CN104205616A - Motor control device, electric power steering device using same, and vehicle - Google Patents

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

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Publication number
CN104205616A
CN104205616A CN201380002514.4A CN201380002514A CN104205616A CN 104205616 A CN104205616 A CN 104205616A CN 201380002514 A CN201380002514 A CN 201380002514A CN 104205616 A CN104205616 A CN 104205616A
Authority
CN
China
Prior art keywords
motor
phase
motor drive
current
controller
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
CN201380002514.4A
Other languages
Chinese (zh)
Inventor
田上耕太郎
菊地祐介
尾崎学士
堀越敦
远藤修司
长竹和夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NSK Ltd
Original Assignee
NSK Ltd
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Filing date
Publication date
Application filed by NSK Ltd filed Critical NSK Ltd
Publication of CN104205616A publication Critical patent/CN104205616A/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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0069—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to the isolation, e.g. ground fault or leak current
    • 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
    • B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
    • 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
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • 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
    • 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
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
    • 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
    • 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
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of electrical machines
    • B60L2220/56—Structural details of electrical machines with switched windings
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of electrical machines
    • B60L2220/58—Structural details of electrical machines with 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • 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
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    • 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
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
    • 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
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/72—Electric energy management in electromobility

Landscapes

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

Abstract

Provided are: a motor control device capable of continuing drive control of an electric motor even if an open fault or short circuit fault has arisen in a motor drive circuit; an electric power steering device using the motor control device; and a vehicle. The motor control device is provided with: a command value computation unit that outputs a command value to a multi-phase electric motor wound with a first and second multi-phase motor winding resulting in a least two systems at a stator; a first and second motor drive circuit that supply first and second multi-phase motor drive current individually to each multi-phase motor winding on the basis of the command value; a multi-phase first and second motor current breaker individually interposed between each multi-phase motor winding and each motor drive circuit; a first and second abnormality detection unit that individually detect an abnormality in each multi-phase motor drive current or voltage; and an abnormal situation current control unit that controls to a current blocking state the motor current breaker at the side at which an abnormality has been detected when an abnormality has been detected in at least one phase of motor drive current by one of the abnormality detection units.

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 controlled.
Background technology
Drive the controller for motor of control with electro-motor etc. about travelling of the electro-motor to the electro-motor that is arranged on the driven steering device in vehicle, electrical braking device, electric automobile or hybrid electric vehicle, occur abnormal in the situation that, also can proceed the driving of electro-motor at motor control system even if expect.
In order to meet above-mentioned expectation, proposed as follows there is fault time control unit heterogeneous whirler control device and used the driven steering device of this control device: for example the multi-phase motor winding of multiple polyphase dynamoelectric motor carry out doubleization, provide electric current from inverter portion separately to the multi-phase motor winding of doubleization, in the case of 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, a side in the inverter portion of doubleization has occurred the open failure of switch element, control the switch element 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 proceed the driving control of heterogeneous whirler.
Therefore, in above-mentioned conventional example, there is unsolved problem as follows: although occurred, open failure, can produce enough torques at the switch element of inverter portion, but occur, short trouble, cannot tackle at the switch element of inverter portion.
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 control of electro-motor.
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.Herein, multiple polyphase dynamoelectric motor has and on stator, is wound with as the 1st multi-phase motor winding of at least two systems and the structure of the 2nd multi-phase motor winding.In addition, controller for motor has: command value operational part, and its output drives the command value of described multiple polyphase dynamoelectric motor; And 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 motor drive current and the 2nd multi-phase motor drive current to described 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 described the 1st motor drive circuit and described the 2nd motor drive circuit and described 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 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, when its any one party in the 1st abnormity detection portion and 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.
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, the multi-phase motor winding of at least two systems of reeling in multiple polyphase dynamoelectric motor, provide multi-phase motor drive current by motor drive circuit separately to each multi-phase motor winding, and, between each motor drive circuit and multi-phase motor winding, be provided with motor current cutting portion.Therefore, the side in each multi-phase motor drive current or voltage occur abnormal, cut off 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, short trouble have occurred motor drive circuit, also can proceed by normal motor drive circuit the driving of electro-motor.
In addition, form driven steering device owing to comprising the controller for motor with above-mentioned effect, therefore, even the side in the multi-phase motor drive current of at least two systems occur abnormal, also can provide multi-phase motor drive current to electro-motor by normal motor drive circuit, can proceed the miscellaneous function that turns to of driven steering device.
In addition, form vehicle owing to comprising the controller for motor with above-mentioned effect, therefore, even the side in the motor drive circuit of at least two systems of multiple polyphase dynamoelectric motor occur abnormal, also can provide multi-phase motor drive current to electro-motor 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.
Brief description of the drawings
Fig. 1 is the system construction drawing that the 1st execution mode that is arranged on the driven steering device in vehicle of the present invention is shown.
Fig. 2 is the circuit diagram that the concrete structure of the controller for motor of the 1st execution mode is shown.
Fig. 3 is the cutaway view that the structure of the three-phase electric motor of the 1st execution mode is shown.
Fig. 4 is the schematic diagram that the winding construction of the three-phase electric motor of Fig. 3 is shown.
Fig. 5 illustrates to turn to torque and the characteristic line chart of relation that turns to auxiliary current command value when normal.
Fig. 6 illustrates to turn to torque and the characteristic line chart of relation that turns to 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 that the structure of the three-phase electric motor of the present invention's the 3rd execution mode is shown.
Fig. 9 is the signal waveforms of the effect for 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.
Figure 12 is another routine cutaway view that the three-phase electric motor that can apply is in the present invention shown.
Figure 13 is the schematic diagram that the winding construction of the three-phase electric motor of Figure 12 is shown.
Figure 14 is the cutaway view that the another example of the three-phase electric motor that can apply is in the present invention 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 the 1st execution mode in the situation that is arranged on 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 is configured to rack pinion (the rack and pinion) form with the pinion 18a linking with pinion shaft 17 and the tooth bar 18b engaging with this pinion 18a.And, be delivered to rotatablely moving of pinion 18a and convert the rectilinear motion of overall width direction by tooth bar 18b to.
The output shaft 12b of steering spindle 12 with to output shaft 12b transmit turn to the auxiliary body 20 that turns to of auxiliary force to link.This turns to auxiliary body 20 to have: reduction gearing 21, and itself and output shaft 12b link, for example, be made up of worm gear (worm gear) mechanism; 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, be made up of 3-phase brushless motor.
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 for example 9 the tooth Te that form the magnetic pole of groove SL as being inwards formed on inner peripheral surface highlightedly, and rotor 22R is for example rotor of the surperficial magnet type of 6 utmost points that relatively rotates the inner circumferential side that is configured in freely this stator 22S with tooth Te.
And, in the groove SL of stator 22S, be wound with the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 as the multi-phase motor winding of two systems.In the 1st three-phase motor winding L 1, one end of U phase coil L1u, V phase coil L1v and W phase coil L1w interconnects and becomes star line, the other end of each phase coil L1u, L1v and L1w is connected with controller for motor 25, is provided respectively motor drive current I1u, I1v and I1w.
Each phase coil L1u, L1v and L1w are formed with respectively 3 coil portion L1ua～L1uc, L1va～L1vc and L1wa～L1wc.These coil portions L1ua～L1uc, L1va～L1vc and L1wa～L1wc are according to L1ua, L1va, L1wa, L1ub, L1vb, Lw1b ... order be wound on along clockwise direction the outside of groove SL.
In addition, in the 2nd three-phase motor winding L 2, one end of U phase coil L2u, V phase coil L2v and W phase coil L2w interconnects and becomes star line, and the other end of each phase coil L2u, L2v and L2w is connected with controller for motor 25, is provided respectively motor drive current I2u, I2v and I2w.
Each phase coil L2u, L2v and L2w are formed with respectively 3 coil portion L2ua～L2uc, L2va～L2vc and L2wa～L2wc.The mode that these coil portions L2ua～L2uc, L2va～L2vc and L2wa～L2wc overlap with the 1st three-phase coil winding L 1 with the coil portion of homophase, according to L2ua, L2va, L2wa, L2ub, L2vb, L2wb ... order be wound on along clockwise direction the inner side of groove SL.
And coil portion L2ua～L2uc, the L2va～L2vc of coil portion L1ua～L1uc, the L1va～L1vc of each phase coil L1u～L1w and L1wa～L1wc and each phase coil L2u～L2w and L2wa～L2wc are that unidirectional mode is wound on the groove SL that clips tooth Te with the direction of electrical current.
In addition, as shown in Figure 2, three-phase electric motor 22 has the rotational position sensor 23a such as the Hall element of the position of rotation of detection rotor.Detected value from this rotational position sensor 23a is provided to rotor position detection circuit 23, by this rotor position detection circuit 23 detection rotor rotation angle θ m.
Controller for motor 25 is transfused to by the vehicle velocity V s that turns to torque T and detected by vehicle speed sensor 26 that turns to torque sensor 13 to detect, and, be transfused to the rotor angle θ m exporting from rotor position detection circuit 23.
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 is the structure shown in Fig. 2., controller for motor 25 has control algorithm device 31, the 1st motor drive circuit 32A, the 2nd motor drive circuit 32B, the 1st motor current cuts off circuit 33A and the 2nd motor current cuts off circuit 33B.
Control algorithm device 31 be transfused in Fig. 2, omitted diagram but the shown in Figure 1 vehicle velocity V s that turns to torque T and vehicle speed sensor 26 to detect that turns to torque sensor 13 to detect, and, as shown in Figure 2, be transfused to the rotor angle θ m exporting from rotor position detection circuit 23.In addition, control algorithm device 31 be also transfused to by current detection circuit 34A and 34B output, from motor current I1d and the I2d of the 1st multi-phase motor winding L 1 of three-phase electric motor 22 and each phase coil output 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, at motor drive circuit 32A or 32B when 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, turn to auxiliary current command value I1*, I2* and rotor angle θ m according to what calculate, calculate target d shaft current command value Id* and the target q shaft current command value Iq* of d-q coordinate system, the d shaft current command value Id* calculating and q shaft current command value Iq* are carried out to 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 and 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 of the current detection value being detected by current detection circuit 34A, 34B.And then, control algorithm device 31 carries out for example PI control algorithm or pid control computation to the current deviation Δ Iu, the Δ Ib that calculate and Δ Iw, calculate voltage instruction value V1* and V2* for the three-phase of the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B, and the voltage instruction value V1* of the three-phase calculating and V2* are outputed to the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B.
In addition, control algorithm device 31 is transfused to by being arranged on the 1st motor current and cuts off circuit 33A and the 2nd motor current and cut off motor current detected value I1ud, I1vd, I1wd and I2ud, I2vd, the I2wd that abnormal detection circuit 35A between circuit 33B and the 1st three-phase motor winding L 1 and the 2nd three-phase motor winding L 2 of three-phase electric motor 12 and 35B detect.
And, control algorithm device 31 has abnormity detection portion 31a, this abnormity detection portion 31a compares the motor current detected value I1ud～I1wd that is detected and inputs and I2ud～I2wd and the 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 of switch element that forms aftermentioned the 1st inverter circuit 42A and the 2nd inverter circuit 42B.
In this abnormity detection portion 31a, in the time 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 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 are transfused to respectively voltage instruction value V1* and the V2* of the three-phase of exporting from control algorithm device 31, form signal.In addition, the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B have: the gate driver circuit 41A and the 41B that double as current control division 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 in the time having inputted voltage instruction value V1*, 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 and 42B.
In addition,, in the time that the anomaly detection signal SAa inputting from control algorithm device 31 is logical value " 0 " (normally), gate driver circuit 41A cuts off 3 signals of circuit 33A output high level to motor current.Meanwhile, gate driver circuit 41A is to two signals of power cutting circuit 44A output high level.
In addition,, in the time that anomaly detection signal SAa is logical value " 1 " (extremely), gate driver circuit 41A cuts off circuit 33A 3 signals of output low level simultaneously to motor current, cuts off motor current.Meanwhile, gate driver circuit 41A, to power cutting circuit 44A two signals of output low level simultaneously, cuts off battery electric power.
Equally, in the time that the anomaly detection signal SAb inputting from control algorithm device 31 is logical value " 0 " (normally), gate driver circuit 41B cuts off 3 signals of circuit 33B output high level to motor current.Meanwhile, gate driver circuit 41B is to two signals of power cutting circuit 44B output high level.
In addition,, in the time that anomaly detection signal SAb is logical value " 1 " (extremely), gate driver circuit 41B cuts off circuit 33B 3 signals of output low level simultaneously to motor current, cuts off motor current.Meanwhile, gate driver circuit 41B, to power cutting circuit 44B two signals of output low level simultaneously, cuts 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, 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, in each inverter circuit 42A and 42B, the grid of each field-effect transistor Q1～Q6 is transfused to from the signal of gate driver circuit 41A, 41B output, makes thus 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 12 between the field-effect transistor of each switch arm SAu, SAv, SAw via motor current cut-out circuit 33A, 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, detect motor current I1u～I1w and I2u～I2w by these current detection circuits 34A, 34B.
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 the negative electrode of parasitic diode D is made as inverter circuit 42A, 42B side by field-effect transistor QA1～QA3 and QB1～QB3 that motor current cuts off circuit 33A, 33B, 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.
Be off-state and vehicle stop and turn to auxiliary control while processing the work halted state also stopping in not shown ignition switch, 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, carried out by control algorithm device 31 stop.Therefore, electro-motor 12 quits work, and stops turning to auxiliary force to output shaft 12b output.
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 inverter circuit 42A of each motor drive circuit 32A, 32B and each field-effect transistor Q1～Q6 of 42B and do not occur the normal condition of open fault and short trouble.In this case, under the non-steering state not turning at steering wheel 1, 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.In the time that 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 auxiliary current command value It* characteristic line L1, become according to respectively turning to torque T half value turn to auxiliary current command value I* by two equal Equals of system.
Then, control algorithm device 31 is according to the rotor angle θ r 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, control algorithm device 31 calculate each phase current command value Iu*, Iv* and Iw* and the addition value of the each phase current detected value I1d, the I2d that are detected by current detection circuit 34A, 34B between current deviation Δ Iu, Δ Iv and Δ Iw, 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*, Vw*.
Then, control algorithm device 31 outputs to the gate driver circuit 41A of the 1st motor drive circuit 32A and the gate driver circuit 41B of the 2nd motor drive circuit 32B using the target voltage command value Vu* calculating, Vv*, Vw* as target voltage command value V1* and V2*.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, cut off 3 signals of circuit 33A and 33B output high level to motor current.Therefore, field-effect transistor QA1～QA3 and the QB1～QB3 of motor current cut-out circuit 33A and 33B become conducting state.Therefore, between the three-phase motor winding L 1 of inverter circuit 42A, 42B and three-phase electric motor 22, L2, become conducting state, become can to three-phase electric motor 22 switch on control state.
Meanwhile, the signal of output high level from gate driver circuit 41A, 41B to power cutting circuit 44A, 44B.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, are provided for inverter circuit 42A and 42B from the direct current of battery 27 via noise filter 43.
In addition, in gate driver circuit 41A, 41B, carry out pulse-width modulation according to the voltage instruction value V1*, the V2* that input from control algorithm device 31, form signal, the signal of formation is provided to the grid of each field-effect transistor Q1～Q6 of inverter circuit 42A, 42B.
Therefore, be that under the state that do not turn to of halted state and steering wheel 1, turning to torque Ts is " 0 " at vehicle, therefore, turning to auxiliary current command value is also " 0 ", electro-motor 22 maintains halted state.
But, carry out so-called static state when the halted state at vehicle or the travelling initial state lower-pilot steering wheel 1 of vehicle while turning to, owing to turning to torque Ts to increase, control algorithm device 31 is with reference to Fig. 5, calculate the target diversion auxiliary current command value It* equalization compared with large is divided into half and obtain turn to auxiliary current command value I*, and larger voltage instruction value V1*, the V2* corresponding with it are provided to gate driver circuit 41A, 41B.Therefore, export the signal of the duty ratio corresponding with larger voltage instruction value V1*, V2* from gate driver circuit 41A, 41B to inverter circuit 42A, 42B.
Therefore, export U phase current I1u, V phase current I1v, W phase current I1w and I2u, I2v, the I3w of the phase difference with 120 degree corresponding with turning to auxiliary current command value I* from inverter circuit 42A, 42B.These U phase currents 11u～W phase current 13w is by cutting off each corresponding field-effect transistor QA1～QA3, the QB1～QB3 of circuit 33A, 33B with motor current, and is provided for the three-phase motor winding L 1 of three-phase electric motor 22, 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, in the time that 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.
When there is short trouble in any one or more in field-effect transistor Q2, the Q4 of for example underarm side of for example inverter circuit 42B of a side in the 2nd inverter circuit 42B of the 1st inverter circuit 42A becoming at the 1st motor drive circuit 32A and the 2nd motor drive circuit 32B and Q6 under this normal condition time, no longer flow through the switch arm SBi(i=u from the fault that is short-circuited, v, w) output to motor current and cut off the motor current Ii of circuit 33A.Therefore,, in the time 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, in the time that short trouble has occurred the inverter circuit 42B of motor drive circuit 32B, anomaly detection signal SAa is maintained logical value " 0 ", and anomaly detection signal SAb becomes logical value " 1 ".Therefore, 6 grids drivings of inverter circuit 42B are all stopped, and, cut off circuit 33B 3 signals of output low level simultaneously from the gate driver circuit 41B of motor drive circuit 32B to motor current, to power cutting circuit 44B two signals of output low level simultaneously.
Therefore, cut off in circuit 33B at motor current, the field-effect transistor QB1～QB3 of each phase becomes cut-off state, cuts off the energising of each phase coil L2u～L2w of the 2nd three-phase motor winding L 2 to three-phase electric motor 22.
Meanwhile, in power cutting circuit 44B, field-effect transistor QD1 and QD2 are controlled so as to cut-off state, and the path between battery 27 and the 2nd inverter circuit 42B is cut off.Now, field-effect transistor QD1 and QD2 have mode taking parasitic diode as the 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, in the time 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.
And under the state travelling with the vehicle velocity V s of certain degree, the required auxiliary force that turns to is less, therefore can not make driver feel to produce under abnormal state, to proceed to turn to auxiliary control.But, when turning in the time that needs turn to more greatly the static state of auxiliary force to turn to or when utmost point low speed driving, can make driver perceive to produce abnormal, can warn eligible for repair situation.
In addition, even if there is short trouble, the motor current of the 2nd motor drive circuit 32B side is cut off to circuit 33B and be made as dissengaged positions, as shown in Figure 3, because the complete cycle around stator 22S disposes each phase coil L1ua～L1uc, L1va～L1vc and L1wa～L1wc that the 1st three-phase motor winding L 1 of electric current is provided from the 1st motor drive circuit 32A equably, therefore, can, by Torque Ripple Reduction in Min., can guarantee good steering behaviour.
In addition, not that the 2nd inverter circuit 42B but the 1st inverter circuit 42A are be short-circuited fault in the situation that, cut off circuit 33A by the motor current corresponding with motor drive circuit 32A, providing of the motor current of cut-out to three-phase electric motor 22, and, cut off providing of battery current to the 1st inverter circuit 42A by power cutting circuit 44A.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 of the inverter circuit of the fault that is short-circuited in being connected with three-phase motor winding L 1 or the L2 of three-phase electric motor 22.Therefore, in the situation that three-phase electric motor 22 is rotated, the induced electromotive force producing in coil portion flows through circulating current via the parasitic diode of the field-effect transistor adjacent with the field-effect transistor of 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 brings sticky feeling to driver.Therefore, in the time making normal inverter circuit action in the mode of offsetting regenerative braking, loss increases, and it is overheated that inverter circuit and three-phase electric motor occur, and proceeds to turn to the auxiliary time thereby limited.
In addition, nonreversible to conducting state and the open failure of remain off state is open fault when there is field-effect transistor Q1～Q6 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, abnormity detection portion 31a also can detect extremely.Therefore, 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, undertaken identically when normal turning to auxiliary control by normal motor drive circuit.
Like this, according to above-mentioned the 1st execution mode, any one in the inverter circuit 42A of the 1st motor drive circuit 32A and the inverter circuit 42B of the 2nd motor drive circuit 32B occurs when abnormal, can proceed identically when normal to turn to auxiliary control by normal motor drive circuit.
In addition, in above-mentioned the 1st execution mode, illustrated by gate driver circuit 41A, 41B and made the synchronous situation of carrier signal using in pulse-width modulation, but be not limited to this.That is, 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, the phase shifting of the carrier signal of the high frequency using in pulse-width modulation (for example 20kHz left and right) is become asynchronous, thus, can disperse by the noise causing as the switch of field-effect transistor Q1～Q6 of switch element that forms inverter circuit 42A and 42B.Therefore,, in above-mentioned the 1st execution mode, can obtain the effect of the peak value that can suppress conduction, radiated noise.
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.
, 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 31B of having with control algorithm device 31 same structures of above-mentioned Fig. 2 are 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, 31B have function for monitoring each other, both operation results are compared, or monitor each other action of WatchDog Timer etc.Therefore, for example 31B(of a side or 31A in control algorithm device 31A and 31B) become when abnormal the opposing party's control algorithm device 31A(or 31B) can detect.Therefore,, in the time detecting control algorithm device abnormal, can replace control to the motor drive circuit of the control algorithm device control by abnormal by normal control algorithm device.
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 obtain 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, though the side in control algorithm device 31A and 31B occur abnormal, also can be undertaken identical with the 1st execution mode controlling when abnormal by normal control algorithm device.And, be configured to detecting a side control algorithm device 31A(or 31B) becoming when abnormal can be by normal control algorithm device 31B(or 31A) control motor drive circuit 32A and 32B, occur also to proceed to turn to normally the auxiliary effect of controlling abnormal in the situation that even if can bring into play at control algorithm device.
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 are 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, cut off circuit for each motor winding setting motor drive circuit and motor current separately.
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 to form as shown in Figure 8 three-phase electric motor 22 in above-mentioned the 1st execution mode and the 2nd execution mode.; the 2nd three-phase motor winding L 2 in the stator 22S of above-mentioned the 1st execution mode is made as contrary with respect to the coiling direction of tooth Te with the 1st three-phase motor winding L 1 with respect to the coiling direction of tooth Te, and the sense of current that flows through the 2nd three-phase motor winding L 2 is also set as to the direction contrary with the sense of current that flows through the 1st three-phase motor winding L 1.
In addition the phase place of the phase current I2u～I2w exporting by the phase current I1u～I1w exporting from the 1st inverter circuit 42A of the 1st motor drive circuit 32A with from the 2nd inverter circuit 42B of the 2nd motor drive circuit 32B, staggers as shown in Figure 9 180 degree and is set as opposite phase.
Like this, according to the 2nd execution mode, the electric current that flows through the 1st three-phase motor winding L 1 of the each tooth Te that is wound in three-phase electric motor 22 and the in-phase coil L1ua～L1uc of the 2nd three-phase motor winding L 2 and L2ua～L2uc, L1va～L1vc and L2va～L2vc and L1wa～L1wc and L2wa～L2wc is rightabout, but because coiling direction is also rightabout, therefore, the magnetic flux producing in tooth Te can produce the magnetic flux identical with above-mentioned the 1st execution mode, can produce the required auxiliary force that turns to by three-phase electric motor 22.
But the sense of current that flows through in-phase coil L1ua～L1uc and L2ua～L2uc, L1va～L1vc and L2va～L2vc and L1wa～L1wc and L2wa～L2wc is rightabout as shown in Figure 8.Correspondingly, 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, as Fig. 9 (c) with (d), both pulsating current IL become opposite phase, and EMI etc. cancel out each other to outside noise.Therefore, encouraging of can suppressing that pulsating current IL causes shaken, and suppresses the generation of noise and vibration.
In addition,, because phase current I1u is from being disconnected to conducting or disconnecting or identical from being disconnected to the switch timing of conducting from being conducting to from the switch timing that is conducting to disconnection and phase current I2u, therefore, switching noise is also 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.
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; field-effect transistor QC1 and the QD1 that retains the side in field-effect transistor QC1, QC2 and QD1, the QD2 of differential concatenation of power cutting circuit 44A and 44B in the structure of Fig. 2 of above-mentioned the 1st execution mode; 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 and 44B, and grid is connected with gate driver circuit 41A and 41B via diode DA and DB.
According to the 4th execution mode, power cutting circuit is made up 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 made up of field-effect transistor QC1, QD1 and these 3 thyristors of QE.Therefore, in the 4th execution mode, compared 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.In addition, in the 4th execution mode, the occupied area of the power cutting circuit 44A～44C on printed base plate can be reduced, printed base plate miniaturization can be made.
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.
, 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, except can obtaining the action effect identical with above-mentioned the 2nd execution mode, can also similarly reduce 1 by the number of the field-effect transistor that forms power cutting circuit with above-mentioned the 4th execution mode.Therefore, in the 5th execution mode, also can reduce the manufacturing cost of controller for motor 25, and, can reduce the occupied area of the power cutting circuit 44A～44C on printed base plate, make printed base plate miniaturization.
In addition, in above-mentioned the 1st execution mode～5th execution mode, for situation as follows, the stator 22S of three-phase electric motor 22 has been described: for the tooth Te as 1 magnetic pole, according to every at radial direction outside and the 1st three-phase motor winding L 1 of two systems of inside winding and the phase coil of the 2nd three-phase motor winding L 2.But be not limited to this.; for the quantity of the tooth Te of stator 22S; as shown in figure 12; be more than 1 integer according to the number of phases × 2n(n); for example be set as n=2; become the structure of 8 utmost points, 12 grooves, will be wound on 12 tooth Te as phase coil L1ua, L1va, the L1wa of the 1st system according to identical coiling direction successively in the clockwise direction.
Then, reel as phase coil L2ua, L2va and the L2wa of the 2nd system according to identical coiling direction successively in the clockwise direction, next, reel as phase coil L1ub, L1vb, the L1wb of the 1st system according to identical coiling direction successively in the clockwise direction, finally, reel as phase coil L2ub, L2vb and the L2wb of the 2nd system according to identical coiling direction successively in the clockwise direction.
In this case, be alternately configured in along clockwise direction on tooth Te as the phase coil L1ua～L1wc of the three-phase motor winding L 1 of the 1st system and the phase coil L2ua～L2wc of the three-phase motor winding L 2 as the 2nd system.Therefore, phase coil L1ua～L1wc and the phase coil L2ua～L2wc coiling on 1 tooth Te only needs a kind, therefore, can easily carry out the coiling of coil.
In addition, intersect with coil according to each magnetic pole group (every 90 °) from the magnetic flux of rotor 22R, 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) there is short trouble and produced cambic short circuit current before cutting off this motor drive circuit 32, also can extremely reduce the impact bringing to another coil.
In addition, as shown in figure 14, in the structure of above-mentioned Figure 12, also can be set as the phase coil L1ua～L1wa of three-phase motor winding L 1 of the 1st system and the phase coil L2ua～L2wa of three-phase motor winding L 2 and the coiling direction of L2ub～L2wb of the coiling direction of L1ub～L1wb and the 2nd system are rightabout.
In this case, intersect with coil according to each magnetic pole group (every 90 °) from the magnetic flux of rotor 22R, 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) there is short trouble and produced cambic short circuit current before cutting off this motor drive circuit 32, also can extremely reduce the impact bringing to another coil.
Therefore, both pulsating current IL also become opposite phase as Fig. 9 (c) with (d), and EMI etc. cancel out each other to outside noise.Therefore, encouraging of can suppressing that pulsating current IL causes shaken, and suppresses the generation of noise and vibration.
In addition,, because phase current I1u is from being disconnected to conducting or disconnecting or identical from being disconnected to the switch timing of conducting from being conducting to from the switch timing that is conducting to disconnection and phase current I2u, therefore, switching noise is also 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 the time of regular event, 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 does not affect axle.And, in the scope that output when fault is risen in admissible temperature, can export more than 1/2 motor characteristics when normal.
In addition, in the respective embodiments described above, illustrated that electro-motor is the situation of three-phase electric motor, but be not limited to this, also can apply the present invention to 4 above multiple polyphase dynamoelectric motors mutually.
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 any system of the use electro-motor of motor drive that electrical braking device, wire-controlled steering system, Vehicle Driving Cycle use etc.
Label declaration
1 ... vehicle, 3 ... driven steering device, 11 ... steering wheel, 12 ... steering spindle, 13 ... turn to torque sensor, 18 ... steering gear, 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 (22)

1. a controller for motor, it drives control to multiple polyphase dynamoelectric motor, it is characterized in that,
Described multiple polyphase dynamoelectric motor has and on stator, is wound with as the 1st multi-phase motor winding of at least 2 systems and the structure of the 2nd multi-phase motor winding,
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,, 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 described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding separately;
The 1st heterogeneous motor current cutting portion and the 2nd motor current cutting portion, they assign into respectively 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;
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,, when detect the motor drive current of at least one phase or voltage abnormal by any one party in described the 1st abnormity detection portion and described the 2nd abnormity detection portion, is controlled to failure of current state by the motor current cutting portion that detects an abnormal side.
2. controller for motor according to claim 1, 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, and described the 1st abnormity detection portion and described the 2nd abnormity detection portion are configured to the open fault and the short trouble that detect the switch element that forms described the 1st polyphase inverter circuit and described the 2nd polyphase inverter circuit.
3. controller for motor according to claim 1 and 2, is characterized in that,
Described command value operational part is made up 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, in the time that 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.
4. according to the controller for motor described in any one in claim 1～3, it 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.
5. controller for motor according to claim 4, is characterized in that,
Described each phase cutting portion is made up of field-effect transistor, described field-effect transistor assigned for the direction of parasitic diode be same direction.
6. controller for motor according to claim 2, 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.
7. controller for motor according to claim 6, is characterized in that,
Described the 1st dump portion and described the 2nd dump portion have respectively the structure that is connected in series multiple dump elements.
8. controller for motor according to claim 7, 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.
9. controller for motor according to claim 7, is characterized in that,
Described the 1st dump portion and described the 2nd dump portion are made up of the switch element with parasitic diode, and each switch element connects taking the direction of parasitic diode as rightabout mode differential concatenation.
10. controller for motor according to claim 9, is characterized in that,
Described the 1st dump portion and described the 2nd dump portion share a part of switch element.
11. according to the controller for motor described in any one in claim 1～10, it 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.
12. controller for motor according to claim 11, is characterized in that,
Described command value operational part is in the time detecting multi-phase motor electric current or voltage abnormal by described the 1st abnormity detection portion and described the 2nd abnormity detection portion, the 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.
13. according to the controller for motor described in any one in claim 1～12, it is characterized in that,
In described multiple polyphase dynamoelectric motor, the winding that is same phase with respect to rotor in described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding is wound in same magnetic pole.
14. controller for motor according to claim 13, is characterized in that,
This controller for motor is set to, and is wound in the 1st multi-phase motor winding of same magnetic pole and the coiling direction with respect to magnetic pole of the 2nd multi-phase motor winding is rightabout, and the sense of current is rightabout.
15. controller for motor according to claim 14, is characterized in that,
It is anti-phase motor drive current each other that described the 1st motor drive circuit and described the 2nd motor drive circuit provide current phase to the winding that is same phase with respect to rotor in described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding.
16. controller for motor according to claim 15, is characterized in that,
Described the 1st motor drive circuit and described the 2nd motor drive circuit are set to, and the switch timing that offers the motor drive current of described the 1st multi-phase motor winding and described the 2nd multi-phase motor winding is the while.
17. according to the controller for motor described in any one in claim 1～12, it 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.
18. controller for motor according to claim 17, 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.
19. according to the controller for motor described in any one in claim 2～18, 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.
20. according to the controller for motor described in any one in claim 2～18, it is characterized in that,
Described the 1st motor drive circuit and described the 2nd motor drive circuit make the cycle of the switch carrier signal that offers described the 1st inverter circuit and described the 2nd inverter circuit stagger and become asynchronous so that produce noise disperse.
21. 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 1～20 to comprise the controller for motor that makes steering mechanism produce the electro-motor that turns to auxiliary force.
22. 1 kinds of vehicles, is characterized in that, this vehicle has the controller for motor described in any one in the claims 1～20.
CN201380002514.4A 2013-03-08 2013-12-13 Motor control device, electric power steering device using same, and vehicle Pending CN104205616A (en)

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PCT/JP2013/007359 WO2014136166A1 (en) 2013-03-08 2013-12-13 Motor control device, electric power steering device using same, and vehicle

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