CN104170242A - Motor control device, and electric power steering device and vehicle using same - Google Patents

Motor control device, and electric power steering device and vehicle using same Download PDF

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Publication number
CN104170242A
CN104170242A CN201380002513.XA CN201380002513A CN104170242A CN 104170242 A CN104170242 A CN 104170242A CN 201380002513 A CN201380002513 A CN 201380002513A CN 104170242 A CN104170242 A CN 104170242A
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CN
China
Prior art keywords
motor
phase
current
motor drive
command value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201380002513.XA
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Chinese (zh)
Inventor
菊地祐介
田上耕太郎
尾崎学士
堀越敦
远藤修司
长竹和夫
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NSK Ltd
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NSK Ltd
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Publication date
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Publication of CN104170242A publication Critical patent/CN104170242A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/04—Cutting off the power supply under fault conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/12—Monitoring commutation; Providing indication of commutation failure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/427—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Provided are: a motor control device capable of continuing to drive-control an electric motor even when an open circuit fault or a short circuit fault occurs in a motor drive circuit; and an electric power steering device and a vehicle using the same. This motor control device is equipped with: a command-value calculation unit (31) for outputting a command value to a poly-phase electric motor (22) having at least first and second poly-phase motor windings wound in a concentrated winding around a stator, in a manner such that there is no interlinkage of identical magnetic flux from each rotor pole; motor drive circuits (32A, 32B) for separately supplying a poly-phase motor drive current to each of the poly-phase motor windings on the basis of the command value; poly-phase motor current blocking units (33A, 33B) respectively interposed between each motor drive circuit and each poly-phase motor winding; an abnormality detection unit (31a) for separately detecting an abnormality in each poly-phase motor drive current or voltage; and an abnormality-time-current control unit for controlling the motor-current blocking unit on the side on which an abnormality is detected so as to be in a current-blocked state, when one of the abnormality detection units detects an abnormality in at least a single-phase motor drive current.

Description

Controller for motor, the driven steering device that uses this controller for motor and vehicle
Technical field
The multiple polyphase dynamoelectric motor the present invention relates to installing in vehicle drives controller for motor, the driven steering device that uses this controller for motor and the vehicle of controlling.
Background technology
About to being arranged on the electro-motor of the driven steering device in vehicle, travelling of the electro-motor of electrical braking device, electric automobile or hybrid electric vehicle drives with electro-motor etc. the controller for motor of controlling, even if expectation occurs abnormal in the situation that, also can proceed the driving of electro-motor at motor control system.
In order to meet above-mentioned expectation, proposed as follows there is fault time the control device of heterogeneous whirler of control unit and the driven steering device that has used this control device: for example the multi-phase motor winding of multiple polyphase dynamoelectric motor carry out doubleization, from inverter portion separately, to the multi-phase motor winding of doubleization, provide electric current, in the situation that the switch element of a side inverter portion occurred can not conducting disconnection (OFF) fault be open fault, determine the breakdown switch unit breaking down, control breakdown switch unit switch element in addition, and, normal inverter portion beyond the fault inverter portion that control comprises breakdown switch unit (for example, with reference to patent documentation 1).
Prior art document
Patent documentation
Patent documentation 1: No. 4998836 communique of Japan Patent
Summary of the invention
The problem that invention will solve
And, in the conventional example of recording at above-mentioned patent documentation 1, in the situation that there is the open failure of switch element in the side in the inverter portion of doubleization, the switch element of control except having there is the breakdown switch unit of open failure, and the slippage of the torque causing for the fault inverter portion that comprises breakdown switch unit because of control, q shaft current command value in normal inverter portion is proofreaied and correct, thus, suppress the decline of torque and the driving of proceeding heterogeneous whirler is controlled.
Therefore, in above-mentioned conventional example, there is unsolved problem as follows: although in the situation that open failure has occurred the switch element of inverter portion, can produce enough torques, but in the situation that short trouble has occurred the switch element of inverter portion, cannot tackle.
Therefore, the an open question that the present invention is conceived to above-mentioned existing example completes, its object is to provide controller for motor as follows, the driven steering device that uses this controller for motor and vehicle: even in the situation that open fault or short trouble have occurred motor drive circuit, also can proceed the driving of electro-motor and control.
For the means of dealing with problems
In order to solve above-mentioned purpose, a mode of controller for motor of the present invention is that multiple polyphase dynamoelectric motor is driven to the controller for motor of controlling, this multiple polyphase dynamoelectric motor on stator at least according to two systems, by since the magnetic pole of these two systems homophase separately from the same magnetic flux of each magnetic pole of rotor each other Uncrossed mode concentrate be same phase with respect to rotor magnet the 1st multi-phase motor winding and the 2nd multi-phase motor winding of reeling.In addition, controller for motor has: command value operational part, and its output drives the command value of multiple polyphase dynamoelectric motor; The 1st motor drive circuit and the 2nd motor drive circuit, they,, according to the command value from this command value operational part output, provide the 1st multi-phase motor drive current and the 2nd multi-phase motor drive current to the 1st multi-phase motor winding and the 2nd multi-phase motor winding separately.In addition, controller for motor has: the 1st heterogeneous motor current cutting portion and the 2nd motor current cutting portion, and they assign between the 1st motor drive circuit and described the 2nd motor drive circuit and the 1st multi-phase motor winding and the 2nd multi-phase motor winding separately; The 1st abnormity detection portion and the 2nd abnormity detection portion, they detect the abnormal of the 1st multi-phase motor drive current and the 2nd multi-phase motor drive current or voltage separately; And current control division when abnormal, it,, when any one party by the 1st abnormity detection portion and the 2nd abnormity detection portion detects the motor drive current of at least one phase or voltage abnormal, is controlled to failure of current state by the motor current cutting portion that detects an abnormal side.And, controller for motor is when current control division when abnormal is controlled to failure of current state by the side in described the 1st motor current cutting portion and described the 2nd motor current cutting portion, and the pathological system under this motor current cutting portion is suppressed the magnetic influence of normal system.
In addition, driven steering device of the present invention mode is applied to said motor control device to comprise the controller for motor that makes steering mechanism produce the electro-motor that turns to auxiliary force.
In addition, vehicle of the present invention mode has said motor control device.
Invention effect
According to the present invention, multiple polyphase dynamoelectric motor is at least according to two systems, by since the magnetic pole of these two systems homophase separately from the same magnetic flux of each magnetic pole of rotor each other Uncrossed mode concentrate the multi-phase motor winding that is same phase with respect to rotor magnet of reeling, utilize 1 rotor phase detecting sensor, motor drive circuit by separately provides multi-phase motor drive current to each multi-phase motor winding, and, between each motor drive circuit and multi-phase motor winding, motor current cutting portion is set, in the situation that the side in each multi-phase motor drive current or voltage occurs abnormal, cut-out be arranged on there is abnormal multi-phase motor drive current the cutting portion of the motor current in system is provided.Therefore,, even in the situation that open fault or short trouble have occurred motor drive circuit, also can, under suppressing the state of the magnetic influence of normal system, by normal motor drive circuit, proceed the driving of electro-motor.
In addition, owing to comprising the controller for motor with above-mentioned effect, form driven steering device, therefore, even in the situation that the side in the multi-phase motor drive current of at least two systems occurs abnormal, also can to electro-motor, provide multi-phase motor drive current by normal motor drive circuit, can proceed the miscellaneous function that turns to of driven steering device.
In addition, owing to comprising the controller for motor with above-mentioned effect, form vehicle, therefore, even in the situation that the side in the motor drive circuit of at least two systems of multiple polyphase dynamoelectric motor occurs abnormal, also can to electro-motor, provide multi-phase motor drive current by normal motor drive circuit, the torque of proceeding electro-motor produces, and the vehicle of the reliability that has improved electro-motor can be provided.
Accompanying drawing explanation
Fig. 1 is the system construction drawing that the 1st execution mode of driven steering device of the present invention is shown.
Fig. 2 is the circuit diagram of concrete structure that the controller for motor of the 1st execution mode is shown.
Fig. 3 is the cutaway view of structure that the three-phase electric motor of the 1st execution mode is shown.
Fig. 4 is the schematic diagram of winding construction that the three-phase electric motor of Fig. 3 is shown.
Fig. 5 illustrates to turn to torque and the characteristic line chart that turns to the relation of auxiliary current command value when normal.
Fig. 6 illustrates to turn to torque and the characteristic line chart that turns to the relation of auxiliary current command value when abnormal.
Fig. 7 is the circuit diagram that the present invention's the 2nd execution mode is shown.
Fig. 8 is the cutaway view of structure that the three-phase electric motor of the present invention's the 3rd execution mode is shown.
Fig. 9 is voltage, the current waveform figure for the effect of the 3rd execution mode is described.
Figure 10 is the circuit diagram that the present invention's the 4th execution mode is shown.
Figure 11 is the circuit diagram that the present invention's the 5th execution mode is shown.
Embodiment
Below, with reference to the accompanying drawings, embodiments of the present invention are described.
Fig. 1 illustrates the overall structure figure that controller for motor of the present invention is applied to be arranged on the 1st execution mode in the situation of the driven steering device in vehicle.
Vehicle 1 of the present invention has front-wheel 2FR, 2FL and trailing wheel 2RR, the 2RL as left and right turn wheel.Front-wheel 2FR, 2FL turn to by driven steering device 3.
Driven steering device 3 has steering wheel 11, and the steering force that acts on this steering wheel 11 from driver is delivered to steering spindle 12.This steering spindle 12 has power shaft 12a and output shaft 12b.One end of power shaft 12a and steering wheel 11 link, and the other end is via turning to torque sensor 13 and one end of output shaft 12b to link.
And the steering force that is delivered to output shaft 12b is delivered to lower shaft 15 via universal joint 14, is further delivered to pinion shaft 17 via universal joint 16.The steering force that is delivered to this pinion shaft 17 is delivered to pull bar 19 via tooth sector 18, makes to turn to as front-wheel 2FR and the 2FL of deflecting roller.Herein, tooth sector 18 be configured to have the pinion 18a that links with pinion shaft 17 and with rack pinion (the rack and pinion) form of the tooth bar 18b of this pinion 18a engagement.Therefore, tooth sector 18 will be delivered to rotatablely moving of pinion 18a and convert to the rectilinear motion of overall width direction by tooth bar 18b.
The output shaft 12b of steering spindle 12 links with turn to the auxiliary body 20 that turns to of auxiliary force to output shaft 12b transmission.This turns to auxiliary body 20 to have: reduction gearing 21, and itself and output shaft 12b link, for example, worm gear (worm gear) mechanism, consist of; As the three-phase electric motor 22 of multiple polyphase dynamoelectric motor, itself and this reduction gearing 21 links, and produces and turns to auxiliary force, for example, 3-phase brushless motor, consist of.
Turn to torque sensor 13 to detect the torque that turns to that puts on steering wheel 11 and be delivered to power shaft 12a.This turns to torque sensor 13 to be for example configured to: will turn to torque conversion become to assign into the corner displacement of the not shown torsion bar between power shaft 12a and output shaft 12b, and convert this corner displacement to resistance variations or magnetic variation detects.
In addition, as shown in Figure 3, three-phase electric motor 22 has the structure of SPM motor, this SPM motor possesses stator 22S and rotor 22R, stator 22S has the tooth Te that forms the magnetic pole of groove SL as being inwards formed on inner peripheral surface highlightedly, rotor 22R is the rotor of the surperficial magnet type of 8 utmost points, and this rotor 22R has the permanent magnet PM that relatively rotates the inner circumferential side that is configured in freely this stator 22S with tooth Te in surface configuration.Herein, for the quantity of the tooth Te of stator 22S, according to the number of phases * 2n(n, be more than 2 integers), be for example set as n=2, become the structure of 8 utmost points, 12 grooves.
And, on the groove SL of stator 22S, according to two systems shown in Fig. 4, by reel be same phase with respect to rotor magnet the 1st three-phase motor winding L 1 as multi-phase motor winding and the 2nd three-phase motor winding L 2 of the magnetic pole of these two systems homophase separately.In the 1st three-phase motor winding L 1, one end of U phase coil L1u, V phase coil L1v, W phase coil L1w interconnects and becomes star line, the other end of each phase coil L1u, L1v, L1w is connected with controller for motor 25, is provided respectively motor drive current I1u, I1v and I1w.
In each phase coil L1u, L1v and L1w, be formed with respectively two coil portion L1ua, L1ub, L1va, L1vb and L1wa, L1wb.These coil portions L1ua, L1va and L1wa concentrate and are wound in clockwise tooth Te1, Te2, Te3.In addition, coil portion L1ub, L1vb concentrate and are wound in clockwise tooth Te7, Te8, the Te9 that becomes diagonal angle across rotor 22R with tooth Te1, Te2, Te3 with L1wb.
In addition, in the 2nd three-phase motor winding L 2, one end of U phase coil L2u, V phase coil L2v, W phase coil L2w interconnects and becomes star line, and the other end of each phase coil L2u, L2v, L2w is connected with controller for motor 25, is provided respectively motor drive current I2u, I2v and I2w.
In each phase coil L2u, L2v and L2w, be formed with respectively two coil portion L2ua, L2ub, L2va, L2vb and L2wa, L2wb.These coil portions L2ua, L2va and L2wa concentrate and are wound in clockwise tooth Te4, Te5, Te6.In addition, coil portion L1ub, L1vb, L1wb concentrate and are wound in clockwise tooth Te10, Te11, the Te12 that becomes diagonal angle across rotor 22R with tooth Te4, Te5, Te6.
And coil portion L2ua, L2ub, L2va, L2vb and L2wa, the L2wb of coil portion L1ua, L1ub, L1va, L1vb and the L1wa of each phase coil L1u～L1w, L1wb and each phase coil L2u～L2w be take the mode that the direction of electrical current is equidirectional and is wound in the groove SL that clips each tooth Te.
Like this, coil portion L2ua, L2ub, L2va, L2vb and L2wa, the L2wb of each phase coil L2u～L2w of coil portion L1ua, L1ub, L1va, L1vb and the L1wa of each phase coil L1u～L1w of the 1st three-phase motor winding L 1, L1wb and the 2nd three-phase motor winding L 2 are wound on 12 teeth that differ from one another.; on 12 tooth Te; according to identical coiling direction, reel as phase coil L1ua, L1va and the L1wa of the 1st system successively in the clockwise direction; next; according to identical coiling direction, reel as phase coil L2ua, L2va and the L2wa of the 2nd system successively in the clockwise direction; next; according to identical coiling direction, reel as phase coil L1ub, L1vb, the L1wb of the 1st system successively in the clockwise direction; finally, according to identical coiling direction, reel as phase coil L2ub, L2vb and the L2wb of the 2nd system successively in the clockwise direction.Therefore the mode that, the coil portion of the homophase of the 1st multi-phase motor winding L 1 and the 2nd motor winding L 2 intersects with the same magnetic flux that can not form with the permanent magnet PM of each magnetic pole by rotor 22R is simultaneously reeled.Therefore, each coil portion formation of each coil portion of the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 suppresses magnetic disturbance each other for minimal magnetic circuit.
In addition, as shown in Figure 2, three-phase electric motor 22 has the rotational position sensor 23a such as Hall element of the position of rotation of detection rotor.Detected value from this rotational position sensor 23a is provided to rotor angle detection circuit 23, by this rotor angle detection circuit 23 detection rotor rotation angle θ m.
Controller for motor 25 is transfused to that torque sensor 13 is detected turns to torque T and by the detected vehicle velocity V s of vehicle speed sensor 26 by turning to, and, be transfused to from the rotor angle θ m of rotor angle detection circuit 23 outputs.
In addition, from the battery 27 as DC current source to controller for motor 25 input direct-current electric currents.
The concrete structure of controller for motor 25 forms as shown in Figure 2.That is, controller for motor 25 has: control algorithm device 31, and it carries out computing to motor current command value; The 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, they are transfused to respectively from the motor current command value of this control algorithm device 31 outputs; The 1st motor current cuts off circuit 33A and the 2nd motor current cuts off circuit 33B, and they assign between the outlet side of these the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B and the 1st three-phase motor winding L 1 of three-phase electric motor 22 and the 2nd three-phase motor winding L 2.
Control algorithm device 31 is transfused to and in Fig. 2, has omitted diagram but shown in Figure 1 torque sensor 13 detected torque T and the detected vehicle velocity V s of vehicle speed sensor 26 of turning to of turning to, and, as shown in Figure 2, be transfused to from the rotor angle θ m of rotor position detection circuit 23 outputs, in addition be transfused to by motor current I1d and I2d current detection circuit 34A and 34B output, that export from the coil of the 1st multi-phase motor winding L 1 of three-phase electric motor 22 and each phase of the 2nd multi-phase motor winding L 2.
In control algorithm device 31, at motor drive circuit 32A and 32B when normal, according to turning to torque T and vehicle velocity V s, during with reference to normal shown in predefined Fig. 5, turn to auxiliary current command value to calculate mapping graph, calculate and turn to auxiliary current command value I1* and I2*.In addition, in control algorithm device 31, when motor drive circuit 32A or 32B abnormal, according to turning to torque T and vehicle velocity V s, during with reference to abnormal shown in predefined Fig. 6, turn to auxiliary current command value to calculate mapping graph, calculate and turn to auxiliary current command value I1* and I2*.
In addition, in control algorithm device 31, according to what calculate, turn to auxiliary current command value I1*, I2* and rotor angle θ m, calculate target d shaft current command value Id* and the target q shaft current command value Iq* of d-q coordinate system.In addition, the d shaft current command value Id* that 31 pairs, control algorithm device calculates and q shaft current command value Iq* carry out dq phase-three-phase inversion, calculate U phase current command value Iu*, V phase current command value Ib* and W phase current command value Iw*.And control algorithm device 31 calculates current deviation Δ Iu, Δ Iv, the Δ Iw between the addition value of calculated U phase current command value Iu*, V phase current command value Iv*, W phase current command value Iw* and every phase by current detection circuit 34A, the detected current detection value of 34B.In addition, current deviation Δ Iu, Δ Ib, Δ Iw that 31 pairs, control algorithm device calculates carry out for example PI control algorithm or pid control computation, calculating, for voltage instruction value V1* and the V2* of the three-phase of the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, outputs to the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B by the voltage instruction value V1* of the three-phase calculating and V2*.
In addition, to 31 inputs of control algorithm device, by being arranged on, the 1st motor current cuts off circuit 33A and the 2nd motor current cuts off circuit 33B and the 1st three-phase motor winding L 1 of three-phase electric motor 22 and the detected motor current detected value of abnormal detection circuit 35A, 35B I1ud, I1vd, I1wd and I2ud, I2vd, the I2wd between the 2nd three-phase motor winding L 2.
And, control algorithm device 31 has abnormity detection portion 31a, this abnormity detection portion 31a compares the motor current detected value I1ud～I1wd being transfused to and I2ud～I2wd and each phase current command value Iu*, Iv*, the Iw* that self calculate, detects as open fault and the short trouble of field-effect transistor (FET) Q1～Q6 that forms the switch element of aftermentioned the 1st inverter circuit 42A and the 2nd inverter circuit 42B.
In this abnormity detection portion 31a, when detecting the open fault of the field-effect transistor (FET) that forms the 1st inverter circuit 42A and the 2nd inverter circuit 42B or short trouble, to anomaly detection signal SAa or the SAb that to detect the gate driver circuit 41A of abnormal motor drive circuit 32A or the gate driver circuit 41B output logic value of motor drive circuit 32B be " 1 ".
The 1st motor drive circuit 32A and the 2nd motor drive circuit 32B have respectively: gate driver circuit 41A and 41B, it is transfused to from voltage instruction value V1* and the V2* of the three-phase of control algorithm device 31 outputs, form signal, and there is current control division 41a when abnormal; And the 1st inverter circuit 42A and the 2nd inverter circuit 42B, they are transfused to from the signal of these gate driver circuits 41A, 41B output.
Gate driver circuit 41A, 41B are when having inputted voltage instruction value V1* and V2* from control algorithm device 31 respectively, according to the carrier signal Sc of these voltage instruction values V1*, V2* and triangular wave, 6 signals of pulse-width modulation (PWM) have been carried out in formation, and these signals are outputed to inverter circuit 42A, 42B.
In addition, when the anomaly detection signal SAa from 31 inputs of control algorithm device is logical value " 0 " (normally), gate driver circuit 41A cuts off 3 signals of circuit 34A output high level to motor current, and, to two signals of power cutting circuit 44A output high level.In addition, when anomaly detection signal SAa is logical value " 1 " (extremely), gate driver circuit 41A current control division 41a when abnormal cuts off circuit 33A 3 signals of output low levels simultaneously to 4 motor currents, cut off motor current, and, to two signals of power cutting circuit 44A while output low level, cut off battery electric power.
Equally, when the anomaly detection signal SAb from 31 inputs of control algorithm device is logical value " 0 " (normally), gate driver circuit 41B cuts off 3 signals of circuit 34B output high level to motor current, and, to two signals of power cutting circuit 44B output high level.In addition, when anomaly detection signal SAb is logical value " 1 " (extremely), gate driver circuit 41B current control division 41a when abnormal cuts off circuit 33B 3 signals of output low level simultaneously to motor current, cut off motor current, and, to two signals of power cutting circuit 44B while output low level, cut off battery electric power.
The 1st inverter circuit 42A and the 2nd inverter circuit 42B, respectively via the battery current of noise filter 43 and power cutting circuit 44A, 44B input battery 27, are connected with electrolytic capacitor CA and the CB of level and smooth use at input side.
These the 1st inverter circuit 42A and the 2nd inverter circuit 42B have 6 field-effect transistors as switch element (FET) Q1～Q6, have and make to be connected in series 3 structures that switch arm SAu, SAv, SAw are connected in parallel that two field-effect transistors form.And, by the signal from gate driver circuit 41A and 41B output being input to the grid of each field-effect transistor Q1～Q6, make U phase current Iu, V phase current Iv and W phase current Iw from output to the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 of three-phase electric motor 22 between the field-effect transistor of each switch arm SAu, SAv and SAw via motor current cut-out circuit 33A and 33B.
In addition, although not shown, but the both end voltage that assigns into the shunt resistance between each switch arm SAu, SAv, SAw and the ground wire of inverter circuit 42A and 42B is imported into current detection circuit 34A and 34B, by these current detection circuits 34A, 34B, detect motor current I1u～I1w and I2u～I2w.
In addition, motor current cut-out circuit 33A has field-effect transistor QA1, QA2 and the QA3 that 3 failures of current are used.The source electrode of field-effect transistor QA1 is connected with the transistor Q1 of the switch arm SAu of the 1st inverter circuit 42A and the tie point of Q2, and drain electrode is connected with the U phase coil L1u of the 1st three-phase motor winding L 1 via abnormal detection circuit 35A.In addition, the source electrode of field-effect transistor QA2 is connected with the transistor Q3 of the switch arm SAv of the 1st inverter circuit 42A and the tie point of Q4, and drain electrode is connected with the V phase coil L1v of the 1st three-phase motor winding L 1 via abnormal detection circuit 35A.In addition, the source electrode of field-effect transistor QA3 is connected with the transistor Q5 of the switch arm SAw of the 1st inverter circuit 42A and the tie point of Q6, and drain electrode is connected with the W phase coil L1w of the 1st three-phase motor winding L 1 via abnormal detection circuit 35A.
In addition, motor current cut-out circuit 33B has field-effect transistor QB1, QB2 and the QB3 that 3 failures of current are used.The source electrode of field-effect transistor QB1 is connected with the transistor Q1 of the switch arm SBu of the 2nd inverter circuit 42B and the tie point of Q2, and drain electrode is connected with the U phase coil L2u of the 2nd three-phase motor winding L 2 via abnormal detection circuit 35B.In addition, the source electrode of field-effect transistor QB2 is connected with the transistor Q3 of the switch arm SBv of the 2nd inverter circuit 42B and the tie point of Q4, and drain electrode is connected with the V phase coil L2v of the 2nd three-phase motor winding L 2 via abnormal detection circuit 35A.In addition, the source electrode of field-effect transistor QB3 is connected with the transistor Q5 of the switch arm SBw of the 2nd inverter circuit 42B and the tie point of Q6, and drain electrode is connected with the W phase coil L2w of the 2nd three-phase motor winding L 2 via abnormal detection circuit 35A.
And field-effect transistor QA1～QA3 and QB1～QB3 that motor current cuts off circuit 33A, 33B are made as inverter circuit 42A, 42B side by the negative electrode of parasitic diode D separately, connect in the same direction separately.
In addition, power cutting circuit 44A and 44B have respectively series circuit configuration as follows: the drain electrode of two field-effect transistors (FET) QC1, QC2 and QD1, QD2 is connected to each other, parasitic diode is rightabout.And, the source electrode of field-effect transistor QC1 and QD1 interconnects, and be connected with the outlet side of noise filter 43, the source electrode of field-effect transistor QC2 and QD2 is connected with each field-effect transistor Q1 of the 1st inverter circuit 42B and the 2nd inverter circuit 42B, the source electrode of Q2, Q3.
Next, the action of above-mentioned the 1st execution mode is described.
In not shown ignition switch, be off-state and vehicle stop and turn to auxiliary control while processing the work halted state also stopping, the control algorithm device 31 of controller for motor 25 is in off position.
Therefore turn to auxiliary control processing and the anomaly monitoring processing, by control algorithm device 31, carried out stop.Therefore, electro-motor 12 quits work, and stops turning to auxiliary force to steering mechanism's 10 outputs.
While ignition switch being made as to conducting state under this work halted state, control algorithm device 31 becomes operating state, starts to turn to auxiliary control to process and anomaly monitoring processing.Now, be made as the normal condition that open fault and short trouble do not occur for the inverter circuit 42A of each motor drive circuit 32A, 32B and each field-effect transistor Q1～Q6 of 42B.
Now, under the non-steering state not turning at steering wheel 11, the auxiliary control in processing that turn to of being carried out by control algorithm device 31, turning to torque T is " 0 ", vehicle velocity V s is also " 0 ", therefore, during with reference to Fig. 5 normal, turn to auxiliary current command value to calculate mapping graph, calculate and turn to auxiliary current command value.When this is normal, turn to auxiliary current command value to calculate in mapping graph, calculate with respect to the calculating shown in the solid line as target turn to the characteristic line L1 of auxiliary current command value It*, according to respectively turning to torque T, become half value by two equal Equals of system, turn to auxiliary current command value I*.
Then, turning to auxiliary control in processing, according to the rotor angle θ m that turns to auxiliary current command value I* and input from rotor position detection circuit 23 calculating, calculate d shaft current command value Id* and q shaft current command value Iq*, the d shaft current command value Id* calculating and q shaft current command value Iq* are carried out to the processing of dq two-phase-three-phase inversion, calculate U phase current command value Iu*, V phase current command value Iv* and W phase current command value Iw*.
In addition, turning to auxiliary control in processing, calculate each phase current command value Iu*, Iv*, Iw* and by current deviation Δ Iu, Δ Iv, Δ Iw between current detection circuit 34A and the addition value of detected each phase current detected value of 34B I1d, I2d, current deviation Δ Iu, the Δ Iv, the Δ Iw that calculate are carried out to PI and control processing or PID control processing, calculate target voltage command value Vu*, Vv* and Vw*.And, turning to auxiliary control to process, using the target voltage command value Vu*, the Vv* that calculate and Vw* as target voltage command value V1* and V2*, output to gate driver circuit 41A and the 41B of the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B.In addition, due to inverter circuit 42A and 42B normal, therefore, control algorithm device 31 is anomaly detection signal SAa and the SAb of " 0 " to gate driver circuit 41A and 41B output logic value.
Therefore,, in gate driver circuit 41A and 41B, to motor current, cut off 3 signals of circuit 33A and 33B output high level.Therefore, field-effect transistor QA1～QA3 and QB1～QB3 that motor current cuts off circuit 33A and 33B become conducting state, between the three-phase motor winding L 1 of inverter circuit 42A and 42B and three-phase electric motor 22 and L2, become conducting state, become the state that can three-phase electric motor 22 be switched on and be controlled.
Meanwhile, from gate driver circuit 41A and 41B, to power cutting circuit 44A and 44B, export the signal of high level.Therefore, field-effect transistor QC1, the QC2 of power cutting circuit 44A and field-effect transistor QD1, the QD2 of power cutting circuit 44B become conducting state, from the direct current power of battery 27, via noise filter 43, are provided to inverter circuit 42A and 42B.
In addition, in gate driver circuit 41A and 41B, voltage instruction value V1* and V2* according to from 31 inputs of control algorithm device, carry out pulse-width modulation, form signal, the signal of formation is provided to the grid of each field-effect transistor Q1～Q6 of inverter circuit 42A and 42B.
Therefore, at vehicle, be that under the state that do not turn to of halted state and steering wheel 11, turning to torque Ts is " 0 ", therefore, turning to auxiliary current command value is also " 0 ", electro-motor 22 maintains halted state.But, under the halted state at vehicle, make steering wheel 11 turn to and carry out so-called static state while turning to, turn to torque Ts to increase, thus, in control algorithm device 31, with reference to Fig. 5, calculate the required target diversion auxiliary current command value It* equalization compared with large is divided into half and obtain turn to auxiliary current command value I*.
Therefore, control algorithm device 31 provides larger voltage instruction value V1* and the V2* corresponding with turning to auxiliary current command value I* to gate driver circuit 41A and 41B.Therefore, from gate driver circuit 41A, 41B to inverter circuit 42A, 42B, export the signal of the duty ratio corresponding with larger voltage instruction value V1*, V2*.Correspondingly, from inverter circuit 42A, 42B, export U phase current I1u, V phase current I1v, W phase current I1w, U phase current I2u, V phase current I2v and the W phase current I3w of the phase difference with 120 degree corresponding with turning to auxiliary current command value I*.These each electric currents, by each corresponding field-effect transistor QA1～QA3, QB1～QB3 with motor current cut-out circuit 33A, 33B, are provided to the three-phase motor winding L 1 of three-phase electric motor 22 and each phase coil L1u～L1w and the L2u～L2w of L2.
Thus, electro-motor 22 is driven in rotation, and produces corresponding with target diversion auxiliary electrical flow valuve It* corresponding to the turning to torque Ts larger auxiliary force that turns to, and this turns to auxiliary force to be delivered to output shaft 12b via reduction gearing 21.Thus, can be with lighter steering force steering dish 11.
Then, when vehicle velocity V s increases, correspondingly calculate turn to auxiliary current command value to turn to than static state time little, electro-motor 22 produce with turn to torque Ts and vehicle velocity V s correspondingly appropriateness reduce turn to auxiliary force.
Like this, normal at inverter circuit 42A and 42B, offer under motor current Iu, the Iv and the normal situation of Iw of three-phase electric motor 22, the motor current that is suitable for turning to torque Ts and vehicle velocity V s is most provided to three-phase electric motor 22.
Under this normal condition, the carrier signal in pulse-width modulation (PWM) processing that makes to be undertaken by gate driver circuit 41A and 41B is synchronous, can suppress thus the beat (う な り) that switch causes.
Suppose that under this normal condition side in the 1st inverter circuit 42A of the 1st motor drive circuit 32A and the 2nd inverter circuit 42B of the 2nd motor drive circuit 32B is for example at field-effect transistor Q2, the Q4 of for example underarm side of inverter circuit 42B, any one or more short troubles that occurred in Q6.In this case, no longer flow through from the breakdown switch arm SBi(i=u that is short-circuited, v, w) output to the motor current Ii that motor current cuts off circuit 33A, thus, when comparing by abnormity detection portion 31a and each phase current command value Ii*, can detect abnormal that the fault that is short-circuited causes.In addition, the voltage detecting value of abnormal detection circuit 35A, the 35B of Fig. 3 can not become the voltage of regulation, can detect abnormal.
Like this, when short trouble has occurred the inverter circuit 42B of motor drive circuit 32B, anomaly detection signal SAa maintains logical value " 0 ", and anomaly detection signal SAb becomes logical value " 1 ".Therefore, the signal of 6 of inverter circuit 42B all disconnects, and, from the gate driver circuit 41B of motor drive circuit 32B, to motor current, cut off circuit 33B 3 signals of output low level simultaneously, and, to power cutting circuit 44B, export two low level signals simultaneously.
Therefore, at motor current, cut off in circuit 33B, the field-effect transistor QB1～QB3 of each phase becomes cut-off state, and the energising of each phase coil L2u～L2w of the 2nd three-phase motor winding L 2 of three-phase electric motor 22 is cut off.
Meanwhile, in power cutting circuit 44B, field-effect transistor QD1 and QD2 are also controlled so as to cut-off state, and the current path between battery 27 and the 2nd inverter circuit 42B is cut off.Now, field-effect transistor QD1 and QD2 have take mode that parasitic diode the is direction opposite each other connect in series structure connected to one another that makes to drain, therefore, the two-way current path between the 2nd inverter circuit 42B of battery 27 and the fault that is short-circuited is cut off reliably.
In addition, in the situation that utilizing 1 field-effect transistor to form power cutting circuit 44A and 44B, cannot cut off the electric current from the anode of the parasitic diode of this field-effect transistor to negative electrode, cannot will between battery 27 and inverter circuit 42A, 42B, cut off reliably, but, in the present embodiment, owing to connecting two field-effect transistor QC1, QC2 and QD1, QD2 the direction of parasitic diode is made as to opposite polarity mode, therefore, can cut off reliably the electric current that flows through parasitic diode.
And, when detecting this abnormality, in control algorithm device 31, during with reference to abnormal shown in Fig. 6, turn to auxiliary current command value to calculate mapping graph, calculate and turn to auxiliary current command value I*.Therefore, the auxiliary current command value I* that turns to calculating becomes the target diversion auxiliary current command value It* current instruction value identical with the situation that makes inverter circuit 42A, 42B both sides' action when normal, until become the current value that can flow through in inverter circuit 42A and 42B.Therefore, before reaching allowable current value, can produce the identical auxiliary force that turns to that turns to when normal by three-phase electric motor 22, can not bring sticky feeling to driver.Therefore and under the state travelling at the vehicle velocity V s with certain degree, the required auxiliary force that turns to is less, can not make driver feel to produce under abnormal state, to proceed to turn to auxiliary control.But, during turning to when needs turn to more greatly the static state of auxiliary force to turn to or during utmost point low speed driving, can make driver perceive to produce abnormal, can warn eligible for repair situation.
In addition, from the magnetic flux of permanent magnet PM that forms the magnetic pole of rotor 22R, according to each magnetic pole group (every 90 °), intersect with coil, therefore, for the motor characteristics being formed by each magnetic pole group, can extremely reduce impact each other.For example,, even motor drive circuit 32A(or 32B) short trouble has occurred and cutting off this motor drive circuit 32A(or 32B) produced before cambic short circuit current, also can extremely reduce the impact bringing to another coil.
In addition, in above-mentioned the 1st execution mode, the inverter circuit 42A of motor drive circuit 32A and the inverter circuit 42B of motor drive circuit 32B are cut off by power cutting circuit 44A and 44B, therefore, can in the situation that do not affect the activity coefficient of coil, under 1 group of Driven by inverter, realize good motor characteristics.
On the other hand, when regular event, the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 can produce respectively 1/2 output, even if break down, also can export 1/2 motor characteristics.Owing to can offsetting around the axisymmetric power that radially produces of motor, therefore, radial load is on not impact of axle.And output during fault, in the scope that admissible temperature rises, can be exported more than 1/2 motor characteristics when normal.
In addition, not that the 2nd inverter circuit 42B but the 1st inverter circuit 42A are be short-circuited fault in the situation that, by the motor current corresponding with motor drive circuit 32A, cut off circuit 33A, cut-out provides the motor current of three-phase electric motor 22, and, by power cutting circuit 44A, cut off providing the battery current of the 1st inverter circuit 42A.And, by similarly controlling normal the 2nd motor drive circuit 32B with above-mentioned, before reaching allowable current value, can produce the identical auxiliary force that turns to when normal.
In addition, in the situation that having omitted motor current cut-out circuit 33A and 33B, when any one party in motor drive circuit 32A and 32B is short-circuited fault, the state that the inverter circuit of the fault that is short-circuited is connected in the three-phase motor winding L 1 with three-phase electric motor 22 or L2.Therefore, in the situation that making three-phase electric motor 22 rotation, the induced electromotive force producing in coil portion flows through circulating current via the parasitic diode of the adjacent field-effect transistor of the field-effect transistor with short trouble, produces braking force.Therefore, the inverter circuit that is provided to the fault that is short-circuited due to the regenerative current that drives three-phase electric motor 22 to cause by normal motor drive circuit 32A or 32B becomes regenerative braking state, the auxiliary force that turns to being produced by three-phase electric motor 22 declines to a great extent, and to driver, brings sticky feeling.Therefore, when the mode with counteracting regenerative braking makes normal inverter circuit action, loss increases, and it is overheated that inverter circuit and three-phase electric motor occur, thereby limited, proceeds to turn to the auxiliary time.
In addition, when in the situation that field-effect transistor Q1～Q6 has occurred in the 1st inverter circuit 42A of the 1st motor drive circuit 32A and the 2nd inverter circuit 42B of the 2nd motor drive circuit 32B is nonreversible to conducting state and the open failure of remain off state is open fault, abnormity detection portion 31a also can detect extremely, the motor current cut-out circuit 33A and the power cutting circuit 44A that become abnormal motor drive circuit 32A can be controlled to dissengaged positions, or the motor current cut-out circuit 33B and the power cutting circuit 44B that become abnormal motor drive circuit 32B are controlled to dissengaged positions, can be with similarly above-mentioned, in during before reaching allowable current, by normal motor drive circuit, undertaken identically when normal turning to auxiliary control.
Like this, according to above-mentioned the 1st execution mode, the vehicle that following controller for motor, driven steering device can be provided and have controller for motor: any one in the inverter circuit 42A of the 1st motor drive circuit 32A or the inverter circuit 42B of the 2nd motor drive circuit 32B occurs when abnormal, can proceed motor control identical when normal by normal motor drive circuit and proceed to turn to auxiliary control.
In addition, in above-mentioned the 1st execution mode, illustrated by gate driver circuit 41A, 41B and made the synchronous situation of carrier signal of using in pulse-width modulation, but be not limited to this, also can the phase shifting of carrier signal be become by gate driver circuit 41A, 41B asynchronous, so that the noise producing disperses.In this case, by gate driver circuit 41A, 41B for example, becomes asynchronous by the phase shifting of the carrier signal of the high frequency using in pulse-width modulation (20kHz left and right), thus, the power that can disperse the noise that caused by the switch of field-effect transistor Q1～Q6 as forming the switch element of inverter circuit 42A and 42B, can obtain suppressing conduction, the effect of the peak value of radiated noise, and, by inhibition and switch, undertaken synchronously at aluminium electrolytic capacitor CA, the peak value of the switching current of I/O in CB, can obtain suppressing the inner heat of electrolytic capacitor CA and CB and realize long-life effect.
Next, with reference to Fig. 7, the present invention's the 2nd execution mode is described.
In the 2nd execution mode, be with the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, two groups of control algorithm devices 31 to be set accordingly in above-mentioned the 1st execution mode.
That is, as shown in Figure 7, in the 2nd execution mode, with the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, each control algorithm device 31A and the 31B having with control algorithm device 31 same structures of above-mentioned Fig. 2 is set accordingly.
And, in control algorithm device 31A, formation offers voltage instruction value V1* and the anomaly detection signal SAa of the 1st motor drive circuit 32A, the voltage instruction value V1* of formation and anomaly detection signal SAa is outputed to the gate driver circuit 41A of motor drive circuit 32A.
Equally, in control algorithm device 31B, formation offers voltage instruction value V2* and the anomaly detection signal SAb of the 2nd motor drive circuit 32B, the voltage instruction value V2* of formation and anomaly detection signal SAb is outputed to the gate driver circuit 41B of motor drive circuit 32B.
Herein, control algorithm device 31A and 31B have function for monitoring each other, operation result to both compares, or monitor each other the action of WatchDog Timer etc., a side in control algorithm device 31A and 31B is 31B(or 31A for example) become when abnormal the opposing party's control algorithm device 31A(or 31B) can detect.Therefore,, when detecting control algorithm device abnormal, the motor drive circuit that can control the control algorithm device by abnormal by normal control algorithm device replace control.
According to the 2nd execution mode, control algorithm device 31A, 31B carry out separately and turn to auxiliary control to process and extremely control and process, thus, with above-mentioned the 1st execution mode similarly, when any one party in the inverter circuit 42A of motor drive circuit 32A and the inverter circuit 42B of motor drive circuit 32B is short-circuited fault or open fault, can proceed to turn to auxiliary control by normal motor drive circuit.Therefore, can access the action effect identical with above-mentioned the 1st execution mode.
And, according to the 2nd execution mode, can between control algorithm device 31A and 31B, monitor each other, even in the situation that the side in control algorithm device 31A and 31B occurs abnormal, also can be undertaken identical with the 1st execution mode controlling when abnormal by normal control algorithm device, and, be configured to and detecting a side control algorithm device 31A(or 31B) become when abnormal, can be by normal control algorithm device 31B(or 31A) control motor drive circuit 32A, 32B, even if can bring into play thus at control algorithm device, occur also to proceed to turn to normally the auxiliary effect of controlling abnormal in the situation that.
In addition, in above-mentioned the 1st execution mode and the 2nd execution mode, the 1st three-phase motor winding L 1 of two systems of reeling in three-phase electric motor 22 and the 2nd three-phase motor winding L 2 have been described, for these the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2, the 1st motor drive circuit 32A separately and the situation of the 2nd motor drive circuit 32B have been set, but be not limited to this, 3 motor windings more than system also can be set, for each motor winding setting motor drive circuit and motor current separately, cut off circuit.
Next, with reference to Fig. 8 and Fig. 9, the present invention's the 3rd execution mode is described.
In the 3rd execution mode, be as shown in Figure 8 the structure of three-phase electric motor 22 to be set as in above-mentioned the 1st execution mode: the phase coil L2ua～L2wa of three-phase motor winding L 2 and the coiling direction of L2ub～L2wb of the phase coil L1ua～L1wa of the three-phase motor winding L 1 of the 1st system and the coiling direction of L1ub～L1wb and the 2nd system are rightabout.
In this case, the mode that the coil portion of the homophase of the 1st multi-phase motor winding L 1 and the 2nd motor winding L 2 intersects with the same magnetic flux that can not form with the permanent magnet PM of each magnetic pole by rotor 22R is simultaneously reeled.Thus, each coil portion formation of each coil portion of the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 suppresses magnetic disturbance each other for minimal magnetic circuit.
In addition, by the phase current I1u～I1w of the 1st inverter circuit 42A output from the 1st motor drive circuit 32A with from the phase place of the phase current I2u～I2w of the 2nd inverter circuit 42B output of the 2nd motor drive circuit 32B, stagger as shown in Figure 9 180 degree and be set as opposite phase.
According to the 3rd execution mode, same with above-mentioned the 1st execution mode, because the magnetic flux of permanent magnet PM from forming the magnetic pole of rotor 22R intersects with coil according to each magnetic pole group (every 90 °), therefore, for the motor characteristics being formed by each magnetic pole group, can extremely reduce impact each other.For example, even at a motor drive circuit 32A(or 32B) there is short trouble and in coil, flow through transiently larger electric current, before cutting off this motor drive circuit 32, produce cambic short circuit current, also can extremely reduce the impact bringing to another coil.
In the 3rd execution mode, the sense of current that flows through in-phase coil L1ua, L1ub and L2ua, L2ub, L1va, L1vb and L2va, L2vb and L1wa, L1wb and L2wa, L2wb is rightabout as shown in Figure 8, about phase voltage V1u～V1w and V2u～V2w, if represent V1ua and the V2ua of its 1 phase, as Fig. 9 (a) be the square wave that has carried out the opposite phase of pulse-width modulation (b), phase current is also the sine wave of opposite phase as shown in curve Lr.
Therefore, both pulsating current I lalso as Fig. 9 (c) with (d), become opposite phase, EMI from drive circuit to motor etc. is cancelled out each other to outside noise.Therefore, can suppress based on pulsating current I lthe noise that causes of motor wiring or the generation of vibration.
In addition, phase current I1u is from being disconnected to conducting or regularly disconnecting or regularly identical from being disconnected to the switch of conducting from being conducting to phase current I2u from the switch that is conducting to disconnection, and therefore, the noise being produced by switch is each opposite phase and is cancelled.
Therefore, in above-mentioned the 3rd execution mode, except obtaining the effect identical with above-mentioned the 1st execution mode, can also provide that encouraging that switch noise inhibiting and pulsating current cause shaken, quietness and higher controller for motor, driven steering device and the vehicle of vibrationproof.
In addition, above-mentioned the 3rd execution mode is not limited to be applied to the situation of the 1st execution mode, also can be applied to above-mentioned the 2nd execution mode.
Next, with reference to Figure 10, the present invention's the 4th execution mode is described.
The 4th execution mode has been simplified the structure of power cutting circuit.
; in the 4th execution mode; as shown in figure 10; in the structure of Fig. 2 of above-mentioned the 1st execution mode, to retain field-effect transistor QC1, the QC2 of differential concatenation and field-effect transistor QC1 and the QD1 of the side in QD1, QD2 of power cutting circuit 44A and 44B; in order to share the opposing party's field-effect transistor QC2 and QD2, configured the public power cut-out circuit 44C with public field-effect transistor QE between noise filter 43 and power cutting circuit 44A and the breakout of 44B.
Herein, the drain electrode of field-effect transistor QE is connected with noise filter 43, and source electrode is connected with power cutting circuit 44A, 44B, and grid is connected with gate driver circuit 41A, 41B via diode DA, DB.
According to the 4th execution mode, power cutting circuit consists of power cutting circuit 44A, 44B and these 3 of 44C, as being actually used in the dump element of cutting off the electricity supply, can be formed by field-effect transistor QC1, QD1 and these 3 thyristors of QE, compare with above-mentioned the 1st execution mode, can omit 1 thyristor, correspondingly reduce number of components, reduce the manufacturing cost of controller for motor 25, the occupied area that can reduce the power cutting circuit 44A～44C on printed base plate, can make printed base plate miniaturization.
Next, with reference to Figure 11, the present invention's the 5th execution mode is described.
In the 5th execution mode, be that above-mentioned the 4th execution mode is applied to above-mentioned the 2nd execution mode.
That is, in the 5th execution mode, be, for the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, control algorithm device 31 to be set to control algorithm device 31A and 31B separately in above-mentioned the 4th execution mode.
Therefore, the 5th execution mode is except accessing the action effect identical with above-mentioned the 2nd execution mode, can also similarly the number that forms the field-effect transistor of power cutting circuit be reduced to 1 with above-mentioned the 4th execution mode, can reduce the manufacturing cost of controller for motor 25, and, the occupied area that can reduce the power cutting circuit 44A～44C on printed base plate, makes printed base plate miniaturization.
In addition,, in above-mentioned the 4th execution mode and the 5th execution mode, also can apply above-mentioned the 3rd execution mode.
In addition, in the respective embodiments described above, following situation has been described: in the auxiliary control of turning to of control algorithm device 31 or control algorithm device 31A and control algorithm device 31B is processed, according to turning to auxiliary current command value, calculate d shaft current command value Id* and q shaft current command value Iq*, they are carried out to dq phase-three-phase inversion, calculate U phase current command value Iu*, V phase current command value Iv* and W phase current command value Iw*, calculate they with the addition value of every phase of current detection value between current deviation Δ Iu, Δ Iv and Δ Iw.But, the invention is not restricted to said structure, also can carry out the conversion of dq axle to the addition value of every phase of current detection value, calculate deviation delta Id and Δ Iq between they and d shaft current command value Id* and q shaft current command value Iq*, deviation delta Id and Δ Iq are carried out to dq phase-three-phase inversion.
In addition, in the respective embodiments described above, the situation that controller for motor of the present invention is applied to driven steering device has been described, but be not limited to this, also can apply the present invention to motor drive that electrical braking device, wire-controlled steering system, Vehicle Driving Cycle use etc. use electro-motor any system and the vehicle of this system is installed.In this case, in the situation that the voltage of processing in motor drive circuit or electric current are higher, can alternative field effect transistor, and use other voltage-controlled type switch elements such as insulated gate bipolar transistor (IGBT) as switch element.
Label declaration
1 ... vehicle, 3 ... driven steering device, 11 ... steering wheel, 12 ... steering spindle, 13 ... turn to torque sensor, 18 ... tooth sector, 20 ... turn to auxiliary body, 22 ... three-phase electric motor, 25 ... controller for motor, 26 ... vehicle speed sensor, 27 ... battery, 31, 31A, 31B ... control algorithm device, 32A ... the 1st motor drive circuit, 32B ... the 2nd motor drive circuit, 33A ... the 1st motor current cuts off circuit, 33B ... the 2nd motor current cuts off circuit, 34A, 34B ... current detection circuit, 35A ... the 1st abnormal detection circuit, 35B ... the 2nd abnormal detection circuit, 41A, 41B ... gate driver circuit, 42A ... the 1st inverter circuit, 42B ... the 2nd inverter circuit, 43 ... noise filter, 44A ... the 1st power cutting circuit, 44B ... the 2nd power cutting circuit.

Claims (16)

1. a controller for motor, it drives control to multiple polyphase dynamoelectric motor, it is characterized in that,
Described multiple polyphase dynamoelectric motor on stator at least according to two systems, by since the magnetic pole of these two systems homophase separately from the same magnetic flux of each magnetic pole of rotor each other Uncrossed mode concentrate be same phase with respect to rotor magnet the 1st multi-phase motor winding and the 2nd multi-phase motor winding of reeling
Described controller for motor has:
Command value operational part, its output drives the command value of described multiple polyphase dynamoelectric motor;
The 1st motor drive circuit and the 2nd motor drive circuit, they are according to the command value from this command value operational part output, to described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding, provide the 1st multi-phase motor drive current and the 2nd multi-phase motor drive current separately
The 1st heterogeneous motor current cutting portion and the 2nd motor current cutting portion, they assign between described the 1st motor drive circuit and described the 2nd motor drive circuit and described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding separately;
The 1st abnormity detection portion and the 2nd abnormity detection portion, they detect the abnormal of described the 1st multi-phase motor drive current and described the 2nd multi-phase motor drive current or voltage separately; And
Current control division when abnormal, it is when any one party by described the 1st abnormity detection portion and described the 2nd abnormity detection portion detects the motor drive current of at least one phase or voltage abnormal, the motor current cutting portion that detects an abnormal side is controlled to failure of current state
By described when current control division is controlled to failure of current state by the side in described the 1st motor current cutting portion and described the 2nd motor current cutting portion when abnormal, the pathological system under this motor current cutting portion is suppressed the magnetic influence of normal system.
2. controller for motor according to claim 1, is characterized in that,
The groove number of the stator of described multiple polyphase dynamoelectric motor is set to the number of phases * 2n, and the 1st multi-phase motor winding and the 2nd multi-phase motor winding are alternately wound on the magnetic pole between this groove, and wherein, n is more than 2 integer.
3. controller for motor according to claim 1 and 2, is characterized in that,
Described the 1st motor drive circuit and described the 2nd motor drive circuit have the 1st polyphase inverter circuit of described the 1st multi-phase motor drive current of output and the 2nd polyphase inverter circuit of described the 2nd multi-phase motor drive current of output, described the 1st abnormity detection portion and described the 2nd abnormity detection portion are configured to, and detect open fault and the short trouble of the switch element that forms described the 1st polyphase inverter circuit and described the 2nd polyphase inverter circuit.
4. controller for motor according to claim 1 and 2, is characterized in that,
Described command value operational part consists of corresponding with described the 1st motor drive circuit and described the 2nd motor drive circuit separately the 1st command value operational part and the 2nd command value operational part, the 1st command value operational part and the 2nd command value operational part monitor computing action each other, when a side command value operational part detects the opposing party's command value operational part abnormal, the action of abnormal command value operational part is stopped, and to described when abnormal current control division output cut off the cut-out instruction of the motor current cutting portion of described correspondence.
5. controller for motor according to claim 1 and 2, is characterized in that,
The described the 1st current control division when abnormal and the described the 2nd when abnormal current control division detecting when abnormal, cut off each phase cutting portion of the anomalous lateral in described the 1st motor current cutting portion and described the 2nd motor current cutting portion simultaneously.
6. controller for motor according to claim 5, is characterized in that,
Described each phase cutting portion consists of field-effect transistor, and it is same direction that described field-effect transistor is assigned the direction for parasitic diode.
7. controller for motor according to claim 3, is characterized in that,
Described the 1st motor drive circuit and described the 2nd motor drive circuit have been assigned separately the 1st dump portion and the 2nd dump portion between described the 1st polyphase inverter circuit and described the 2nd polyphase inverter circuit and power supply supply source.
8. controller for motor according to claim 7, is characterized in that,
Described the 1st dump portion and described the 2nd dump portion consist of the switch element with parasitic diode, and each switch element be take the direction of parasitic diode and connected as rightabout mode differential concatenation.
9. controller for motor according to claim 8, is characterized in that,
Described the 1st dump portion and described the 2nd dump portion have the structure that shares a part of dump element.
10. controller for motor according to claim 1 and 2, is characterized in that,
The motor drive command value that offers described the 1st motor drive circuit and described the 2nd motor drive circuit is impartial motor torque command value of distributing.
11. controller for motor according to claim 10, is characterized in that,
Described command value operational part is when detecting multi-phase motor electric current or voltage abnormal by described the 1st abnormity detection portion and described the 2nd abnormity detection portion, the motor torque command value of the total of motor drive command value when setting expression is normal, as the motor drive command value for normal motor drive circuit, until reach allowable current value.
12. controller for motor according to claim 1 and 2, is characterized in that,
The coiling direction with respect to magnetic pole of described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding is configured to opposite directions.
13. according to the controller for motor described in any one in claim 3～12, it is characterized in that,
It is synchronous that described the 1st motor drive circuit and described the 2nd motor drive circuit make to offer the switch carrier signal of described the 1st inverter circuit and described the 2nd inverter circuit.
14. controller for motor according to claim 3, is characterized in that,
Described the 1st motor drive circuit and described the 2nd motor drive circuit make to offer described the 1st inverter circuit and described the 2nd inverter circuit switch carrier signal phase shifting and become asynchronous so that the noise producing disperses.
15. 1 kinds of driven steering devices, is characterized in that,
This driven steering device utilizes the controller for motor formation described in any one in the claims 1～14 to comprise the controller for motor that makes steering mechanism produce the electro-motor that turns to auxiliary force.
16. 1 kinds of vehicles, is characterized in that,
Described vehicle has the controller for motor described in any one in the claims 1～14.
CN201380002513.XA 2013-03-15 2013-12-13 Motor control device, and electric power steering device and vehicle using same Pending CN104170242A (en)

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