CN111585495B

CN111585495B - Control device, vehicle system, and control method

Info

Publication number: CN111585495B
Application number: CN202010089535.6A
Authority: CN
Inventors: 田中雅树
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2019-02-18
Filing date: 2020-02-12
Publication date: 2023-09-08
Anticipated expiration: 2040-02-12
Also published as: CN111585495A

Abstract

The present invention provides a control device, a vehicle system, and a control method, which can suppress deterioration of noise, vibration, and overall efficiency of a motor, wherein the control device is a control device for controlling a converter that outputs electric power to the motor, and determines, based on predetermined conditions, which control of single pulse control or pulse width modulation control is to be adopted as a control method for the converter, using motor driving torque of the motor, rotational speed of the motor, and DC voltage.

Description

Control device, vehicle system, and control method

Technical Field

The invention relates to a control device, a vehicle system and a control method.

Background

Conventionally, a technique related to drive control of an electric vehicle has been known (for example, refer to patent document 1).

[ Prior Art literature ]

[ patent literature ]

[ patent document 1 ]

Japanese patent laid-open No. 2009-100548

In the electric vehicle according to the above-described conventional technique, control using the synchronous 1 pulse control mode is performed in control of the inverter circuit for driving the motor.

However, in the electric vehicle based on the conventional technology, there is a problem in that noise, vibration, and overall efficiency of the motor deteriorate when the synchronous 1-pulse control mode is used.

Disclosure of Invention

The present invention has been made in view of such a situation, and an object thereof is to provide a control device capable of suppressing deterioration of noise, vibration, and overall efficiency of a motor.

[ means for solving the problems ]

In order to solve the above-described problems, the voltage conversion circuit of the present invention adopts the following configuration.

(1) A control device according to an aspect of the present invention is a control device for controlling a converter that outputs electric power to a motor, wherein a control mode of the converter is determined by using a motor driving torque of the motor, a rotational speed of the motor, and a dc voltage of the motor, based on predetermined conditions, and wherein the control mode is one of single pulse control and pulse width modulation control.

(2) The control device according to (1) above, wherein the sensor learning information is used to determine whether or not the phase sensor error information can be calculated, and the calculated phase sensor error information is used under a second predetermined condition.

(3) The control device according to (1) or (2) above, wherein the control device determines which of the single pulse control and the pulse width modulation control is to be used, using a second predetermined condition using sensor learning information.

(4) The control device according to any one of (1) to (3) above, wherein the motor drive torque, the rotational speed, and the dc voltage are used to calculate a drive efficiency and to use the calculated drive efficiency in a predetermined condition.

(5) The control device according to any one of (1) to (4) above, wherein the motor drive torque, the rotational speed, and the dc voltage are used to calculate a current value at the time of single-pulse control, and the current value is used under predetermined conditions.

(6) The control device according to any one of (1) to (5) above, wherein the noise value at the time of the single-pulse control is calculated using the motor drive torque, the rotational speed, and the dc voltage, and is used under a predetermined condition.

(7) A vehicle system comprising the control device according to any one of (1) to (6) above and a drive wheel driven by the control device.

(8) A control method according to an aspect of the present invention is characterized in that the control device executes: a converter for controlling power output to a motor is configured to determine, as a control method of the converter, which of single-pulse control and pulse width modulation control is to be used for the motor, based on predetermined conditions, using a motor driving torque of the motor, a rotational speed of the motor, and a DC voltage.

[ Effect of the invention ]

According to the aspects (1) to (8), a control device capable of suppressing noise and vibration of a motor can be provided.

Drawings

Fig. 1 is a diagram showing an example of a functional configuration of a vehicle control device according to an embodiment of the present invention.

Fig. 2 is a diagram showing an example of the functional configuration of the control device in the embodiment of the present invention.

Fig. 3 is a diagram showing an example of a voltage waveform of the sine wave PWM control in the embodiment of the present invention.

Fig. 4 is a diagram showing an example of voltage waveforms of the overmodulation PWM control in the embodiment of the present invention.

Fig. 5 is a diagram showing an example of a voltage waveform of the single pulse control in the embodiment of the present invention.

Fig. 6 is a diagram showing an example of a series of operations of the single-pulse drive determination by the single-pulse request determination unit in the embodiment of the present invention.

Detailed Description

Embodiment(s)

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Fig. 1 is a diagram showing an example of a functional configuration of a vehicle control device 1 according to an embodiment of the present invention. The vehicle control device 1 of the present embodiment is mounted on an electric vehicle or the like. Electric vehicles include various vehicles such as electric vehicles, hybrid electric vehicles (HEVs; hybrid Electrical Vehicle), and fuel cell vehicles (FCVs; fuel Cell Vehicle). The electric motor vehicle is driven by using a storage battery as a power source. The hybrid electric vehicle is driven by using a battery and an internal combustion engine as power sources. The fuel cell vehicle is driven by using the fuel cell as a driving source. In the following description, the electric vehicle will be collectively referred to as an "electric vehicle" unless these types of vehicles are distinguished.

The drive system of the hybrid electric vehicle includes a parallel system, a series system (including a range extender system), a series/parallel system, and the like. The control device of the present embodiment can be applied to various types of vehicles using an electric motor as a power source, in addition to these types of driving methods.

In the following description, members having the same functions are denoted by the same reference numerals, and description thereof may be omitted.

[ functional configuration of the vehicle control device 1 ]

The vehicle control device 1 includes a battery 20, a converter 10, a motor 30, and a control device 50.

The battery 20 is charged by an external power source in a state of being mounted on the vehicle. The battery 20 can be charged by an off-vehicle charger even when it is detached from the vehicle. The battery 20 supplies electric power to the motor 30 and other in-vehicle devices.

The motor 30 generates power (driving force) for running the vehicle. The motor 30 can be operated by using electric power output from the battery 20, for example. The power of the motor 30 is transmitted to an axle, not shown, via a transmission, not shown. The motor 30 functions as a regenerative generator during deceleration braking of the vehicle, and outputs electric power generated by the generation to the battery 20. In this example, the motor 30 is a three-phase ac motor. In the following description, the motor 30 may be referred to as a motor.

The inverter 10 is electrically connected between the battery 20 and the motor 30. The inverter 10 converts the dc power output from the battery 20 into ac power, and outputs the converted ac power to the motor 30 to drive the motor 30. The converter 10 converts ac power output from the motor 30 into dc power, and outputs the converted dc power to the battery 20, thereby charging the battery 20.

Specifically, the converter 10 controls whether or not to flow current to each phase of the motor 30 by controlling the connection states of the plurality of switching elements. The inverter 10 controls the direction of current flowing to each phase of the motor 30.

More specifically, the switching element is a semiconductor switching element. As an example, the switching element is IGBT (Insulated Gate Bipolar Transistor), MOS (Metal Oxide Semiconductor) transistor for power, bipolar transistor for power, or the like.

The converter 10 may be included in a PDU (Power Drive Unit) not shown.

The control device 50 may be configured as a hardware functional unit functioning as an integrated circuit or the like, or may be configured as a software functional unit functioning as a processor such as CPU (Central Processing Unit) executing a predetermined program. The software function unit includes a processor such as a CPU, ROM (Read OnlyMemory) for storing a program, RAM (Random Access Memory) for temporarily storing data, and ECU (Electronic Control Unit) for an electronic circuit such as a timer.

The control device 50 acquires information related to driving of the motor 30, such as motor driving torque, motor rotation speed, and DC voltage, and controls the converter 10 based on the acquired information.

Here, the converter 10 supplies power to the motor. The control device 50 controls the inverter 10 that outputs electric power to a motor (electric motor). In the vehicle system, the control device 50 controls the inverter 10 to drive the drive wheels of the vehicle.

[ functional constitution of control device 50 ]

Fig. 2 is a diagram showing an example of the functional configuration of the control device 50 in the embodiment of the present invention.

The control device 50 includes a single-pulse request determination unit 51, a driving unit 52, a motor information acquisition unit 53, and a resolver learning information acquisition unit 54.

The motor information acquisition unit 53 acquires motor information MI from a rotation angle sensor or the like, such as a current sensor, a voltage sensor, a resolver, or the like, which are not shown. The motor information MI obtained by the motor information obtaining unit 53 may include information calculated from information obtained from a rotation angle sensor such as a current sensor, a voltage sensor, a resolver, or the like (for example, information of a driving torque calculated from a driving current value obtained from the current sensor). The motor information MI is information related to the driving state of the motor 30. The motor information MI is, for example, a driving torque, a line-to-line voltage (dc voltage), a rotation angle, a rotation speed, or the like of the motor 30. The motor information acquisition unit 53 supplies the acquired motor information MI to the single pulse request determination unit 51.

The resolver learning information acquisition unit 54 acquires the resolver learning information RI from a nonvolatile memory, not shown.

The resolver is a rotation angle sensor (phase sensor) that detects the rotation angle of the motor 30. The information of the rotation angle of the motor 30 detected by the resolver is used for calculation of the rotation speed of the motor 30, and the like.

The resolver learning information RI is information related to the learning of the resolver. The resolver learning is calibration (correction), and specifically, a correspondence relationship between the rotor reference angle of the motor 30, the output signal of the resolver, and the assembly angle is stored. When the resolver is assembled to the motor 30, angular displacement occurs. The resolver is learned with the assembly angle of the resolver corrected with respect to the rotor reference angle of the motor 30. In this example, the information to be learned by the resolver is a relationship between the reference angle of the physical rotor and the phase angle of the output signal of the resolver. By performing the learning of the resolver, the angular misalignment can be corrected.

For example, the resolver is learned at the time of a check out in a factory, at the time of a service in a sales shop or a repair shop.

A non-volatile memory (not shown) stores resolver learning information (such as a relationship between a reference angle of the physical rotor and a phase angle of an output signal of the resolver) as resolver learning information RI. The resolver learning information RI may also contain information whether the resolver has learned or has not learned. In the following description, the resolver learning information RI may be referred to as sensor learning information.

The resolver learning information acquisition unit 54 supplies the resolver learning information RI to the monopulse request determination unit 51.

The single-pulse request determining unit 51 includes a loss minimum single-pulse request determining unit 510, an excessive current suppressing single-pulse prohibition determining unit 511, a motor NV single-pulse prohibition determining unit 512, a resolver learning single-pulse prohibition determining unit 513, and a single-pulse request mediating unit 514.

In this example, the monopulse request determining unit 51 determines whether or not to perform monopulse control based on the motor information MI acquired from the motor information acquiring unit 53 and the resolver learning information RI acquired from the resolver learning information acquiring unit 54. The single-pulse request determination unit 51 supplies information on whether or not to perform single-pulse control to the driving unit 52 as single-pulse driving information ODI.

Single pulse control and PWM control

Here, a description will be given of the single pulse control and the PWM (Pulse Width Modulation) control.

Both the single pulse control and the PWM control are control methods related to the driving of the motor 30. In this example, the single pulse control is a method of driving the motor 30 by applying a single pulse in the same period as the switching period of the line-to-line voltage applied to the motor 30.

PWM control is an example of multi-pulse control. The multi-pulse control includes motor control modes other than single-pulse control.

The PWM control includes sine wave PWM control, overmodulation PWM control, and the like. The sine wave PWM control and the overmodulation PWM control are both control of the amplitude and phase of the voltage applied to the motor 30 by feedback control of the current to the motor 30. The sine wave PWM control will be described with reference to fig. 3, and the overmodulation PWM control will be described with reference to fig. 4.

Fig. 3 is a diagram showing an example of a voltage waveform of the sine wave PWM control in the embodiment of the present invention. In the figure, the magnitude of the voltage associated with one phase of the motor 30 is shown with the horizontal axis as time. In one example of the figure, energy equivalent to the sine wave W1 is applied to the motor 30 by changing the duty ratio of the pulses. The sine wave PWM control is a control system that maintains the linearity of the voltage value and the PWM signal by performing pulse width modulation in a state where the amplitude of the voltage value of the sine wave W1 is equal to or smaller than the amplitude of the voltage applied to the wires of the motor 30.

Fig. 4 is a diagram showing an example of voltage waveforms of the overmodulation PWM control in the embodiment of the present invention. In the figure, the magnitude of the voltage associated with one phase of the motor 30 is shown with the horizontal axis as time.

In the overmodulation PWM control, the amplitude of the voltage value of the sine wave W2 is larger than the amplitude of the voltage applied to the wires of the motor 30, and thus the nonlinearity between the voltage value and the PWM signal is allowed by performing pulse width modulation. The overmodulation PWM control is a control system in which the line-to-line voltage of the motor 30 having a sinusoidal waveform is distorted to approximate a rectangular waveform, and the voltage utilization ratio is increased as compared with the case where the line-to-line voltage has a sinusoidal waveform.

In the example of this figure, at the slave time t ₁ By time t ₂ During and from time t ₃ By time t ₄ In the period (hereinafter, also referred to as a nonlinear period), the value of the sine wave W2 exceeds the value of the voltage actually applied. In the example of this figure, at the slave time t ₁ By time t ₂ During and from time t ₃ By time t ₄ In the period (2), the line-to-line voltage of the motor 30 is close to a rectangular waveform from a sinusoidal waveform, and the voltage utilization increases.

In the figure, the magnitude of the voltage associated with one phase of the motor 30 is shown in time on the horizontal axis.

In the single pulse control, switching is performed 2 times in 1 cycle. In one example of the figure, at a slave time t which is the same period as that of the sine wave W3 ₁ By time t ₃ In 1 period of (2), only at time t ₁ At time t ₂ Is switched at 2 time points of (2). By the single pulse control, the voltage utilization ratio is increased as compared with the sine wave PWM control and the overmodulation PWM control.

In PWM control (e.g., sine wave PWM control, overmodulation PWM control), energy applied to the motor 30 is controlled by a switch. In the sine wave PWM control, switching is performed in order to maintain linearity of the voltage value and the PWM signal. In the overmodulation PWM control, although switching is not performed during the nonlinear period, switching is performed for maintaining the linearity of the PWM signal and the voltage value other than the nonlinear period. Therefore, if the number of switching times of the sine wave PWM control is compared with the number of switching times of the overmodulation PWM control, the number of switching times of the overmodulation PWM control is small.

On the other hand, in the single pulse control, switching is performed only 2 times in 1 cycle. Therefore, the number of switching times of the single pulse control is small compared with the number of switching times of the sine wave PWM control or the number of switching times of the overmodulation PWM control.

In this way, in the single pulse control, the number of switching times is suppressed compared with PWM control (for example, sine wave PWM control, overmodulation PWM control). Therefore, in the single pulse control, the power loss due to the switching can be suppressed as compared with the PWM control.

Referring back to fig. 1, the description will be made of each component element included in the monopulse request determination unit 51.

The loss minimum monopulse request determining unit 510 obtains the motor information MI from the motor information obtaining unit 53. The loss minimum monopulse request determination unit 510 calculates the driving efficiency based on the acquired motor information MI. The minimum loss monopulse request determination unit 510 determines whether or not to perform monopulse control based on the calculated driving efficiency.

As described above, the motor information MI includes the motor drive torque (drive torque of the motor 30) and the rotational speed and the dc voltage of the motor (motor 30). The loss minimum monopulse request determination unit 510 calculates the driving efficiency from the motor driving torque (driving torque of the motor 30) and the rotational speed and the dc voltage of the motor (motor 30), and uses the calculated driving efficiency in a predetermined condition.

The loss minimum monopulse request determining unit 510 supplies the loss minimum monopulse request information PRI, which is information indicating whether or not to perform monopulse driving, to the monopulse request mediating unit 514.

The excessive current suppressing single pulse prohibition determination unit 511 obtains the motor information MI from the motor information obtaining unit 53. The excessive current suppressing single-pulse prohibition determination unit 511 calculates the value of the current flowing through the motor 30 when the single-pulse control is performed, based on the acquired motor information MI. The excessive current suppressing single pulse prohibition determination unit 511 determines whether or not the excessive current is to be generated based on the current value flowing through the motor 30.

The excessive current control single-pulse prohibition determination unit 511 calculates a current value at the time of single-pulse control from the motor drive torque (drive torque of the motor 30) and the rotational speed and the direct-current voltage of the motor (motor 30), and uses the calculated current value in a predetermined condition.

The excessive current suppressing single-pulse prohibition determination section 511 supplies the excessive current suppressing single-pulse prohibition information CPI, which is information indicating whether or not the single-pulse driving is prohibited, to the single-pulse request mediation section 514.

In this example, the excessive current suppressing single-pulse prohibition determination unit 511 determines whether or not to prohibit single-pulse control based on the current value flowing through the motor 30 when single-pulse control is performed, but the present embodiment is not limited to this example. For example, the excessive current suppressing single-pulse prohibition determination unit 511 may be an excessive voltage suppressing single-pulse prohibition determination unit (not shown).

The excessive voltage suppression monopulse prohibition determination unit calculates a voltage generated between the lines of the motor 30 when the monopulse control is performed. The excessive voltage suppressing monopulse prohibition determination unit determines whether or not the excessive voltage is to be applied based on the voltage applied to the motor 30. When the excessive voltage suppressing single-pulse prohibition determination unit determines that the excessive voltage is reached, it supplies information indicating whether or not to prohibit the single-pulse driving to the single-pulse request mediation unit 514.

By configuring the excessive voltage suppressing single pulse prohibition determination unit in this way, it is also possible to configure the unit so as to prevent the occurrence of excessive voltage.

The motor NV single pulse prohibition determination unit 512 acquires the motor information MI from the motor information acquisition unit 53. The motor NV single-pulse prohibition determination unit 512 calculates the NV level of the motor 30 when the single-pulse control is performed based on the acquired motor information MI (for example, calculates the NV level based on information in which the NV level is associated with a combination of information included in the motor information MI stored in advance in the storage device). The NV level of the motor 30 is a measure indicating the magnitude of noise or vibration generated by driving the motor 30. The motor NV single-pulse prohibition determination unit 512 determines whether or not to perform single-pulse control based on the calculated NV level.

The motor NV single pulse prohibition determination unit 512 calculates a noise value at the time of single pulse control using the motor drive torque (drive torque of the motor 30) and the rotational speed and the dc voltage of the motor (motor 30), and uses the noise value for a predetermined condition.

The motor NV single pulse prohibition determination unit 512 supplies the motor NV single pulse prohibition information NVPI, which is information indicating whether or not the single pulse drive is prohibited, to the single pulse request mediation unit 514.

The resolver learning monopulse inhibition determination unit 513 acquires the resolver learning information RI from the resolver learning information acquisition unit 54. The resolver learning monopulse inhibition determination unit 513 determines whether or not to perform monopulse control based on the acquired resolver learning information RI.

The resolver learning monopulse inhibition determination unit 513 uses the resolver learning information RI to determine whether or not the phase sensor error information can be calculated, and uses the calculated phase sensor error information in the second predetermined condition.

The resolver learning monopulse prohibition determination section 513 supplies the resolver learning monopulse prohibition information RPI, which is information indicating whether or not to prohibit the monopulse driving, to the monopulse demand mediation section 514.

The single-pulse request mediation unit 514 acquires the minimum loss single-pulse request information PRI from the single-pulse request determination unit 51, acquires the excessive current suppression single-pulse prohibition information CPI from the excessive current suppression single-pulse prohibition determination unit 511, acquires the motor NV single-pulse prohibition information NVPI from the motor NV single-pulse prohibition determination unit 512, and acquires the resolver learning single-pulse prohibition information RPI from the resolver learning single-pulse prohibition determination unit 513. The monopulse request mediation unit 514 determines whether or not to perform monopulse control based on the acquired information. The single-pulse request mediation unit 514 supplies information on whether or not to perform single-pulse control to the driving unit 52 as single-pulse driving information ODI.

The driving unit 52 obtains the single-pulse driving information ODI from the single-pulse request determining unit 51. The driving unit 52 drives the motor 30 based on the information indicated by the single pulse driving information ODI. Specifically, the driving unit 52 drives the switching element included in the converter 10.

When the single pulse drive information ODI indicates single pulse control, the driving unit 52 drives the motor 30 by the single pulse control. The driving unit 52 drives the motor 30 by single pulse control according to predetermined conditions by motor driving torque, motor rotation speed, and direct current voltage.

When the single-pulse drive information ODI does not indicate single-pulse control, the driving unit 52 drives the motor 30 by a control other than single-pulse control (multi-pulse control such as PWM control).

The driving unit 52 determines which of the single pulse control and the pulse width modulation control is used as the control method of the inverter for the motor 30 based on the information indicated by the single pulse driving information ODI.

The control device 50 may be provided with a manual monopulse request acquisition unit 55.

The manual monopulse request acquisition unit 55 acquires a manual monopulse request OR from an ECU for vehicle control, not shown. In this example, the manual monopulse request OR is a request for the drive unit 52 to perform monopulse control, independent of the determination based on the information acquired by the monopulse request mediation unit 514. The manual monopulse request acquisition unit 55 supplies the manual monopulse request OR to the monopulse request mediation unit 514.

The monopulse request determining unit 51 may be configured such that the monopulse request mediating unit 514 obtains the motor information MI from the motor information obtaining unit 53. When the single-pulse request mediation unit 514 acquires the motor information MI from the motor information acquisition unit 53, the single-pulse request mediation unit 514 can determine whether or not to perform single-pulse control based on the motor information MI.

[ operation of control device 50 ]

Fig. 6 is a diagram showing an example of a series of operations of the single-pulse drive determination by the single-pulse request determination unit 51 in the embodiment of the present invention.

The monopulse request determining unit 51 performs a process of acquiring information related to the determination (step S10). Specifically, the loss minimum monopulse request determination unit 510, the excessive current suppression monopulse prohibition determination unit 511, and the motor NV monopulse prohibition determination unit 512 acquire the motor information MI from the motor information acquisition unit 53. The resolver learning monopulse inhibition determination unit 513 acquires the resolver learning information RI from the resolver learning information acquisition unit 54. The monopulse request mediation unit 514 acquires the motor information MI from the motor information acquisition unit 53. The monopulse demand mediation section 514 advances the process to step S15.

The single-pulse request mediation unit 514 determines whether or not each piece of information is within a predetermined value range (for example, a predetermined value stored in advance in a storage device) from the pieces of information indicated by the motor information MI (step S15). For example, when the value of the motor information MI is an abnormal value, a sensor failure or the like can be considered. Therefore, the monopulse request determining unit 51 performs PWM control independently of determination processing of whether or not to perform monopulse control, which will be described later. When the motor information MI is out of the predetermined range (step S15; yes), the monopulse request mediation unit 514 advances the process to step S95. When the motor information MI falls within the predetermined range (step S15; no), the monopulse request mediation unit 514 advances the process to step S20.

(step S20) the loss minimum monopulse request determining unit 510 performs a driving efficiency determining process based on the acquired motor information MI. The drive efficiency determination processing is processing for determining whether or not to perform the single-pulse control by comparing the efficiency in the case where the single-pulse control is performed with the efficiency in the case where the PWM control is performed.

For example, the loss minimum monopulse request determination unit 510 selects a control method with a small loss. The loss minimum monopulse request determining section 510 advances the process to step S25. The loss minimum monopulse request determining unit 510 selects a control method with a small loss, for example, based on specific information stored in a storage device. For example, the specific information is information that relates the loss of the control method (loss (or efficiency) in the case of the single pulse control or loss (efficiency) in the case of the PWM control) to any one or a combination of two or more of the motor drive torque (drive torque of the motor 30), the rotational speed of the motor (motor 30), and the dc voltage.

The loss minimum monopulse request determining section 510 provides the information of whether or not the monopulse control is performed, which is determined by the driving efficiency determining process, to the monopulse request mediating section 514 as the loss minimum monopulse request information PRI (step S25). When it is determined that the single pulse control is performed by the driving efficiency determination process (yes in step S25), the loss minimum single pulse request determination unit 510 advances the process to step S30. When the drive efficiency determination process determines that the monopulse control is not performed (step S25; no), the loss minimum monopulse request determination unit 510 advances the process to step S95.

The resolver learning monopulse inhibition determination unit 513 performs a phase sensor error information determination process based on the acquired resolver learning information RI (step S30). The phase sensor error information determination processing is to determine whether or not to prohibit the monopulse control based on the information indicated by the resolver learning information RI. As an example, the phase sensor error information determination process is a process of determining whether or not to prohibit the monopulse control based on information that the resolver has already learned or has not learned. In this case, for example, the resolver learning monopulse inhibition determination unit 513 may inhibit monopulse control when the resolver is not learned.

The resolver learning monopulse prohibition determination unit 513 provides the information on whether or not to prohibit monopulse control determined by the phase sensor error information determination process to the monopulse request mediation unit 514 as the resolver learning information RI (step S35). When the resolver learning monopulse prohibition determination unit 513 determines that the monopulse control is prohibited by the phase sensor error information determination process (yes in step S35), the process proceeds to step S95. When the resolver learning monopulse inhibition determination unit 513 determines that the monopulse control is not inhibited by the phase sensor error information determination process (step S35; no), the process proceeds to step S40.

The excessive current suppressing single-pulse prohibition determination unit 511 performs the single-pulse control excessive current determination process based on the acquired motor information MI (step S40). The excessive current determination processing during the single-pulse control is processing for calculating a current value when the single-pulse control is performed based on information indicated by the motor information MI, and determining whether or not an excessive current flows during the single-pulse control. As an example, the excessive current suppressing single-pulse prohibition determination unit 511 determines that the excessive current is at the time of single-pulse control when the calculated current value in the case where single-pulse control is performed is equal to or greater than a predetermined value (for example, an excessive current value stored in advance in the memory device).

The excessive current suppressing single-pulse prohibition determination unit 511 supplies the information on whether or not the excessive current is generated during the single-pulse control, which is determined by the single-pulse control-time excessive current determination processing, to the single-pulse request mediation unit 514 as excessive current suppressing single-pulse prohibition information CPI (step S45). When the excessive current suppressing single-pulse prohibition determination unit 511 determines that the excessive current is the excessive current during single-pulse control by the single-pulse control-time excessive current determination process (yes in step S45), the process proceeds to step S95. When the excessive current suppressing single-pulse prohibition determination unit 511 determines that the excessive current during single-pulse control is not the excessive current during single-pulse control by the excessive current determination process (step S45; no), the process proceeds to step S50.

The motor NV single pulse prohibition determination unit 512 performs NV level determination processing based on the acquired motor information MI (step S50). The NV level determination process is a process of calculating an NV level when the single-pulse control is performed, and determining whether or not to prohibit the single-pulse control based on the calculated NV level. As an example, the motor NV single pulse prohibition determination unit 512 determines that single pulse control is prohibited when the calculated NV level is equal to or greater than a predetermined value.

The motor NV single-pulse prohibition determination unit 512 (step S55) supplies the information on whether or not the single-pulse control is prohibited, which is determined by the NV level determination process, to the single-pulse request mediation unit 514 as motor NV single-pulse prohibition information NVPI. When the NV level determination process determines that the single pulse control is prohibited (yes in step S55), the motor NV single pulse prohibition determination unit 512 advances the process to step S95. When the NV level determination process determines that the control is not to be performed by the single pulse control (step S55; no), the motor NV single pulse prohibition determination unit 512 advances the process to step S90.

The single-pulse request mediation unit 514 supplies information indicating that the single-pulse control is performed to the driving unit 52 as single-pulse driving information ODI (step S90).

When acquiring the single-pulse drive information ODI from the single-pulse request mediation unit 514, the drive unit 52 drives the motor 30 based on the information indicated by the single-pulse drive information ODI. In this case, the single pulse driving information ODI includes information indicating that the single pulse control is performed, and therefore the driving unit 52 drives the motor 30 under the single pulse control. When the motor 30 is driven by the single pulse control, the driving unit 52 ends the process.

The single pulse request mediation unit 514 supplies information indicating that PWM control is performed to the driving unit 52 as single pulse driving information ODI (step S95).

When acquiring the single-pulse drive information ODI from the single-pulse request mediation unit 514, the drive unit 52 drives the motor 30 based on the information indicated by the single-pulse drive information ODI. In this case, the single pulse drive information ODI includes information indicating that PWM control is to be performed, and therefore the driving unit 52 drives the motor 30 by PWM control. When the driving unit 52 drives the motor 30 by PWM control, the process ends.

In the above, a series of operations of the control device 50 are described. The order in which the single-pulse request determination unit 51 determines is the order in which the determination is actually performed. The single-pulse request determining unit 51 performs a determination based on the loss minimum single-pulse request determining unit 510, performs a determination based on the resolver learning single-pulse prohibition determining unit 513, performs a determination based on the excessive current suppressing single-pulse prohibition determining unit 511, and performs a determination based on the motor NV single-pulse prohibition determining unit 512.

The order of the determination by the monopulse request determining unit 51 is not limited to this example. The motor NV monopulse inhibition determination unit 512 may be configured to determine in any order.

In the above embodiment, the procedure of making each determination is shown. However, the present embodiment is not limited to this example. The determination by the monopulse request determining unit 51 may be performed simultaneously or independently.

The determination by the monopulse request determining unit 51 may be performed by at least 1 determination, or may not be performed entirely.

Summary of effects of the embodiments

As described above, as described using the embodiment, the control device 50 includes the motor information acquisition unit 53, the resolver learning information acquisition unit 54, the monopulse request determination unit 51, and the driving unit 52. The monopulse request determining unit 51 determines whether or not to perform monopulse control based on the information acquired from the motor information acquiring unit 53 and the resolver learning information acquiring unit 54. The single-pulse request determination unit 51 causes the driving unit 52 to drive the motor 30 based on the result of the determination.

According to the control device 50 of the present embodiment, the monopulse request mediation unit 514 determines whether or not to perform monopulse control based on the motor information MI acquired from the motor information acquisition unit 53, according to a predetermined condition.

The control device 50 performs single-pulse control when predetermined conditions set for each of efficiency, heat, riding experience, and NV are satisfied by motor drive torque, motor rotation speed, and DC voltage. The control device 50 performs PWM driving when a predetermined condition is not satisfied.

Therefore, the control device 50 can perform motor control to establish efficiency, comfort, and power consumption.

According to the control device 50 of the present embodiment, the monopulse request determining unit 51 includes a resolver learning monopulse inhibition determining unit 513. The resolver learning monopulse inhibition determination unit 513 determines whether or not the phase sensor error information determination process can be performed using the resolver learning information RI, and performs the phase sensor error information determination process.

When the resolver is in an unlearned state, the reference angle of the physical rotor provided in the motor 30 and the phase angle of the output signal of the resolver are greatly shifted. When the control device 50 performs the single pulse control in a state where the resolver is not learned, the deviation of the control becomes large by the deviation of the reference angle of the rotor and the phase angle of the output signal of the resolver. By performing the single-pulse control in a state where the resolver is not learned, there is a possibility that the commercial value may be deteriorated. Therefore, the control device 50 determines whether or not the error of the phase sensor can be calculated by determining the learning state of the resolver sensor, and does not select the commercial deterioration.

According to the control device 50 of the present embodiment, the resolver learning monopulse inhibition determination portion 513 determines whether or not to select the monopulse control drive based on the information on whether the resolver indicated by the resolver learning information RI has been learned or has not been learned.

If the resolver performs single-pulse control in an unworn state, there is a possibility that the control error may deteriorate the commercial value.

Therefore, the control device 50 can prevent deterioration of the commodity by determining whether or not to select the single pulse control drive based on the resolver learning information RI.

According to the control device 50 of the present embodiment, the monopulse request determining unit 51 includes a loss minimum monopulse request determining unit 510. The loss minimum monopulse request determining unit 510 calculates the driving efficiency based on the motor information MI. The loss minimum monopulse request determining unit 510 calculates the driving efficiency, thereby comparing the efficiency between the case of monopulse control and the case of PWM control. The loss minimum monopulse request determining unit 510 compares the monopulse control and the PWM control, and selects a control method with high driving efficiency.

Therefore, the control device 50 can select a control method with low power consumption.

According to the control device 50 of the present embodiment, the monopulse request determining unit 51 includes an excessive current suppressing monopulse inhibition determining unit 511. The excessive current suppressing single-pulse prohibition determination unit 511 calculates a current value in the case where the single-pulse control is performed, based on the motor information MI. The excessive current suppressing single-pulse prohibition determination unit 511 prohibits single-pulse control when the current value in the case where single-pulse control is performed is equal to or greater than a predetermined value.

Therefore, the control device 50 can prevent the generation of an overcurrent or overvoltage by the single pulse control.

According to the control device 50 of the present embodiment, the single pulse request determination unit 51 includes a motor NV single pulse prohibition determination unit 512. The motor NV single-pulse prohibition determination unit 512 calculates the NV level in the case where the single-pulse control is performed, based on the motor information MI. The motor NV single-pulse prohibition determination unit 512 prohibits single-pulse control when the NV level is equal to or higher than a predetermined value in the case where single-pulse control is performed.

The control device 50 predicts the deterioration of the NV level in advance by the single-pulse control, and does not perform the single-pulse control when the NV level is deteriorated. Therefore, the control device 50 can suppress the NV level to a constant level or less.

The control device 50 can drive the motor with low noise and vibration by suppressing the NV level to a constant level or less. By providing the vehicle with the control device 50, a vehicle with low noise and vibration can be provided.

While the present embodiment has been described with reference to the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A control device for controlling a converter for outputting electric power to a motor, characterized in that,

determining which of single pulse control and pulse width modulation control is used as a control method of the inverter for the motor based on a predetermined condition by using a motor driving torque of the motor, a rotational speed of the motor, and a direct current voltage,

determining whether or not phase sensor error information can be calculated by using sensor learning information in which a relation between a reference angle of a rotor of the electric motor and a phase angle of an output signal of a resolver attached to the electric motor is defined,

when it is determined that the calculation is possible, it is determined which of the single pulse control and the pulse width modulation control is to be used based on the predetermined condition.

2. The control device according to claim 1, wherein,

the motor driving torque, the rotational speed, and the dc voltage are used to calculate a driving efficiency and to use the driving efficiency in a predetermined condition.

3. The control device according to claim 1 or 2, wherein,

after determining that the phase sensor error information can be calculated,

and a single-pulse control-time excessive current determination unit configured to determine whether or not excessive current is generated during the single-pulse control, and a single-pulse control-time NV level determination unit configured to determine whether or not to prohibit the single-pulse control based on the single-pulse control-time NV level determination unit.

4. The control device according to claim 3, wherein,

the over-current determination is performed preferentially over the NV level determination during the single pulse control.

5. The control device according to claim 1 or 2, wherein,

the motor driving torque, the rotational speed, and the dc voltage are used to calculate a current value at the time of single-pulse control, and the current value is used for a predetermined condition.

6. The control device according to claim 1 or 2, wherein,

the noise value at the time of the single pulse control is calculated by using the motor driving torque, the rotational speed, and the dc voltage, and is used for a predetermined condition.

7. A vehicle system, comprising:

the control device according to any one of claims 1 to 6; and

a drive wheel driven by the control device.

8. A control method, characterized in that,

the control device performs the following processing:

a converter that controls output of electric power to the motor,