JP2003047104A - Motor controller for vehicle - Google Patents

Motor controller for vehicle

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Publication number
JP2003047104A
JP2003047104A JP2001233534A JP2001233534A JP2003047104A JP 2003047104 A JP2003047104 A JP 2003047104A JP 2001233534 A JP2001233534 A JP 2001233534A JP 2001233534 A JP2001233534 A JP 2001233534A JP 2003047104 A JP2003047104 A JP 2003047104A
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JP
Japan
Prior art keywords
motor
motor control
step
vehicle
device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2001233534A
Other languages
Japanese (ja)
Other versions
JP3626432B2 (en
Inventor
Atsushi Kunimi
Yasuro Matsunaga
篤史 國見
康郎 松永
Original Assignee
Hitachi Car Eng Co Ltd
Hitachi Ltd
Nissan Motor Co Ltd
日産自動車株式会社
株式会社日立カーエンジニアリング
株式会社日立製作所
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Publication date
Application filed by Hitachi Car Eng Co Ltd, Hitachi Ltd, Nissan Motor Co Ltd, 日産自動車株式会社, 株式会社日立カーエンジニアリング, 株式会社日立製作所 filed Critical Hitachi Car Eng Co Ltd
Priority to JP2001233534A priority Critical patent/JP3626432B2/en
Publication of JP2003047104A publication Critical patent/JP2003047104A/en
Application granted granted Critical
Publication of JP3626432B2 publication Critical patent/JP3626432B2/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To perform the diagnostic control of a torque comparing function without affecting the vehicle's behavior. SOLUTION: The controller of an electric vehicle and hybrid electric vehicle is equipped with an invertor 1 which converts DC electric power into AC electric power and applies it to a motor 4, a motor 4 driven by the AC electric power supplied from the invertor 1, and a motor controller 3 which controls the invertor 1. A main-microcomputer 21 and sub-microcomputer 31 installed in the motor controller 3 diagnose the torque comparing function with the use of a motor control command value in a frequency band higher than the maximum drive frequency of the motor 4. Consequently, the influence exerted on the vehicle's behavior is suppressed because the motor 4 never drives even if the current flows into the d-axix.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle or an electric vehicle.
Is a vehicle motor used in vehicles such as hybrid vehicles
It relates to a control device. [0002] Conventionally, electric vehicles and hybrid vehicles
Uses a three-phase AC synchronous motor for the drive motor
And torque control by vector control of the inverter.
A control device that performs control is known (Japanese Patent Application Laid-Open No. 2000-134716).
Gazette). In this electric vehicle control device, the torque processor
Shing controller gives motor controller torque
Command, and the motor controller that receives the torque command
Control the inverter. [0003] The motor controller is a main microcontroller.
Computer (hereinafter referred to as the main microcomputer) and
Computer (hereinafter referred to as sub-microcomputer).
are doing. The main microcomputer operates the accelerator, etc.
Based on the torque command determined by the conditions and the actual rotation angle of the motor.
And a d-axis current command value Idm *, which is a motor control command value,
Calculates q-axis current command value Iqm * and motor electrical angle θm
I do. In addition, the sub-microcomputer
Based on the motor electrical angle calculated by the microcomputer,
D-axis current command value Ids *, which is a motor control command value, q-axis
Calculates current command value Iqs * and motor electrical angle θs
You. The main microcomputer calculates the d-axis current command value Idm * -Id
Comparison between s *, ratio between q-axis current command value Iqm * -Iqs *
And a comparison between the motor electrical angles θm-θs.
If the difference is larger than the predetermined value, the control
Power supply to the power supply. Sub-microcomputer uses current command
Values Ids *, Iqs * and Three-Phase Motor Currents Iu, Iv, Iw
Are calculated respectively as Ids and Iqs, and Ids
And Ids *, and Iqs and Iqs *, respectively.
Is larger than the specified value, it is diagnosed as a control error and the motor
Stop supplying power to The sub-microcomputer is θm-
The comparison between θs is also performed to diagnose control abnormalities.
Stop supplying power to the data. Conventionally, the reliability of such diagnosis has been increased.
Diagnosis of main microcomputer and sub microcomputer for security purpose
Diagnosing function. This diagnosis (hereinafter referred to as the torque comparison function
The various types of fingers described above are simulated when the vehicle is started.
This is done by outputting a quote or the like. At this time, the sensor
Switch to the phaseless control, and feed back the current of each phase.
The current control gain of the
Switching to threshold. This allows the pseudo
Motor operation by various current commands
Suppress the effects of both behaviors, e.g.
Can be obtained. [0005] However, the prior art
In the diagnosis of the torque comparison function, no torque is generated in the motor.
Although only d-axis current was flowing, sensorless control
Error in the motor magnetic pole position caused by the
A small amount of current had flowed through. Flows on this q axis
The electric current drives the motor, which affects the behavior of the vehicle.
In some cases, the passengers felt uncomfortable. [0006] It is an object of the present invention to provide a method for diagnosing a torque comparison function.
Motor control device that does not generate unnecessary vehicle behavior
To provide a location. FIG. 1 shows an embodiment of the present invention.
The present invention will be described with reference to FIGS. (1) A motor control device for a vehicle according to the present invention has a DC power
Power converter that converts AC power into AC power and supplies it to motor 4
1 and the power applied from the power converter 1 to the motor 4
A first arithmetic unit for calculating a first motor control command to be controlled
21 and a pseudo second control for the first motor control command.
A second arithmetic unit 31 for calculating the motor control command of
Computed by the first and second computing devices 21 and 31, respectively
The first and second motor control commands are compared and calculated.
When the comparison calculation result indicates an abnormality, the power to the motor 4 is
Stopping devices 21, 31, 41 for stopping the supply of
For diagnosis having a frequency higher than the maximum driving frequency of the motor 4
The first and second motor control commands are compared by the comparison stop device 21,
31 to determine whether the comparison operation is performed normally.
By providing the diagnostic devices 21 and 31, the
To achieve. (2) The invention according to claim 2 is the vehicle motor control according to claim 1.
In the device, the motor 4 is a vector-controlled power converter.
-Phase AC synchronous motor 4 driven by power from conversion device 1
And the first arithmetic unit 21 is determined by the operating condition.
Based on the specified torque command value and the actual rotation angle of the motor 4
To calculate the d-axis current, the q-axis current and the motor electrical angle,
The second arithmetic unit 31 is configured to calculate the torque command value and the first arithmetic unit.
Based on the motor electrical angle calculated in step 21, the d-axis
Flow, q-axis current and motor electrical angle are calculated
And (3) The invention of claim 3 is the vehicle motor control of claim 2.
In the device, the diagnostic devices 21 and 31 reduce the q-axis current to zero.
The diagnosis is performed by giving a predetermined value to the d-axis current.
And (4) The vehicle motor control according to the second aspect of the present invention.
In the device, the diagnostic devices 21 and 31 reduce the d-axis current to zero.
The diagnosis is performed by giving a predetermined value to the q-axis current.
And (5) The invention according to claim 5 is the vehicle according to any one of claims 2 to 4.
In the dual-purpose motor control device, the comparison stop devices 21 and 3
1, 41 is the d-axis current calculated by the first calculation device 21
And the d-axis current calculated by the second calculation device 31,
Current calculated by the arithmetic unit 21 and the second arithmetic unit 31
And the q-axis current calculated by
The calculated motor electrical angle is calculated by the second arithmetic unit 31.
Motor electrical angle and their comparison results.
Stops supplying power to the motor 4 when indicates an abnormal value
It is characterized by doing. (6) The invention according to claim 6 is the vehicle according to any one of claims 1 to 5.
Diagnosis of torque comparison function in dual-use motor controller
Detect the time constant to be used before diagnosis and confirm that it is normal.
The diagnosis of the torque comparison function is performed when
You. (7) The invention of claim 7 converts DC power into AC power.
Method of diagnosing vehicle motor control device applying to motor 4
, A first mode for controlling the power applied to the motor 4
Data control command and calculate the first motor control command.
A pseudo second motor control command is calculated, and the first and second motor control commands are calculated.
2 motor control command, and the comparison calculation result is different.
Power supply to the motor 4 when the
For diagnosis having a frequency equal to or higher than the maximum drive frequency of the
Normal comparison operation by 1st and 2nd motor control command
It is characterized in that it is diagnosed whether or not it is performed. Means for solving the above problems
In order to explain the present invention easily,
FIG. 1 to FIG. 3 are used to implement the present invention.
However, the present invention is not limited to this. According to the present invention, the following effects can be obtained.
You. (1) According to the invention of claims 1 to 7, a torque comparison function diagnosis
Motors with a frequency higher than the maximum drive frequency of the motor
Generates torque on the motor by using control command values
The motor rotates even when current flows on the q-axis
And not. This reduces the effects of vehicle behavior.
it can. (2) According to the invention of claim 3 or 4, if the d-axis current is
By setting one of the q-axis currents to 0,
Therefore, the diagnosis of the torque comparison function can be performed accurately. (3) According to the invention of claim 5, the first and second controls
The d-axis current, q-axis current, and motor electrical angle calculated by the device
Diagnose that the torque comparison function is abnormal by comparing each
Power supply to the motor 4 is stopped when the
Diagnose the torque comparison function without fail and compare the torque
The driver's safety can be maintained without running the vehicle when the function is abnormal.
All can be secured. (4) According to the invention of claim 6, diagnosis of the torque comparison function
Time constant used for diagnosis before diagnosis to determine normal / abnormal
The diagnosis of the torque comparison function more accurately.
It can be carried out. DETAILED DESCRIPTION OF THE INVENTION A motor control device for a vehicle according to the present invention.
FIG. 1 shows the configuration of an embodiment of the present invention. This vehicle mode
For example, electric vehicle and hybrid vehicles
The DC power of the battery 8 used for
Inverter (INV) 1 includes an electric vehicle and a hive.
Torque processing core that controls the running state of the lid car
Controller (TP / C) 2 and motor controller (M /
C) Controlled by 3. Drive mode from inverter 1
U, which supplies power to the three-phase AC synchronous motor
The motor currents Iu, I
current detectors 5 for detecting v and Iw, respectively, are installed
I have. The encoder 6 is for driving to recognize the magnetic pole position.
A rotation angle signal of the motor 4 is detected. Each current detection
-Phase currents Iu, Iv, Iw detected by the detector 5 and encoders
The rotation angle signal detected by the motor 6 is sent to the motor controller 3
I am trying to feed back. A torque processing controller (TP)
/ C) 2 is an accelerator signal, a shift signal, a brake signal
And the motor controller 3
The torque command value based on the motor speed calculated
Calculate and output to the motor controller 3. Motor control
Troller 3 is a torque processing controller 2
Calculated torque command value, detected by each current detector 5
Motor current of each phase, motor detected by encoder 6
A PWM signal is calculated based on the rotation angle signal. Inva
The switching element (not shown) of the data 1
Driven on the basis of the DC current of the battery 8 to a desired voltage.
And output. Also, the motor controller
3 opens the switch 7 when a condition described later is satisfied.
To shut off power supply from battery 8 to inverter 1
I do. FIG. 2 shows the internal configuration of the motor controller 3.
Show. The motor controller 3 communicates with the main microcomputer 21
A sub microcomputer 31 and an OR circuit 41 are provided. May
The microcomputer 21 includes a motor control operation unit 22 and a coordinate conversion unit.
23, comparison unit 24, current control unit 25, control mode switching unit
26, and a gain setting unit 27. Sub microcomputer 3
1 is a motor control operation unit 32, a coordinate conversion unit 33, a comparison unit
34. A motor control calculation section in the main microcomputer 21
22 is calculated by the torque processing controller 2.
Torque command value and motor rotation detected by encoder 6.
D-axis current which is a motor control command value based on the angle signal
Command value Idm *, q-axis current command value Iqm *, motor electrical angle θm
Is calculated and input to the comparison unit 24 and the current control unit 25.
The motor electrical angle θm is determined by the coordinate conversion unit 23 and the sub microcomputer 3.
1 is also input to the coordinate conversion unit 33. Coordinate converter 23
Is the motor electrical angle θm calculated by the motor control calculation unit 22
Of each phase detected by each current detector 5 based on the
Data currents Iu, Iv, Iw
Value Idm and the feedback value Iqm of the q-axis current.
Standard conversion (three-phase / two-phase conversion) and output to the current control unit 25
You. The comparison unit 24 is a module that has been calculated by the motor control calculation unit 22.
Data control command values Idm *, Iqm *, θm
The pseudo model calculated by the motor control calculation unit 32 in the icon 31
Data control command values Ids *, Iqs *, θs
If any one of them has a difference equal to or more than a predetermined value, the OR circuit 41
Output stop command. The current control unit 25 controls the motor control finger.
Command value Idm *, Iqm *, θm and current feedback value Id
m, Iqm based on the current feedback control,
A PWM signal is output to inverter 1. The motor control operation unit 3 in the sub microcomputer 31
2 was calculated by the torque processing controller 2
Torque command value and motor rotation angle detected by encoder 6
Signal and the d-axis electric
Flow command value Ids *, q-axis current command value Iqs *, motor electrical angle θ
s is calculated, and the ratio between the comparison unit 34 and the main microcomputer 21 is calculated.
Input to the comparison unit 24. The coordinate conversion unit 33 includes a main microcomputer.
Motor electric power calculated by the motor control operation unit 22 in the motor 21
Detected by each current detector 5 based on the angle θm
The motor currents Iu, Iv, Iw are
To the feedback value Iqs of the q-axis current
Performs standard conversion (three-phase / two-phase conversion). The comparison unit 34 is a motor
Motor control command values Ids *, Iq calculated by the control calculation unit 32
s * and the current feedback value converted by the coordinate conversion unit 33
Ids and Iqs are compared. In addition, Main My
The motor calculated by the motor control calculator 22 in the controller 21
Electric angle θm and motor control calculation unit 3 in sub-microcomputer 31
Then, the motor electrical angle θs calculated in step 2 is compared. these
As a result of the comparison, if there is a difference equal to or more than a predetermined value, OR times are performed.
A command to stop the inverter 1 to the road 41 (MCFAI described later)
L signal and FCFAIL signal). FIG. 3 shows a main controller of the motor controller 3.
Between the icon 21 and the sub-microcomputer 31
It is a figure explaining the flow of signals, such as an abnormality judgment signal. Figure
Where Idm * and Iqm * are
D axis calculated by the motor control calculation unit 22 of the microcomputer 21
A current command value and a q-axis current command value. Also, Ids *, Iq
s * is the value of the sub microcomputer 31
D-axis current command value calculated by the motor control calculation unit 32, q-axis
This is the current command value. Ids and Iqs are current detectors, respectively.
5 and the motor currents Iu, Iv, Iw
The coordinate change is performed based on the motor rotation angle detected by the coder 6.
The d-axis feedback current and the q-axis
FIG. As described above, the main microcomputer 21
The comparison unit 24 calculates the d-axis current command values Idm * and Ids *,
The current command values Iqm * and Iqs * are compared,
Control error if any of the differences is greater than a predetermined value
Diagnose. In the comparison unit 34 inside the sub microcomputer, the d axis
Current command value Ids *, coordinate conversion value Ids, q-axis current command
The value Iqs * is compared with the coordinate transformation value Iqs.
If any of the differences is larger than the predetermined value, the control is abnormal.
Diagnose. When a control abnormality is diagnosed, the OR circuit 41
The RLYCUT signal is output and the switch 7 opens. Ma
The RLYCUT signal is sent to the main microcomputer
21 and the sub microcomputer 31 are also input. further,
Control error signal MCFAIL signal by main microcomputer 21
The signal is input to the sub microcomputer 31 and the sub microcomputer 31
Control abnormal signal FCFAIL signal by main microcomputer
21. In the vehicle motor control device according to the present invention,
The motor 4 is driven for the above-mentioned torque comparison function diagnosis.
A high frequency current higher than the maximum possible driving frequency is used.
As a result, even when a current flows on the q axis, the motor 4 is driven.
Because it does not move,
it can. Note that the vehicle behavior is, for example, that the vehicle is running undesirably.
And so on. The control mode switching unit 26 is provided with a control for starting the vehicle.
Sensorless control mode to diagnose the torque comparison function.
Command to switch to the motor control operation units 22 and 3
Instruct 2 The gain setting unit 27 controls the sensorless control mode.
Mode in the sensorless control mode
The minute gain and the proportional gain are set in the current control unit 25. This
Control gain is larger than the value set during normal driving
Value, which enables the torque comparison function diagnosis to be performed in a short time.
(For example, 30 ms) to reduce the effect on vehicle behavior.
I do. In the sensorless control, the encoder 6 controls
Current without using the detected motor rotation angle signal.
The current values Iu, Iv, Iw of each phase detected by the detector 5 are set to 3
Current values Ids and Iqs obtained by phase / 2-phase coordinate conversion;
PI control is performed using the current command values Ids * and Iqs *.
With this sensorless control, a current command is given only to the d-axis.
The position of the motor magnetic pole is detected from the detected motor current value of the q-axis.
Put out. Hereinafter, vehicle starting by the motor controller 3 will be described.
The diagnostic control of the torque function during operation will be described with reference to FIGS.
I will tell. The control starting from step S1 is performed when the operator
The start switch (not shown) to start
Start by doing. In the following control,
The computer 21 and the sub-microcomputer 31 perform their respective processes in parallel.
Execute In step S1, the main microcomputer 21
It is determined whether or not the activation has been completed. This is the inverter
Relay 7 has been turned on and motor rotation has stopped
(Or less than or equal to a predetermined value), and the phase counter
This is done by confirming that it has been initialized.
If it is determined that the activation of the main microcomputer 21 has been completed,
Proceed to step S2, and if it is determined that the operation is not completed,
It waits in step S1 until it is completed. In step S2, the motor speed is set to 50r
pm is determined. This is a sensorless
This is a condition for starting control. That is, step
In S2, it is determined whether or not a condition for switching to sensorless control has been satisfied.
Is determined. If the motor speed is less than 50 rpm
If it is determined, the process proceeds to step S3, and it is 50 rpm or more.
Is determined, the process waits in step S2. In step S3, the current control unit 25
Various control gains of feedback control loop
Switch to control gain for control. This is the main my
This is performed by the gain setting unit 27 in the controller 21. This embodiment
Then, the integral gain of d-axis and q-axis is 4 times of normal
The gain is set to 1.33 times the normal value. The gain value is
It is not limited to these values, but depends on the control characteristics.
Determined experimentally. In step S3, a control gate for sensorless control is used.
When the mode is switched to in, the process proceeds to step S4. Step S
In step 4, the magnetic pole position of the motor 4 is detected. Sensorless
In the control, the d-axis is set so that the motor 4 does not generate torque.
Only the current command value (≠ 0) is given, so the motor
The position of the motor magnetic pole is detected from the flow detection value. Next step
In step S5, it is determined whether the sensorless control has been completed.
You. This corresponds to a predetermined time (for example, 3
0 ms) has elapsed. Sensorless
If it is determined that the control has been completed, the process proceeds to step S6, and the process ends.
If it is determined that it has not been performed, the process waits in step S5. Steps S6 to S9 are used for abnormality diagnosis.
Time constant is determined. Diagnosis of torque comparison function
Sometimes we cannot check the accuracy of the time constant,
Before (after) the abnormality diagnosis by the comparison units 24 and 34
Check the value of the constant. As a result, the time constant
Even if it is rewritten due to an
I can. In step S6, a time constant data not shown
Time constants ΔId1 and ΔIq1 from the data ROM
You. In the next step S7, time constant data RO (not shown)
From M, read out the time constants ΔId2 and ΔIq2,
Proceed to step S8. In step S8, ΔId1 and ΔId1
Whether Iq1, ΔId2 and ΔIq2 respectively match
Is determined. That is, whether or not the following equation (1) holds.
Is determined. ΔId1 = ΔIq1, ΔId2 = ΔIq2 (1) If it is determined that the relationship of Expression (1) is not satisfied, step S9 is performed.
To determine that there is an abnormality. Satisfies the relationship of equation (1)
When the determination is made, the process proceeds to step S10. In step S10, the comparison units 24 and 3
To diagnosis mode 4, ie, torque comparison function diagnosis mode
It changes, and it progresses to step S11. In step S11,
Determine whether the rotation speed of motor 4 is greater than 5000 rpm
You. If it is determined that it is larger than 5000 rpm, step S12
Send a signal to end the torque function diagnostic mode at
Proceed to step S55. Judge as below 5000rpm
And proceeds to step S13. In step S13, the sub microcomputer 31
The signal CHK1 for starting the diagnosis of the comparison unit 34 of
Output to the controller 31 and proceed to step S14. Step S
At 14, a diagnosis is performed by the comparison unit 24 in the main microcomputer 21.
Is controlled to mask. That is, submaiko
While the diagnosis is being performed by the comparison unit 34 in the
Do not perform the diagnosis in the comparison unit 24 in the microcomputer 21
To In step S15, a 1 kHz d-axis current
Idm = −110 [A], 1 kHz q-axis current Iqm =
0 [A] is output. As described above, the conventional control device
Only d-axis current flows when diagnosing torque comparison function
Due to the estimation error of the magnetic pole position of the motor 4
As a result, current also flowed on the q-axis. According to the invention
Diagnosis of torque comparison function in vehicle motor control device
Of 1 kHz which is higher than the maximum driving frequency of the motor 4
The high-frequency current is output to the motor 4. This gives the q-axis
Even when a current flows, the motor 4 does not operate. Accordingly
Therefore, there is no influence on the vehicle behavior. This embodiment
Let's assume that the frequency is 1 kHz and Idm = -110 [A].
However, the present invention is not limited to this value.
Determined appropriately by the use of cars and hybrid vehicles
You. Here, the sub-starting from step S101
The control performed by the microcomputer 31 will be described with reference to FIGS.
explain. Of the various processes performed by the sub-microcomputer 31,
The description of the same processing as the in-microcomputer 21 is omitted.
You. In step S101, activation of the sub-microcomputer 31 is started.
It is determined whether the process has been completed. This judgment is
Based on the same conditions as the determination in step S1 performed in step 21
Done. Further, the following steps S102 to S105 also include:
Steps S6 to S9 performed by the main microcomputer 21
Is the same as In step S106, in step S12
The torque function diagnostic control transmitted by the main microcomputer 21 is terminated.
It is determined whether or not a signal to complete the process has been received. Judgment received
After the setting, the process proceeds to step S150. Not received
After the setting, the process proceeds to step S107. In step S107
Is C transmitted from the main microcomputer 21 in step S13.
After confirming that the HK1 signal has been received, step S10
Proceed to 8. In step S108, the sub microcomputer 31
To the diagnostic mode of the comparing unit 34 of step S109.
Proceed to. In step S109, each current detection
Detects motor currents Iu, Iv, Iw detected by output unit 5
Then, the feedback value Id of the d-axis current is
is converted into a feedback value Iqm of the m and q axis currents (3
Phase / two-phase conversion). In the next step S110, the coordinates
The converted currents Idm and Iqm are input to the comparison unit 34 and
Proceed to step S111. In step S111,
As described above, the motor control command value Ids * and the current feedback
Ids, and Iqs * and Iqs, respectively.
Perform routine diagnosis. That is, the following equation (2) or (3)
When the staff is satisfied, it is determined to be abnormal and the main
An FCFAIL signal is output to the terminal 21. FCFAIL Shin
The signal is a signal indicating a control abnormality of the sub-microcomputer 31. | Ids * −Ids |> | ΔId2 | (2) | Iqs * −Iqs |> | ΔIq2 | (3) The main microcomputer 21 proceeds to step S16.
RLYCUT signal based on FCFAIL signal
It is determined whether or not it has been performed. As shown in FIG.
The FCFAIL signal is output from the sub-microcomputer 31 to the controller 21.
The RLYCUT signal is input from the OR circuit 41.
It is. If it is determined that the RLYCUT signal has not been generated,
Proceeding to step S17, it is determined that there is an abnormality. RLY
If it is determined that the CUT signal is generated, step S18
Proceed to. In step S18, the sub microcomputer 31
The signal CHK1 for starting the diagnosis of the comparison unit 34 of
Output to the controller 31 and proceed to step S19. The sub microcomputer 31 proceeds to step S112.
In step S18, the main microcomputer 21 outputs
After confirming that the received CHK1 signal has been received, step S1
Proceed to 13. In step S113, the FCFAIL signal
It is determined whether or not the RLYCUT signal based on is generated.
You. As shown in FIG.
The MCFAIL signal is input from the icon 21 and the OR circuit
An RLYCUT signal is input from 41. RLYCUT
If it is determined that no signal is generated, the process proceeds to step S114.
Proceeds and determines that there is an abnormality. RLYCUT signal is generated
If it is determined that the operation is performed, the process proceeds to step S115. Step
In step S115, the FCFAIL signal is cleared and the
Proceed to step S116. The sub microcomputer 31 uses the FCFAI
A signal to the effect that the L signal has been cleared is sent to the main microcomputer 21.
I believe. The main microcomputer 21 receives the FCFAIL signal
Is received after receiving a signal indicating that has been cleared in step S19.
Outputs a d-axis current Idm and a q-axis current Iqm. this
The output value at this time is 0 [A] for both Idm and Iqm.
You. In the next step S20, the RLYCUT signal is cleared
It is determined whether or not it has been performed. Judgment that it is not cleared
Then, the process proceeds to step S21, in which it is determined that there is an abnormality.
You. If it is determined that it has been cleared, the process proceeds to step S22.
move on. In the control performed by the main microcomputer 21,
The control performed in steps S22 to S30 is
Since the control from step S13 to step 21 is the same,
A description of each will be omitted. However, step
The current values Idm and Iqm output in S24 are 1
Idm at kHz = 0 [A], Iqm at 1 kHz = -11
0 [A]. In the vehicle motor control device according to the present invention
Uses a high-frequency current higher than the maximum drive frequency of the motor 4.
And diagnoses abnormalities, so not only on the d-axis, but also on the q-axis
Diagnosis is performed by passing current. In other words, by passing a current through the q-axis
Even if the abnormality diagnosis is performed, the influence of the vehicle behavior does not occur. Ma
In the control performed by the sub-microcomputer 31, the step S
The control performed from step 116 to step S123 is step 1
From 07, the control is the same as that performed in step S115.
A description of each will be omitted. Sub microcomputer 31
Is the current values Idm and Iqm output in step S24.
A torque comparison function diagnosis is performed based on the torque comparison function diagnosis. The main microcomputer 21 determines in step S29
If it is determined that the RLYCUT signal has been cleared, the step
Proceed to S31. In step S31, the CHK1 signal is
The output is output to the microcomputer 31, and the process proceeds to step S32. sub
The microcomputer 31 determines in step S124 that the main microcomputer
Check that the CHK1 signal output by the
To step S125. In step S125, C
RLYCUT signal based on HK1 signal is cleared
Is determined. Judge not cleared
The process proceeds to step S126, and it is determined that there is an abnormality. K
If it is determined that the rearrangement has been performed, the process proceeds to step S127.
No. In step S127, the ratio in the main microcomputer 21 is determined.
The diagnosis start signal CHK2 to the comparison unit 24
And the process proceeds to step S128. The main microcomputer 21 proceeds to step S32.
Receiving the CHK2 signal output by the sub-microcomputer 31
After confirming this, the process proceeds to step S33. Step S3
In 3, determine whether the RLYCUT signal has been cleared
I do. If it is determined that it has not been cleared, step S34
To determine that there is an abnormality. Judge as cleared
Then, the process proceeds to step S35. In step S35,
An abnormal signal MCFAIL indicating a control abnormality of the microcomputer 21
Is cleared, and the process proceeds to step S36. Step S36
Then, the CHK1 signal is output to the sub microcomputer 31 to switch
Proceed to step S37. The sub-microcomputer 31 proceeds to step S128
And confirms that the CHK1 signal has been received.
Go to 129. In step S129, the d-axis current Ids
* = 150 [A], internal output of q-axis current Iqs * = 0 [A]
Do the force. The current command values Ids * and Iqs * here are
The purpose of this is to make a diagnosis by the comparison unit 24 in the microcomputer 21.
Yes, there is no need to use high frequency current. Next step S
In 130, the diagnosis by the comparing unit 34 in the sub-microcomputer 31 is performed.
Control for masking the disconnection is performed. That is,
While the diagnosis is being performed by the comparison unit 24 in the icon 21, the
Do not perform the diagnosis in the comparison unit 34 in the microcomputer 31.
To The main microcomputer 21 proceeds to step S37.
Here, the current command values Ids *, Iq of the sub-microcomputer 31 are
After detecting s *, the process proceeds to step S38. Step S38
Then, as described above, Idm * and Ids *, and Iqm * and Iqs *
Control abnormality diagnosis by comparing
U. That is, the relationship of the following expression (4) or (5) is satisfied.
It is determined that the time is abnormal. | Idm * −Ids * |> | ΔId1 | (4) | Iqm * −Iqs * |> | ΔIq1 | (5) In the next step S39, the control performed in step S38 is performed.
Based on the result of the abnormality diagnosis, the MCFAIL signal
Output to the icon 31. The sub-microcomputer 31 proceeds to step S131.
It is determined whether the RLYCUT signal has been generated.
If it is determined that no error has occurred, the process proceeds to step S132,
It is determined that it is abnormal. RLYCUT signal is generated
If it is determined that it is, the process proceeds to step S133. Step S1
At 33, the CHK2 signal is output to the main microcomputer 21.
To step S134. The main microcomputer 21 proceeds to step 40
Receiving the CHK2 signal output by the sub-microcomputer 31
After confirming this, the process proceeds to step S41. Step S
At 41, it is determined whether or not the RLYCUT signal is generated.
Set. If it is determined that no error has occurred, the process proceeds to step S42.
Proceeds and determines that there is an abnormality. RLYCUT signal is generated
If it is determined that the operation is performed, the process proceeds to step S43. Steps
In S43, the MCFAIL signal is cleared and the step
Proceed to S44. The sub-microcomputer 31 proceeds to step S134
Clear the RLYCUT signal and go to step S135.
move on. In step S135, the d-axis current Ids * = 0, q
An internal output of the shaft current Iqs * = 0 is performed, and step S136 is performed.
Proceed to. In step S136, the RLYCUT signal is cleared.
It is determined whether or not the rear has been cleared. Judgment that it is not cleared
Then, the process proceeds to step S137, where it is determined that there is an abnormality.
I do. If it is determined that it has been cleared, the process proceeds to step S138.
move on. In step S138, the main microcomputer 21
The HK2 signal is output, and the flow advances to step S139. The main microcomputer 21 determines in step S44
After confirming that the CHK2 signal has been received, step S45 is performed.
Proceed to. Control from step S45 to step S52
Is the same as the control from step S37 to step S44.
Since these are the same, their description will be omitted. Ma
In the processing performed by the sub-microcomputer 31, step S1
From step 39 to step S148, the processing performed in step S148
9 is the same as the process performed in step S138.
A description of each will be omitted. However, step S1
The current values Ids * and Iqs * output at 39 are Id
s * = 0 [A] and Iqs * = 150 [A]. Sandals
That is, the current command values Ids *, I output at step S139
Based on qs *, the comparison unit 24 in the main microcomputer 21
Perform the torque comparison function diagnosis. The main microcomputer 21 determines in step S52
Upon receiving the CHK2 signal, the process advances to step S53. Stay
In step S53, the RLYCUT signal is cleared and step
Proceed to step S54. In step S54, the CHK1 signal is
Output and go to step S55. In step S55,
The vector operation for controlling the inverter 1 is started. The sub-microcomputer 31 proceeds to step S149
The CHK2 signal output from the main microcomputer 21 is
After confirming the reception, the process proceeds to step S150. Stay
In step S150, a vector for controlling the inverter 1
This calculation is started and this control is ended. According to the vehicle motor control device of the present invention,
Diagnosis of torque comparison function from current command value and actual current value
When performing, the motor 4 is used as a pseudo current command value for diagnosis.
Use a high-frequency current higher than the maximum drive frequency to drive.
The effect of vehicle behavior without the motor 4 operating
Can be suppressed. This allows conventional control devices
Is a torque comparison function unless the vehicle is completely stopped
Although no diagnosis could be made,
In the control device for a moving vehicle and a hybrid vehicle, the motor 4
Diagnosis is performed even when the vehicle is running at a predetermined speed or less.
Can be. In addition, the time constant before and after the torque comparison function diagnosis
By confirming that the diagnosis can be made more accurately
it can. The present invention is not limited to the above-described embodiment.
Will not be. For example, electric vehicles and hybrid vehicles
Applies to everything driven by a motor other than
be able to. In other words, high frequency above the motor drive frequency
The use of wave current does not drive the motor.
It is possible to perform a torque comparison function diagnosis.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a configuration of a vehicle motor control device according to the present invention. FIG. 2 is a diagram showing a configuration of a motor controller of the vehicle motor control device according to the present invention. FIG. 4 is a flow chart showing a control procedure by a vehicle motor control device according to the present invention. FIG. 5 is a flowchart showing a control procedure by a vehicle motor control device according to the present invention. FIG. 6 is a flowchart showing a control procedure by the vehicle motor control device according to the present invention, following FIG. 5; FIG. 7 is a flowchart showing a control procedure by the vehicle motor control device according to the present invention, following FIG. 6; FIG. 8 is a flowchart following FIG. 7 and shows a control procedure by the vehicle motor control device according to the present invention. Converter, 2 ... torque processing controller (TP / C), 3 ... Motor Controller (M / C),
4 ... Drive motor, 5 ... Current detector, 6 ... Encoder,
7 switch, 8 battery, 21 main microcomputer, 22 motor control operation unit, 23 coordinate conversion unit,
Reference numeral 24: comparison unit, 25: current control unit, 26: control mode switching unit, 27: gain setting unit, 31: sub microcomputer, 32
... Motor control calculation section, 33 ... Coordinate conversion section, 34 ... Comparison section, 41 ... OR circuit

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Yasuo Matsunaga             Nissan 2, Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa             Automobile Co., Ltd. (72) Inventor Atsushi Kunimi             2477 Takaba, Hitachinaka-city, Ibaraki Pref.             Hitachi Car Engineering Co., Ltd. F term (reference) 5H115 PA01 PC06 PG04 PI16 PU10                       PU25 PV09 PV23 QE01 QN02                       QN07 QN09 RB22 RB26 SE03                       TO12 TO14 TO21 TO23                 5H560 AA08 BB04 DA07 DB07 DC12                       EB01 GG03 RR01 SS02 TT07                       UA02 XA02 XA12 XA13                 5H576 AA15 BB10 CC02 DD05 EE01                       EE11 EE20 FF01 GG04 HA02                       HB02 JJ03 LL22 LL39

Claims (1)

  1. Claims: 1. A power converter for converting DC power into AC power and supplying the AC power to a motor, and a first motor control command for controlling power applied from the power converter to the motor. , A second computing device that computes a pseudo second motor control command for the first motor control command, and a first computing device that computes the first and second computing devices, respectively. A comparison and stop device that compares the first and second motor control commands, and stops supplying power to the motor when the comparison calculation result indicates an abnormality. And a diagnostic device for providing the first and second motor control commands for diagnosis to the comparison stop device and diagnosing whether the comparison operation is performed normally. Apparatus. 2. The vehicle motor control device according to claim 1, wherein the motor is a three-phase AC synchronous motor driven by power from a vector-controlled power conversion device, and the first arithmetic device includes: Based on a torque command value determined by operating conditions and an actual rotation angle of the motor, d
    Calculating a shaft current, a q-axis current, and a motor electric angle, the second calculating device calculates a d-axis current, a q-axis current based on the torque command value and the motor electric angle calculated by the first calculating device. A motor control device for a vehicle, wherein a shaft current and a motor electrical angle are calculated. 3. The motor control device for a vehicle according to claim 2, wherein the diagnosis device performs the diagnosis by setting the q-axis current to zero and giving a predetermined value to the d-axis current. apparatus. 4. The vehicle motor control device according to claim 2, wherein the diagnosis device performs the diagnosis by setting the d-axis current to zero and giving a predetermined value to the q-axis current. apparatus. 5. The motor control device for a vehicle according to claim 2, wherein the comparison and stop device calculates a d-axis current calculated by the first calculation device and a d-axis current calculated by the second calculation device. D-axis current,
    The q-axis current calculated by the first calculation device, the q-axis current calculated by the second calculation device, and the motor electrical angle calculated by the first calculation device are calculated by the second calculation device. A motor control device for a vehicle, comprising: comparing the calculated motor electrical angle with each other; and stopping the supply of power to the motor when the comparison result indicates an abnormal value. 6. The motor control device for a vehicle according to claim 1, wherein a time constant used for diagnosing the torque comparison function is detected before the diagnosis, and when the time constant is confirmed to be normal, the torque comparison is performed. A motor control device for a vehicle, which diagnoses functions. 7. A method of diagnosing a motor control device for a vehicle for converting DC power to AC power and applying the converted power to a motor, comprising: calculating a first motor control command for controlling power applied to the motor; Calculating a pseudo second motor control command with respect to the motor control command, comparing and calculating the first and second motor control commands,
    When the result of the comparison operation indicates an abnormality, the supply of power to the motor is stopped, and the comparison operation is normally performed by the first and second motor control commands for diagnosis having a frequency equal to or higher than the maximum drive frequency of the motor. A method for diagnosing a motor control device for a vehicle, comprising diagnosing whether the operation is performed.
JP2001233534A 2001-08-01 2001-08-01 Vehicle motor control device and diagnostic method for vehicle motor control device Expired - Fee Related JP3626432B2 (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007306758A (en) * 2006-05-15 2007-11-22 Toshiba Mitsubishi-Electric Industrial System Corp Power convertor
JP2010114969A (en) * 2008-11-05 2010-05-20 Mitsubishi Electric Corp Power conversion device
JP2010137860A (en) * 2010-02-24 2010-06-24 Hitachi Automotive Systems Ltd Vehicle control device
JP2014155277A (en) * 2013-02-06 2014-08-25 Toyota Motor Corp Vehicle
KR101553988B1 (en) * 2012-06-05 2015-09-17 주식회사 져스텍 Motor and system thereof
WO2017110855A1 (en) * 2015-12-21 2017-06-29 日産自動車株式会社 Motor diagnostic method and electric power conversion equipment using same

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007306758A (en) * 2006-05-15 2007-11-22 Toshiba Mitsubishi-Electric Industrial System Corp Power convertor
JP2010114969A (en) * 2008-11-05 2010-05-20 Mitsubishi Electric Corp Power conversion device
JP2010137860A (en) * 2010-02-24 2010-06-24 Hitachi Automotive Systems Ltd Vehicle control device
KR101553988B1 (en) * 2012-06-05 2015-09-17 주식회사 져스텍 Motor and system thereof
JP2014155277A (en) * 2013-02-06 2014-08-25 Toyota Motor Corp Vehicle
WO2017110855A1 (en) * 2015-12-21 2017-06-29 日産自動車株式会社 Motor diagnostic method and electric power conversion equipment using same

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