CN110299889A - The control method of rotary motor unit, vehicle and rotary motor unit - Google Patents
The control method of rotary motor unit, vehicle and rotary motor unit Download PDFInfo
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- CN110299889A CN110299889A CN201910224088.8A CN201910224088A CN110299889A CN 110299889 A CN110299889 A CN 110299889A CN 201910224088 A CN201910224088 A CN 201910224088A CN 110299889 A CN110299889 A CN 110299889A
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- 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
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
- H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets
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- 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
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to the control methods of a kind of rotary motor unit, vehicle and rotary motor unit.The torque sensor (72) of rotary motor unit (110) is arranged in the power transfer path between rotating electric machine (24) and target object (32), for detecting rotating electric machine torque, which is the output torque exported from rotating electric machine (24) or the input torque inputted to rotating electric machine (24).Control device (40) estimates the magnet temperature (Tmg) of rotating electric machine (24) according to rotating electric machine electric current (input current or output electric current of rotating electric machine 24) and rotating electric machine torque.Vehicle (10) can have rotary motor unit (110).Accordingly, even if in the case where the revolving speed of rotating electric machine is slow or the case where rotating electric machine is in halted state the magnet temperature of rotating electric machine can be accurately detected.
Description
Technical field
The present invention relates to rotary motor unit, vehicle and the rotary motor units of a kind of magnet temperature for estimating rotating electric machine
Control method.
Background technique
In Japanese invention patent Publication special open 2009-171640, it is intended that for there are various controls
The motor of mode, in order to inhibit the temperature of permanent magnet to rise and carry out the switching of control model while keeping it to run
([0010], abstract).In order to realize the purpose, in Japanese invention patent Publication special open No. 2009-171640 (abstract, figure
11) in, magnet temperature presumption unit 420 estimates the temperature for being installed on the permanent magnet of rotor of alternating current generator M1, M2.Pattern switching
Determination unit 400 is using the decision content set by decision content configuration part 410, to determine each alternating current generator M1, M2 in square-wave voltage
Control mode switch between control model and pwm pattern.Decision content configuration part 410 is carried out change pattern as follows and is cut
It changes decision content used in determination unit 400: compared with when magnet temperature does not rise, rectangular wave control is applicable in when increase magnet temperature
The motor operation region of molding formula is set to relatively large.
Magnet temperature presumption unit 420 estimates the temperature of permanent magnet 54 according to the running state parameter of alternating current generator M1
([0079], Figure 11).As running state parameter, including torque instruction value TR1, revolution MRN1, stator coil temperature Ts, motor
Cooling oil temperature Ta etc..The output of magnet temperature presumption unit 420 passes through the calculated magnet temperature TMG1 of constructive arithmetic.
More specifically, magnet temperature presumption unit 420 receives temperature Ta from temperature sensor 72, selects from multiple mappings
Mapping ([0137], Figure 21) corresponding with temperature Ta.Then, magnet temperature presumption unit 420 refers to referring to the mapping according to by torque
The operating point (operating point) in the mapping of value TR1 and motor rotations MRN1 decision is enabled to calculate magnet temperature TMG1.
Summary of the invention
As described above, in Japanese invention patent Publication special open No. 2009-171640 ([0079], [0137], Tu11He
In Figure 21), peace is estimated according to the cooling oil temperature Ta of torque instruction value TR1, revolution MRN1, stator coil temperature Ts, motor
The temperature of the permanent magnet of rotor loaded on alternating current generator M1, M2.
However, present inventors found that, in such temperature estimation method, when the revolving speed of motor M1, M2 are slow and
Detection accuracy is lower when torque is big.In addition, Japanese invention patent Publication special open 2009-171640 temperature estimation side
In method, the case where revolving speed is zero although motor M1, M2 (rotating electric machine) generates torque can not be coped with.Such technical problem is simultaneously
It is not limited to occur in the case that motor M1, M2 generate torque, can also occur in the case where power generation.
The present invention considers technical problem as described above and completes, even if it is intended that providing a kind of rotating
Also the magnet of rotating electric machine can be accurately detected in the case that the revolving speed of motor is slow or rotating electric machine is in halted state
The control method of the rotary motor unit of temperature, vehicle and rotary motor unit.
Rotary motor unit according to the present invention includes
Rotating electric machine；With
Control device controls the rotating electric machine；
It is characterized in that,
The rotary motor unit also includes
Current sensor is used to detect rotating electric machine electric current, which is to the defeated of rotating electric machine input
The output electric current for entering electric current or being exported from the rotating electric machine；With
Torque sensor is arranged in the power transfer path between the rotating electric machine and target object, for detecting
Rotating electric machine torque, the rotating electric machine torque be from the rotating electric machine export output torque or to the rotating electric machine it is defeated
The input torque entered,
The control device estimates the magnetic of the rotating electric machine according to the rotating electric machine electric current and the rotating electric machine torque
Iron temperature.
According to the present invention, according to rotating electric machine electric current (to the input current of rotating electric machine input or from rotating electric machine
Output electric current) and rotating electric machine torque (output torque from rotating electric machine or the input inputted to rotating electric machine turn
Square), to estimate the magnet temperature of rotating electric machine.It accordingly, also being capable of high-precision even if in the case where the revolving speed of rotating electric machine is slow
The magnet temperature of ground presumption rotating electric machine.In addition, if produce rotating electric machine electric current and rotating electric machine torque (output torque or
Person's input torque), then magnet temperature unrelated, and that rotating electric machine can be estimated whether is rotated with rotating electric machine.
Or: when the target object is in halted state, the control device is electromechanical according to the electric rotating
It flows with the rotating electric machine torque and estimates the magnet temperature of the rotating electric machine.Stop hereby it is possible to be in target object
The magnet temperature of rotating electric machine is estimated when state.
Or: when the magnet temperature of the rotating electric machine is more than temperature threshold, described in the control device limitation
The output of rotating electric machine.Hereby it is possible to inhibit the overheat (or degaussing along with overheat) of rotating electric machine.
The torque sensor for example can be the magnetostriction being configured on the input and output shaft of the rotating electric machine
Formula torque sensor.Hereby it is possible to accurately detect the torque of rotating electric machine and the magnet temperature based on the torque.
Vehicle according to the present invention is characterized in that thering is the rotary motor unit,
The target object is wheel,
The rotating electric machine is the driving wheel to make the traction electric machine of the vehicle driving.
Accordingly, if producing rotating electric machine electric current and rotating electric machine torque, with the rotating electric machine as traction electric machine
Unrelated (in other words, whether travelling with vehicle unrelated) whether rotated and the magnet temperature of rotating electric machine can be estimated.
Or: the control device when the vehicle be in wriggling state, according to the rotating electric machine electric current with
The rotating electric machine torque estimates the magnet temperature of the rotating electric machine.Hereby it is possible to (be changed when vehicle is in wriggling state
Yan Zhi, for example, when driver does not have step on the accelerator) presumption rotating electric machine magnet temperature.
Control method according to the present invention is a kind of control method of rotary motor unit, rotary motor unit tool
Have:
Rotating electric machine；With
Control device controls the rotating electric machine,
It is characterized in that,
The rotary motor unit also includes
Current sensor is used to detect rotating electric machine electric current, which is to the defeated of rotating electric machine input
The output electric current for entering electric current or being exported from the rotating electric machine；With
Torque sensor is arranged in the power transfer path between the rotating electric machine and target object, for detecting
Rotating electric machine torque, the rotating electric machine torque be from the rotating electric machine export output torque or to the rotating electric machine it is defeated
The input torque entered,
The control device estimates the magnetic of the rotating electric machine according to the rotating electric machine electric current and the rotating electric machine torque
Iron temperature.
According to the present invention, even if in the case where the revolving speed of rotating electric machine is slow or rotating electric machine is in the feelings of halted state
Condition also can accurately detect the magnet temperature of rotating electric machine.
According to the explanation carried out referring to attached drawing to following implementation, above-mentioned objects, features and advantages should be easy to be managed
Solution.
Detailed description of the invention
Fig. 1 is the schematic structural diagram of vehicle involved in an embodiment of the present invention.
Fig. 2 is the figure of the mechanical link relationship for the drive system for outlining the embodiment.
Fig. 3 be indicate electric motor units involved in the embodiment the 2nd rotating electric machine and torque sensor and the 2nd rotation
The sectional view on the periphery of motor and torque sensor.
Fig. 4 is the partial enlarged view of Fig. 3.
Fig. 5 is that the motor overheating of the embodiment inhibits the flow chart of control.
Fig. 6 be indicate electric motor units involved in variation the 2nd rotating electric machine and torque sensor and the 2nd rotating electric machine and
The sectional view on the periphery of torque sensor.
Specific embodiment
A. present embodiment
The structure > of < A-1. present embodiment
[A-1-1. overall structure]
Fig. 1 is the schematic structural diagram of vehicle 10 involved in an embodiment of the present invention.Vehicle 10 is so-called hybrid electric vehicle
?.As shown in Figure 1, vehicle 10 has engine 20, the 1st rotating electric machine 22, the 2nd rotating electric machine 24, the 1st inverter the 26, the 2nd inverse
Become device 28, engine clutch 30, wheel 32, high-tension battery 34, sensor group 36, cooling body 38 and electronic control unit 40
(hereinafter referred to as " ECU40 ".).
Sensor group 36 includes vehicle speed sensor 60, SOC sensor 62, AP operation quantity sensor 64, BP operating quantity sensing
Device 66, current sensor unit 68, angular sensor 70 and torque sensor 72 (upper left side of Fig. 1).In addition, in Fig. 1
In, it is noted that torque sensor 72 does not configure in the frame of sensor group 36, but is configured in 106 (figure of the 3rd transmission path
1 upper left side) on.
In the following, engine 20, the 1st rotating electric machine 22, the 2nd rotating electric machine 24 and engine clutch 30 are referred to as driving
System 90.In addition, the power transfer path for linking engine 20 and wheel 32 is known as the 1st transmission path 100.1st transmitting road
The torque Teng that engine 20 generates is passed to wheel 32 by diameter 100.Also, engine will be compared in the 1st transmission path 100 of connection
Clutch 30 is known as the 2nd transmitting road by the 1st branch point 104 of 20 side of engine and the power transfer path of the 1st rotating electric machine 22
Diameter 102.Also, it will link in the 1st transmission path 100 than engine clutch 30 by the 2nd branch point 108 of 32 side of wheel and the
The power transfer path of 2 rotating electric machines 24 is known as the 3rd transmission path 106.In addition to this, also the 2nd rotating electric machine 24, torque are passed
Sensor 72 and cooling body 38 are referred to as electric motor units 110.
Fig. 2 is the figure for outlining the mechanical link relationship of drive system 90 of present embodiment.As shown in Fig. 2, driving
It include engine shaft 200, generator shaft 202, motor shaft 204, jackshaft 206 and wheel output shaft 208 in dynamic system 90.Start
Machine 20 is connected to engine shaft 200 via crankshaft 210, drive plate 212 and damper 214.It is configured on engine shaft 200
Engine clutch 30, the 1st engine shaft gear 220 and the 2nd engine shaft gear 222.
Generator shaft 202 has the generator shaft gear engaged with the 1st engine shaft gear 220 of engine shaft 200
230.Motor shaft 204 has the generator shaft gear 250 engaged with the 2nd countershaft-gear 262 of jackshaft 206.Jackshaft 206 has
There are the 1st countershaft-gear 260, the 2nd countershaft-gear 262 and the 3rd countershaft-gear 264.
1st countershaft-gear 260 is engaged with the 2nd engine shaft gear 222 of engine shaft 200.2nd countershaft-gear
262 engage with the generator shaft gear 250 of motor shaft 204.The output shaft gear of 3rd countershaft-gear 264 and wheel output shaft 208
270 engagements.Differential gear (not shown) is provided on wheel output shaft 208.Each axis 200,202,204,206,208 is will to turn
Square passes to the torque transfer axis of wheel 32.
When engine 20 works under engine clutch 30 is notconnect state, generator 22 passes through motor torque
Teng generates electricity.When engine clutch 30 be connection status under engine 20 work when, motor torque Teng via
Engine shaft 200, jackshaft 206 and wheel output shaft 208 pass to wheel 32.It is connection status in engine clutch 30
In the case of, generator 22 can be generated electricity by motor torque Teng, and generator 22 itself can also be made to generate vehicle traction
Torque Tgen.
When traction electric machine 24 works under engine clutch 30 is notconnect state, motor torque Ttrc is via motor
Axis 204, jackshaft 206 and wheel output shaft 208 pass to wheel 32.When vehicle 10 slows down, regenerative torque Treg is by opposite
Path be entered motor 24, motor 24 is regenerated.In addition, when the engine 20 in the case where engine clutch 30 is connection status
When working with traction electric machine 24, motor torque Teng and motor torque Ttrc are delivered to wheel 32.
The structure of drive system 90 is not limited to the structure of Fig. 2.Such as public affairs can also will be disclosed with Japanese invention patent
Report special open 2017-100590 same structure as drive system 90 (referring for example to Japanese invention patent Publication special open
No. 2017-100590 Fig. 2).
[A-1-2. engine 20]
Engine 20 (rotary driving source) generates motor torque Teng (power as the 1st driving source of 10 traveling of vehicle
Feng it) and by it to (driving wheel) side of wheel 32 supplies.In addition, engine 20 makes the 1st electric rotating by motor torque Teng
Machine 22 works to generate electric power.In the following, marking " ENG " or " eng " to parameter related with engine 20.In addition, in Fig. 1 etc.
It is middle that engine 20 is indicated with " ENG ".
[the 1st rotating electric machine 22 of A-1-3.]
1st rotating electric machine 22 (rotary driving source) be 3 phases exchange brushless, as pass through motor torque Teng (driving force)
And the generator to generate electricity plays a role.The electric power Pgen that the power generation of 1st rotating electric machine 22 generates is supplied extremely via the 1st inverter 26
High-tension battery 34 is (below also known as " battery 34 ".) or the 2nd rotating electric machine 24 or electronic assisted class equipment (not shown).1st
Rotating electric machine 22 be built-in permanent-magnet synchronous motor (Interior Permanent Magnet Synchronous Motor:
IPMSM).1st rotating electric machine 22 has stator (not shown) and rotor.
In the following, the 1st rotating electric machine 22 is also known as generator 22.1st rotating electric machine 22 is in addition to the function as generator
Except be also used as traction electric machine (traction motor) to play a role, or replace as generator function and make
It plays a role for traction electric machine.In the following, marking " GEN " or " gen " to parameter relevant to generator 22.In addition, in Fig. 1 etc.
It is middle that generator 22 is indicated with " GEN ".Generator 22 can make as the starting motor (starter motor) of engine 20
With.
[the 2nd rotating electric machine 24 of A-1-4.]
Fig. 3 is the 2nd rotating electric machine 24 and torque sensor 72 and for indicating electric motor units 110 involved in present embodiment
The sectional view on the periphery of 2 rotating electric machines 24 and torque sensor 72.Fig. 4 is the partial enlarged view of Fig. 3.2nd rotating electric machine, 24 (rotation
Turn driving source) it is 3 phases exchange brushless, the 2nd driving source as 10 traveling of vehicle generates motor torque Ttrc, and (traveling is driven
Power) and supply it to (driving wheel) side of wheel 32.That is, the 2nd rotating electric machine 24 is as passing through the electricity from high-tension battery 34
Power Pbat and the traction electric machine for carrying out the one side or both sides in the electric power Pgen of self generator 22 to drive play a role.Separately
Outside, the 2nd rotating electric machine 24 is regenerated when vehicle 10 is braked, and regenerated electric power Preg is supplied via the 2nd inverter 28 to electricity
Pond 34.Regenerated electric power Preg can also be supplied to electronic assisted class equipment (not shown).Same, the 2nd electric rotating with generator 22
Machine 24 is built-in permanent-magnet synchronous motor (IPMSM).
In the following, the 2nd rotating electric machine 24 is also known as motor 24, traction electric machine 24 or TRC motor 24.2nd rotating electric machine
24 can also be used as generator other than the function as traction electric machine to play a role, or replace as traction electric machine
Function and play a role as generator.In the following, marking " TRC " or " trc " to parameter relevant to traction electric machine 24.Separately
Outside, traction electric machine 24 is indicated with " TRC " in Fig. 1 etc..
As shown in figure 3, traction electric machine 24 also has rotor 300 and stator 302 other than motor shaft 204.Rotor 300 has
Have including multiple permanent magnets 306 (hereinafter referred to as " magnet 306 ".) rotor core 304, revolved centered on rotary shaft Ax
Turn.Motor shaft 204 is (below also known as " output shaft 204 " or " motor output shaft 204 ".) it include being configured in rotor 300
Armature spindle 310 and the protrusion axis 312 that is combined with armature spindle 310.In the present embodiment, prominent axis 312 is pressed into armature spindle
310.Output shaft 204 is in hollow form.In other words, output shaft 204 has hollow portion 320.In the present embodiment, in output shaft
The piping 510 of configuration torque sensor 72 and cooling body 38 in 204 hollow portion 320.
In addition, motor output shaft 204 is made of magnetic substance.Magnetic substance is, for example, carbon steel, steel alloy (chromium steel, chrome-molybdenum steel
Deng).Motor output shaft 204 is supported in a rotatable way by bearing 330a, 330b, 330c, 330d.
[the 1st inverter 26 of A-1-5. and the 2nd inverter 28]
1st inverter 26 and the 2nd inverter 28 (Fig. 1) are the structures of 3 phase bridge-types, carry out DC/AC conversion.That is, the 1st is inverse
Become device 26 and the 2nd inverter 28 and the direct current from high-tension battery 34 is converted into the exchanging and by it to the 1st rotating electric machine 22 of 3 phases
It is supplied with the 2nd rotating electric machine 24.In addition, the 1st inverter 26 and the 2nd inverter 28 will be revolved along with the 1st rotating electric machine 22 and the 2nd
Direct current after the ac/dc conversion of the power generation movement (or regeneration actions) of rotating motor 24 is supplied to battery 34.It is noted that
In Fig. 1, briefly shows through the 1st inverter 26 and the 2nd inverter 28 and link generator 22 and traction electric machine 24 and battery
34 power line 112.
[A-1-6. engine clutch 30]
As shown in Figure 1, engine clutch 30 (the 1st switching device) is configured on the 1st transmission path 100, according to coming from
The instruction of ECU40 comes the connection status and notconnect state of switching engine 20 and wheel 32.
[A-1-7. high-tension battery 34]
High-tension battery 34 be include multiple battery units and the electrical storage device (energy storage for capableing of output HIGH voltage (hundreds of volts)
Device), such as be able to use lithium ion secondary battery, nickel-hydrogen secondary cell, all-solid-state battery etc..It can also replace battery 34 and make
The electrical storage devices such as electricity container, or also using electrical storage devices such as capacitors other than battery 34.
[A-1-8. sensor group 36]
As described above, sensor group 36 includes vehicle speed sensor 60, SOC sensor 62, AP operation quantity sensor 64, BP operating quantity
Sensor 66, current sensor unit 68, angular sensor 70 and torque sensor 72 (upper left side of Fig. 1).
Vehicle speed sensor 60 detects the vehicle velocity V [km/h] of vehicle 10 and sends it to ECU40.SOC sensor 62 is not by
Current sensor of diagram etc. is constituted, and is detected the remaining capacity (SOC:State of Charge) of battery 34 and is sent it to
ECU40。
AP operation quantity sensor 64 detects tread-on quantity (the AP operating quantity since original position of accelerator pedal (not shown)
Sap) [deg] or [%], and send it to ECU40.BP operation quantity sensor 66 detect accelerator pedal (not shown) from
The tread-on quantity (BP operating quantity Sbp) [deg] or [%] that original position starts, and send it to ECU40.
The electric current Itrc [A] of the detection traction electric machine 24 of current sensor unit 68.As described above, traction electric machine 24 is 3 phases
AC system, therefore, electric current Itrc is (below also known as " current of electric Itrc ".) it include U phase current Iu, V phase current Iv and W phase electricity
Flow Iw.Therefore, current sensor unit 68 has the U phase current sensor 120u of detection U phase current Iu, detection V phase current Iv
V phase current sensor 120v and detection W phase current Iw W phase current sensor 120w.In other words, each current sensor
120u, 120v, 120w detect 3 phase current Iu, Iv, Iw (rotating electric machine electric current), and 3 phase current Iu, Iv, Iw are to traction electric machine
24 input currents inputted or the output electric current from traction electric machine 24.
Also it can be omitted any of current sensor 120u, 120v, 120w (for example, current sensor 120w).?
In this case, can also be according to the detected value of remaining 2 (such as current sensor 120u, 120v) (such as U phase current Iu, V
Phase current Iv), to calculate electric current (such as W phase current Iw) corresponding with the current sensor of omission.It can also be also to generator
22 settings sensor unit same as current sensor unit 68.
The rotation angle, θ trc [rad] that angular sensor 70 detects traction electric machine 24 (rotor 300) is (following to be also known as
" motor angle θ " or " rotation angle, θ ".).Angular sensor 70 is for example made of resolver or encoder.
As shown in Figure 1, torque sensor 72 is configured in traction electric machine 24 and the 2nd branch point on the 3rd transmission path 106
Between 108.In other words, torque sensor 72 is arranged on the transmitting of the power between traction electric machine 24 and wheel 32 (target object)
On path.The detection of torque sensor 72 is as the output torque from traction electric machine 24 or the input inputted to traction electric machine 24
The motor torque Ttrc (rotating electric machine torque) of torque.In the following, motor torque Ttrc is also referred to as " torque Ttrc ".
As shown in Figure 3 and Figure 4, torque sensor 72 have multiple magnetostrictive layer 350a, 350b and multiple coil 352a,
352b.The details of torque sensor 72 is described later referring to Fig. 3 and Fig. 4.
[A-1-9. cooling body 38]
Cooling body 38 (Fig. 1) cools down motor 24 from inside.Coolant is followed as shown in Figure 1, cooling body 38 has
The pump 500 of ring carries out cooling radiator (radiator) 502 and coolant flow path 504 to coolant.Coolant flow path 504
It is the flow path for making coolant circulation.Cooling body 38 has Fig. 3 and 510 (support rods) of piping shown in Fig. 4 as coolant
A part of flow path 504.Piping 510 and motor output shaft 204 are coaxially arranged at the hollow portion 320 of motor output shaft 204
Inside, for being flowed for coolant.More specifically, inside motor output shaft 204, both ends are fixed in electricity for piping 510
Machine shell 520 (exterior components).Alternatively, it is also possible to be arranged auxiliary piping 510 passed through in motor output shaft 204 it is not shown
Guiding bar.In the present embodiment, the coolant flowed in piping 510 flows to the right from the left side of Fig. 3 and Fig. 4.Or
Person, coolant can also flow to the left from the right side of Fig. 3 and Fig. 4.
As shown in figure 4, being piped the 2nd of the 1st through-hole 560 and torque sensor 72 that are provided with motor 24 on 510
Through-hole 562.1st through-hole 560 is configured in the position Chong Die with rotor 300 and stator 302 in the axial direction of motor 24.Therefore,
The coolant being discharged from the 1st through-hole 560 cools down rotor 300 and stator 302.
2nd through-hole 562 is configured in the position Chong Die with torque sensor 72 in the axial direction of motor 24.Therefore, from the 2nd
The coolant that through-hole 562 is discharged cools down torque sensor 72.Especially, as shown in figure 4, the 2nd of present embodiment the leads to
Hole 562 is configured between multiple magnetostrictive layer 350a, 350b in the axial direction of motor 24.Accordingly, to multiple magnetostriction
Coolant is supplied between layer 350a, 350b.Please note that the diagram that the 1st through-hole 560 and the 2nd through-hole 562 is omitted in Fig. 3.
The piping 510 of present embodiment is made of nonmagnetic material.Nonmagnetic material in this is for example able to use stainless steel, aluminium
Or engineering plastics.
[A-1-10.ECU40]
ECU40 is to control the whole control device (or control circuit) of drive system 90, as shown in Figure 1, having input and output
Portion 130, operational part 132 and storage unit 134.Input and output portion 130 is carried out and vehicle 10 by signal wire 136 (communication line)
The input and output of the signal in each portion.Input and output portion 130, which has, is converted to the not shown of digital signal for the analog signal of input
A/D conversion circuit.
Operational part 132 includes central operation device (CPU), is stored in the program of storage unit 134 by execution to be moved
Make.A part of function performed by operational part 132 can also use logic IC (Integrated Circuit: integrated circuit)
To realize.Described program can also be supplied by wireless communication device (not shown) (mobile phone, smart phone etc.) from outside
It gives.Can also enough hardware (circuit components) constitute a part of the described program of operational part 132.
As shown in Figure 1, operational part 132 has driving method control unit 150, engine control section 152, generator control portion
154, traction electric machine control unit 156, clutch control portion 158 and cooling control unit 160.
The driving method of the control vehicle 10 of driving method control unit 150.Driving method in this includes using engine 20
Driving method, use traction electric machine 24 driving method and using engine 20 and traction electric machine 24 driving method.This
When, the regeneration (power generation) that also controls the power generation carried out by generator 22 together or carried out by traction electric machine 24.
(the ENG control unit 152 of engine control section 152.) hair is controlled according to the instruction from driving method control unit 150
Motivation 20.(the GEN control unit 154 of generator control portion 154.) hair is controlled according to the instruction from driving method control unit 150
Motor 22.(the TRC control unit 156 of traction electric machine control unit 156.) controlled according to the instruction from driving method control unit 150
Traction electric machine 24.Clutch control portion 158 controls engine clutch according to the instruction from driving method control unit 150
30.Temperature of traction electric machine 24 etc. that cooling control unit 160 is detected according to not shown temperature sensor pumps to control
500。
Storage unit 134 stores the program and data that operational part 132 uses, and has random access memory (hereinafter referred to as
"RAM".).The nonvolatile memories such as the volatile memory such as register and flash memories are able to use as RAM.In addition,
Storage unit 134 can also also have read-only memory (ROM) other than RAM.
[details of A-1-11. torque sensor 72]
As described above, torque sensor 72 is arranged on traction electric machine 24 and the 2nd branch point on the 3rd transmission path 106 (Fig. 1)
Between 108, for detecting motor torque Ttrc.In other words, torque sensor 72 be configured in linking part 360 (Fig. 2 and Fig. 3) with
Between rotor 300, for detecting torque Ttrc, wherein the linking part 360 is the company of motor output shaft 204 Yu jackshaft 206
Socket part.Also, as shown in Figure 3 and Figure 4, torque sensor 72 is, for example, and is configured in the hollow portion 320 of motor output shaft 204
Magnetostrictive torque sensor.In the following, also torque sensor 72, motor output shaft 204 (axis) and piping 510 are referred to as
Sensor unit 600.
Specifically, torque sensor 72 have multiple magnetostrictive layer 350a, 350b, multiple coil 352a, 352b and
Wiring 354.Magnetostrictive layer 350a, 350b (magnetostrictive film) are configured in the inner peripheral surface of motor output shaft 204.Magnetostriction
Layer 350a, 350b is formed by plating.Alternatively, magnetostrictive layer 350a, 350b can also by processed by annular knurl the slot formed,
The magnetostrictive metals film bonded by binder or the circular magnetostrictive metal parts being pressed into are constituted.
Coil 352a, 352b are configured in piping 510 (support rod).The magnetostrictive layer 350a of torque sensor 72,
350b and coil 352a, 352b are configured in the position Chong Die with bearing 330c (Fig. 3 and Fig. 4) in the axial direction of motor 24.Magnetic
Cause the specific structure of stretchable layer 350a, 350b and coil 352a, 352b that can for example be applicable in Japanese invention patent Publication special
Structure documented by opening No. 2009-264812 or Japanese invention patent Publication special open 2004-340744.In addition, can also
It is enough only to constitute torque sensor 72 with single magnetostrictive layer and single coil.
One end of wiring 354 is connected to coil 352a, 352b, for by the testing result of coil 352a, 352b export to
ECU40.The wiring 354 of present embodiment to far from motor 24 direction, more specifically to the opposite side of motor 24 (in Fig. 3
Right side) draw.Wiring 354 constitutes a part of the signal wire 136 of Fig. 1.
In the case where forming magnetostrictive layer 350a, 350b by plating, such as can be formed as described below.That is,
Motor output shaft 204 inner peripheral surface for example with defined film thickness (such as 30 microns or less) formed two at ferro-nickel alloy electroplating that
The magnetostrictive member for showing direct magnetostriction constant of sample.At this point, in the state of the torque as defined in applying to output shaft 204
It after being heated by high-frequency heating, is restored to room temperature and removes torque, accordingly, respectively to magnetostrictive layer 350a, 350b
Assign the magnetic anisotropy of opposite direction.Accordingly, even if not applying motor torque Ttrc to magnetostrictive layer 350a, 350b
In the case where (torque), due to having acted on tensile stress always, and it is attached with the deformation of stretching, therefore, is based on converse magnetostriction
The lag of characteristic also reduces.
Coil 352a, 352b respectively include magnet exciting coil and detection coil.Magnet exciting coil is connected to not by wiring 354
The excitation voltage supply source of diagram.In addition, detection coil separates defined slight gap relative to magnetostrictive layer 350a, 350b
And it configures.
When motor torque Ttrc (torque) acts on motor output shaft 204, motor torque Ttrc also acts on mangneto and stretches
In magnetostrictive layer 350a, 350b counter magnetostriction effect occurs for contracting layer 350a, 350b according to motor torque Ttrc.Therefore, when
When applying alternating voltage (excitation voltage) of high frequency to magnet exciting coil from excitation voltage supply source, it can be detected by detection coil
The change in the magnetic field caused by the counter magnetostriction effect of magnetostrictive layer 350a, 350b generation based on motor torque Ttrc
Change, as impedance or the variation of induced voltage.At this point, in being stretched in addition to being applied with motor torque Ttrc (torque) outer mangneto
The state of tensile stress is also applied on contracting layer 350a, 350b always.Therefore, it can obtain and lag small characteristic, it being capable of basis
The impedance or the variation detection of induced voltage are applied to the motor torque Ttrc of output shaft 204.
In the detection coil of coil 352a, impedance or induced voltage from negative become just increasing with motor torque Ttrc
Greatly.As the particular value T1 that motor torque Ttrc is positive, impedance or induced voltage take peak value P10, when motor torque Ttrc is more than spy
When definite value T1, impedance or induced voltage reduce.In addition, in contrast, turning motor since the big state of motor torque Ttrc
Square Ttrc is gradually reduced, and is also applied with tensile stress when motor torque Ttrc becomes zero.Therefore, the magnetic of magnetostrictive layer 350a
Change in stable condition, magnetic characteristic is also stable relative to the variation of motor torque Ttrc.Therefore, lag becomes smaller.
In addition, as motor torque Ttrc changes from positive to bear, the impedance of the detection coil of coil 352b or induced voltage
Increase.As the particular value-T1 that motor torque Ttrc is negative, impedance or induced voltage take peak value P10, as motor torque Ttrc
When further increasing to negative direction, impedance or induced voltage reduce.In addition, when from motor torque Ttrc small state (i.e. to
State after negative direction increase) when starting to reduce motor torque Ttrc, the direction of the magnetic domain in magnetostrictive layer 350b becomes
Change.At this point, being applied with tensile stress motor torque Ttrc becomes zero.Therefore, the magnetized state of magnetostrictive layer 350b
Stablize, magnetic characteristic is also stable relative to the variation of motor torque Ttrc.Therefore, lag becomes smaller.
The spy of obtained by the detection coil of coil 352a, 352b, motor torque Ttrc and impedance (or induced voltage)
Property (torque-impedance operator) show that lag is small, substantially convex.In addition, as it appears from the above, to magnetostrictive layer 350a, 350b points
The magnetic anisotropy of opposite direction Fu Yu not become.Therefore, the respective torque of the detection coil of coil 352a, 352b-impedance is special
The axis substantially axial symmetry that property is zero relative to motor torque Ttrc.
Then, the manufacturing method of torque sensor 72 is illustrated.When forming magnetostriction on motor output shaft 204
After layer 350a, 350b (by the magnetostrictive film that is formed is electroplated), in the state of applying defined torque to output shaft 204 into
Row heat treatment, the magnetic anisotropy of prescribed direction is assigned to magnetostrictive layer 350a, 350b.Heat treatment at this time is added by high frequency
Heat and heat the stipulated time.Additionally, it is preferred that being, magnetostrictive layer 350a, 350b are constituted using ferronickel as principal component.
In the manufacturing method of torque sensor 72, including magnetostrictive film formation process, torque apply high-frequency heating work
Sequence, torque release process and coil arrangement step.In magnetostrictive film formation process, set on output shaft 204 by being electroplated
Set magnetostrictive layer 350a, 350b (magnetostrictive film).
Apply in high-frequency heating process in torque, passes through high frequency in the state of applying defined torque to output shaft 204
It heats and heats the stipulated time.Specifically, applying regulation to the output shaft 204 for being formed with magnetostrictive layer 350a, 350b
Torque in the state of, with the 1st coil of operation and effect with the 2nd coil encirclement magnetostrictive layer 350a, 350b around.So
Afterwards, it flows high-frequency current in coil in these operations, magnetostrictive layer 350a, 350b is heated.
In torque release process, magnetic anisotropy is arranged to magnetostrictive film by release torque.Specifically, will
After torque applies magnetostrictive layer 350a, 350b natural cooling being heated in high-frequency heating process, torque is removed.According to
This, magnetostrictive layer 350a, 350b are endowed magnetic anisotropy.
In coil arrangement step, detection Magnetostrictive Properties are configured to around magnetostrictive layer 350a, 350b
Variation coiled multiple times coil 352a, 352b (magnet exciting coil and detection coil).Mangneto is formed by above process to stretch
The torque sensor 72 of contracting formula.
Apply high-frequency heating process to torque below to be illustrated in further detail.The material of output shaft 204 is, for example,
Chrome-molybdenum steel steel (JIS-G-4105, symbol: SCM).Magnetostrictive layer 350a, 350b (magnetostrictive film) are in output shaft 204
Outer peripheral surface plating Ni-Fe system alloy film.The thickness of the alloy film is preferably 30 microns.
When being heat-treated to magnetostrictive layer 350a (magnetostrictive film), on one side to output shaft 204 to specific direction
(the 1st direction) applies the 1st regulation torque makes the electric current of high frequency (such as 500kHz~2MHz) in operation the 1st coil (sense on one side
Answer device) in flow stipulated time (such as 1~10 second), accordingly to magnetostrictive layer 350a heat.In addition, when to magnetostrictive layer
When 350b (magnetostrictive film) is heat-treated, output shaft 204 is applied to the direction (2nd direction) contrary with the 1st on one side
Add makes the electric current of the high frequency in operation the 2nd coil (induction on one side with the 2nd regulation torque of the 1st regulation torque same size
Device) in flowing stipulated time, magnetostrictive layer 350b is heated accordingly.
In addition, the testing principle of magnetostrictive torque sensor, basic structure and manufacturing method for example also can be used
Testing principle, basic structure and manufacturing method documented by Japanese invention patent Publication special open 2004-340744.
< A-2. driving mode >
MOT driving mode, hybrid power mode, ENG driving mode and regeneration mode are used in the present embodiment.MOT
Driving mode is the main electric power for passing through high-tension battery 34, and the mode of vehicle 10 is driven by traction electric machine 24.Hybrid power
Mode is to be generated electricity on one side by the torque Teng of engine 20 by generator 22, the electric power generated on one side using the power generation by
The mode of the driving vehicle 10 of traction electric machine 24.ENG driving mode is the mould for travelling engine 20 as main driving source
Formula.
MOT driving mode, hybrid power mode and ENG driving mode are mainly according to the traveling of vehicle velocity V and vehicle 10
Driving force Fd is selected.The selection example of each mode such as can per diem the invention patent Publication special open 2017-100590 (be schemed
3, Fig. 4) documented by benchmark carry out.When MOT driving mode is for example run at a low speed in, low speed accelerate when use.In addition, mixed
Power driving mode is closed for example to use when middling speed accelerates, when high speed suddenly accelerates.
Control > in < A-3. present embodiment
[overall flow that A-3-1. motor overheating inhibits control]
Fig. 5 is that the motor overheating of present embodiment inhibits the flow chart of control.As described above, in the present embodiment, ECU40 is held
Row inhibits the motor overheating of the overheat of traction electric machine 24 to inhibit control.In the step S11 of Fig. 5, ECU40 judgement starts traction electricity
Whether the condition (temperature monitoring starts condition) of the temperature monitoring of machine 24 is true.
Start condition as temperature monitoring, such as is able to use current of electric Itrc (U phase current Iu, V phase current Iv and W
Phase current Iw) and motor torque Ttrc be value this condition other than zero.Alternatively, start condition as temperature monitoring, it can
It is used in when not operating brake pedal this condition (when in other words, BP operating quantity Sbp is zero).
Start in condition in any of the above-described temperature monitoring, vehicle 10 is not being moved or wheel 32 is rotating
As condition.Thus, for example even if vehicle 10 is in wriggling state (in other words, for instance in driver during upward slope etc.
There is no the state of step on the accelerator), in the case that vehicle 10 and wheel 32 are in halted state, if producing current of electric
Itrc and motor torque Ttrc, then temperature monitoring starts condition establishment sometimes.In the case where temperature monitoring starts condition establishment
(S11: true), enters step S12.Temperature monitoring start condition it is invalid in the case where (S11: pseudo-), step is repeated
S11。
In step s 12, ECU40 obtains motor torque Ttrc from torque sensor 72.In step s 13, ECU40 determines
Whether motor torque Ttrc is more than torque threshold THtq.Torque threshold THtq, which determines whether to produce, calculates magnet 306
Temperature Tmg (hereinafter referred to as " magnet temperature Tmg " or " motor magnet temperature Tmg ".) needed for enough motor torque Ttrc
, zero or positive value threshold value.In the case where motor torque Ttrc is more than torque threshold THtq (S13: true), enter step
S14.(S13: pseudo-), return step S11 in the case where motor torque Ttrc is no more than torque threshold THtq.
In step S14, ECU40 obtains the various sensor values for calculating magnet temperature Tmg.Sensor values in this
Including current of electric Itrc (U phase current Iu, V phase current Iv and W phase current Iw), motor angle θ and motor torque Ttrc.In step
In rapid S15, ECU40 calculates motor magnet temperature Tmg according to the sensor values got by step S14.Later to magnet
The details of the calculating of temperature Tmg is described.
In step s 16, whether ECU40 determines magnet temperature Tmg in magnet temperature threshold value THtmg (following also known as " temperature
Spend threshold value THtmg ".) more than.Temperature threshold THtmg is the threshold value for determining whether magnet 306 is in an overheated state.In magnet temperature
In the case where spending Tmg more than temperature threshold THtmg (S16: true), S17 is entered step.
In step S17, ECU40 carries out the export-restriction of traction electric machine 24.In the export-restriction, so that traction electric machine
Mode of the 24 torque Ttrc lower than torque threshold THttrc carrys out torque-limiting Ttrc.For example, ECU40 makes and is based on magnet temperature
The related export-restriction mark FLG of the export-restriction of the traction electric machine 24 of Tmg is " 1 " for indicating to carry out export-restriction.Then,
ECU40 carries out export-restriction according to mark FLG.
In the case where magnet temperature Tmg is not more than temperature threshold THtmg (S16: pseudo-), S18 is entered step.In step
In S18, export-restriction of the ECU40 without motor torque Ttrc.For example, ECU40 make export-restriction mark FLG indicate not into
" 0 " of the export-restriction of traction electric machine 24 of the row based on magnet temperature Tmg.Then, ECU40 is after acknowledgement indicator FLG, according to
Target motor torque Ttrctar makes traction electric machine 24 work.In addition, even if without output related with magnet temperature Tmg
In the case where limitation, the export-restriction of traction electric machine 24 can be also carried out according to other reasons.
In step S19, ECU40 determines to terminate the condition (temperature monitoring termination condition) of the temperature monitoring of traction electric machine 24
It is whether true.As temperature monitoring termination condition, such as it is able to use current of electric Itrc or motor torque Ttrc becomes zero
This condition.In the case where temperature monitoring termination condition is set up (S19: true), terminate current motor overheating inhibit control and
Return step S11.(S19: pseudo-), return step S14 in the case where temperature monitoring termination condition is invalid.
[calculating of A-3-2. motor magnet temperature Tmg]
Then, the details of the calculating of motor magnet temperature Tmg (S15 of Fig. 5) is illustrated.As described above, ECU40 is according to electricity
Electromechanics flows Itrc, motor angle θ and motor torque Ttrc to calculate motor magnet temperature Tmg.
Specifically, ECU40 is according to current of electric Itrc (U phase current Iu, V phase current Iv, W phase current Iw) and motor angle
θ is spent to calculate d shaft current Id and q shaft current Iq.D shaft current Id and q shaft current Iq is calculated according to following formula (1).
In addition, following formula (2) is set up about motor torque Ttrc.
Ttrc=P (Φ (Tmg) Iq+ (Ld-Lq) IdIq) (2)
In formula (2), P is the number of pole-pairs of traction electric machine 24.Φ is magnetic linkage [Wb].Magnetic linkage Φ is the function of magnet temperature Tmg.Ld
For d axle inductance, Lq is q axle inductance.
In formula (2), number of pole-pairs P, d axle inductance Ld and q axle inductance Lq is constant.Motor torque Ttrc, magnetic linkage Φ, magnet temperature
Tmg, d shaft current Id and q shaft current Iq are variable.Magnetic linkage Φ is the function of magnet temperature Tmg.Therefore, when determining motor torque
When Ttrc, d shaft current Id and q shaft current Iq, magnetic linkage Φ is found out by formula (1).In addition, when finding out magnetic linkage Φ, it being capable of basis
Magnetic linkage Φ calculates magnet temperature Tmg.But it is also possible to which d axle inductance Ld and q axle inductance Lq is considered as variable.
The effect > of < A-4. present embodiment
According to the present embodiment, according to as the input current inputted to traction electric machine 24 (rotating electric machine) or from traction electricity
Machine 24 output electric current current of electric Itrc (rotating electric machine electric current) and as from traction electric machine 24 output torque or
The motor torque Ttrc (rotating electric machine torque) of the input torque inputted to traction electric machine 24, to estimate the magnet of traction electric machine 24
Temperature Tmg (Fig. 5).Accordingly, even if also can accurately estimate magnetic in the case where the revolving speed [rpm] of traction electric machine 24 is low
Iron temperature Tmg.In addition, whether rotating nothing with traction electric machine 24 if producing current of electric Itrc and motor torque Ttrc
It closes, and magnet temperature Tmg can be estimated.
In the present embodiment, ECU40 (control device) is when vehicle 10 (target object) is in dead ship condition, according to electricity
Electromechanics flows Itrc (rotating electric machine electric current) and motor torque Ttrc (rotating electric machine torque) to estimate 24 (electric rotating of traction electric machine
Machine) magnet temperature Tmg (Fig. 5).Hereby it is possible to estimate magnet temperature Tmg when vehicle 10 is in dead ship condition.
In the present embodiment, ECU40 (control device) is more than in the magnet temperature Tmg of traction electric machine 24 (rotating electric machine)
When magnet temperature threshold value THtmg (S16 of Fig. 5: true), the output (S17) of traction electric machine 24 is limited.Hereby it is possible to inhibit to draw
The overheat (or degaussing along with overheat) of motor 24.
In the present embodiment, torque sensor 72 is the motor output shaft for being configured in traction electric machine 24 (rotating electric machine)
The magnetostrictive torque sensor (Fig. 3 and Fig. 4) of 204 (input and output shafts).Hereby it is possible to accurately detect traction electric machine
24 torque Ttrc and magnet temperature Tmg based on torque Ttrc.
In the present embodiment, traction electric machine 24 (rotating electric machine) driving wheel 32 (target object) travels vehicle 10
(Fig. 1).Accordingly, if producing current of electric Itrc (rotating electric machine electric current) and motor torque Ttrc (rotating electric machine torque),
Unrelated (in other words, whether travelling with vehicle 10 unrelated) then whether is rotated with traction electric machine 24, can estimate traction electric machine 24
Magnet temperature Tmg.
In the present embodiment, ECU40 (control device) (S11 of Fig. 5: true), root when vehicle 10 is in wriggling state
According to current of electric Itrc (rotating electric machine electric current) and motor torque Ttrc (rotating electric machine torque), (rotation of traction electric machine 24 is estimated
Motor) magnet temperature Tmg (S15).Hereby it is possible to when vehicle 10 is in wriggling state (in other words, for example, driver does not have
When having step on the accelerator) presumption traction electric machine 24 magnet temperature Tmg.
B. variation
In addition, the present invention is not limited to above embodiment, additionally it is possible to according to the contents of this specification using various
Structure.For example, structure below can be used.
10 > of < B-1. vehicle
The vehicle 10 of above embodiment has engine 20, generator 22 and traction electric machine 24 (Fig. 1).However, for example, if
From the viewpoint of the magnet temperature Tmg for estimating rotating electric machine according to current of electric Itrc and motor torque Ttrc, then not
It is defined in this.For example, vehicle 10 can also as shown in Japanese invention patent Publication special open 2017-100590 Figure 10 that
Sample is configured to engine 20 and 1 rotating electric machine.Alternatively, vehicle 10 can also be configured to revolve with engine 20 and 3
Rotating motor.Alternatively, vehicle 10 is also possible to the electric vehicle without engine 20.To left and right wheels 32 (driving wheel) difference
In the case where rotating electric machine (driving motor) is arranged, these rotating electric machines are also configured to hub motor.
< B-2. rotating electric machine >
1st rotating electric machine 22 of above embodiment is that 3 phases exchange brushless with the 2nd rotating electric machine 24.However, for example such as
Fruit is from the viewpoint of the magnet temperature Tmg for estimating rotating electric machine according to rotating electric machine electric current and rotating electric machine torque, then simultaneously
It is not limited to this.1st rotating electric machine 22 and the 2nd rotating electric machine 24 are also possible to single flow or have brush.
1st rotating electric machine 22 of above embodiment and the 2nd rotating electric machine 24 are built-in permanent-magnet synchronous motor
(IPMSM).However, for example, if from the magnet temperature for estimating rotating electric machine according to rotating electric machine electric current and rotating electric machine torque
From the perspective of Tmg, then it's not limited to that.1st rotating electric machine 22 and the 2nd rotating electric machine 24 are also possible to the rotation of other modes
Rotating motor.Alternatively, it such as is able to use surface permanent magnetic synchronous motor (SPMSM), induction machine (IM), switchs magnetic
Hinder motor (SRM) or synchronous magnetic resistance motor (SynRM).
72 > of < B-3. torque sensor
In the above-described embodiment, if torque sensor 72 is magnetostriction type (Fig. 3 and Fig. 4).However, for example, if from basis
From the perspective of the magnet temperature Tmg of rotating electric machine electric current and rotating electric machine torque to estimate rotating electric machine, then it is not limited to
This.For example, torque sensor 72 can also be other detection modes.
In the above-described embodiment, the position corresponding with prominent axis 312 in motor output shaft 204 is provided with torque and passes
Sensor 72 (Fig. 3 and Fig. 4).In other words, in the above-described embodiment, in the axial direction of traction electric machine 24,72 quilt of torque sensor
Configuration is in the position being staggered with rotor 300.However, for example, if being estimated from according to rotating electric machine electric current and rotating electric machine torque
From the perspective of the magnet temperature Tmg of rotating electric machine, then it's not limited to that.
Fig. 6 be indicate electric motor units 110a involved in variation the 2nd rotating electric machine 24 and torque sensor 72 and
The sectional view on the periphery of the 2nd rotating electric machine 24 and torque sensor 72.In electric motor units 110a, torque sensor 72 is being drawn
The position Chong Die with rotor 300 is configured in the axial direction of motor 24 (driving motor).Accordingly, torque sensor 72 directly detects
Motor torque Ttrc (when driving) from the rotor 300 or regenerative torque Treg (when power generation) to the input of rotor 300, accordingly
Motor torque Ttrc (output torque) or regenerative torque Treg (input torque) can accurately be detected.
In the above-described embodiment, torque sensor 72 (Fig. 3) is configured on motor output shaft 204.However, for example such as
Transmission path (3rd transmission path 106 entirety of Fig. 1 and 1st transmission path of the fruit from detection connection traction electric machine 24 and wheel 32
100 a part) on torque from the perspective of, then it's not limited to that.
For example, it is also possible to which hollow portion is arranged on jackshaft 206 or output shaft 204, and torque is set in the hollow portion
Sensor 72.Alternatively, if configuring torque sensor out of the output shaft in driving motor (or rotating electric machine) hollow portion
From the perspective of 72, then hollow portion can also be set on generator shaft 202, and torque sensor is arranged in the hollow portion
72.Alternatively, if from the viewpoint of in the hollow portion of the output shaft of rotary driving source configure torque sensor 72, can also
Hollow portion to be arranged on engine shaft 200, and torque sensor 72 is configured in the hollow portion.Turn in as described above change
In the case where the configuration of square sensor 72, it can also accordingly change the position of piping 510 (support rod).Alternatively, if from that will turn
Square sensor 72 configures in hollow portion, from the viewpoint of the inside of axis come detecting and being applied to the torque of axis, then torque sensing
Device 72 (or sensor unit 600) can also be used to the purposes other than vehicle 10.
< B-4. electric motor units 110 (rotary motor unit) >
In the above-described embodiment, electric motor units 110 are suitable for the drive system 90 (Fig. 1) of vehicle 10.However, for example, if
From the viewpoint of the magnet temperature Tmg for estimating rotating electric machine according to current of electric Itrc and motor torque Ttrc, then not
It is defined in this.For example, it is also possible to which electric motor units 110 to be suitable for the steering control system (electric power steering apparatus) of vehicle 10.Or
Person, additionally it is possible to which electric motor units 110 are suitable for the device (robot, manufacturing device etc.) other than vehicle 10.
< B-5. is piped 510 (support rod) >
In the above-described embodiment, piping 510 is fixedly attached to motor housing 520 (Fig. 3).However, for example, if from bearing
It is piped from the perspective of 510 (or support rods), then it's not limited to that, additionally it is possible to which piping 510 is supported on motor housing 520
Exterior components in addition (are not 300 sides of rotor but the components of 302 side of stator in other words will not be due to rotor 300
The components of rotation and rotation).
In the above-described embodiment, the two sides for being piped 510 are fixedly attached to motor housing 520 (Fig. 3).However, for example
If it's not limited to that configuring torque sensor 72 in the hollow portion 320 in motor output shaft 204.
For example, configuring in motor output shaft 204 in the one end that will be piped 510, coolant after which is constituted by output shaft 204 etc.
In the case where flow path 504, it can also be supported by motor housing 520 by being piped 510 as beam type.
In the above-described embodiment, coil 352a, 352b by the piping 510 of cooling body 38 as torque sensor 72
Bearing part (support rod) (Fig. 3 and Fig. 4).However, for example, if being configured from the hollow portion 320 of motor output shaft 204
From the perspective of torque sensor 72, then it's not limited to that.Come for example, it is also possible to be arranged from 510 different support rods of piping
Support coil 352a, 352b.
< B-6. wheel 32 (target object) >
In the above-described embodiment, use wheel 32 as transmitting the 2nd rotating electric machine 24 (rotating electric machine) torque Ttrc or
The target object (Fig. 1) of the regenerative torque Treg inputted to the 2nd rotating electric machine 24 (rotating electric machine).However, for example, if from root
From the perspective of the magnet temperature Tmg for estimating rotating electric machine according to rotating electric machine electric current and rotating electric machine torque, then do not limit
In this.
For example, in the case where electric motor units 110 to be used for steering control system (electric power steering apparatus) of vehicle 10,
It can be using pinion shaft (not shown) (steering stem shaft) or rack shaft as target object.Alternatively, being fitted by electric motor units 110
In the case where for robot, additionally it is possible to using robot arm as target object.In addition, target object itself needs not be rotation
Swivel, or the object acted for example as rack shaft by thrust.
< B-7. motor overheating inhibits control >
Inhibit to calculate magnet temperature Tmg (S15 of Fig. 5) using formula (2) in control in the motor overheating of above embodiment.
However, for example, if from the sight of the magnet temperature Tmg for estimating rotating electric machine according to rotating electric machine electric current and rotating electric machine torque
Point sets out, then it's not limited to that.For example, it is also possible to use mapping instead of formula (2).
In the mapping, there is magnet according to each combination of motor torque Ttrc, d shaft current Id and q shaft current Iq
Temperature Tmg.Alternatively, the mapping can turn according to motor using d axle inductance Ld and q axle inductance Lq as in the case where variable
Each combination of square Ttrc, d shaft current Id, q shaft current Iq, d axle inductance Ld and q axle inductance Lq and have magnet temperature Tmg.Separately
Outside, by the present invention be suitable for direct current generator in the case where, mapping can also by inputted to direct current generator input current (or
Export electric current) with each combination of the output torque (or input torque) of direct current generator and there is magnet temperature Tmg.
Inhibit in control in the motor overheating of above embodiment, is only more than positive torque threshold in motor torque Ttrc
Magnet temperature Tmg (S13 of Fig. 5) is estimated in the case where THtq.However, for example, if from according to current of electric Itrc (electric rotating
Electromechanics stream) and motor torque Ttrc (rotating electric machine torque) estimate the magnet temperature Tmg of traction electric machine 24 (rotating electric machine)
Viewpoint is set out, then it's not limited to that.For example, it is also possible to the case where motor torque Ttrc is lower than negative torque threshold-THtq
Under (in other words, in the case where traction electric machine 24 is in regeneration mode) estimate magnet temperature Tmg.
The motor overheating of above embodiment inhibits control to be suitable for traction electric machine 24 (Fig. 5).However, for example, if from root
From the perspective of the magnet temperature Tmg for estimating rotating electric machine according to rotating electric machine electric current and rotating electric machine torque, then do not limit
In this.For example, it is also possible to inhibit control to be suitable for generator 22 motor overheating.Alternatively, motor overheating can also be inhibited to control
System is suitable for the steering control system (electric power steering apparatus) of vehicle 10.Alternatively, control can also be inhibited to be applicable in motor overheating
Device (robot, manufacturing device etc.) other than vehicle 10.
Other > of < B-8.
In the above-described embodiment, in the comparison of numerical value exist include the case where equal sign and do not include the case where equal sign (Fig. 5's
S13, S16 etc.).However, for example, if including equal sign or the special meaning for removing equal sign (in other words, can
In the case where obtaining effect of the invention), it include equal sign or do not include that equal sign can arbitrarily be set in the comparison of numerical value.
Under the meaning, for example, can be by the magnet temperature Tmg in the step S16 of Fig. 5 whether in temperature threshold THtmg
Above judgement (Tmg≤THtmg) be replaced into magnet temperature Tmg whether be more than temperature threshold THtmg judgement (Tmg >
THtmg).On the other hand, about the motor torque Ttrc in the step S13 of Fig. 5 whether be more than torque threshold THtq judgement
Whether (Ttrc > THtq) cannot be replaced into motor torque Ttrc in torque threshold in the case where torque threshold THtq is zero
The judgement of THtq or more.In the case where torque threshold THtq is bigger than zero, motor torque Ttrc can be replaced into whether in torque
The judgement of threshold value THtq or more.
Claims (7)
1. a kind of rotary motor unit, comprising:
Rotating electric machine；With
Control device controls the rotating electric machine；
It is characterized in that,
The rotary motor unit also includes
Current sensor is used to detect rotating electric machine electric current, which is to the defeated of rotating electric machine input
The output electric current for entering electric current or being exported from the rotating electric machine；With
Torque sensor is arranged in the power transfer path between the rotating electric machine and target object, for detecting
Rotating electric machine torque, the rotating electric machine torque be from the rotating electric machine export output torque or to the rotating electric machine it is defeated
The input torque entered,
The control device estimates the magnetic of the rotating electric machine according to the rotating electric machine electric current and the rotating electric machine torque
Iron temperature.
2. rotary motor unit according to claim 1, which is characterized in that
When the target object is in halted state, the control device is according to the rotating electric machine electric current and the electric rotating
Machine torque estimates the magnet temperature of the rotating electric machine.
3. rotary motor unit according to claim 1, which is characterized in that
When the magnet temperature of the rotating electric machine is more than temperature threshold, the control device limits the defeated of the rotating electric machine
Out.
4. rotary motor unit according to claim 1, which is characterized in that
The torque sensor is the magnetostrictive torque sensor being configured on the input and output shaft of the rotating electric machine.
5. a kind of vehicle, which is characterized in that
With rotary motor unit according to any one of claims 1 to 4,
The target object is wheel,
The rotating electric machine is the driving wheel to make the traction electric machine of the vehicle driving.
6. vehicle according to claim 5, which is characterized in that
When the vehicle is in wriggling state, the control device turns according to the rotating electric machine electric current and the rotating electric machine
Square estimates the magnet temperature of the rotating electric machine.
7. a kind of control method of rotary motor unit, the rotary motor unit include
Rotating electric machine；With
Control device controls the rotating electric machine,
It is characterized in that,
The rotary motor unit also includes
Current sensor is used to detect rotating electric machine electric current, which is to the defeated of rotating electric machine input
The output electric current for entering electric current or being exported from the rotating electric machine；With
Torque sensor is arranged in the power transfer path between the rotating electric machine and target object, for detecting
Rotating electric machine torque, the rotating electric machine torque be from the rotating electric machine export output torque or to the rotating electric machine it is defeated
The input torque entered,
The control device estimates the magnetic of the rotating electric machine according to the rotating electric machine electric current and the rotating electric machine torque
Iron temperature.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018054281A JP2019170004A (en) | 2018-03-22 | 2018-03-22 | Rotary electric machine unit, vehicle and control method for rotary electric machine unit |
| JP2018-054281 | 2018-03-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110299889A true CN110299889A (en) | 2019-10-01 |
Family
ID=68026507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910224088.8A Pending CN110299889A (en) | 2018-03-22 | 2019-03-22 | The control method of rotary motor unit, vehicle and rotary motor unit |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2019170004A (en) |
| CN (1) | CN110299889A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290404A (en) * | 2020-03-25 | 2020-06-16 | 成都智创利源科技有限公司 | Intelligent carrying robot based on switched reluctance motor and control method |
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| CN113921951B (en) * | 2020-07-10 | 2023-06-16 | 宁德时代新能源科技股份有限公司 | Self-heating control method and device for power battery |
| JP7063406B1 (en) | 2021-05-20 | 2022-05-09 | 株式会社明電舎 | Power converter |
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| JP2007068354A (en) * | 2005-09-01 | 2007-03-15 | Honda Motor Co Ltd | Controller of permanent magnet-type rotary electric machine |
| JP2009153296A (en) * | 2007-12-20 | 2009-07-09 | Toshiba Corp | Variable magnetic flux drive system |
| JP2009261182A (en) * | 2008-04-18 | 2009-11-05 | Toyota Motor Corp | Magnet temperature estimating device for rotating electric machine and electric vehicle equipped with the same, and method of estimating magnet temperature for the rotating electric machine |
| CN103326654A (en) * | 2012-03-22 | 2013-09-25 | 三菱电机株式会社 | Synchronous machine control apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111290404A (en) * | 2020-03-25 | 2020-06-16 | 成都智创利源科技有限公司 | Intelligent carrying robot based on switched reluctance motor and control method |
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