JP2007259650A - Apparatus and method for electric drive control - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely determine whether an abnormality occurs in an electric drive controller or not. <P>SOLUTION: The electric drive controller includes a current command value calculating/processing means calculating first and second current command values based on electric machine target torque, a voltage command value calculating/processing means for calculating first and second voltage command values to drive the electric machine based on the first and the second current command values, an estimated command value calculating means for calculating the estimated command value of the electric machine target torque based on output variables generated in an electric machine controller, and a fail determination/processing means for determining whether an abnormality occurs in the electric machine controller or not based on the electric machine target torque and the estimated command value. Whether the abnormality occurs in the electric machine controller or not is determined based on the electric machine target torque and the estimated command value, resulting in enabling the sure determination of the abnormality in the controller. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric drive control device and an electric drive control method.

  2. Description of the Related Art Conventionally, a drive motor or a generator provided as an electric machine includes a rotor that is rotatably provided and has a magnetic pole pair made up of N-pole and S-pole permanent magnets, and is arranged radially outward from the rotor. And a stator or the like having U-phase, V-phase, and W-phase stator coils.

  An electric drive device is disposed to drive the drive motor or the generator and generate a drive motor torque that is the torque of the drive motor or a generator torque that is the torque of the generator. A drive motor control device for driving the drive motor and a generator control device for driving the generator are arranged as an electric machine control device, and are generated in the drive motor control device and the generator control device. By sending U-phase, V-phase and W-phase pulse width modulation signals to the inverter, and supplying phase currents generated in the inverter, ie, U-phase, V-phase and W-phase currents, to the respective stator coils The drive motor torque is generated or the generator torque is generated.

  In the drive motor control device, feedback control is performed by vector control calculation on a dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor and the q axis is taken in a direction perpendicular to the d axis. For this purpose, the drive motor control device detects the current supplied to each stator coil, the magnetic pole position of the rotor, the DC voltage at the inlet of the inverter, etc., and the detected current, that is, the detected current is based on the magnetic pole position. The d-axis current and the q-axis current are converted into the d-axis current and the q-axis current, and the d-axis current command value and the q-axis current command value representing the target values of the d-axis current and the q-axis current are calculated with reference to the current command value map, The d-axis voltage command value and the q-axis voltage command value are calculated based on the deviation between the d-axis current and the d-axis current command value, the deviation between the q-axis current and the q-axis current command value, and the parameters of the drive motor. ing.

  In the current command value map, a d-axis current command value and a q-axis current command value are recorded in association with the drive motor target torque representing the target value of the drive motor torque, the DC voltage, and the angular velocity. The parameters include a back electromotive force constant MIf, a winding resistance Ra of each stator coil, inductances Ld, Lq, and the like (see, for example, Patent Document 1).

  Similarly, also in the generator control device, feedback control by vector control calculation is performed on the dq axis model.

  By the way, for example, if an abnormality occurs in the CPU constituting the drive motor control device, it is not possible to calculate the proper d-axis current command value and q-axis current command value, and the proper d-axis voltage command value and q-axis. The voltage command value cannot be calculated.

Therefore, whether or not an abnormality has occurred in the CPU by duplicating the ROM connected to the CPU, simultaneously recording data to each ROM, simultaneously reading the data, and comparing the data recorded in each ROM I try to judge whether.
JP 2001-161099 A

  However, in the conventional drive motor control device, when the ROM is externally attached to the chip constituting the drive motor control device, the ROM can be easily duplicated, but when the ROM is not externally attached to the chip, the ROM Cannot be duplicated, and it cannot be determined whether or not an abnormality has occurred in the CPU.

  The present invention provides an electric drive control device and an electric drive control method capable of solving the problems of the conventional drive motor control device and reliably determining whether an abnormality has occurred in the electric machine control device. For the purpose.

  Therefore, in the electric drive control device of the present invention, current command value calculation processing means for calculating the first and second current command values based on the electric machine target torque representing the target value of the torque of the electric machine, Voltage command value calculation processing means for calculating the first and second voltage command values for driving the electric machine based on the first and second current command values, and an output generated in the electric machine control device Estimated command value calculation processing means for calculating an estimated command value of the electric machine target torque based on the variable, and fail determination for determining whether an abnormality has occurred in the electric machine control device based on the electric machine target torque and the estimated command value And processing means.

  In another electric drive control device of the present invention, the first current command value is a d-axis current command value, and the second current command value is a q-axis current command value. The output variable is set to a d-axis current command value and a q-axis current command value.

  In still another electric drive control device of the present invention, the fail determination processing means may cause an error in the electric machine control device when the difference between the electric machine target torque and the estimated command value is larger than a preset threshold value. Is determined to have occurred.

  In still another electric drive control device of the present invention, the estimated command value calculation processing means is arranged separately from the current command value calculation processing means.

  In still another electric drive control device of the present invention, a current command value calculation processing means for calculating a d-axis current command value and a q-axis current command value based on the electric machine target torque, and a field weakening current. Field-weakening control processing means for generating and adjusting the d-axis current command value and the q-axis current command value based on the field-weakening current.

  Then, the estimated command value calculation processing means calculates the estimated command value based on the d-axis current command value and the q-axis current command value adjusted by the field weakening control processing means.

  In the electric drive control method of the present invention, the first and second current command values are calculated based on the electric machine target torque that represents the target value of the torque of the electric machine, and the first and second current command values are calculated. Based on the first and second voltage command values for driving the electric machine, an estimated command value for the electric machine target torque is calculated based on an output variable generated in the electric machine control device. It is determined whether an abnormality has occurred in the electric machine control device based on the machine target torque and the estimated command value.

  According to the present invention, in the electric drive control device, the current command value calculation processing means for calculating the first and second current command values based on the electric machine target torque representing the target value of the torque of the electric machine; Voltage command value calculation processing means for calculating the first and second voltage command values for driving the electric machine based on the first and second current command values, and an output generated in the electric machine control device Estimated command value calculation processing means for calculating an estimated command value of the electric machine target torque based on the variable, and fail determination for determining whether an abnormality has occurred in the electric machine control device based on the electric machine target torque and the estimated command value And processing means.

  In this case, since it is determined whether an abnormality has occurred in the electric machine control device based on the electric machine target torque and the estimated command value, the electric machine can be operated without attaching a ROM to the chip constituting the electric machine control device. It is possible to reliably determine whether or not an abnormality has occurred in the control device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, an electric drive device mounted on an electric vehicle as an electric vehicle, a hybrid vehicle, and the like, and an electric drive control device for operating the electric drive device will be described. A drive motor control device as an electric machine control device will be described.

FIG. 1 is a block diagram of a drive motor control device in an embodiment of the present invention, FIG. 2 is a conceptual diagram of an electric drive device in an embodiment of the present invention, and FIG. 3 is a first current command in the embodiment of the present invention. FIG. 4 is a diagram showing a value map, FIG. 4 is a diagram showing a second current command value map in the embodiment of the present invention, and FIG. 5 is a diagram showing a current limit map in the embodiment of the present invention. In FIG. 3, the horizontal axis represents the drive motor target torque TM ^* representing the target value of the drive motor torque TM which is the torque of the drive motor 31 as the electric machine, the vertical axis represents the d-axis current command value id ^* , 4, the horizontal axis represents the d-axis current command value id ^* , the vertical axis represents the q-axis current command value iq ^* , the horizontal axis represents the current limiting parameter Vdc / ω, and the vertical axis represents the d-axis current command value. The maximum current command value idmax ^* representing the maximum value of id ^* is taken.

  In the figure, reference numeral 31 denotes a drive motor. The drive motor 31 is attached to, for example, a drive shaft of an electric vehicle and is rotatably arranged, and is arranged radially outward from the rotor. Provided with a stator. The rotor includes a rotor core and permanent magnets arranged at equal pitches at a plurality of locations in the circumferential direction of the rotor core, and a magnetic pole pair is configured by the S pole and the N pole of the permanent magnet. In addition, the stator includes a stator core in which teeth are formed by projecting radially inward at a plurality of locations in the circumferential direction, and U-phase, V-phase, and W-phase coils wound around the teeth. Stator coils 11-13.

  A magnetic pole position sensor 21 is disposed on the output shaft of the rotor as a magnetic pole position detector for detecting the magnetic pole position of the rotor. The magnetic pole position sensor 21 generates a magnetic pole position signal SGθ as a sensor output, and the electric machine It is sent to a drive motor control device 45 as a control device. Note that a resolver can be provided as a magnetic pole position detection unit in place of the magnetic pole position sensor 21, and a magnetic pole position signal can be generated by the resolver.

  In order to drive the drive motor 31 and drive the electric vehicle, a direct current from the battery 14 is converted into a phase current, that is, a U-phase, V-phase, and W-phase current Iu by an inverter 40 as a current generator. , Iv, and Iw, and the currents Iu, Iv, and Iw of the respective phases are supplied to the stator coils 11 to 13, respectively.

  For this purpose, the inverter 40 includes transistors Tr1 to Tr6 as six switching elements, sends the drive signals generated in the drive circuit 51 to the transistors Tr1 to Tr6, and selectively selects the transistors Tr1 to Tr6. By turning on and off, the currents Iu, Iv, and Iw of each phase can be generated. As the inverter 40, a power module such as an IGBT formed by incorporating 2 to 6 switching elements into one package, or an IPM formed by incorporating a drive circuit or the like in the IGBT is used. can do.

  A voltage sensor 15 serving as a voltage detection unit is disposed on the inlet side when supplying current from the battery 14 to the inverter 40. The voltage sensor 15 detects the DC voltage Vdc on the inlet side of the inverter 40, and drives the motor. Send to control device 45. In addition, a battery voltage can also be used as the DC voltage Vdc, and in this case, a battery voltage sensor is disposed in the battery 14 as a voltage detection unit.

  The drive motor 31, the inverter 40, the drive circuit 51, drive wheels (not shown), and the like constitute an electric drive device. Reference numeral 17 denotes a capacitor.

  By the way, since the stator coils 11 to 13 are star-connected, when the current values of two phases of each phase are determined, the current values of the remaining one phase are also determined. Therefore, in order to control the currents Iu, Iv, Iw of each phase, for example, current detection for detecting the U-phase and V-phase currents Iu, Iv on the lead wires of the U-phase and V-phase stator coils 11, 12. Current sensors 33 and 34 are arranged, and the current sensors 33 and 34 send detected currents to the drive motor controller 45 as detected currents iu and iv.

  In addition to a CPU (not shown) that functions as a computer, the drive motor control device 45 is provided with a recording device (not shown) such as a RAM and a ROM for recording data and various programs. First and second current command value maps are set in the recording device. Note that an MPU can be used instead of the CPU.

  Various programs, data, and the like are recorded in the ROM, but the programs, data, and the like may be recorded on other recording media such as a hard disk provided as an external storage device. it can. In this case, for example, a flash memory is provided in the drive motor control device 45, and the program, data, etc. are read from the recording medium and recorded in the flash memory. Therefore, the program, data, etc. can be updated by exchanging an external recording medium.

  Next, the operation of the drive motor control device 45 will be described.

First, a position detection processing unit (not shown) of the drive motor control device 45 performs a position detection process, reads the magnetic pole position signal SGθ sent from the magnetic pole position sensor 21, and based on the magnetic pole position signal SGθ, reads the magnetic pole position θ. Is detected. The rotational speed calculation processing means of the position detection processing means performs rotational speed calculation processing, and calculates the angular speed ω of the drive motor 31 based on the magnetic pole position signal SGθ. The rotational speed calculation processing means has a drive motor rotational speed NM that is the rotational speed of the drive motor 31 based on the angular speed ω, where p is the number of magnetic poles.
NM = 60 · (2 / p) · ω / 2π
Is also calculated. The electric motor rotation speed is constituted by the drive motor rotation speed NM.

A detection current acquisition processing unit (not shown) of the drive motor control device 45 performs a detection current acquisition process, reads and acquires the detection currents iu and iv, and detects a detection current iw based on the detection currents iu and iv.
iw = -iu-iv
Is obtained by calculating.

Next, a drive motor control processing unit (not shown) of the drive motor control device 45 performs a drive motor control process to obtain a drive motor target torque TM ^* , detected currents iu, iv, iw, a magnetic pole position θ, a DC voltage Vdc, and the like. Based on this, the drive motor 31 is driven. The electric motor torque is constituted by the drive motor torque TM, and the electric machine target torque is constituted by the drive motor target torque TM ^* . Further, in the present embodiment, in the drive motor control device 45, a vector on a dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor and the q axis is taken in the direction perpendicular to the d axis. Feedback control by control calculation is performed.

For this purpose, vehicle speed detection processing means (not shown) of the drive motor control device 45 performs vehicle speed detection processing, and detects and detects a vehicle speed V corresponding to the drive motor rotation speed NM based on the drive motor rotation speed NM. The vehicle speed V is sent to a vehicle control device (not shown) that controls the entire electric vehicle. Then, the vehicle command value calculation processing means of the vehicle control device performs the vehicle command value calculation processing, reads the vehicle speed V and the accelerator opening α, and based on the vehicle speed V and the accelerator opening α, the vehicle required torque TO ^* Is calculated, a drive motor target torque TM ^* is generated corresponding to the vehicle required torque TO ^* , and is sent to the drive motor controller 45.

In the drive motor control device 45, the drive motor control processing means drives the drive motor 31 based on the drive motor target torque TM ^* , so that a current command value calculation section as current command value calculation / adjustment processing means. 46, field weakening control processing section 47 as field weakening control processing means, voltage command value calculation section 48 as voltage command value calculation processing means, three-phase two-phase conversion section 49 as first phase conversion processing means, and output signal generation A PWM generator 50 as processing means is provided.

The current command value calculation unit 46, as a first current command value setting processing unit, performs a current command value calculation / adjustment process as a d-axis current command value calculation unit (maximum torque control unit) 53, a subtractor 55. And d-axis current limiter (current limiter) 65 as second current command value setting processing means, q-axis current command value calculation unit (equal torque control unit) 54, subtractor 66 and q-axis current limiter (current) The d-axis current command value calculation unit 53 and the subtractor 55 perform a first current command value setting process, and d as a first current command value representing a target value of the d-axis current id. The axis current command value id ^* is calculated, and the q-axis current command value calculation unit 54 and the subtractor 66 perform the second current command value setting process, and the second current command representing the target value of the q-axis current iq. A q-axis current command value iq ^* is calculated as a value. The d-axis current command value calculation unit 53 uses the first current command value calculation processing unit and the maximum torque control processing unit. The q-axis current command value calculation unit 54 uses the second current command value calculation processing unit, and The equal torque control processing means, the subtracters 55 and 66 constitute first and second current command value adjustment processing means, and the d-axis current limiting unit 65 and the q-axis current limiting unit 71 constitute current limiting processing means. .

  The field weakening control processing unit 47 performs the field weakening control processing by using the switch SW1 as the switching processing means, the subtractor 58 as the voltage saturation calculation value calculation processing means, and the first voltage saturation determination processing means. In addition, the d-axis current adjustment control unit 59 as the first adjustment value calculation processing unit, and the q-axis current adjustment control unit as the second voltage saturation determination processing unit and as the second adjustment value calculation processing unit 67, field weakening current limiting processing is performed, and field weakening control is automatically performed when the DC voltage Vdc (or battery voltage) decreases or the angular velocity ω (or drive motor rotational speed NM) increases. The d-axis current adjustment control unit 59 and the q-axis current adjustment control unit 67 are both configured by an integrator.

  The three-phase / two-phase converter 49 performs three-phase / two-phase conversion, reads the magnetic pole position θ, converts the detected currents iu, iv, and iw into the d-axis current id and the q-axis current iq, and the d-axis The current id and the q-axis current iq are calculated as actual currents and sent to the voltage command value setting unit 48.

The voltage command value calculation unit 48 includes a current control unit 61 as current control processing means and a voltage control unit 62 as voltage control processing means in order to perform voltage command value calculation processing. The control process is performed to calculate the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* as the first and second axis voltage command values, and the voltage control unit 62 performs the voltage control process. Voltage command values vu ^* , vv ^* , vw ^* as third phase voltage command values are calculated. The d-axis voltage command value vd ^* , the q-axis voltage command value vq ^*, and the voltage command values vu ^* , vv ^* , vw ^* constitute a voltage command value.

  The PWM generator 50 performs output signal generation processing, generates pulse width modulation signals Mu, Mv, and Mw as output signals and sends them to the drive circuit 51.

  The drive circuit 51 receives the pulse width modulation signals Mu, Mv, Mw of each phase, generates six drive signals, and sends the drive signals to the inverter 40. The inverter 40 switches the transistors Tr1 to Tr6 to generate currents Iu, Iv, Iw of the respective phases based on the pulse width modulation signals Mu, Mv, Mw, and the currents Iu, Iv, Iw of the respective phases. Is supplied to the stator coils 11 to 13 of the drive motor 31.

In this manner, torque control is performed based on the drive motor target torque TM ^* , and the drive motor 31 is driven to run the electric vehicle.

  Next, the operation of the drive motor control processing means will be described.

First, an operating condition calculation processing unit (not shown) of the drive motor control device 45 performs an operating condition calculation process and divides the DC voltage Vdc by the angular velocity ω to limit the d-axis current command value id ^*. A current limiting parameter (voltage / speed ratio) Vdc / ω representing a condition is calculated.

Then, the current command value calculation unit 46 reads the drive motor target torque TM ^* and the current limit parameter Vdc / ω, and calculates the d-axis current command value id ^* and the q-axis current command value iq ^* .

For this purpose, the d-axis current command value calculation unit 53 performs the first current command value calculation process and the maximum torque control process, reads the drive motor target torque TM ^* , is set in the recording device, and is shown in FIG. the first reference current command value map, the reading drive motor target torque TM ^* corresponding to the d-axis current command value id ^*, and sends to the d-axis current command value id ^* of the subtractor 55.

In this case, in the first current command value map, the d-axis current command value id ^* is set so that the absolute value of the current amplitude command value is minimized in order to achieve the drive motor target torque TM ^* .

In the first current command value map, the drive motor target torque TM ^* takes a positive value, whereas the d-axis current command value id ^* takes a negative value. When the drive motor target torque TM ^* is zero (0), the d-axis current command value id ^* is set to zero, and the d-axis current command value id ^* becomes negative as the drive motor target torque TM ^* increases. It is set to increase in the direction of.

  By the way, in the drive motor 31, a counter electromotive force is generated as the rotor rotates, but the drive motor 31 is determined by the DC voltage Vdc (or battery voltage) and the angular velocity ω (or drive motor rotation speed NM). When the terminal voltage exceeds the threshold value, voltage saturation occurs and output by the drive motor 31 becomes impossible.

Therefore, a modulation factor calculation processing means (not shown) of the voltage controller 62 performs a modulation factor calculation process, and reads the d-axis voltage command value vd ^* , the q-axis voltage command value vq ^* , the DC voltage Vdc, and the magnetic pole position θ. , Voltage amplitude | v |

Is the theoretical maximum voltage Vmax.
Vmax = 0.78 × Vdc
By dividing by the modulation factor m

Is sent to the subtractor 58. The modulation factor m is a value representing the degree of voltage saturation and constitutes a voltage saturation determination index.

The subtractor 58 performs a voltage saturation index calculation process, reads the modulation factor m, reads a command value of the modulation factor m calculated in advance, that is, a modulation factor command value k, and indicates an index indicating the degree of voltage saturation. Voltage saturation index Δm
Δm = m−k
And the voltage saturation index Δm is sent to the d-axis current adjustment control unit 59.

  Subsequently, the d-axis current adjustment control unit 59 performs voltage saturation determination processing and field weakening current calculation processing, integrates the voltage saturation index Δm at each control timing, calculates an integrated value ΣΔm, and calculates the integrated value. It is determined whether voltage saturation has occurred depending on whether ΣΔm takes a positive value. If the integrated value ΣΔm takes a positive value and voltage saturation has occurred, it is weakened by multiplying the integrated value ΣΔm by a proportional constant. The field weakening current Δid as an adjustment value for performing field control is calculated and set, and when the integrated value ΣΔm takes a value of zero or less and no voltage saturation occurs, the field weakening current Δid is set to zero. To do.

The subtractor 55 performs a current command value adjustment process, receives the field weakening current Δid, and subtracts the field weakening current Δid from the d-axis current command value id ^* to obtain the d-axis current command value id ^* . The field weakening current Δid is adjusted and sent to the d-axis current limiting unit 65.

In this case, when the field weakening current Δid takes a zero value, the d-axis current command value id ^* is not substantially adjusted, and field weakening control is not performed. On the other hand, when the field weakening current Δid takes a positive value, the d-axis current command value id ^* is adjusted to increase the value in the negative direction, and field weakening control is performed.

Therefore, as shown in FIG. 4, when the value of the d-axis current command value id ^* sent to the subtractor 55 is ida ^* , the field weakening current Δid is zero and field weakening control is not performed. If, in the q-axis current command value calculating section 54, values ida ^* to the corresponding q-axis current command value iq ^* value iqa ^* is read. On the other hand, when the field weakening current Δid takes a positive value and field weakening control is performed, for example, in the subtractor 55 and the q-axis current command value calculation unit 54, the d-axis current command value id ^* is negative. In this direction, the value idb ^* is increased by the field weakening current Δid. Therefore, q-axis current command value iq ^* is set to be smaller in value iqa ^* more positive direction in the q-axis current command value calculating section 54, a value Iqb ^*.

Thus, when voltage saturation occurs, the d-axis current command value id ^* is increased in the negative direction by the field weakening current Δid, and the drive motor 31 can be driven in the field weakening control region. The operation area of the drive motor 31 can be expanded.

By the way, if the d-axis current command value id ^* is too large in the negative direction, the effect of field weakening control cannot be fully utilized.

Therefore, the d-axis current limiting unit 65 is disposed between the subtractor 55 and the current control unit 61, and the d-axis current limiting unit 65 has a maximum current command value as a limit value of the d-axis current command value id ^*. When idmax ^* is set and the d-axis current command value id ^* adjusted by the subtractor 55 becomes larger than the maximum current command value idmax ^* , the d-axis current command value id sent to the current control unit 61 is set. ^The d-axis current command value id ^* output from the subtractor 55 is limited in the d-axis current limiting unit 65 so that ^* becomes the maximum current command value idmax ^* .

Therefore, a current limit map as shown in FIG. 5 is formed in the recording apparatus, and the d-axis current limiter 65 performs a current limit process, reads the current limit parameter Vdc / ω, and reads the current limit map. , The maximum current command value idmax ^* corresponding to the current limit parameter Vdc / ω is read, and the d-axis current command value id ^* is limited so as not to exceed the maximum current command value idmax ^* .

In the current limit map, when the current limit parameter Vdc / ω is equal to or less than the predetermined value η1, the maximum current command value idmax ^* is increased in a negative direction in a curved line as the current limit parameter Vdc / ω increases. When the current limiting parameter Vdc / ω becomes larger than the value η1, the maximum current command value idmax ^* is made constant.

As described above, when the d-axis current command value id ^* adjusted by the subtractor 55 becomes larger than the maximum current command value idmax ^* , the d-axis current command value id ^* is limited by the d-axis current limiter 65. Since the maximum current command value idmax ^* is set, field-weakening control can be performed effectively, and the drive motor torque TM can be sufficiently generated.

In this case, in the q-axis current command value calculation unit 54, only the d-axis current command value id ^* is limited. Therefore, a current limit determination processing unit (not shown) of the d-axis current limiter 65 performs a current limit determination process, and the subtractor 55 adjusts whether or not the limit of the d-axis current command value id ^* is performed. axis current command value id ^* is determined by whether or larger than the maximum current command value idmax ^*, when adjusted d-axis current command value id ^* is greater than the maximum current command value idmax ^* in the subtracter 55, the current limit line The current limit determination signal is sent to the switch SW1.

When the switch SW1 performs a switching process and receives the current limit determination signal, the switch SW1 is switched while holding the field weakening current Δid at that time, and the subtractor 58 and the d-axis current adjustment control unit 59 are cut off. The subtractor 58 and the q-axis current adjustment control unit 67 are connected. Along with this, the subtractor 55 adjusts the d-axis current command value id ^* according to the field weakening current Δid at the time when the switch SW1 is switched, and sends it to the q-axis current command value calculation unit 54 and the d-axis current limiting unit 65. send.

  The q-axis current adjustment control unit 67 performs a second voltage saturation determination process and a second adjustment value calculation process, and receives the voltage saturation calculation value ΔV from the subtractor 58 via the switch SW1, The voltage saturation calculation value ΔV is integrated at each control timing to calculate an integration value ΣΔV. When the integration value ΣΔV takes a positive value, the adjustment value Δiq is calculated by multiplying the integration value ΣΔV by a proportional constant. When the voltage saturation calculation value ΔV or the integrated value ΣΔV takes a value less than or equal to zero, the adjustment value Δiq is set to zero.

The subtractor 66 performs a second current command value adjustment process, receives the adjustment value Δiq, and adjusts the q-axis current command value iq ^* by subtracting the adjustment value Δiq from the q-axis current command value iq ^* . To do.

In this case, when the adjustment value Δiq takes a zero value, the q-axis current command value iq ^* is not substantially adjusted. On the other hand, when the adjustment value Δiq takes a positive value, the q-axis current command value iq ^* is adjusted to decrease the value in the positive direction.

The q-axis current limiting unit 71 is disposed between the subtractor 66 and the current control unit 61, and the maximum current command value iqmax ^* is set as the limit value of the q-axis current command value iq ^* . When the q-axis current command value iq ^* adjusted by the subtractor 66 becomes larger than the maximum current command value iqmax ^* , the q-axis current command value iq ^* sent to the current control unit 61 becomes the maximum current command. The q-axis current command value iq ^* output from the subtractor 66 is limited in the q-axis current limiter 71 so as to be the value iqmax ^* .

By the way, for example, when an abnormality occurs in the CPU constituting the drive motor control device 45, the proper d-axis current command value id ^* and the q-axis current command value iq ^* cannot be calculated, and the proper d-axis voltage is not calculated. The command value vd ^* and the q-axis voltage command value vq ^* cannot be calculated.

Therefore, the torque estimation unit 72 as the estimated command value calculation processing means and the torque estimation processing means of the drive motor control device 45 performs the estimated command value calculation processing and the torque estimation processing, and the d-axis current command value id. ^{* And} q-axis current command value iq ^* are read as output variables, and a torque estimation map as a command value estimation map provided in the recording device is referred to, and d-axis current command value id ^* and q-axis current command value iq ^* The drive motor target torque TM ^* corresponding to is read, the drive motor target torque TM ^* is estimated as the estimated drive motor target torque TMe ^* , and sent to the vehicle control device. The torque estimation unit 72 is disposed separately from the current command value calculation unit 46 and is connected between the current limiters 65 and 71 and the current control unit 61.

In this case, the actual command value by the driving motor target torque TM ^* is the estimated command value is constructed by the estimated target drive motor torque TMe ^*.

Subsequently, a failure determination unit 73 as a failure determination processing unit of the vehicle control device performs a failure determination process, reads the drive motor target torque TM ^* calculated by the vehicle command value calculation processing unit, and performs the estimated driving. The motor target torque TMe ^* is read, and whether or not an abnormality has occurred in the CPU is determined based on whether or not the drive motor target torque TM ^* and the estimated drive motor target torque TMe ^* are equal.

Therefore, the estimated differential calculation processing means (not shown) of the fail decision unit 73 performs the estimated differential calculation processing, reads the drive motor target torque TM ^* and the estimated driving motor target torque TMe ^*, a driving motor target torque TM ^* estimated driving motor target torque TMe ^* difference between .DELTA.TM ^*
ΔTM ^* = | TM ^* -TMe ^* |
Is calculated. Subsequently, the estimated differential determination processing means (not shown) of the fail decision unit 73 performs the estimated differential determination process, the difference .DELTA.TM ^* is determined whether greater than preset threshold DerutaTMth ^*, difference .DELTA.TM ^* threshold If it is greater than ΔTMth ^* , it is determined that an abnormality has occurred in the CPU, and if the difference ΔTM ^* is less than or equal to the threshold value ΔTMth ^*, it is determined that the CPU is normal.

  When an abnormality occurs in the CPU, the drive stop processing unit of the vehicle control device performs a drive stop process to stop the drive motor 31 from being driven.

Thus, the estimated drive motor target torque TMe ^* is estimated based on the d-axis current command value id ^* and the q-axis current command value iq ^* , and the drive motor target torque TM ^* and the estimated drive motor target torque TMe ^* are equal. Whether or not an abnormality has occurred in the CPU is determined based on whether or not an abnormality has occurred in the CPU without externally attaching a ROM to the chip constituting the drive motor control device 45. Can be reliably determined.

In the present embodiment, the torque estimation unit 72 estimates the estimated drive motor target torque TMe ^* with reference to the torque estimation map, but the d-axis current command value id ^* and the q-axis current Based on the command value iq ^* , the drive motor target torque TM ^* can be back-calculated by a predetermined formula, and the back-calculated drive motor target torque TM ^* can be estimated as the estimated drive motor target torque TMe ^* .

In the present embodiment, the d-axis current command value id ^* output from the d-axis current limiting unit 65 and the q-axis current command value iq ^* output from the q-axis current limiting unit 71 are used as output variables. The d-axis current command value id ^* output from the d-axis current command value calculation unit 53, the subtractor 55, and the like, and the q-axis current command value calculation unit 54, the subtractor 66, and the like output. The q-axis current command value iq ^* can be used as an output variable. Furthermore, instead of the d-axis current command value id ^* and the q-axis current command value iq ^* , the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* can be used as output variables.

  And in this Embodiment, although the case where the drive motor 31 is driven is demonstrated, when driving the generator as an electric machine, and the drive motor as a 1st electric machine, This can be applied when driving a generator as a second electric machine.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a block diagram of a drive motor control device in an embodiment of the present invention. It is a conceptual diagram of the electric drive device in embodiment of this invention. It is a figure which shows the 1st electric current command value map in embodiment of this invention. It is a figure which shows the 2nd electric current command value map in embodiment of this invention. It is a figure which shows the current limiting map in embodiment of this invention.

Explanation of symbols

31 drive motor 48 voltage command value calculation processing unit 53 d-axis current command value calculation unit 54 q-axis current command value calculation unit 72 torque estimation unit 73 fail determination unit

Claims (6)

  On the basis of the current command value calculation processing means for calculating the first and second current command values based on the electric machine target torque representing the target value of the torque of the electric machine, on the basis of the first and second current command values, Based on voltage command value calculation processing means for calculating the first and second voltage command values for driving the electric machine, and an output variable generated in the electric machine control device, an estimated command value of the electric machine target torque is obtained. Electric drive control comprising: estimated command value calculation processing means for calculating; and fail determination processing means for determining whether an abnormality has occurred in the electric machine control device based on the electric machine target torque and the estimated command value apparatus.   The first current command value is a d-axis current command value, the second current command value is a q-axis current command value, and the output variable is a d-axis current command value and a q-axis current command value. Item 4. The electric drive control device according to Item 1.   2. The electric drive control according to claim 1, wherein the fail determination processing unit determines that an abnormality has occurred in the electric machine control device when a difference between the electric machine target torque and the estimated command value is larger than a preset threshold value. apparatus.   The electric drive control device according to claim 1, wherein the estimated command value calculation processing means is provided separately from the current command value calculation processing means.   Current command value calculation processing means for calculating a d-axis current command value and a q-axis current command value based on the electric machine target torque; and a field weakening current is generated, and a d-axis current command is generated based on the field weakening current. And an estimated command value calculation processing unit based on the d-axis current command value and the q-axis current command value adjusted by the field weakening control processing unit. The electric drive control device according to claim 2, wherein the estimated command value is calculated. A first and second current command values are calculated based on an electric machine target torque representing a target value of the torque of the electric machine, and the electric machine is driven based on the first and second current command values. First and second voltage command values are calculated, an estimated command value of the electric machine target torque is calculated based on an output variable generated in the electric machine control device, and based on the electric machine target torque and the estimated command value An electric drive control method comprising: determining whether an abnormality has occurred in an electric machine control device.

Images