JP2010011542A5

JP2010011542A5 -

Info

Publication number: JP2010011542A5
Application number: JP2008164560A
Authority: JP
Filing date: 2008-06-24
Publication date: 2012-01-26
Anticipated expiration: 2028-06-24

Description

この発明は、ロータ（５０）と、このロータに対向するステータ（５５）とを備えたモータ（１）を制御するためのモータ制御装置（１０，１０Ａ）であって、前記ロータの回転位置を検出する回転センサ（２）と、この回転センサの正常時には当該回転センサの出力信号に基づいて前記モータを制御する一方で、前記回転センサの故障時には前記正常時の制御態様に対して制限を加えた制御態様で、前記回転センサの出力信号を用いずに、前記モータを制御する制御手段（１２，１２Ａ）とを含む、モータ制御装置を提供する。なお、括弧内の英数字は後述の実施形態における対応構成要素等を表す。以下、この項において同じ。 This invention includes a rotor (50), a stator that faces the rotor (55) a motor control device for controlling the motor (1) with a (10, 10A), the rotational position of the rotor A rotation sensor (2) for detecting the motor, and when the rotation sensor is normal, the motor is controlled on the basis of an output signal of the rotation sensor. A motor control apparatus including control means (12, 12A) for controlling the motor without using the output signal of the rotation sensor in the added control mode is provided . The alphanumeric characters in parentheses indicate corresponding components in the embodiments described later. The same applies hereinafter.

この構成によれば、回転センサに故障が生じると、回転センサの正常時の制御態様に対して制限を加えた制御態様でモータが制御される。これにより、回転センサの故障時における、いわゆる延命制御が可能になり、モータの回転を継続することができる。
より具体的には、請求項１記載の発明では、前記モータが、車両の舵取り機構に転舵力を付与する転舵用モータ（１）であり、前記制御手段は、前記回転センサの故障時に、車両の操向のための操作部材に加えられる操作トルクが一定値以下であることを条件に、所定の通電パターンで前記モータを駆動するものである（２４，Ｓ５〜Ｓ８）。
転舵用モータは、操作部材に加えられる操作トルクに応じた転舵力を舵取り機構に付与する。したがって、操作部材に大きな操作トルクが加えられると、それに応じて、転舵用モータには大きな電流が供給され、大きな転舵トルクが転舵用モータから発生する。回転センサによる正確な回転位置が検出されていないときには、所定の通電パターンによるモータ駆動で大きなトルクを発生させようとすると、モータが脱調するおそれがある。そこで、この発明では、操作部材に加えられる操作トルクが一定値以下であることを条件に、所定の通電パターンによって、モータを駆動するようにしている。こうして、回転センサの故障時において、脱調が生じない条件下で、所定の通電パターンを用いて、モータの駆動が継続される。 According to this configuration, when a failure occurs in the rotation sensor, the motor is controlled in a control mode in which a limitation is imposed on the control mode when the rotation sensor is normal. This enables so-called life extension control when the rotation sensor is out of order, and the rotation of the motor can be continued.
More specifically, the invention of claim 1, wherein said motor is a steering motor which imparts steering force to a steering mechanism of the vehicle (1), the control means, failure of the rotation sensor Sometimes, the motor is driven with a predetermined energization pattern on the condition that the operating torque applied to the operating member for steering the vehicle is below a certain value (24, S5 to S8) .
The steering motor imparts a steering force according to the operation torque applied to the operation member to the steering mechanism. Therefore, when a large operating torque is applied to the operating member, a large current is supplied to the steering motor, and a large steering torque is generated from the steering motor. When an accurate rotational position by the rotation sensor is not detected, if the motor is driven by a predetermined energization pattern to generate a large torque, the motor may step out. Therefore, in the present invention, the motor is driven by a predetermined energization pattern on the condition that the operation torque applied to the operation member is a predetermined value or less. Thus, the motor is continuously driven using the predetermined energization pattern under the condition that no step-out occurs when the rotation sensor fails.

また、請求項２記載の発明では、前記制御手段は、前記モータに供給すべき目標電流値を設定する目標電流値設定手段（１５，３３）を含み、この目標電流値設定手段は、前記回転センサの正常時よりも前記回転センサの故障時の方が低くなるように定められた上限値以下の範囲で目標電流値を設定するものである。
この構成によれば、回転センサの故障時には、目標電流値の上限値が低く設定される。そのため、回転センサを用いない手法によるロータ回転位置の推定を行いやすくなり、その結果、モータの駆動を継続することができる。 According to a second aspect of the present invention , the control means includes target current value setting means (15, 33) for setting a target current value to be supplied to the motor, and the target current value setting means includes the target current value setting means. Ru der those in the range it is below the upper limit value determined to be lower at the time of failure of the rotation sensor than the normal rotation sensor sets a target current value.
According to this configuration, when the rotation sensor fails, the upper limit value of the target current value is set low. Therefore, it becomes easy to estimate the rotor rotational position by a method that does not use a rotation sensor, and as a result, it is possible to continue driving the motor.

より具体的には、請求項３に記載されているように、前記モータ制御装置は、ステータに対してセンシング信号を注入するセンシング信号注入手段（６５）と、センシング信号に対応するモータの応答（電流応答または電圧応答）を検出するモータ応答検出手段（６８）と、モータ応答検出手段によって検出されたモータ応答からロータ回転位置を推定する位置推定手段（６９）とをさらに含むものであってもよい。そして、前記制御手段は、前記回転センサの故障時には、前記位置推定手段によって推定されたロータ回転位置に基づいて、前記モータを制御するものであってもよい。 More specifically, as described in claim 3, the motor control device includes a sensing signal injection unit (65) for injecting a sensing signal to the stator, and a motor response (65) corresponding to the sensing signal. a motor response detection means (68) for detecting a current response or voltage response), even those further comprising a position and estimating means (69) for estimating a rotor rotational position from the motor response detected by a motor response detection means Good. The control means may control the motor based on the rotor rotational position estimated by the position estimation means when the rotation sensor is faulty.

請求項４記載の発明に係るモータ制御装置は、前記モータの誘起電圧に基づいて当該誘起電圧のゼロクロス点および前記ロータの回転速度を求め、これらのゼロクロス点および回転速度に基づいてロータの位相を推定する手段（３５，３６，３７）をさらに含む。そして、前記制御手段は、前記回転センサの故障時には、前記推定されたロータの位相に基づいて、前記モータを矩形波駆動する。 According to a fourth aspect of the present invention, there is provided a motor control device that obtains a zero-cross point of the induced voltage and a rotational speed of the rotor based on the induced voltage of the motor, and calculates a phase of the rotor based on the zero-cross point and the rotational speed. further including means (35, 36, 37) that estimates. Then, the control means, wherein when a failure of the rotation sensor, based on the estimated rotor phase, the motor you square drive.

Claims

A motor control device for controlling a motor including a rotor and a stator facing the rotor,
A rotation sensor for detecting a rotation position of the rotor;
When the rotation sensor is normal, the motor is controlled based on the output signal of the rotation sensor. On the other hand, when the rotation sensor is out of order, the control mode is limited to the normal control mode. without using the output signal, saw including a controller for controlling the motor,
The motor is a steering motor that applies a steering force to a steering mechanism of a vehicle;
The control means drives the motor in a predetermined energization pattern on condition that an operation torque applied to an operation member for steering the vehicle is equal to or less than a predetermined value when the rotation sensor fails. , Motor control device.

A motor control device for controlling a motor including a rotor and a stator facing the rotor,
A rotation sensor for detecting a rotation position of the rotor;
When the rotation sensor is normal, the motor is controlled based on the output signal of the rotation sensor. On the other hand, when the rotation sensor is out of order, the control mode is limited to the normal control mode. Control means for controlling the motor without using an output signal,
The control means includes target current value setting means for setting a target current value to be supplied to the motor,
The target current value setting means is for setting a target current value in the range it is below the upper limit value determined to be lower at the time of failure of the rotation sensor than the normal of the rotation sensor, M o Control device.

  Sensing signal injection means for injecting a sensing signal to the stator;
  Motor response detecting means for detecting a response of the motor corresponding to the sensing signal;
  Position estimation means for estimating the rotor rotational position from the motor response detected by the motor response detection means,
  The motor control device according to claim 2, wherein the control unit controls the motor based on a rotor rotational position estimated by the position estimation unit when the rotation sensor is faulty.

A motor control device for controlling a motor including a rotor and a stator facing the rotor,
A rotation sensor for detecting a rotation position of the rotor;
When the rotation sensor is normal, the motor is controlled based on the output signal of the rotation sensor. On the other hand, when the rotation sensor is out of order, the control mode is limited to the normal control mode. Control means for controlling the motor without using an output signal;
The zero-cross point of the induced voltage based on the induced voltage of the motor and obtains the rotational speed of the rotor, seen including a means for estimating the rotor phase based on these zero-cross point and the rotational speed,
Wherein, the at the time of failure of the rotation sensor, based on the estimated rotor phase, in which the motor for driving square wave motors controller.