JP2007028694A - Rotary electric machine controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotary electric machine controller which can deal with occurrence even of an emergent abnormal condition leading to dangerous abnormal condition if it is not recovered immediately. <P>SOLUTION: The rotary electric machine controller comprises a plurality of upper arm switching elements 6 connected between a plurality of stator winding terminals of a rotary electric machine 2 and high potential of a battery 3 in order to perform powering or power generation, a plurality of lower arm switching elements connected between the plurality of stator winding terminals and low potential of the battery 3 in order to perform powering or power generation, and a section 13 for controlling the powering or power generation by turning the plurality of upper arm switching elements 6 and the plurality of lower arm switching elements 7 on/off, respectively. When a plurality of faults occur in the rotary electric machine controller (ISG) 1, the control section 13 performs protection against any one of the plurality of faults preferentially. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a rotating electrical machine control device mounted on an idle stop vehicle that stops the operation of an engine when the vehicle is stopped and restarts the engine with a motor when the vehicle starts to travel.

  Recently, an engine drive system (idling stop) that stops the engine when the vehicle is stopped at an intersection or the like and restarts the engine with a motor when the vehicle starts, from the viewpoint of consideration of the global environment such as improving the fuel efficiency of automobiles and reducing exhaust gas. The number of vehicles adopting the system is increasing. This system is configured, for example, to stop the engine when traveling of the vehicle is stopped due to depression of the brake, and to restart the engine with a motor when the depression of the brake is loosened.

Conventionally, an output circuit for a PWM inverter that controls a coil voltage of an electric motor with a pre-drive circuit composed of an output driver circuit that uses a capacitor voltage for power supply as a power source and a logic circuit in the previous stage has been proposed. (For example, refer to Patent Document 1).
JP 11-69833 A

  However, in Patent Document 1, when an abnormal state occurs in a rotating electrical machine control device for a vehicle, protective actions are uniformly performed in the order in which the abnormal state occurs for all the abnormalities, and the superiority and inferiority are given to the protection of the abnormal state. It wasn't. However, the abnormal state that occurs in the rotating electrical machine control device may be a dangerous abnormal state unless it immediately recovers from the abnormal state, and the abnormal state that occurs does not require urgency. There is. For this reason, in the patent literature, if these protective actions are performed in the order in which the abnormal conditions occurred, an abnormal condition that would result in a dangerous abnormal condition if not immediately recovered from the abnormal condition, There is a problem that the rotating electrical machine control device is destroyed in time.

  An object of the present invention is to provide a rotating electrical machine control device that can cope with an emergency state that requires urgency that would result in a dangerous abnormal state if not immediately recovered from the abnormal state. is there.

  A representative one of the rotary electric control devices according to the present invention is a plurality of upper arms connected between a plurality of stator winding terminals of a rotating electrical machine and a high potential of a battery in order to perform power running or power generation. A switching element; a plurality of lower arm switching elements connected between the plurality of stator winding terminals and a low potential of the battery to perform the power running or the power generation; the plurality of upper arm switching elements; A rotating electrical machine control device comprising: a control unit that controls the power running or the power generation by turning each of the plurality of lower arm switching elements ON / OFF, wherein the control unit includes a plurality of control units in the rotating electrical machine control device. In the case of occurrence of an abnormality, priority is given to protection from any one of the plurality of abnormalities.

  Another representative example of the rotating electrical machine control device according to the present invention is connected between a plurality of stator winding terminals of the rotating electrical machine and a high potential of the battery in order to perform power running or power generation. A plurality of upper arm switching elements, a plurality of lower arm switching elements connected between a plurality of stator winding terminals and a low potential of the battery for powering or generating the power, and a plurality of upper arm switching elements And a control unit for controlling power running or power generation by turning on / off each of the plurality of lower arm switching elements, in the control unit, which occurs in the rotary electrical machine control device (ISG) The abnormal condition setting means that classifies and sets the abnormal condition into two types, and the protective action against one type of abnormal condition set in the abnormal condition setting means Hardware means performed by software and software means for performing protection operation for the other type of abnormal condition set by the abnormal condition setting means by software, and an abnormal condition occurs in the abnormal condition setting means In the case of an abnormal state that requires urgency, if the emergency state does not immediately recover from the abnormal state, a protective action is performed by hardware means, and the normal state does not immediately recover from the generated abnormal state. However, in the case of an abnormal state that does not require an urgency that does not cause an abnormality in the device, a protection operation is performed by software means.

  According to the present invention, it is possible to cope with the occurrence of an urgently abnormal state that would result in a dangerous abnormal state if not immediately recovered from the abnormal state.

  The present invention comprises a rotary electric machine control device including a 5V stage driven by a low voltage that is stepped down to a predetermined voltage by a DC-DC converter from a battery power supply, and a power stage driven by a high voltage of the battery power supply. , A first DC-DC converter that supplies a predetermined voltage stepped down from a battery power source to a controller and a microcomputer, and a wakeup device that detects the rotational state of the engine and starts up the rotating electrical machine for a vehicle in a stopped state into a power generation state This is realized by providing a second DC-DC converter that supplies a predetermined voltage stepped down from the battery power source.

  FIG. 1 shows the configuration of an automobile mounted on a rotating electrical machine controlled by the rotating electrical machine control apparatus according to the present invention.

  In FIG. 1, an automobile 600 is a so-called hybrid automobile that includes both an engine power train that uses an engine 520 that is an internal combustion engine as a power source and an electric power train that uses a motor generator 500 as a power source. The engine power train mainly constitutes a drive source for the automobile 600. The electric power train is mainly used as a starting source for the engine 520 and a power source for the automobile 600. As described above, in the automobile 600 equipped with the electric power train, the engine 520 is automatically stopped when the ignition key switch is on and the vehicle is stopped such as waiting for a signal, and the engine 520 is automatically started when the vehicle is started to start the vehicle. By doing so, it is possible to perform a so-called idling stop operation capable of improving the fuel efficiency of the automobile 600 and reducing exhaust gas.

  As shown in FIG. 1, a front wheel axle 515 is rotatably supported at the front portion of the vehicle body 510. Front wheels 511 and 512 are provided at both ends of the front wheel axle 515. A rear wheel axle 516 is rotatably supported on the rear portion of the vehicle body 510. Rear wheels 513 and 514 are provided at both ends of the rear wheel axle 516. A differential gear 517 serving as a power distribution mechanism is provided at the center of the front wheel axle 515. The differential gear 517 distributes the rotational driving force transmitted from the engine 520 via the transmission 530 to the left and right front wheel axles 515. The transmission 530 changes the rotational driving force of the engine 520 and transmits it to the differential gear 517. The engine control unit (ECU) 540 uses an engine accessory such as an injector that is a fuel adjustment mechanism or a throttle that is an air amount adjustment mechanism for the rotational driving force of the engine 520.

  The vehicular rotating electrical machine 100 includes a rotating electrical machine (M / G) and an inverter. The inverter includes a power semiconductor switch circuit and a circuit necessary for controlling the power semiconductor switch circuit. The vehicular rotating electrical machine 100 is disposed with an engine 520 in an engine room provided in a front portion of a vehicle body 510, mounted on a side portion of the engine 520, and mechanically connected to the engine 520. This mechanical connection can be realized by connecting a pulley 520 a provided on the crankshaft of the engine 520 and a pulley 500 a provided on the rotating shaft of the rotating electrical machine 2 by a belt 570. Thereby, the rotary electric machine 2 can transmit the rotational driving force to the engine 520 in the rotation stop state. In addition, the rotating electrical machine 2 can receive a rotational driving force from the engine 520.

  In the idling stop operation, the engine control device 540 gives an instruction to stop the engine and start the engine. When the engine control device 540 determines to stop idling from the state information of the automobile 600, the engine control device 540 stops the engine 520. At the time of starting, the crankshaft of the engine 520 in the rotation stop state is rotated by the rotating electrical machine 2 and the engine 520 is ignited.

  As shown in FIG. 1, the electric power train of the automobile 600 is electrically connected to a 14V in-vehicle power source configured by the battery 3, and exchanges power with the 14V in-vehicle power source. The 14V in-vehicle power supply is electrically connected in parallel with a starter 560 that is a starting device for the engine 520 and in-vehicle auxiliary equipment such as a light, a radio, and a direction indicator (not shown). In the present embodiment, the battery 3 is a lead storage battery having an output voltage of about 14V.

  FIG. 2 shows an embodiment of a rotating electrical machine control device according to the present invention. In FIG. 2, the rotating electrical machine control device 1 is configured by an IC chip and controls the rotating electrical machine (M / G) 2. The rotating electric machine 2 is constituted by a three-phase AC motor / generator, and acts as a power running, that is, a motor (electric motor) when the engine is started after the engine is stopped at idle stop, and a generator (generator) is generated when the automobile is regenerated. It acts as.

  A battery 3 is connected to the rotating electrical machine control device 1 and a voltage of 6 to 40 V is supplied (in this embodiment, 14 V is taken as an example). A field MOS (P-type MOSFET) 4 and a QFC-MOS (N-type MOSFET) 5 are inserted and connected to the battery 3 in series with the rotating electrical machine 2. The rotating electrical machine 2 controls the torque during power running and the power generation amount during regeneration by the amount of current flowing through the field coil 2a. If the current flowing through the field coil 2a becomes uncontrollable for some reason, it may cause a serious accident in some cases. Therefore, when the current flowing through the field coil 2a cannot be controlled, it is necessary to immediately cut off the current as a safety measure. The P-type MOSFET 4 and the N-type MOSFET 5 inserted and connected in series to the field coil 2a are for controlling the amount of current flowing through the field coil 2a and interrupting the circuit.

  In addition, in the battery 3, a P-type MOSFET 6 (6a to 6c) and an N-type MOSFET 7 (7a to 7c) are inserted and connected in series with the coils of the phases U, V, and W of the rotating electrical machine 2, respectively. The P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c) constitute an inverter, which is alternately turned on and off to supply a three-phase alternating current to the rotating electrical machine 2 to act as an electric motor.

  Each gate terminal of the P-type MOSFET 6 (6a to 6c) is connected to the level conversion circuit 10 via the driver 8, and the N-type MOSFET 7 (7a to 7c) is connected to the level conversion circuit 10 via the driver 9. The level conversion circuit 10 is connected to the controller 13 via the selectors 11 and 12, and the P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c) are powered by the output signal from the controller 13. It is controlled.

  The controller 13 includes a motor controller 14, a generator controller 15, and a common protection circuit 16. The motor controller 14 includes a pulse drive circuit 14a, a dead time generation circuit 14b, an overspeed protection circuit 14c, an overtime protection circuit 14d, and a motor lock protection circuit 14e. The pulse drive circuit 14a generates a gate signal having a pulse waveform for driving the P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c).

  Further, the dead time generation circuit 14b is configured such that the P-type MOSFET 6 (6a-6c) constituting the upper arm and the N-type MOSFET 7 (7a- This is to prevent the pair 7c) (for example, 6a and 7a) from being turned ON simultaneously. For example, when a pair (for example, 6a and 7a) of the P-type MOSFET 6 (6a to 6c) constituting the upper arm and the N-type MOSFET 7 (7a to 7c) constituting the lower arm is simultaneously turned ON, the circuit is short-circuited, and the P-type A large current flows through the MOSFET 6 (6a) and the N-type MOSFET 7 (7a), and these MOSFETs are destroyed. The dead time generation circuit 14b prevents the destruction of the MOSFET due to this short circuit, and the P-type MOSFET 6 (6a to 6c) constituting the upper arm and the N-type MOSFET 7 (7a to 7c) constituting the lower arm at the time of signal switching. This is to create a period in which are simultaneously OFF.

  The overspeed protection circuit 14c is for stopping the power running operation and shifting to the power generation operation in preparation for the next power generation operation when the rotating electrical machine 2 reaches a predetermined rotational speed sufficient for starting the engine. Further, the overtime protection circuit 14d stops the power running operation and shifts to the power generation operation in order to suppress the battery consumption and prepare for the next power generation operation when a sufficient power running operation time (for example, 1 second) elapses for starting the engine. Is. The motor lock protection circuit 14e detects that the motor does not rotate during power running, that is, when the motor is not rotating even though the rotating electrical machine 2 is used as a motor. Burning of the rotating electrical machine 2 by stopping the supply of the switching signal (pulse signal) to the P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c) constituting the lower arm) It is intended to prevent destruction by.

  The generator controller 15 includes a MOS rectification control circuit 15a and a no-power generation protection circuit 15b. The MOS rectification control circuit 15a configures the upper arm to rectify the three-phase alternating current output from the rotating electrical machine 2 into direct current during rectification, that is, when the rotating electrical machine 2 is used as a generator (generator). The P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c) constituting the lower arm are controlled. Further, the non-power generation protection circuit 15b has a low phase voltage of any of U, V, and W of the rotating electrical machine 2 at the time of rectification, that is, although the rotating electrical machine 2 is used as a generator (generator). Detecting the state (the state where power is not generated) and turning off both the P-type MOSFET 6 (6a to 6c) constituting the upper arm which may cause a malfunction and the N-type MOSFET 7 (7a to 7c) constituting the lower arm It is.

  The common protection circuit 16 includes a load / dump surge protection circuit 16a, an overvoltage protection circuit 16b, a short circuit protection circuit 16c, an over temperature protection circuit 16d, a field MOS short circuit protection circuit 16e, an external temperature sensor open / There is a short circuit protection circuit 16f. The load / dump surge protection circuit 16a protects against a dump surge in which the battery voltage temporarily jumps due to the battery terminal being disconnected. The overvoltage protection circuit 16b is for stopping the power generation operation so that the overvoltage that adversely affects the battery 3 does not continue when the battery voltage VB rises above a predetermined voltage. Further, the circuit short circuit protection circuit 16c is for preventing an overcurrent from flowing due to a circuit short circuit or a current supply from being stopped and being unable to be controlled.

  Further, the overtemperature protection circuit 16d detects a temperature rise of the P-type MOSFET 6 (6a to 6c) constituting the upper arm and the N-type MOSFET 7 (7a to 7c) constituting the lower arm, and detects the P-type MOSFET 4 and N By controlling the type MOSFET 5 and the like, the power running operation is stopped or the amount of power generated during power generation is suppressed to suppress the temperature rise. The field MOS short protection circuit 16e detects a short circuit failure of the field MOS 4 and prevents an excessive current from flowing through the field coil 2a. The external temperature sensor open / short circuit protection circuit 16f detects and protects the disconnection / short circuit of the external temperature sensor (thermistor or diode).

  The controller 13 is controlled by the microcomputer 17A. A RAM 17b and an EEPROM 17c are connected to the microcomputer 17A by a bus line. The microcomputer 17A is connected to a timer counter 17e and an A / D converter 17d (which may be external or built-in).

  In FIG. 2, reference numeral 18 denotes a field controller. The field controller 18 includes a field MOS control circuit 18a, a PWM generator 18b, and a QFC-MOS control circuit 18c. The field MOS control circuit 18 a controls the field current (If) flowing through the rotating electrical machine 2 and controls the P-type MOSFET 4. The PWM generator 18b controls the ON pulse width of the signal that controls the P-type MOSFET 4. Further, the QFC-MOS control circuit 18c turns off the QFC-MOS 5 and shuts off the current flowing in the field coil 2a when a field MOS short circuit failure or a load / dump surge occurs.

  The control signal from the field controller 18 is supplied from the level conversion circuit 19 to the P-type MOSFET 4 and the N-type MOSFET 5 via the driver circuit 20. That is, the control signal from the field controller 18 output from the level conversion circuit 19 is supplied to the gate terminal of the P-type MOSFET 4 via the driver 20a for driving the P-type MOSFET 4 of the driver circuit 20 and for driving the N-type MOSFET 5. Each is supplied to the gate terminal of the N-type MOSFET 5 via the driver 20b.

  In FIG. 2, 21 is a built-in timepiece. The timepiece 21 is used for measuring time of various timers such as a watchdog timer, measuring a PWM pulse width, measuring a dead time, and the like. 2 is a LIN (Local Interconnect Network) signal transmission / reception device (LIN interface) for communication. This LIN signal transmission / reception device 22 is transmitted from the host device ECU (engine control device) to the LIN (Local Interconnect). Network (Communication) communication signals (command signals) are received, and relays are performed to transmit LIN (Local Interconnect Network) communication signals to the host device ECU. The LIN signal received by the LIN signal transmitting / receiving device 22 is input to the microcomputer 17A and processed. Furthermore, 23 is a temperature sensor, and this temperature sensor 23 detects the temperature in the rotary electric machine control apparatus 1 comprised with an IC chip. The temperature (analog value) detected by the temperature sensor 23 is converted to a digital value by the AD converter 17d and input to the microcomputer 17A. In FIG. 2, reference numeral 24 denotes a load such as an on-vehicle auxiliary device such as a light, a radio, and a direction indicator.

  The rotating electrical machine control device 1 composed of an IC chip is divided into a power stage 1a and a 5V stage 1b. A driver 8, a driver 9, a level conversion circuit 10, a level conversion circuit 19, and a driver circuit 20 are mounted on the power stage 1 a and are driven by the battery 3. The power stage 1a is equipped with a DC-DC (power supply circuit) 25. The DC-DC (power supply circuit) 25 receives power supply from the battery 3 and starts from the voltage (14V) of the battery 3. A stepped-down voltage (5V) is generated, and a constant voltage of 5V is supplied as power to each circuit mounted on the 5V stage 1b.

  On the 5V stage 1b, selectors 11 and 12, a controller 13, a microcomputer 17A, a field controller 18, a clock 21, a LIN signal transmitting / receiving device (LIN interface) 22, and a temperature sensor 23 are mounted. Each device mounted on the 5V stage 1b is driven by a constant voltage 5V generated by a DC-DC (power supply circuit) 25.

  As described above, the rotating electrical machine control device 1 has two power sources, i.e., a power source for driving each device of the power stage 1a and a power source for driving each device of the 5V stage 1b. The device is not affected by the voltage fluctuation of the battery 3 so as to be driven stably.

  The rotating electrical machine control device 1 configured as described above is processed as shown in the state transition diagram of FIG. The main process flow of the state transition shown in FIG. 3 is shown in FIG.

  The start sequence process is performed based on the start sequence shown in FIG. That is, first, the wakeup detection 301 is performed from the sleep state 300. If an automobile does not generate electricity, the battery VB3 mounted will be discharged. Therefore, normally, while the key is OFF, only the wakeup circuit is supplied with power so that the battery VB3 is not overdischarged, and all other circuits are in a power supply stop state. When the key is pressed, a command signal (LIN) is transmitted from the host device (ECU). If the command signal is not transmitted due to some trouble, the battery VB3 is overdischarged and the vehicle cannot be controlled. For this reason, a function of starting independently is added even if the command signal (LIN) is not transmitted. What has this function is a wake-up device 50 shown in FIG. In sleep state 300, only this wakeup device is operating.

  The wakeup device 50 includes a wakeup detection circuit 50a, a sub DC-DC (power supply circuit) 50b that supplies power to the wakeup detection circuit 50a, and a flip-flop (FF) 50c that receives an output signal of the wakeup detection circuit 50a. It is constituted by. The wake-up device 50 starts up the entire ISG system when a wake-up signal LIN instructing activation is transmitted from the host device (ECU). When the engine starts to move, the rotating electrical machine 2 starts to rotate, and a slight generated voltage is generated by the residual magnetic flux. The main DC-DC (power supply circuit) 25 is turned on by determining the start of the rotating electrical machine by looking at the magnitude of the generated voltage. The activation determination condition of the wakeup circuit is shown in the truth table of FIG. The sub DC-DC (power supply circuit) 50b steps down the battery voltage VB (14V) of the battery VB3 to generate a predetermined voltage, and supplies the minimum power necessary for the wakeup detection circuit 50a.

  In the truth table of FIG. 7, VB is the voltage of the battery VB3, (U−V) is a differential voltage between the U phase and V phase (may be a differential voltage of other phases), and LIN is transmitted from the host device ECU. It is a coming wakeup command signal. In the combination of “0” and “1” shown in the truth table of FIG. 7, the VB, (U−V), and LIN signals are input to the wakeup detection circuit 50a.

  With respect to the voltage of the battery VB3, for example, when it is “0”, it indicates a state of 6.5V or less, and when it is “1”, it indicates a state of 8V or more. In (U−V), “0” indicates a state of less than 0.4 V, and “1” indicates 0.4 V or more. In LIN, “0” indicates that there is no communication, and “1” indicates that there is communication.

  In the wake-up detection 301 of FIG. 5, the wake-up state is determined according to the wake-up determination conditions in the truth table of FIG. That is, the wake-up state is entered when the input of the wake-up detection circuit 50a is VB “1”, (U−V) “0”, or LIN “1”, VB “1”, (U−V) In the case of “1” and LIN “0”, either VB “1”, (U−V) “1”, or LIN “1”. As can be seen from this, even when there is a communication command (LIN) from the host device (ECU) (“1”), VB “0”, (U−V) “0”, and VB “0”, (U -V) When “1”, the wake-up state is not entered. On the other hand, if there is no communication command (LIN) from the host device (ECU) (“0”) and VB “1” and (U−V) “1”, the wake-up state is established.

  When the wakeup condition is satisfied in the wakeup detection 301, the flip-flop 50c is set and the main DC-DC (power supply circuit) 25 is turned on. As a result, all the circuits of the low voltage section 1B in FIG.

  The truth table in FIG. 7 also shows the determination conditions for entering the sleep state. That is, self-stop detection. When the self-stop is detected, the flip-flop 50c in FIG. 6 is reset, the main DC-DC (power supply circuit) 25 is shut down, and the battery 3 is prevented from being consumed due to overdischarge.

  In the start-up sequence shown in FIG. 5, when the wake-up detection 301 detects the wake-up and the main DC-DC (power supply circuit) 25 is turned on and the 5V power supply voltage rises, the power-on reset process 302 is executed next. To do. In the power-on reset process 302, all registers including the LIN register are initialized. In the next step, all MOSs are turned off and all fault signals are ignored. In this processing, all of the upper and lower arm MOS, field MOS, and QFCMOS are turned off. In addition, the output signals of all detection circuits that output indeterminate signals are ignored. This is because an erroneous signal output from the detection circuit is ignored before normal operation is started.

When the process of step 303 is completed, a startup notification process 304 is performed. This notifies the ECU as the host device that the rotating electrical machine control device 1 is currently being started up. Notification to the host device ECU is performed using the LIN signal transmitting / receiving device 22. When this process is completed, an offset correction process 305 for the field current If is performed. In this processing, the measurement accuracy is improved by correcting the offset of the measurement system of the field current If of the rotating electrical machine 2. When this processing is completed, next, the field current If monitoring processing 306 is performed. In this process, the field current If is measured using a current detection resistor (RSF) connected to the source side of the QFCMOS 5 shown in FIG. This field current If is
Field current If ≧ 0.4A
In this case, without making a diagnosis of QFCMOS5, the process proceeds to a default value setting process 310, and a default value is set in the power generation control register (REG).

Field current If <0.4A
In this case, the MOS ON process 307 in the field 4 is performed. In this process, in order to supply a current to the field coil 2a of the rotating electrical machine 2, a process for turning on the field MOS 4 is performed. Specifically, a control signal (ON pulse signal) is supplied from the field controller 18 to the gate of the field MOS 4 through the level conversion circuit 19 and the driver circuit 20 by the processing of the microcomputer 17.

When this process is finished, a field current If monitor process 308 is performed next. In this process, the field current If is measured using a current detection resistor (RSF) connected to the source side of the QFCMOS 5. By this field MOS on process 307 and field current If monitor process 308, a short fault diagnosis of the QFCMOS 5 is performed. That is, an ON pulse signal is supplied to the gate of the field MOS 4 to turn it on, and after about 50 ms, the field current If is measured and checked. The value of this field current If is
Field current If ≦ 0.4A
In the case of
Field current If> 0.4A
In the case of, it is judged as a short circuit failure. After the short fault diagnosis of QFCMOS 5 is completed, field MOS 4 is turned off.

  When it is determined that the QFCMOS 5 is normal, the process proceeds to a default value setting process 310 and a default value is set in a power generation control register (REG) (not shown). If it is determined that the QFCMOS 5 is out of order, then a flag set process 309 is performed.

  Here, a fault factor flag (MEF) is set (“1”) when it is determined that the QFCMOS 5 has failed. This factor flag (MEF) is held until the sleep mode is entered. The failure diagnosis of the QFCMOS 5 is performed at every start-up sequence after wake-up. The reason why the short failure diagnosis of the QFCMOS 5 is performed in the start-up sequence is that the QFCMOS 5 is always ON in the normal operation, and the short failure cannot be detected.

  When the flag setting process 309 is completed, a default value setting process 310 is performed next. Here, a default value is set in each power generation control register (REG) other than the LIN register. When the default value setting process 310 is completed, a flag clear process 311 is performed next. Here, all error flags except the fault factor flag (MEF) are cleared (“0”).

  When the flag clear process 311 ends, a default power generation start process 312 is performed next. Here, the controller 13 is activated, the field current controller 18 starts to cause a default field current to flow, and the rotating electrical machine 2 is operated as a generator. When the generated voltage increases and exceeds the voltage of the battery VB3, the P-type MOSFET 6 and the N-type MOSFET 7 are controlled to be turned on and off via the generator controller 15, selectors 11 and 12, level conversion circuit 10, and drivers 8 and 9. The operation is performed, and DC power at a default value is supplied to the battery 3 and the load 24.

  When this processing is finished, next, all fault signal valid setting processing 313 is performed. Here, protection is enabled for all fault signals. When this process ends, a preparation completion notification process 314 is performed. In this process, the host device (ECU) is notified that the preparation for receiving the command signal has been completed, and a LIN signal reception waiting state is entered. Thereafter, power generation control is performed based on the LIN signal from the host device (ECU).

  When start-up sequence processing is performed in step 201 of the main processing flow in FIG. 4, watchdog timer clear processing is performed in step 202. This watchdog timer is cleared at regular intervals in the main process. If software runs away and the watchdog timer cannot be cleared within a certain time, a reset signal is generated and the system is restarted. It is for starting up. In this embodiment, the watchdog timer is cleared about every 2 msec.

  When the watchdog timer is cleared in step 202, register reset processing is performed in step 203. In step 203, among the registers whose values have been set in the start-up sequence, the values are set again in the registers which are problematic if the contents are rewritten during operation. When the register is reset in step 203, AD conversion processing is performed in step 204. The AD conversion is a process of converting an analog value into a digital value. Examples of AD conversion include a field current If value, a battery voltage VB, and a temperature sensor value Temp. The temperature sensor Temp includes both an external sensor and a built-in sensor.

  When AD conversion processing is performed in step 204, mode selection processing is performed in step 205. The mode selection processing is processing based on an instruction from the host device (ECU), and selects and processes one of power generation, power running preparation, power running, and silence (a state in which nothing is done). When mode selection processing is performed in step 205, flag processing and register setting processing are performed in step 206. This flag processing grasps the current system state from the flag detected by the hardware and various information obtained by AD conversion, and the register setting processing shifts to the protection processing and sets the LIN transmission register. This is to set processing in the register by looking at the state of the flag (for example, increasing the field current).

  When flag processing and register setting processing are performed in step 206, it is determined in step 207 whether or not a field current control value is set. Field current control is performed by power generation, power running preparation, power running, and the like. If it is determined in step 207 that the field current control value is not set, the process returns to step 202. If it is determined in step 207 that the field current control value is set, in step 208, field current limiting processing and field current control are performed. This control is performed based on an instruction (LIN reception signal) from the host device (ECU), and is limited to a field current limit value or less, or based on the target power generation voltage and VB (battery voltage) of the LIN reception signal. A control value of the current If is calculated. When field current limiting processing and field current control are performed in step 208, load response control (LRC) is performed in step 209.

  Next, the power generation mode 103 will be described with reference to the state transition diagram of FIG. The power generation mode 103 includes a MOS rectification permission mode 104. The MOS rectification permission mode 104 is a case where the rotating electrical machine 2 is used as a generator (generator) based on a command signal (LIN reception signal) from a host device (ECU). Here, if conditions for using the rotating electrical machine 2 as a generator (generator) are in place, the MOS rectification is permitted. If there is a load fluctuation when the MOS rectification is permitted, the load response control mode 105 performs load response control (LRC) according to the load fluctuation. Specifically, the field current flowing through the field coil 2a is controlled by controlling the P-type MOSFET (field MOS) 4 shown in FIG.

  In the power generation mode 103, the LRC (load response control) 105 sets the power supply voltage to the target voltage when the power supply voltage decreases with respect to the target voltage due to load fluctuation (headlights turned on, air conditioner switched on, etc.). Thus, the control for slowly increasing the voltage is performed following the load fluctuation. In this way, when the load fluctuates, the power supply voltage is slowly boosted to the target voltage because if the engine speed is low, such as when the engine is idling, a large load is applied to the engine. This is to prevent the engine speed from being reduced and causing engine stall or the like due to the engine load.

  When the load control according to the load fluctuation is finished in the load response control mode 105, the LRC (load response control) is automatically returned to the MOS rectification permission power generation 104. In the MOS rectification permission mode 104, when it is instructed to use the rotating electrical machine 2 as a generator (generator) based on a command signal (LIN reception signal) from the host device (ECU), the phase of the rotating electrical machine 2 If so-called no power generation (open phase) in which any one of the voltages U, V, and W is low is detected, it is determined as abnormal, and MOS rectification is prohibited in the MOS rectification prohibit mode 106. Specifically, the supply of the drive pulse signal is stopped at the gates of the P-type MOSFET 6 (6a to 6c) and the N-type MOSFET 7 (7a to 7c) illustrated in FIG.

  In other words, the three-phase AC voltage generated by the rotating electrical machine (M / G) 2 can be rectified to a DC voltage by a diode, but has a large internal resistance, and is rectified to a DC voltage by a MOSFET. The MOS rectification permission mode 104 is such a normal rectification state. However, when an abnormality occurs in the rectification by the MOSFETs 6 and 7 (for example, in the state of no power generation), the MOS rectification prohibition mode 106 is activated, and the P-type MOSFET 6 (6a to 6c) constituting the inverter and the N-type The MOSFET 7 (7a-7c) is turned off, and the diode connected between the source and drain of the P-type MOSFET 6 (6a-6c) and the diode connected between the source and drain of the N-type MOSFET 7 (7a-7c) Use full-wave rectification.

  In the silence mode 107, there is no command from the engine control unit (ECU) 540, and it is an overvoltage other than power running. When the voltage of the battery VB 24 is low voltage (6.5V <VB ≦ 8V), it is other than power running preparation. In case of overcurrent, arm MOS overtemperature during power running, external temperature sensor failure during power running, IC overtemperature, IC built-in temperature sensor failure (transition condition) The arm MOS (P-type MOSFET 6 and N-type MOSFET 7) are all turned OFF, the field MOS (P-type MOSFET) 4 is turned OFF, and the QFC-MOS (N-type MOSFET) 5 is turned ON.

  Next, the idle stop mode 108 will be described with reference to the state transition diagram of FIG. The idle stop mode 108 is an idle stop mode, that is, when the vehicle stops running and the engine operation is stopped, and when the engine is restarted by the motor when the vehicle starts running, the engine operation is stopped and the vehicle is in the running stopped state. Processing mode. The idle stop mode 108 includes a power running preparation mode 109 and a power running mode 110. The power running preparation mode 109 is to immediately allow the rotating electrical machine 2 to be operated in the power running mode when there is a command signal (LIN reception signal) from the host device (ECU).

  That is, the power running preparation mode 109 is a state in which no power is generated by the rotating electrical machine 2 and the rotating electrical machine 2 is not used as a motor (electric motor). When the rotary electric machine 2 is used as a motor (electric motor) from a state where it is used as a generator, a power running preparation mode 109 must be passed. As the operation of the rotating electrical machine 2, neither power generation nor power running is performed, and as control, power generation control by the rotating electrical machine 2 and power running control are performed by the same MOS. For this reason, it is not possible to enter the power running mode 110 of the idle stop mode 108 suddenly from the power generation mode 103. Therefore, a state where no power generation or power running is performed in the power running preparation mode 109 is performed.

  In other words, the reason why the power running preparation mode 109 is set is that, in operation, there is a possibility of causing an abnormal operation when immediately shifting from power generation to power running, and in order to operate safely from the system. . Therefore, when shifting from the state of the power generation mode 103 to the power running mode 110 of the idle stop mode 108, first, a command to enter the power running ready state is issued based on a command signal (LIN reception signal) from the host device (ECU). Based on the power running preparation command, the power running preparation mode 109 is processed (stops power generation and creates a state in which nothing is controlled), and then a command signal commands the execution of power running from the host device (ECU). (LIN reception signal) is output, and based on this powering command, processing in the powering mode 110 (motor driving is performed) is performed. That is, even if a power running command signal (LIN signal) is erroneously sent from the host device (ECU) during power generation in the power generation mode 103, the power running command signal (LIN signal) is ignored. Become.

  By the way, in the rotary electric machine control device 1, when the engine 520 which is an internal combustion engine is stopped, whether the engine stop state is stopped in the idle stop mode 108 or the engine key is removed and the engine is brought into a complete stop state. I do n’t know. For this reason, when the vehicle is stopped in the idle stop mode 108, it is recognized that the command for the power running preparation mode 109 is issued by the power running preparation flag being set. When the rotating electrical machine control device 1 detects engine stop without receiving a power running preparation command from the host device (ECU), the rotating electrical machine control device 1 executes a circuit closing process (sleep process).

  Further, when the engine is stopped during power generation in the power generation mode 103, the engine is output in a state where a power generation command (for example, the voltage between terminals is set to 14V) issued from the host device (ECU) is output. Even if is stopped, the power generation command remains. However, when the engine is stopped, the voltage between terminals is not output. The amount of voltage between the terminals is controlled by the amount of current flowing through the field coil of the rotating electrical machine 2. For this reason, the rotating electrical machine control device 1 tries to increase the voltage of the inter-terminal voltage by flowing the current to the field coil of the rotating electrical machine 2 to the maximum. Then, a large amount of current flows from the battery 3 into the field coil of the rotating electrical machine 2, and the battery 3 is easily raised. However, when a command for the power running preparation mode 109 in the idle stop mode 108 is issued, the rotating electrical machine 2 enters a state where neither power generation nor motor (electric motor) driving is performed. For this reason, when the command for the power running preparation mode 109 is issued, the amount of current flowing through the field coil is suppressed. However, even in the state of the power running preparation mode 109, it is more preferable that the current If flowing in the field coil of the rotating electrical machine 2 is not zero, but about 1A to 2A is flowed to improve the rise. In this way, it is possible to respond immediately when a powering command is received from the host device (ECU).

  When the power running preparation mode 109 is completed and a command to use the rotating electrical machine 2 as a motor (electric motor) is received by a command signal (LIN reception signal) from the host device (ECU), processing in the power running mode 110 is performed. In the power running mode 110, the rotating electrical machine 2 is operated in the power running mode (as an electric motor) to drive the motor. At this time, if there is an inrush current at the time of driving the motor, the motor drive of the rotating electrical machine 2 is continued when the inrush current returns to normal driving. If a motor lock (stop of rotation of the rotating electrical machine 2) occurs during powering of the rotating electrical machine 2, the motor driving of the rotating electrical machine 2 is stopped, and the mode shifts to the MOS rectification permission mode 104 of the power generation mode 103. That is, power generation is started.

  Further, in the power running mode 110 of the idle stop mode 108, when the motor is driven and the rotational speed of the motor at the time of power running becomes larger than a certain rotational speed, this is recognized as over-rotation, and the rotating electrical machine 2 If the engine has over-rotated, it is determined that the engine has rotated more than necessary and the engine has started. In this case, operation of the rotating electrical machine 2 in the power running mode (as an electric motor) is stopped (power running is stopped), and the MOS commutation permission mode 104 of the power generation mode 103 is entered. That is, power generation is started.

  Dump surges other than power running are processed in the dump surge protection mode 111. In this dump surge protection mode 111, when a dump surge voltage (a so-called jump voltage that temporarily rises due to disconnection of the battery terminal, etc.) other than powering (during power generation) occurs, a circuit is generated from this dump surge voltage. In order to protect the power, the field MOS (P-type MOSFET) 4 is turned off and the QFC-MOS (N-type MOSFET) 5 is turned off. When the dump surge voltage is settled, the mode shifts to the MOS rectification permission mode 104 of the power generation mode 103. (Move to power generation). The processing in the dump surge protection mode 111 is performed by the load / dump surge protection circuit 16a.

  Further, the short circuit accident is processed in the rotor short circuit protection mode 112. The rotor short-circuit protection mode 112 is a protection process in the case where a short circuit occurs in the rotor of the rotating electrical machine 2, and protects the field current (If) from a field MOS (P-type MOSFET) in order to protect it from an overcurrent caused by the rotor short circuit. The on-duty of 4 is fixed at 0.5% to prevent a large amount of current from flowing. When the short circuit is restored, the mode shifts to the MOS rectification permission mode 104 of the power generation mode 103 at 100 Hz (shifts to power generation). The processing in the rotor short-circuit protection mode 112 is performed by the circuit short-circuit protection circuit 16c in order to prevent an overcurrent from flowing due to a circuit short circuit or a current supply from being stopped and being unable to be controlled.

  Further, in the process of the power generation mode 103 and the process of the idle stop mode 108, when an overtemperature of the arm MOS (P-type MOSFET 6, N-type MOSFET 7) other than the power running is detected, the process is performed in the overtemperature protection mode 113. . The overtemperature protection mode 113 is used when an overtemperature of the arm MOS (P-type MOSFET 6, N-type MOSFET 7), which is the main circuit other than during power running (during power generation) is detected, or when the external temperature is not during power running (during power generation). This is a process for protecting a circuit from destruction caused by a rapid temperature rise when a sensor failure is detected. When the overtemperature is detected, the on-duty of the field MOS (P-type MOSFET) 4 is controlled at the time of overtemperature entry, and the field current (If) is lowered to 50% to suppress heat generation. And it judges that it returned, when the temperature of arm MOS (P-type MOSFET6, N-type MOSFET7) became appropriate, and transfers to MOS rectification permission mode 104 of the power generation mode 103 (it transfers to power generation). The processing in the overtemperature protection mode 113 is performed by the overtemperature protection circuit 16d in order to protect against the destruction of the circuit caused by a rapid temperature rise.

In order to complement the main process flow of FIG. 4, an interrupt process is performed as shown in the interrupt process flow of FIG. When this interrupt process is performed, the main process flow is stopped. There are three types of interrupt processing: reset processing, 2 ms timer processing, and LIN transmission / reception processing. First, the reset process includes various error processes. This error includes, for example, a watchdog timer error. In addition, the 2ms timer process decrements every 2ms. A) Diagnostic timer (TDIAG)
B) LRC (Load Response Control) timer (TLRC)
C) Low voltage timer (TLV8)
D) Undervoltage timer (TUNV)
E) Overcurrent timer (TOC)
F) Overvoltage timer (TOV)
G) LIN timer (TLIN2.TLIN10)
There is. Further, the LIN transmission / reception processing includes processing of transmission / reception data based on a command signal (LIN reception signal) from a host device (ECU).

  2 operates the controller 13 by the microcomputer 17A, and the P-type MOSFET 6 (upper arm) and the N-type MOSFET 7 (lower arm) are alternately turned on and off (start of rectification), and the field current. In the case of starting to flow If and supplying a three-phase alternating current to act as an electric motor, the circuit shown in FIG. 9 is used.

  In FIG. 9, a field MOS (P-type MOSFET) 4 is inserted in series on the upstream side of the rotating electrical machine 2 and a QFC-MOS (N-type MOSFET) 5 is inserted in series on the downstream side of the rotating electrical machine 2 in the battery VB 3. ing. An RSF (current detection resistor) is connected to the source side terminal of the N-type MOSFET 5. This RSF (current detection resistor) is for monitoring the field current If. A drive pulse signal is input from the rotating electrical machine control device 1 to the gate of the field MOS (P-type MOSFET) 4 and the gate of the QFC-MOS (N-type MOSFET) 5. When this drive pulse signal is supplied to the gate of the field MOS (P-type MOSFET) 4 and the gate of the QFC-MOS (N-type MOSFET) 5, the field MOS (P-type MOSFET) 4 and the QFC-MOS (N-type MOSFET) 5 turns on.

  A drive pulse signal is input from the rotating electrical machine control device 1 to the gate of the P-type MOSFET 6 (6a to 6c) and the gate of the N-type MOSFET 7 (7a to 7c). The P-type MOSFET 6 and the N-type MOSFET 7 are in pairs such as a P-type MOSFET 6a and an N-type MOSFET 7a, a P-type MOSFET 6b and an N-type MOSFET 7b, and a P-type MOSFET 6c and an N-type MOSFET 7c. The P-type MOSFET 6a and the N-type MOSFET 7a are alternately turned ON / OFF. The P-type MOSFETs 6 (6a to 6c) are driven with a phase shift of 120 °. The N-type MOSFETs 7 (7a to 7c) are also driven with a phase shift of 120 °. By performing such control, the rotating electrical machine 2 is driven as a motor.

  Here, the N-type MOSFET 7 needs to be surely turned off until the P-type MOSFET 6 is turned on and turned off. If the N-type MOSFET 7 is turned on while the P-type MOSFET 6 is turned on (the upper and lower arms are turned on simultaneously), a large current (overcurrent) flows through the P-type MOSFET 6 and the N-type MOSFET 7 constituting the upper and lower arms at once. End up. Then, the P-type MOSFET 6 and the N-type MOSFET 7 constituting the inverter are destroyed. Therefore, in this embodiment, as shown in FIG. 10A, a dead time generating circuit 3000 is provided before the pulse driving circuit 14 for turning on / off the P-type MOSFET 6 and the N-type MOSFET 7. FIG. 10B shows a generation time chart of a dead time signal in a normal time, and FIG. 10C shows a generation time chart of a dead time signal when the main dead time 8-bit counter 3010 is abnormal. Yes.

  10A, the dead time generation circuit 3000 includes a clock frequency dividing circuit 3040, a main dead time 8-bit counter 3010, a sub dead time 5-bit counter 3020, and an OR circuit 3030.

  The clock frequency dividing circuit 3040 individually outputs a timing signal to the main dead time 8 bit counter 3010 and the sub dead time 5 bit counter 3020 using the signal of the clock 21.

  The main dead time 8-bit counter 3010 is an 8-bit counter that outputs a highly accurate main dead time signal to the OR circuit 3030.

  The sub dead time 5 bit counter 3020 outputs a sub dead time signal to the OR circuit 3030 as a backup when a short main dead time signal is output due to an abnormality of the main dead time 8 bit counter 3010. is there. For the sub-dead time signal, a 5-bit counter with reduced accuracy can be used because it is a backup. As a result, an increase in circuit scale due to the duplication of dead time generation can be mitigated.

  Normally, the dead time signal output from the OR circuit 3030 shown in (d) of FIG. 10B is the main dead time signal with high accuracy shown in (e) of FIG. 10B. The Therefore, the sub dead time signal shown in (f) of FIG. 10B is output to the OR circuit 3030 with a pulse width shorter than that of the main dead time signal.

  On the other hand, when a very short main dead time signal shown in (h) of FIG. 10C is output due to an abnormality of the main dead time 8-bit counter 3010, the OR circuit 3030 shown in FIG. As the dead time signal output from the sub dead time signal shown in FIG. As a result, an accurate main dead time signal is normally output to the pulse drive circuit 14 from the OR circuit 3030 when the main dead time 8-bit counter is abnormal, and a reliable dead time is output. Can be obtained.

  The upper arm drive signal shown in (b) of FIG. 10 (B) is shown in (d) of FIG. 10 (B) from the rising edge of the Hall IC input signal shown in (a) of FIG. 10 (B). When the dead time signal of the OR circuit 3030 is switched from Hi to Low, the signal becomes Hi, and when the Hall IC input signal is Low, the signal becomes Low. Also, the lower arm drive signal shown in (c) of FIG. 10B is generated from the falling edge of the Hall IC input signal shown in (a) of FIG. ) Is a signal that becomes Hi when the dead time signal of the OR circuit 3030 is switched from Hi to Low, and is a signal that becomes Low when the Hall IC input signal is Hi.

  The upper arm drive signal and the lower arm drive signal are signals for determining ON / OFF of the P-type MOSFET 6 and the N-type MOSFET 7, and are ON if Hi and OFF if Low. By inserting the double dead time by the dead time generation circuit 3000 shown in FIG. 10A into the upper arm driving signal and the lower arm driving signal, the N type MOSFET 7 while the P type MOSFET 6 is ON. Can be prevented (the upper and lower arms are simultaneously turned on). Therefore, it is possible to prevent a large current (overcurrent) from flowing through the P-type MOSFET 6 and the N-type MOSFET 7 constituting the upper and lower arms at once.

  The main dead time period shown in (e) of FIG. 10B and the sub dead time period shown in (f) of FIG. 10B are obtained from the microcomputer 17 as shown in FIG. It can be changed by arbitrarily setting a count upper limit value for the main dead time 8-bit counter 3010 and the sub-dead time 5-bit counter 3020.

  FIG. 11 shows a rotating electrical machine control device (ISG) to which the driver circuit with dV / dt control of the present invention is applied. The main MOS circuits 6 and 7 of this device (ISG) are composed of P-type MOSFETs in the upper arm and N-type MOSFETs in the lower arm. Ls1 and Ls2 in FIG. 11 represent equivalently the parasitic inductance L of the wiring leading to the battery VB. During power generation, these MOSFETs are switched to perform MOS rectification operation. Conventionally, a rectifying operation is performed by a diode half-bridge circuit during power generation, but a rectifying operation is performed by a MOSFET half-bridge circuit in order to reduce heat generation of the diode. In the MOS rectification operation, the upper arm P-type MOSFET is turned on when the phase voltage (for example, U phase voltage) exceeds a predetermined threshold voltage (Vt1) from the high potential side of the battery voltage VB during power generation, and the phase voltage (for example, When the U-phase voltage falls below a predetermined threshold voltage (Vt1), the upper arm P-type MOSFET is turned off, and the phase voltage (for example, U-phase voltage) is reduced from the low potential side of the battery voltage VB to the predetermined threshold voltage ( The lower arm N-type MOSFET is turned on when Vt2) is exceeded, and the lower arm N-type MOSFET is turned off when the phase voltage (for example, U phase voltage) falls below a predetermined threshold voltage (Vt2). If the turn-off operation of the MOSFET at this time is delayed, the upper arm P-type MOSFET remains on even if the phase voltage falls below the high potential of the battery voltage, so that current flows backward from the battery side to the stator coil side, resulting in a decrease in power generation efficiency. In addition, the upper and lower arm MOSFETs are short-circuited and an overcurrent flows. Therefore, it is necessary to increase the switching speed of the MOSFET during power generation. On the other hand, when these MOSFETs are switched during power running, the current flowing through the parasitic inductances Ls1 and Ls2 changes. If the amount of change in this current is dI / dt, the induced voltage generated in the parasitic inductance L is -L · dI / dt. Increasing the switching speed of the main circuit MOSFET increases dI / dt and increases the induced voltage. Since this induced voltage is applied between the drain and source of the main circuit MOSFET, it will be destroyed if it exceeds the breakdown voltage of the main circuit MOSFET. Therefore, it is necessary to slow down the switching speed during power running.

  Therefore, in this embodiment, as shown in FIG. 11, the P-type MOSFET 6 and the N-type MOSFET 7 are driven by the driver circuit 400 that changes the dV / dt of the gate signal during power running and power generation.

  In FIG. 11, the driver circuit 400 includes drivers 401 to 406 having a dV / dt control function for changing the rising slope and falling slope of the gate signal. The drivers 401 to 406 are connected to the gates of the P-type MOSFET 6 (upper arm) and the N-type MOSFET 7 (lower arm).

  Next, the operation of the driver circuits 404 to 406 on the N-type MOSFET 7 (lower arm) side will be described. The output waveforms of the driver circuits 401 to 403 on the P-type MOSFET 6 (upper arm) side may be inverted with respect to the output waveforms of the driver circuits 404 to 406 on the N-type MOSFET 7 (lower arm) side. Only the operation of the driver circuit on the MOSFET 7 (lower arm) side will be described.

  During power generation, the gate signal waveform of the N-type MOSFET 7 (lower arm) is close to a rectangular wave (large slope dV / dt) as shown in FIG. As shown, the waveform has a small (gradual) slope dV / dt. When this slope dV / dt is made gentle, the N-type MOSFET 7 (lower arm) can be turned off slowly. Thus, by slowly turning OFF, the drain current di / dt of the N-type MOSFET 7 becomes gentle, and the jump of the drain-source voltage Vds of the N-type MOSFET 7 becomes small.

  FIG. 13 shows a MOS switching waveform during power running. Symbols a, b, and c are the waveforms of the drain current Id, drain-source voltage Vds, and gate signal Vg2, respectively, of the N-type MOSFET 7a shown in FIG. When the MOSFET is turned off at dv / dt like the one-dot chain line of the waveform c shown in FIG. 13, a jumping voltage ΔV is generated. When this dv / dt is increased, ΔV is further increased. On the other hand, if dv / dt is reduced, ΔV is further reduced. Therefore, dv / dt is adjusted so as not to exceed the breakdown voltage of the MOSFET.

  When overcurrent, for example, a short circuit between the drain and source of the MOSFET occurs during power running or power generation, control is performed to turn off all MOSFETs. Also in this case, the MOSFET is further turned off gradually.

  Further, when switching the MOSFETs constituting the upper and lower arms during powering, when one MOSFET is turned on, the other MOSFET is turned off. In this case, if one MOSFET constituting the upper and lower arms is suddenly turned on, a large diode recovery noise is generated by the parasitic diode of the other MOSFET. For this reason, at the time of power running, generation | occurrence | production of this noise can be suppressed by turning ON MOSFET gently.

  If the ON / OFF speed at the time of rectification and the ON / OFF speed at the time of power running can be changed independently, such noise and the like can be suppressed as a whole system.

  Specific examples of the drivers 401 to 406 of the driver circuit 400 shown in FIG. 11 include, for example, a constant current driving method shown in FIG. 14 and a resistance driving method shown in FIG.

  The constant current drive system of FIG. 14 uses a constant current circuit to turn on / off the main MOS (P-type MOSFET 6, N-type MOSFET 7). That is, when the main MOS is an N-type MOSFET, when the main MOS is turned ON, the upper ON switch is closed and current is supplied from the ON constant current source to the main MOS gate. At the same time, the lower off switch is opened. Conversely, when the main MOS is turned off, the upper on switch in FIG. 14 is opened, the lower off switch is closed, and the charge of the main MOS gate is pulled out by the off constant current source. Further, when the rising slope and falling slope (dV / dt) of the gate signal supplied to the gate of the N-type MOSFET 7 are changed, the on-state constant current shown in FIG. 14 according to power running, rectification, and overcurrent. The current value I of the power source and the off-state constant current source is changed. When the current value I is large, the slope of the gate signal becomes steep, and when the current value I is small, the slope of the gate signal becomes gentle. As described above, the constant current driving method shown in FIG. 14 is a method in which the slope is changed according to the current value of the constant current source. For example, the constant current circuit does not use the battery power source VB as it is, but once creates a reference voltage source Vref from the battery power source VB and creates a current value from the reference voltage source Vref, so that the battery voltage VB is A constant current circuit can be realized even when it changes.

  The resistance driving method shown in FIG. 15 is a method performed by controlling the resistance value of the variable resistor. When changing the rising slope and falling slope (dV / dt) of the gate signal supplied to the gate of the P-type MOSFET 6 and the gate of the N-type MOSFET 7, the slope becomes gentler by increasing the resistance value of the resistor shown in FIG. When the resistance value is decreased, the slope becomes steep. Note that the variable resistance value can be switched in each mode of power running, power generation, and overcurrent.

  Next, in the rotary electric machine control of the rotary electric machine control apparatus (ISG) according to the present embodiment, the types of protection and the priority order when an abnormal state occurs will be described. In the rotating electrical machine control device (ISG), protection operations are performed against various abnormalities in the rotating electrical machine control. In the present embodiment, as means for protecting the rotating electrical machine control device (ISG) from these abnormal states, means for protecting by hardware (a protection circuit is provided, the protective circuit detects the abnormal state, and the rotating electrical machine control device ( ISG) protection means) and software protection means (means that protects the device in cooperation with hardware by detecting an abnormal state by microcomputer processing), depending on the nature of the abnormal state Are used properly.

  Control operations for various abnormalities that occur in the rotating electrical machine control are performed as shown in FIGS. 16A to 16C depending on the target control contents. FIG. 16 is a control operation as seen from the signal flow. FIG. 16A is controlled by a command from the host controller (ECU). The analog signal detected by FIG. 16B is A / D converted. It is controlled on the software by the microcomputer, and it has the importance that needs to be controlled in real time that is not in time if the analog signal detected in FIG. 16C is A / D converted and controlled on the software by the microcomputer. It is controlled by hardware only. In this way, when a certain abnormal state occurs, if the generated abnormal state is an abnormal state that does not require urgency, it is protected using software means as shown in FIG. The cost of the rotating electrical machine control device (ISG) is reduced. On the other hand, when the abnormal state that has occurred is a dangerous abnormal state that must be recovered from the abnormal state immediately, the abnormality is instantaneously detected and the abnormality is detected using hardware means as shown in FIG. The rotating electrical machine control device (ISG) is protected by recovering from the state.

  In FIG. 16A, the control operation controlled by the command from the host controller (ECU) is based on the command from the ECU, the microcomputer control software operates to drive the digital sequencer, and the control circuit (driver, comparator) Drive and control the power module. The control contents targeted in the control operation controlled by a command from the host controller (ECU) in FIG. 16A are power generation, power running preparation, and power running operation switching processing.

  In FIG. 16B, the control operation in which the analog signal is A / D converted and controlled on the software by the microcomputer, the detection signal (analog signal) from the power module is converted into a digital value by the A / D converter, Import to microcomputer. The microcomputer determines whether there is any abnormality in the detection value from the power module converted into a digital value by the A / D converter. When the microcomputer recognizes an abnormality on the software, it drives the digital sequencer for protection and drives the control circuit (driver, comparator) to control the power module. The control content to be controlled in the control operation in which the analog signal in FIG. 16B is A / D converted and controlled on the software by the microcomputer is protected at a low speed. It is temperature, temperature sensor abnormality, no power generation, undervoltage, QFC-MOS short circuit.

  In FIG. 16 (C), the control operation for taking an analog signal into the digital sequencer and controlling it by hardware on the digital sequencer compares the detection signal from the power module with the comparator in the state of the analog signal, and the comparison result is digital. Import to the sequencer. In this digital sequencer, when the comparison result in the comparator indicates an abnormality, the digital sequencer recognizes the abnormality and immediately drives the control circuit (driver, comparator) to control the power module. Simultaneously with the driving of the control circuit (driver, comparator), the recognition result in the digital sequencer is reported to the microcomputer, processed by software, and the result is transmitted to the host controller (ECU) as an abnormality report. A control circuit (driver, comparator) is driven immediately after an abnormality is recognized in the digital sequencer in FIG. 16C, and the control contents to be controlled in the control operation for controlling the power module need to be protected at high speed. The contents are field MOS short-circuit failure, occurrence of load dump surge, detection of overcurrent, rotor short-circuit failure, power running abnormality (overspeed, overtime, motor lock).

  When various abnormal states shown in the present embodiment occur in such rotating electric machine control, the rotating electric machine control device (ISG) specifies the protection priority for the type of protection as shown in FIG. Thus, a protection operation is performed. That is, the types of protection that occur when rotating electrical machine control is performed in the rotating electrical machine control device (ISG) are classified into 5 types. As shown in FIG. 17, considering the importance of protection, the priority of protection is as follows. First, a field MOS short-circuit fault, second a load dump surge occurs, third a field current Abnormalities that do not need to be attenuated (overvoltage, undervoltage, overcurrent, IC overtemperature, internal temperature sensor failure, arm MOS overtemperature during power running, external temperature sensor failure during power running), fourth rotor short-circuit failure, fifth In this order, the field current must be limited to a small level (an arm MOS overtemperature other than during powering, an external temperature sensor failure other than during powering).

  The priority order shown in FIG. 17 is for any abnormal state when a plurality of abnormalities occur at the same time or when another abnormality occurs during a protective operation. Indicates whether to protect with priority. When various abnormal states shown in the present embodiment occur in the rotating electrical machine control, the protection operation is performed in the order of the priority shown in FIG. 17, but the priority order in which the protection operation was performed with the highest priority. When an abnormality with a high level returns to normal, the system operates to protect the abnormality with the next highest priority. The priorities shown in FIG. 17 are for enabling the protection operation to be performed without contradiction when a plurality of abnormal states occur in this way. As shown in FIG. 17, by determining the priority order of the protection operation, the protection operation with a higher priority order is performed earlier than the protection operation with a lower priority order, and a safe state can be quickly secured against the occurrence of an abnormality. The content is to perform the operation of shifting the ISG.

  Next, according to the priority order illustrated in FIG. 17, the type of protection for the content of the abnormality, the specific operation content of the protection, and the presence or absence of an abnormality report to the host controller (ECU) will be described. First, the first field MOS short fault with the priority of protection will be described. When a short circuit failure occurs in the field MOS (P-type MOSFET) 4 shown in FIG. 2, the field current control by the field MOS 4 becomes ineffective. As described above, if the current flowing through the field coil 2a of the rotating electrical machine 2 cannot be controlled by the field MOS 4, a serious accident may be caused. For this reason, when the current flowing to the field coil 2a of the rotating electrical machine 2 by the field MOS 4 cannot be controlled, it is necessary to immediately cut off the current flowing to the field coil 2a as a safety measure. A field MOS (P-type MOSFET) 4 and a QFC-MOS (N-type MOSFET) 5 that are inserted and connected in series to the field coil 2a of the rotating electrical machine 2 control the amount of current flowing through the field coil 2a or a battery. 3 is for cutting off the series circuit of field MOS (P-type MOSFET) 4, field coil 2 a and QFC-MOS (N-type MOSFET) 5 connected to 3.

  Therefore, when a short circuit failure occurs in the field MOS (P-type MOSFET) 4 shown in FIG. 2, the field MOS 4 and the QFC-MOS 5 are turned off to perform a protective operation for reducing the field current to zero. Further, the upper arm MOS (P-type MOSFET) 6 and the lower arm MOS (N-type MOSFET) 7 are turned off to stop power generation and power running operation. Here, the reason why the gate of the field MOS (P-type MOSFET) 4 having a short circuit fault is turned off again is to detect that the field MOS (P-type MOSFET) 4 has returned to normal. This is because the normal recovery from the field MOS short-circuit is judged by the drain-source voltage when the field MOS (P-type MOSFET) 4 is off-controlled.

  When a short circuit failure occurs in the field MOS (P-type MOSFET) 4, it is necessary to protect it at high speed because of an urgent abnormality, and the hardware means protects it. That is, when a short circuit failure occurs in the field MOS (P-type MOSFET) 4, as shown in FIG. 16C, the control circuit (driver, comparator) is driven immediately after the abnormality is recognized in the digital sequencer, and the power module is turned on. Control action to control.

  The load dump surge is a phenomenon in which the generated voltage (VB) becomes an abnormally high voltage (generation of a jumping voltage due to detachment of the battery) due to removal of the battery (such as dropping of the battery terminal). The generation of this high voltage is due to the fact that the field current (If) continues to flow through the field coil 2a of the rotating electrical machine 2 while the battery is disconnected (eg, the battery terminal is dropped), and the power generation operation is performed. is there. If this load dump surge is left as it is, it will lead to the destruction of the ISG control circuit and other electrical parts. Therefore, the generated voltage (VB) becomes abnormally high due to the drop of the battery terminal. In this case, the field MOS (P-type MOSFET) 4 is turned off to cut off the field current (If) supply source, and at the same time, the QFC-MOS (N-type MOSFET) 5 is turned off to rapidly turn the field current (If) on. It must be attenuated to stop the power generation operation (see FIG. 9). By turning off the QFC-MOS (N-type MOSFET) 5, a field current (If) is caused to flow through the Zener diodes connected in parallel, and a field current rapid decay operation that consumes heat is performed.

  In FIG. 9, when the field MOS (P-type MOSFET) 4 is off, the current is attenuated by the rotor resistance, whereas when the QFC-MOS (N-type MOSFET) 5 is off, the Zener diode clamp voltage and the field current (If ) Accumulated (Vz × If) energy is consumed by the Zener diode, the field current is rapidly attenuated. When a load dump surge occurs, the field MOS (P-type MOSFET) 4 is turned off simultaneously with the QFC-MOS (N-type MOSFET) 5 being turned off to cut off the current supply source, and the upper arm MOS (P-type MOSFET) 6 is turned off. For the purpose of reducing the heat generation of the lower arm MOS (N-type MOSFET) 7, the MOS rectification operation is still permitted.

  In the case of a load dump surge, since it is an urgent abnormality, it is necessary to protect it at high speed, and the hardware means protects it. That is, when a load dump surge occurs, as shown in FIG. 16C, an abnormality in the digital sequencer is detected, and the control circuit (driver, comparator) is immediately driven to perform a control operation for controlling the power module. . Even if a load dump surge occurs, power generation can be continued, so no special notification is sent to the ECU. After the driver turns off the engine once, the driver recognizes the failure by not starting the engine next time.

  Silence without power generation or power running when overvoltage, undervoltage, overcurrent, IC overtemperature, built-in temperature sensor failure, arm MOS overtemperature (only during power running), external temperature sensor failure (only during power running) Transition to the state. The overvoltage and the low voltage are a state where the battery voltage is higher than a predetermined voltage or a state where the battery voltage is lower than the predetermined voltage. These overvoltages and undervoltages do not require urgency because the voltage value needs to be monitored for a certain period of time. Therefore, an abnormality is detected using software means to protect the apparatus. The overcurrent is a state in which a large current exceeding an allowable range flows in the circuit due to a short circuit or the like. Due to the urgency of this overcurrent state, an abnormality is detected using hardware to protect the device. Further, the IC overtemperature is a state in which the IC built-in temperature sensor detects that it is larger than a predetermined value. Since this IC overtemperature state is not particularly urgent, an abnormality is detected using software means to protect the device.

  Protection in many cases of this overvoltage, undervoltage, overcurrent, IC overtemperature, built-in temperature sensor failure, arm MOS overtemperature (only during power running), external temperature sensor failure (only during power running) is the field current (If QFC-MOS (N-type MOSFET) 5 is kept on because it is not necessary to quickly attenuate). However, the upper arm MOS (P-type MOSFET) 6, the lower arm MOS (N-type MOSFET) 7, and the field MOS (P-type MOSFET) 4 are turned off in order to stop power generation and power running. As can be seen from the fact that there are various abnormalities that shift to silence as described above, the most basic protection state is silence in the rotating electrical machine control device (ISG). In this silence mode, the upper arm MOS (P-type MOSFET) 6, the lower arm MOS (N-type MOSFET) 7, and the field MOS (P-type MOSFET) 4 are turned off to shift the field current (If) to zero. However, the operation of rapidly attenuating the field current (If) is not performed. This is because consideration is given so that the system can promptly shift to power generation when it returns to normal.

  In the rotor short-circuit failure, a short-circuit current flows when the field MOS (P-type MOSFET) 4 is turned on by a short circuit of the field coil 2a connected in series with the field MOS (P-type MOSFET) 4, and the field MOS (P-type MOSFET) ) 4 may be destroyed. For this reason, when a rotor short circuit failure occurs, control must be performed to reduce the current flowing in the field MOS (P-type MOSFET) 4 to a small extent. In the case of this rotor short-circuit failure, the on-duty of the field MOS (P-type MOSFET) 4 is set to a small value of 0.5% because the current flowing through the field MOS (P-type MOSFET) 4 increases beyond the rating. . That is, when a rotor short circuit failure occurs, protection is performed by switching the field MOS (P-type MOSFET) 4 with an on-duty of 0.5%. Due to the urgency of such an operation, an abnormality is detected using hardware to protect the circuit. The reason why the field MOS (P-type MOSFET) 4 is not completely turned off is that the drain-source voltage when the field MOS (P-type MOSFET) 4 is turned on is judged to have returned to normal.

  Arm MOS overtemperature, external temperature sensor failure (both during powering) may be due to overheating of power module composed of upper arm MOS (P-type MOSFET) 6 and lower arm MOS (N-type MOSFET) 7 It is done. For this reason, in the case of arm MOS overtemperature or external temperature sensor failure (both during powering), the field current (If) is set to 0.5 times the field current (If) at the occurrence of overtemperature for the purpose of suppressing heat generation. Set and control to reduce power generation.

In addition, as abnormal operation during power running,
A) Overspeed b) Overtime d) Motor is locked. If an operation abnormality occurs during power running, it will lead to a failure of the apparatus, and thus protection against the abnormality is performed. Here, over-rotation is a state in which the rotational speed of the motor is greater than (or rotates too much) a predetermined rotational speed. The motor lock is a state where the motor is not rotating although the motor should be operating.

  Protection of these overvoltage, undervoltage, overtemperature, temperature sensor failure, no power generation, undervoltage, and QFC-MOS short circuit is achieved by A / D converting analog signals detected by various sensors as shown in FIG. A microcomputer performs a control operation to control the power module by driving the control circuit (driver, comparator) by judging on software. In addition, high-speed protection control is required for any field MOS (P-type MOSFET) 4 short-circuit failure, load dump surge, overcurrent, rotor short-circuit failure, or abnormal operation during powering (overspeed, overtime, motor lock). Since urgency is required, as shown in FIG. 16C, an abnormality in the digital sequencer is detected, and the control circuit (driver, comparator) is immediately driven to perform a control operation for controlling the power module.

  In the rotating electrical machine control apparatus (ISG) according to the present embodiment, the various abnormalities described above are notified to the host controller (ECU) except for the load dump surge. This is because when the load dump surge is normal, the normal voltage range is restored in about several hundred ms. However, if a case where the abnormal voltage continues for a certain time or more has occurred, the abnormality is notified to the ECU by the overvoltage protection function.

  By the way, when an abnormal state is detected by hardware means (comparator, digital sequencer), since the protection circuit is activated, it is sufficient to detect the abnormal state and deal with it. However, when the protection circuit is activated by the hardware means (comparator, digital sequencer) and the countermeasure is taken, information is not sent to the host controller (ECU). I can't know.

  For this reason, in this embodiment, as the abnormality detection flag provided in the microcomputer 17A, a hardware means flag (a flag for performing a rising and falling operation based on an abnormality detection by the hardware means) and a software means flag (hardware) Two flags for detecting the abnormality of the same abnormality detection target device are prepared, which are flags that rise based on the abnormality detection by the wear means and perform the falling operation by the software means. This is because only the hardware means flag may cause the software not to detect a flag generation that is shorter than the period in which the software performs the flag check. The software detects an abnormality with reference to the software means flag, and performs processing according to a predetermined procedure. In addition, the software performs processing such as notifying the host controller (ECU) of the abnormality and confirms that the hardware means flag has returned to normal. To reset the flag.

  By providing the software means flag in this way, it is possible to know the abnormality history even for abnormalities that have returned to normal instantaneously, and it is possible to increase the flexibility of control by software such as notifying the host controller etc. Become.

  The gist of the present invention has been described above based on the embodiments. However, the present invention is not limited to the scope specifically described in the embodiments, and various modifications can be made within the scope of the technical idea. It is. For example, in the above embodiment, the case where the P-type MOSFET and the N-type MOSFET are used as the switching elements constituting the upper and lower arms has been described. However, the case where the P-type MOSFET or the N-type MOSFET is used for both the upper and lower arm MOSFETs. Of course, the case where an IGBT is used as the switching element instead of the MOSFET is also within the scope of the present invention.

It is a figure which shows the structure of the motor vehicle mounted in the rotary electric machine controlled by the rotary electric machine control apparatus which concerns on this invention. It is a circuit diagram which shows the Example of the rotary electric machine control apparatus which concerns on this invention. FIG. 2 is a state transition diagram of the rotating electrical machine control device illustrated in FIG. 1. 4 is a main process flowchart of state transition illustrated in FIG. 3. It is a figure which shows the starting sequence shown in FIG. FIG. 6 is a circuit configuration diagram of a wake-up device that performs wake-up detection illustrated in FIG. 5. It is a figure which shows the truth table of the starting conditions of the wake-up circuit shown in FIG. It is a figure which shows an interruption process flowchart. It is a whole circuit diagram containing QFC-MOS. It is a figure which shows the dead time production | generation circuit and the time chart of each signal. It is a circuit diagram which shows the driver circuit and main MOS circuit which have a dV / dt control function. It is a gate signal waveform diagram for alternately turning on MOSFETs. It is a figure which shows a MOS switching waveform at the time of power running. FIG. 13 is a circuit diagram of a low current driving method for shaping the gate signal waveform diagram shown in FIG. 12. FIG. 13 is a circuit diagram of a resistance driving method for forming the gate signal waveform diagram shown in FIG. 12. It is a figure which shows the control action with respect to the various abnormality which generate | occur | produces in rotary electric machine control. It is a figure which shows the kind of protection in the protection operation with respect to various abnormality shown in FIG. 16, and its priority.

Explanation of symbols

1 ………………………… Rotary electric machine control device 1A ………………………… Power stage 1B ……………………… 5V stage 2 ………………………… Rotating electric machine (M / G)
3 ………………………… Battery power supply 4 ………………………… Field MOS
5 ………………………… QFC-MOS
6 ………………………… Upper arm PMOS
7 ………………………… Lower arm NMOS
10, 19 ............ Level conversion circuit 11, 12 ……………… Selector 13 …………………… Controller 14 ………………………… Battery power supply 15 ………… …………… Generator / Controller 16 ……………………… Common Protection Circuit 17 ……………………… Microcomputer 18 ……………………… Field Controller 20 ………… Driver circuit 25 ... DC-DC converter 50 ... Wake-up detection circuit 50a ... Wake-up detection circuit 50b ... ………………… Sub DC-DC
3000 ... dead time signal generation means 3010 ... dead time 8 bit counter 3020 ... ... sub dead time 5 bit counter 3030 ... ... OR circuit 3040 ... Clock divider circuit

Claims (9)

A plurality of upper arm switching elements connected between a plurality of stator winding terminals of the rotating electrical machine and a high potential of the battery to perform power running or power generation;
A plurality of lower arm switching elements connected between the plurality of stator winding terminals and a low potential of the battery to perform the power running or the power generation;
A rotating electrical machine control device comprising: a control unit that controls the power running or the power generation by turning ON / OFF the plurality of upper arm switching elements and the plurality of lower arm switching elements,
The control unit is configured to prioritize protection from any one of the plurality of abnormalities when a plurality of abnormalities occur in the rotating electrical machine control device. The control unit, when a first abnormality occurs in the rotating electrical machine control device, hardware means for protecting the rotating electrical machine control device from the first abnormality;
The rotating electrical machine control device according to claim 1, further comprising software means for protecting the rotating electrical machine control device from the second abnormality when a second abnormality occurs in the rotating electrical machine control device. The rotating electrical machine control device according to claim 2, wherein when the first abnormality and the second abnormality occur in the rotating electrical machine control device, the control unit prioritizes protection from the first abnormality. A plurality of upper arm switching elements connected between a plurality of stator winding terminals of the rotating electrical machine and a high potential of the battery to perform power running or power generation;
A plurality of lower arm switching elements connected between the plurality of stator winding terminals and a low potential of the battery to perform the power running or the power generation;
A rotating electrical machine control device comprising: a control unit that controls the power running or the power generation by turning ON / OFF the plurality of upper arm switching elements and the plurality of lower arm switching elements,
In the control unit, abnormal state setting means for classifying and setting abnormal states occurring in the rotating electrical machine control device (ISG) into two types;
Hardware means for performing a protection operation for one type of abnormal condition set in the abnormal condition setting means by hardware;
Software means for performing protection operation for the other type of abnormal condition set in the abnormal condition setting means by software;
With
In the abnormal state setting means, in the case of an abnormal state that requires an urgent need to immediately recover from the abnormal state to a normal state when an abnormal state occurs, a protective operation is performed by the hardware unit. In the case of an abnormal state that does not require urgency without causing an abnormality to the device even if the normal state does not immediately recover from the abnormal state that has occurred, the software means that the protection operation was performed. A rotating electrical machine control device. The hardware means includes a protection circuit for processing with analog values, detects an abnormal state with a digital sequencer based on a signal detected by the protection circuit, and drives the digital sequencer to protect the rotating electrical machine control device (ISG). The rotating electrical machine control device according to claim 1. The abnormal state in which the protective operation is performed in the hardware means is any of a field MOS short-circuit failure, load dump surge occurrence, overcurrent detection, rotor short-circuit failure, and power running abnormality (overspeed, overtime, motor lock). The rotating electrical machine control apparatus according to claim 2. The software means includes a protection circuit for processing with an analog value, converts an analog signal detected by the protection circuit into a digital signal, detects an abnormal state in the microcomputer, and based on a command from the microcomputer The rotating electrical machine control device according to claim 1, wherein the rotating electrical machine control device (ISG) is protected by driving a digital sequencer. 5. The rotating electrical machine control device according to claim 4, wherein the abnormal state in which the protection operation is performed in the software means is any one of overvoltage, undervoltage, overtemperature, temperature sensor abnormality, no power generation, undervoltage, and QFC-MOS short circuit. . The abnormal state setting means sets a plurality of priorities to abnormal states that occur in the rotating electrical machine control device (ISG) classified and set in the two types, and an abnormal state occurs in the rotating electrical machine control device (ISG). 6. The rotating electrical machine control device according to claim 1, wherein the protection operation is sequentially performed from an abnormal state having a high priority according to the priority order.

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