. 18 will be described.

  When the torque command value τc of the control command is given to the control means 31 ″ A from the host AT control device 4, the constant conversion means 313 inputs the torque command value τc and converts it into a current command value Iq1.

  The torque-rotation speed command conversion means 327 receives the torque command value τc, calculates an optimum value of the rotation speed necessary for the instructed motor output torque, or determines the rotation speed command value ω1 by determining from a table map.

  The calculation in the torque-rotation speed command conversion means 327 is, for example, the relationship between the oil temperature-motor torque shown in FIG. 5 (or FIG. 7) and the operation shown in FIG. The oil temperature is calculated from the relationship between the oil temperature and the motor rotation speed shown in FIG.

  The speed control means 316 takes the deviation by the rotational speed command value ω1, the actual motor speed ω1 *, and the speed deviation means 315, and outputs the second current command value Iq2 after speed control calculation. The current command adding means 317 adds the current command value Iq1 and the second current command value Iq2 to obtain a current command value Iq *.

  The rotational speed limiting operation during the torque control operation is as follows.

  When the rotational speed limit value ω1 determined from the torque is output by the torque-rotational speed command conversion means 327, the speed deviation becomes zero when the actual rotational speed ω1 * of the motor is larger than the limit value ω1. Thus, the output of the speed deviation means 315 becomes negative, the current command addition means 317 is subtracted by the second current command value Iq2 via the speed control means 316, and the output of the speed deviation means 315 becomes zero. The motor operates so that the actual rotational speed ω1 * of the motor matches the rotational speed limit value ω1 to limit the rotational speed.

  On the other hand, when the actual rotational speed ω1 * of the motor is lower than the rotational speed limit value ω1, an operation for increasing the rotational speed can be performed to maintain the required rotational speed.

Next, the detailed configuration of the control command generation means used in the motor control device for the electric oil pump according to the present embodiment will be described with reference to FIG. In FIG. 19, the control command generating means operates in the rotational speed control system.
FIG. 19 is a block diagram showing another configuration of the control command generating means used in the motor control device for the electric oil pump pump according to the third embodiment of the present invention. In addition, the same code | symbol as FIG. 11 has shown the same part.

  FIG. 19 shows a case where the control generating means 31 ″ B is controlled by the rotational speed control method, and the input signal is only the rotational speed command ωc.

  The control command generating means 31 "B includes a constant conversion means 328 for converting the motor rotation speed command value ωc of the control command value from the host AT control means into a control internal command value ω1, a rotation speed-torque conversion means 329, a torque -Current command value conversion means 330, speed deviation means 323, speed control means 324, constant conversion means 325, and current limiting means 326 are provided.

  The constant conversion means 328 receives the rotational speed command value ωc of the control command and outputs the rotational speed command value ω1 after constant conversion. The rotational speed-torque conversion means 329 receives the rotational speed command value ωc of the control command and generates a torque command value τ. Torque-current command value conversion means 330 converts torque value τ into current command value Iq4.

   The speed deviation means 323 calculates a deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *. The speed control means 324 receives the speed deviation output from the speed deviation means 323 and outputs a current command value Iq1. Constant conversion means 325 performs constant conversion on current command value Iq1 output from speed control means 324, and outputs current Iq3.

  A current command value Iq3 output from the constant conversion unit 325 is input to the current limiting unit 326, and a final current command value Iq * is generated based on the current command limit value Iq4 generated from the torque-current command value conversion unit 330.

  The operation in the configuration of the speed control system shown in FIG. 19 will be described.

  When the motor rotation speed command value ωc of the control command value from the host AT control means 4 is given, the constant conversion means 328 outputs the rotation speed command value ω1. The speed deviation means 323 takes the deviation between the rotational speed command value ω1 and the actual rotational speed value ω1 * of the motor fed back.

  The speed control means 324 outputs a current command value Iq1 for performing speed control so that the actual rotational speed value ω1 * of the motor is the same as the rotational speed command value ω1. The current command value Iq1 generates a current command value Iq3 via the constant conversion means 325.

The torque limiting operation in the speed control is as follows.
In the rotational speed-torque conversion means 329, the necessary torque value τ with respect to the rotational speed command value ωc is calculated from, for example, the motor rotation obtained from FIG. 5 (or FIG. 7) and FIG. 6 (or FIG. 8). Calculate from the calculation or table data so that the relationship between speed and motor torque is obtained.

  The torque-current command value conversion means 330 converts the torque value τ into a current command value and outputs Iq4. The current limiting means 326 compares the input current command Iq3 with the current limit value Iq4 and limits the current command value Iq3 so as not to exceed the current limit value Iq4. As a result, it is output as the final current command value Iq *.

  In the motor control means 3 described above, the torque command value τc or the rotational speed command value ωc of the control command value is input to the temperature by inputting temperature information with a host AT control device as shown in FIG. On the other hand, the control command value is obtained by independently obtaining and correcting the optimum value.

  In the present embodiment, the temperature corrected torque command value τc (or the rotational speed command value ωc) from the host AT control device 4 is further controlled with respect to the rotational speed based on the temperature information of the torque command value. Make corrections. Further, temperature correction is performed on the torque command based on the temperature information of the speed command value.

  If the method of this embodiment demonstrated above is used, it will become as shown in FIG. FIG. 20 is an explanatory diagram of the control operation by the motor control device for the electric oil pump according to the third embodiment of the present invention.

  As shown in FIG. 20, in the electric oil pump driven brushless motor system, the motor rotational speed ωm and the motor torque τm having the required characteristics from the oil pump are determined even when the oil temperature changes. The oil pump will not operate in an operating area beyond what is necessary.

  Therefore, as shown in FIG. 20, even in torque control and rotational speed control, for example, the required motor output point is P1 point at low temperature, P2 point at medium temperature, and P3 point at high temperature. Operation at each operating point of maximum output is possible.

As described above, in the present embodiment as well, as in the first and second embodiments described above, even when the oil temperature of the oil pump changes, the rotational speed of the motor required by the electric oil pump. Optimum control can be achieved so that ωm and motor torque τm.

1 is a block diagram showing a configuration of an AT hydraulic pump system to which a motor control device for an electric oil pump according to a first embodiment of the present invention is applied. FIG. 5 is an operation characteristic diagram when the electric oil pump is driven by a brushless motor in the AT hydraulic pump system to which the electric oil pump motor control device according to the first embodiment of the present invention is applied. It is an output characteristic view of the brushless motor controlled by the motor control device for the electric oil pump according to the first embodiment of the present invention. 1 is a block diagram showing a basic configuration of an electric oil pump drive system to which a motor control device for an electric oil pump according to a first embodiment of the present invention is applied. It is explanatory drawing of the control content for prevention of the over specification of the motor torque in the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is explanatory drawing of the control content for prevention of the overspec of a motor rotational speed in the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is explanatory drawing of the other control content for prevention of the over specification of the motor torque in the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is explanatory drawing of the other control content for prevention of the overspec of a motor rotational speed in the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. 1 is a block diagram illustrating an overall configuration of a motor control device for an electric oil pump according to a first embodiment of the present invention. It is a block diagram which shows the structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is a block diagram which shows the other structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is explanatory drawing of the control action by the motor control apparatus for electric oil pumps by the 1st Embodiment of this invention. It is a block diagram which shows the basic composition of the electric oil pump drive system to which the motor control apparatus for electric oil pumps by the 2nd Embodiment of this invention is applied. It is a block diagram which shows the structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 2nd Embodiment of this invention. It is a block diagram which shows the other structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the hydraulic pump system for AT which applies the motor control apparatus for electric oil pumps by the 3rd Embodiment of this invention. It is a block diagram which shows the basic composition of the electric oil pump drive system to which the motor control apparatus for electric oil pumps by the 3rd Embodiment of this invention is applied. It is a block diagram which shows the structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 3rd Embodiment of this invention. It is a block diagram which shows the other structure of the control command generation means used for the motor control apparatus for electric oil pumps by the 3rd Embodiment of this invention. It is explanatory drawing of the control action by the motor control apparatus for electric oil pumps by the 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric oil pump 2 ... Brushless motor 3 ... Motor control means 4 ... AT control device 5 ... Electric oil piping 6 ... Mechanical oil pump 7 ... Transmission 8 ... Actuator 9 ... Hydraulic piping 10 ... Oil pan 11 ... Check valve 12 ... Oil temperature sensor 31 ... Control command generation means 32, 33 ... Current detector 34 ... Current detection means 35 ... Current control means 36 ... Position / speed detection calculation means 37 ... Brushless control means 38 ... PWM INV (PWM inverter) means 39 ... Current deviation calculator 312 ... Temperature-torque command conversion means 313 ... Constant conversion means 314 ... Temperature-rotation speed command conversion means 315 ... Speed deviation means 316 ... Speed control means 317 ... Current command addition means 321 ... Temperature-rotation speed Command value generating means 322 ... temperature-current command limit value converting means 323 ... speed deviation means 324 ... speed control means 32 5 ... Constant conversion means 326 ... Current limiting means 327 ... Torque-rotation speed command conversion means 328 ... Constant conversion means 329 ... Rotation speed-torque conversion means

Claims (6)

Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside,
The control command generation means controls the motor torque of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, and the motor rotation speed of the brushless motor. Limit
Or, the motor rotational speed command value which is the control command, and based on the detected oil temperature information by the temperature sensor, and controls the motor rotation speed of the brushless motor, to limit the motor torque of the brushless motor And
The motor control device
The control command generating means;
Current detecting means for detecting the current of the brushless motor;
Position / speed detection calculating means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor;
Current control means for controlling the current by feeding back the current detected by the current detection means;
Brushless control means for inputting a signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and performing vector calculation;
PWM INV (PWM inverter) means controlled by the output of the brushless control means,
The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor,
Driving the brushless motor directly connected to the electric oil pump by the PWM INV means;
The control command generating means is
A temperature-torque command conversion means for inputting a torque command value τc as the control command, and for generating a torque command value τm by inputting an oil temperature signal T of the electric oil pump;
Constant conversion means for converting the torque command value τm into a current command value Iq1,
A temperature-rotational speed command converting means for inputting an oil temperature signal T of the electric oil pump and generating a rotational speed command value ω1;
Speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *;
Speed control means for receiving the output of the speed deviation means;
Electric oil comprising: current command addition means for adding a current command value Iq2 output from the speed control means and the current command value Iq1 to generate a q-axis current command value Iq * of a brushless motor Motor controller for pump. Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside,
The control command generation means controls the motor torque of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, and the motor rotation speed of the brushless motor. Limit
Or controlling the motor rotation speed of the brushless motor and limiting the motor torque of the brushless motor based on the motor rotation speed command value as the control command and the oil temperature information detected by the temperature sensor. And
The motor control device
The control command generating means;
Current detecting means for detecting the current of the brushless motor;
Position / speed detection calculating means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor;
Current control means for controlling the current by feeding back the current detected by the current detection means;
Brushless control means for inputting a signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and performing vector calculation;
PWM INV (PWM inverter) means controlled by the output of the brushless control means,
The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor,
Driving the brushless motor directly connected to the electric oil pump by the PWM INV means;
The control command generating means is
A rotational speed command value ωc is input as the control command, and an oil temperature signal T of the electric oil pump is input to generate a rotational speed command value ω1;
A temperature-current command limit value converting means for inputting an oil temperature signal T of the electric oil pump and generating a current command limit value Iq4;
Speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *;
Speed control means for inputting the speed deviation and outputting a current command value Iq1;
Constant conversion means for converting the current command value Iq1 into a constant and outputting a current command value Iq3;
An electric oil pump comprising: a current limiting unit that inputs the current command value Iq3 and generates a final current command value Iq * by a current command limit value Iq4 generated by the temperature-current command limit value conversion unit Motor controller. Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside,
The control command generation means controls the motor torque of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, and the motor rotation speed of the brushless motor. Limit
Or controlling the motor rotation speed of the brushless motor and limiting the motor torque of the brushless motor based on the motor rotation speed command value as the control command and the oil temperature information detected by the temperature sensor. And
The motor control device
The control command generating means;
Current detecting means for detecting the current of the brushless motor;
Position / speed detection calculating means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor;
Current control means for controlling the current by feeding back the current detected by the current detection means;
Brushless control means for inputting a signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and performing vector calculation;
PWM INV (PWM inverter) means controlled by the output of the brushless control means,
The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor,
Driving the brushless motor directly connected to the electric oil pump by the PWM INV means;
The control command generating means is
A temperature-torque command conversion means for inputting the oil temperature signal T of the electric oil pump as the control command and generating a torque command value τm;
Constant conversion means for converting the torque command value τm into a current command value Iq1,
A temperature-rotational speed command converting means for inputting an oil temperature signal T of the electric oil pump and generating a rotational speed command value ω1;
Speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *;
Speed control means for receiving the output of the speed deviation means;
Electric oil comprising: current command addition means for adding a current command value Iq2 output from the speed control means and the current command value Iq1 to generate a q-axis current command value Iq * of a brushless motor Motor controller for pump. Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on a control command from the outside,
The control command generation means controls the motor torque of the brushless motor based on the motor torque command value that is the control command and the oil temperature information detected by the temperature sensor, and the motor rotation speed of the brushless motor. Limit
Or controlling the motor rotation speed of the brushless motor and limiting the motor torque of the brushless motor based on the motor rotation speed command value as the control command and the oil temperature information detected by the temperature sensor. And
The motor control device
The control command generating means;
Current detecting means for detecting the current of the brushless motor;
Position / speed detection calculating means for calculating the magnetic pole position and the motor rotation speed from the current of the brushless motor;
Current control means for controlling the current by feeding back the current detected by the current detection means;
Brushless control means for inputting a signal Iq ** of the current control means, a rotational speed ω1 * of the position / speed detection calculation means, and a d-axis current command value Id of the brushless motor, and performing vector calculation;
PWM INV (PWM inverter) means controlled by the output of the brushless control means,
The control command generation means feeds back the rotation speed ω1 * detected by the position / speed detection calculation means to limit the rotation speed of the motor,
Driving the brushless motor directly connected to the electric oil pump by the PWM INV means;
The control command generating means is
A temperature-rotational speed command value generating means for inputting an oil temperature signal T of the electric oil pump as the control command and generating a rotational speed command value ω1;
A temperature-current command limit value converting means for inputting an oil temperature signal T of the electric oil pump and generating a current command limit value Iq4;
Speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the actual motor rotational speed ω1 *;
Speed control means for inputting the speed deviation and outputting a current command value Iq1;
Constant conversion means for converting the current command value Iq1 into a constant and outputting a current command value Iq3;
An electric oil pump comprising: a current limiting unit that inputs the current command value Iq3 and generates a final current command value Iq * by a current command limit value Iq4 generated by the temperature-current command limit value conversion unit Motor controller. Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on an external control command, wherein the control command generation means includes a hydraulic pump in advance. The control command generation means incorporates the optimum motor torque and motor rotation speed values obtained by determining the relationship between the oil temperature and torque and the relationship between the oil temperature and the motor rotation speed for optimal operation,
The motor torque of the brushless motor is controlled based on a motor torque command value that is a control command from the outside, and the motor rotation speed is controlled to be an optimal motor rotation speed inside the control command generation means based on the motor torque command value. And
Or, based on the motor rotational speed command value is a control command from the external, the controls the motor rotational speed of the brushless motor, said inside the control command generation means based on the motor rotational speed command value, the brushless The motor torque is controlled to be optimal ,
The control generating means includes
The torque command value τc is input as the control command, the constant conversion means for converting the command value τc into the current command value Iq1, and the torque command value for generating the rotational speed command value ω1 by inputting the torque command value τc − Rotational speed command value conversion means;
A speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the motor actual rotational speed ω1 *;
Speed control means for inputting the output of the speed deviation means;
Electric command addition means for adding a current command value Iq2 output from the speed deviation means and the current command value Iq1 to generate a q-axis current command value Iq * of the brushless motor. Oil pump control device. Used in a hydraulic pump system having a pump hydraulic circuit having an electric oil pump, a brushless motor for driving the electric oil pump, and a temperature sensor for detecting an oil temperature of the pump hydraulic circuit;
A brushless motor control device for an electric oil pump having control command generation means for outputting a q-axis current command to the brushless motor based on an external control command, wherein the control command generation means includes a hydraulic pump in advance. The control command generation means incorporates the optimum motor torque and motor rotation speed values obtained by determining the relationship between the oil temperature and torque and the relationship between the oil temperature and the motor rotation speed for optimal operation,
The motor torque of the brushless motor is controlled based on a motor torque command value that is a control command from the outside, and the motor rotation speed is controlled to be an optimal motor rotation speed inside the control command generation means based on the motor torque command value. And
Further, the motor rotation speed of the brushless motor is controlled based on a motor rotation speed command value that is a control command from the outside, and the brushless motor is controlled inside the control command generation means based on the motor rotation speed command value. The motor torque is controlled to be optimal,
The control generating means includes
Constant speed conversion means for inputting a rotational speed command value ωc as the control command and outputting the rotational speed command value ω1, and rotational speed command value-torque command value for inputting the rotational speed command value ωc and generating a torque command τ Conversion means;
Torque command value-current command limit value converting means for generating a current command limit value Iq4 from the torque command value τ;
A speed deviation means for calculating a speed deviation between the rotational speed command value ω1 and the motor actual rotational speed ω1 *;
Speed control means for inputting the speed deviation and outputting a current command value Iq1;
Constant conversion means for converting the current command value Iq1 into a constant and outputting a current command value Iq3;
Current limiting means for inputting the current command value Iq3 and generating a final current command value Iq * based on a current command limit value Iq4 generated by the torque command value τ-current command limit value Iq4 conversion means. Motor control device for electric oil pump.

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