JP2010016981A - Motor controller and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller or the like for determining a preferential electric motor when a plurality of the electric motors are processed at the same timing. <P>SOLUTION: The motor controller 100 generates a switching signal on the basis of a torque command value determined in response to a vehicle state. The motor controller 100 has a CPU 62 determining the controlled variables of first and second motors MG1 and MG2, first interrupt request means 69 and 71 making an interrupt request so as to determine the controlled variable of the first motor, and second interrupt request means 72 and 73 making an interrupt request so as to determine the controlled variable of the second motor. The motor controller 100 further has a first predicting means 66 predicting the urgency of an interrupt request, a second predicting means 67 predicting the urgency of the interrupt request and a decision means 65 generating an interrupt to the CPU according to the interrupt request having higher urgency predicted by the first and second predicting means respectively. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an electric motor control device that generates a switching signal of an inverter that generates an AC voltage supplied to a driving electric motor based on a torque command value determined according to a vehicle situation, and a control method for the electric motor control device.

2. Description of the Related Art A drive device that drives a vehicle with an electric motor in addition to or in place of the internal combustion engine is known. In such a drive device, there may be used a configuration in which two electric motors are mounted to drive two front wheels or two rear wheels, respectively. A motor ECU (electronic control unit) that controls the electric motor has two electric motors. Each motor is controlled (for example, refer to Patent Document 1). Patent Document 1 describes an electric device in which one motor ECU controls two electric motors based on a torque command value instructed from a master CPU (for example, a hybrid ECU).
JP 2007-209116 A

  By the way, in order to control two electric motors, even if there is only one motor ECU, it is preferable in terms of control to have two CPUs. However, mounting two CPUs to control two electric motors results in an increase in cost. Also, since the state of the two electric motors is shared between the two CPUs, communication data is transmitted and received between the CPUs, and the control current value of the other electric motor reflecting the state of one of the electric motors, the other electric motor There may be a delay in the calculation of the control current value of one electric motor that reflects the state of the motor. Such a delay in calculation deteriorates control responsiveness such as mismatch between the output of the internal combustion engine and the motor output. In order to avoid this inconvenience, the performance of the inverter and the like can be improved, but the cost increases.

  It is not always impossible to control two electric motors with one CPU. However, if the processing timings of two electric motors overlap, it is necessary for one CPU to process with priority, but conventionally there is no procedure for determining which electric motor should be prioritized. There's a problem.

  Even if there is no such procedure, it is not necessary to preferentially determine the electric motor to be processed if the processing timings of the two electric motors do not overlap, but the processing timings of the two electric motors are prevented from overlapping so far. No mechanism has been proposed.

  In view of the above problems, an object of the present invention is to provide an electric motor control device and a control method capable of determining an electric motor to be preferentially processed when processing timings of a plurality of electric motors overlap. It is another object of the present invention to provide an electric motor control device and a control method that can prevent processing timings of a plurality of electric motors from overlapping.

  In view of the above problems, the present invention provides an electric motor control device (for example, a motor) that generates a switching signal of an inverter that generates an AC voltage supplied to a driving electric motor based on a torque command value determined according to a vehicle situation. In the control device 100), based on the torque command value, a CPU for determining the control amounts of the first and second motors, and a first interrupt request means for requesting an interrupt to determine the control amounts of the first motor (for example, Counter timer 69, carrier / PWM generator 71), and second interrupt request means for making an interrupt request to determine the control amount of the second motor (for example, counter timer 73, carrier / PWM generator 72), When the first interrupt request means makes an interrupt request, the first prediction means for predicting the urgency of the interrupt request and the second interrupt request means interrupt A second prediction means for predicting the urgency level of the interrupt request, and the CPU according to the interrupt request with the higher urgency level among the urgency levels predicted by the first and second prediction means, respectively. And determining means for generating an interrupt.

  It is possible to provide an electric motor control device and a control method capable of determining an electric motor to be preferentially processed when processing timings of a plurality of electric motors overlap.

The best mode for carrying out the present invention will be described below with reference to the drawings.
The motor control device 100 controls two motor generators (hereinafter referred to as MG) by a single mounted CPU.
1) Predict the deadline time of the interrupt processing of each of MG1 and MG2, and give priority to the processing for MG control (hereinafter referred to as control processing) having a close deadline time. The deadline time is a time predicted to be interrupted next time.
2-1) If the interrupt times of MG1 and MG2 are approximately the same or are in a multiple relationship, the phase of the carrier wave of MG1 is shifted.
2-2) When the interrupt times of MG1 and MG2 are similar or in a multiple relationship, adjust the duty indication of the PWM signal so that the electrical angle timing of one of MG1 or MG2 is shifted by 1/2 of the minimum interrupt interval To do.

1), the priority of the control processes of MG1 and MG2 can be determined, and the time until the process for controlling MG1 and MG2 is completed can be guaranteed.
According to 2-1) and 2-2), it is possible to avoid overlapping of the timings of the control processes of MG1 and MG2, and to prevent the processing load from being concentrated on one CPU. Further, the processing load can be leveled, and MG1 and MG2 can be controlled in a stable state by one CPU.

  FIG. 1 is a schematic configuration diagram of a hybrid vehicle drive system 200 to which the motor control device 100 is applied. This hybrid vehicle is an FR (front engine / rear drive) type, and includes one engine 21 and two power sources (MG1, MG2) as driving force sources.

  The engine 21 is an internal combustion engine using, for example, gasoline or light oil as fuel. An input shaft 24 in a transmission case 25 is connected to the crankshaft 22 of the engine 21 via a damper mechanism 23. In the transmission case 25, MG1 and MG2 are provided. MG1 and MG2 have both a power running function that converts electrical energy into mechanical energy and a regeneration function that converts mechanical energy into electrical energy. The MG 2 has a stator 28 and a rotor 29, and the stator 28 is fixed to the transmission case 25.

  A power distribution device 30 is provided inside the transmission case 25. The power distribution device 30 is configured by, for example, a single pinion type planetary gear. The power distribution device 30 includes a sun gear 32 formed on the hollow shaft 31, a ring gear 33 disposed concentrically with the sun gear 32, and a carrier 35 holding a pinion gear 34 that meshes with the sun gear 32 and the ring gear 33. ing. Further, the input shaft 24 and the carrier 35 are coupled together so as to rotate integrally. Moreover, the input shaft 24 is arrange | positioned in the hollow shaft 31, and the input shaft 24 and the hollow shaft 31 can rotate relatively. A brake mechanism 19 that permits or restricts the rotation of the hollow shaft 31, the rotor 29, and the sun gear 32 is provided.

  Since MG1 has the same configuration as MG2, description of the common part is omitted. A transmission 38 is provided inside the transmission case 25. The transmission 38 is composed mainly of a single pinion type planetary gear. The transmission 38 includes a sun gear 39 and a ring gear 40 arranged concentrically, a pinion gear 41 meshed with the sun gear 39 and the ring gear 40, and a carrier 42 that holds the pinion gear 41. The carrier 42 is fixed to the transmission case 25 and the ring gear 40 and the output shaft 43 are connected to each other. A clutch 45 is disposed in the power transmission path between the ring gear 40 and the output shaft 43.

  The input shaft 24 and the output shaft 43 are disposed concentrically, and the output shaft 43 and the ring gear 33 of the power distribution device 30 are coupled so as to rotate integrally. The output shaft 43 and the input member of the differential 46 are connected by a propeller shaft, and the output member of the differential 46 and the drive shaft 47 are connected. Furthermore, wheels 48 are connected to the drive shaft 47.

  MG1 and MG2 are well-known three-phase AC generator motors, and exchange electric power with the battery 53 via inverters 51 and 52. Both MG1 and MG2 are driven and controlled by the motor control device 100. For this reason, the motor control device 100 receives signals necessary for driving and controlling MG1 and MG2. For example, a rotation angle detection sensor for detecting the rotation angle of the rotor 37, a current sensor for detecting a phase current applied to the MG1, and a rotation angle detection sensor for detecting the rotation angle of the rotor 29 are arranged in MG1. A current sensor for detecting a phase current applied to the is disposed.

  The motor control device 100 outputs a switching signal (PWM signal) to the inverters 51 and 52. The motor control device 100 is in communication with the hybrid ECU 55, controls the driving of the MG1 and MG2 based on the torque command value instructed from the hybrid ECU 55, and transmits data on the operating state of the MG1 and MG2 as necessary. Output to.

  The hybrid ECU 55 includes a CPU, a ROM, a RAM, an input / output port, and a communication port. The hybrid ECU 55 is connected to an accelerator pedal position sensor that detects the amount of depression of the accelerator pedal, a brake pedal position sensor (master cylinder pressure sensor) that detects the amount of depression of the brake pedal, a vehicle speed sensor that detects wheel speed, and the like. Yes.

  The hybrid ECU 55 detects the amount of operation of the accelerator pedal by the driver using an accelerator position sensor, calculates the required torque to be output to the input shaft 24 based on this and the vehicle speed detected by the vehicle speed sensor, The engine 21 and MG1 and MG2 are controlled to operate so that the corresponding required power is output to the input shaft 24.

  As operation control of the engine 21, MG1, and MG2, there are three operation modes, for example, a torque conversion operation mode, a charge / discharge operation mode, and a motor operation mode. In the torque conversion operation mode, the operation of the engine 21 is controlled so that power corresponding to the required power is output from the engine 21, and all of the power output from the engine 21 is torque-converted by the power distribution device 30, MG1, and MG2. MG1 and MG2 are driven and controlled so as to be output to the output shaft 43.

  In the charge / discharge operation mode, the engine 21 is operated and controlled so that the power corresponding to the sum of the required power and the power required for charging / discharging the battery 53 is output from the engine 21, and the engine is accompanied by charging / discharging of the battery 53. Drive control of MG1 and MG2 is performed so that the required power by all or part of the power output from 21 and torque conversion by MG1 and MG2 is output from power distribution device 30 to input shaft 24.

  In the motor operation mode, the operation of the engine 21 is stopped and operation control is performed so that power corresponding to the required power from the MG 1 and MG 2 is output to the input shaft 24.

  FIG. 2 shows an example of a configuration diagram of the motor control device 100. The inverters 51 and 52 are omitted. The motor control apparatus 100 is embodied by a microcontroller in which a CPU core 62 that executes a program, a ROM 63 that stores a program, a RAM 64 that serves as a work memory for program execution, and the like are connected via a bus 60.

  Each of AD 68 and AD 74 is a circuit that converts an analog signal into a digital signal. In this embodiment, the phase current is A / D converted and sent to the CPU core 62. In the case of a three-phase alternating current, a U-phase current, a V-phase current, and a W-phase current can be detected. If two are detected, the remaining one can be calculated. Phase current.

  The RDs 75 and 76 calculate the rotation angles of the rotors 29 and 37 based on a signal acquired from, for example, a resolver. The resolver includes an excitation coil that forms an excitation phase, a detection coil that forms a sin phase, and a detection coil that forms a cos phase, and outputs respective output voltages to RDs 75 and 76. The RDs 75 and 76 calculate the rotation angles θ of the rotors 29 and 37 from the following equations.

θ = 1 / N · tan ⁻¹ (cos phase output voltage / sin phase output voltage)
Here, N is the axial multiple of the resolver.

  The RDs 75 and 76 can detect the rotation angle θ at every predetermined angle D (for example, 30 degrees), and output one pulse at each predetermined angle. The counter timers 69 and 73 count the pulses output from the RDs 75 and 76. Therefore, the rotation speeds of MG1 and MG2 can be calculated from the temporal changes in the count values of the counter timers 69 and 73.

  The counter timers 69 and 73 make an interrupt request to the deadline time prediction circuits 66 and 67 every predetermined counter value (for example, 3 counts) or every cycle time (for example, every 2 msec). This interrupt request is an interrupt requesting the CPU core 62 for control processing, and the time when the interrupt is requested is the interrupt time.

  The carrier / PWM generator generates a signal according to the control mode. The control mode of the motor control device 100 includes three modes: a sine wave PWM mode, an overmodulation mode, and a rectangular wave mode.

  As control modes using these control modes, there are largely asynchronous PWM control and synchronous PWM control. In asynchronous PWM, the frequency of the carrier wave (hereinafter referred to as carrier frequency) is fixed, and in synchronous PWM, the carrier frequency changes according to the number of rotations. That is, in synchronous PWM control, the carrier frequency increases in proportion to the rotation speed, so the number of carrier waves existing in one electrical angle cycle (hereinafter referred to as carrier wave number) is fixed. Although the prediction method of the deadline time varies depending on these two control modes, the above three control modes can be used in either mode.

  3A shows an example of the PWM signal in the sine wave PWM mode, FIG. 3B shows an example of the PWM signal in the rectangular wave mode, and FIG. 3C shows an example of the overmodulation mode. Both are signals for one phase.

  In the sine wave PWM mode, the fundamental wave (output voltage fundamental wave) determined according to the current value determined based on the torque command value is compared with a triangular wave (carrier wave) having a predetermined carrier frequency, and the duty of the PWM signal is compared. Determine the ratio. The motor current flowing through the coils of MG1 and MG2 is a substantially sinusoidal current corresponding to the duty ratio. In the rectangular wave mode, the motor current is controlled by setting the duty ratio to 100%, and the motor current at this time is a rectangular wave. In the rectangular wave mode, the on-timing of each phase switching element is determined by the motor current phase of each phase. The overmodulation mode is a mode in which a sine wave PWM mode and a rectangular wave mode are mixed, and a PWM signal in which a part of the PWM signal in the sine wave PWM mode is a rectangular wave is generated by adjusting the fundamental wave. The switching elements of the inverters 51 and 52 are turned on / off by the PWM signal generated according to these modes.

  The carrier / PWM generators 71 and 72 switch the three control modes according to the maps provided according to the rotational speeds and torques of the MG1 and MG2, respectively, and output PWM signals. The control mode after switching is set in the control mode / rotation speed register 61 for each of MG1 and MG2. The control mode / rotation number register 61 also stores the rotation numbers of MG1 and MG2, and is used when the deadline time prediction circuit 67 predicts the deadline time.

  In general, the sine wave PWM mode is used in the region where the rotational speed is low and the absolute value of the torque is low, and the overmodulation mode is used in the region where the absolute value of the rotational speed and the torque is medium, and the rotational value is high and the absolute value of the torque In the high region, the rectangular wave mode is set.

  The carrier / PWM generators 71 and 72 output an interrupt request for causing the deadline time prediction circuits 66 and 67 to predict the deadline time. This interrupt request is an interrupt requesting the CPU core 62 for control processing, and the time when the interrupt is requested becomes the interrupt time. For example, in the case of the sine wave PWM mode and the overmodulation mode, the timing for outputting the interrupt request is every half of the carrier wave period (hereinafter, the carrier wave period is T), and in the rectangular wave mode. As described below, it is calculated from the resolution of the resolver and the number of pole pairs. Therefore, both the carrier / PWM generators 71 and 72 and the counter timers 69 and 73 generate an interrupt request.

1) Prediction of deadline time The prediction of deadline time will be described. The deadline time prediction circuit 66 predicts the deadline time of MG1 every time the carrier / PWM generator 71 or the counter timer 69 outputs an interrupt request, and the deadline time prediction circuit 67 Alternatively, every time the counter timer 73 outputs an interrupt request, the deadline time of MG2 is predicted.

  The deadline time is a time when the next interrupt request can occur. Therefore, the deadline time can be predicted by adding the minimum interrupt interval to the interrupt time at which the most recent interrupt request is output.

a) In the case of asynchronous PWM control In the asynchronous PWM control, the minimum interrupt interval can be calculated from the carrier frequency in the sine wave PWM mode and the overmodulation mode in which the PWM signal is generated using the carrier wave. As described above, since the carrier / PWM generators 71 and 72 output an interrupt request in the cycle time of half the period T of the carrier wave, the minimum interrupt interval is as follows. The carrier frequency is acquired from the carrier / PWM generators 71 and 72.

Minimum interrupt interval = 1 / (carrier frequency x 2)
In the rectangular wave mode of asynchronous PWM control, the minimum interrupt interval is determined from the following equation. Note that D is known because it is a resolution when the RDs 75 and 76 detect the rotation angle θ (for example, 30 degrees), but since the value of D is variable, the minimum interrupt interval is also variable.

Minimum interrupt interval = 1 / {number of revolutions x (360 / D) x number of pole pairs x (1/60)}
From the above, the deadline time is predicted from the following equation.

・ Sine wave PWM mode / overmodulation mode Deadline time = Interrupt time + 1 / (Carrier frequency x 2) (1)
・ Square wave mode Deadline time = Interrupt time + 1 / {Number of rotations x (360 / D) x Number of pole pairs x (1/60)}) (2)
b) In the case of synchronous PWM control Since the carrier wave number in one cycle of electrical angle is fixed, the minimum interrupt interval is also determined from the carrier wave number.

Minimum interrupt interval = 1 / [number of revolutions x {360 / (360 / carrier wave number)} x number of pole pairs x (1/60)]
Therefore, the deadline time is predicted from the following equation.

・ Sine wave PWM mode / overmodulation mode / rectangular wave mode Deadline time = interrupt time + 1 / [number of revolutions × {360 / (360 / carrier wave number)} × number of pole pairs × (1/60)] (3)
The deadline time prediction circuit 66 reads the control mode of MG1 and the rotation speed of MG1 from the control mode / revolution number register 61, and the deadline time prediction circuit 67 reads the control mode of MG2 and the control mode MG2 from the control mode / revolution number register 61. And the deadline time is predicted using any one of the formulas (1) to (3) according to the control mode. The predicted deadline time is input to the interrupt processing determination circuit 65, and the interrupt processing determination circuit 65 gives priority to the closer deadline time and causes the CPU core 62 to generate an interrupt.

2-1) MG1 carrier wave phase adjustment The carrier / PWM generators 71 and 72 output an interrupt request at every minimum interrupt interval, but the carrier / PWM generator 71 and the carrier / PWM generator 72 are interrupted. If the times are approximately the same, the deadline times are also approximately the same, and the processing of the CPU core 62 may not be sufficiently leveled. The same level can be estimated as a case where there is only a deviation of about 1/10 to 1/20 of the period T of the carrier wave, but this is determined from the viewpoint of whether the processing is concentrated on the CPU core 62 or not. Therefore, it is variable according to the processing capability of the CPU core 62.

  A) In the control mode of the sine wave PWM mode or the variable length mode in the case of asynchronous PWM control, an interrupt request is output every T / 2 that is half the period T of the carrier wave, so that the carrier / PWM generator 71 and the carrier The interrupt time of the PWM generator 72 is about the same when the phase of the carrier wave is about the same.

  FIG. 4A shows an example of a carrier wave when the phases generated by the carrier / PWM generator 71 and the carrier / PWM generator 72 are the same phase. In the same phase, it can be seen that the interrupt time is the same for each interrupt request. Although FIG. 4A shows the case of the same phase, the interruption time is similarly the same in the case of the opposite phase.

  In such a case, the phase of the carrier wave of one (for example, carrier / PWM generator 71) may be delayed or advanced for a time less than T / 2 (hereinafter simply referred to as “adjustment”). Since the interruption time between the two is the largest when the phase is shifted by “cycle T × 1/4”, it is preferable to adjust the phase of the carrier wave by “cycle T × 1/4”.

  By adjusting the phase of the carrier wave of one of the carrier / PWM generator 71 and the carrier / PWM generator 72 by “period T × 1/4”, the difference between the two interrupt times can be maximized. The concentration of processing can be prevented.

  Even if the phases of the two carrier waves are not the same, the interrupt times of the carrier / PWM generator 71 and the carrier / PWM generator 72 may be approximately the same. When the initial phase is zero, the interruption time is approximately the same twice for each common multiple of the period T ′ of one carrier wave and the period T ”of the other carrier wave.

  If it is twice for each common multiple, the interrupt time is not often the same, but on the other hand, the period T ′ (= nT ″) of one carrier wave is an integer of the period T ″ of the other carrier wave. If it is a multiple (multiple) (for example, if the period of one carrier wave is 2T and the period of the other carrier wave is T), the interrupt time is the same for each period T ″. In the case of an interrupt request by a carrier wave, the two interrupt times are the same for each interrupt request.

  FIG. 4B shows another example of the carrier wave when the interrupt times are approximately the same. As shown in the figure, the interrupt time is approximately the same for each cycle T of MG1. Therefore, it is preferable to adjust the phase of the carrier wave even when the period of one carrier wave is a multiple of the period of the other carrier wave. A preferable phase adjustment amount in this case is “cycle T × 1/4” (when “cycle T × 1/2” is set, the interrupt time after adjustment becomes approximately the same). As shown in the figure, it is possible to prevent the interruption times from becoming the same level by shifting the phase by “period T × 1/4” of the carrier wave.

  Note that the interrupt processing determination circuit 65 detects that the interrupt times are comparable. The interrupt processing determination circuit 65 detects the interrupt times generated by the carrier / PWM generators 71 and 72 from the deadline times predicted by the deadline time prediction circuits 66 and 67, respectively. To compare. Further, when the cycle of one carrier wave T ′ is a multiple of the cycle T ”of the other carrier wave, the interrupt time is approximately the same for each cycle T” of the one carrier wave. Is detected.

2-2) Adjustment of PWM duty indication]
In the rectangular wave mode of asynchronous PWM control and the sine wave PWM mode / overmodulation mode / rectangular wave mode of asynchronous PWM control in which the carrier wave is not used or the carrier wave changes with the rotation speed, a PWM signal is generated. The electrical angle timing is shifted by 1/2 of the minimum interrupt interval (advanced or delayed) by adjusting the duty instruction. Since the interruption time is shifted by adjusting the electrical angle timing, the same effect as the case of adjusting the phase of the carrier wave can be obtained.

  FIG. 5 is a diagram schematically showing a block diagram for adjusting the duty instruction of the PWM signal. The electrical angle timing defines at what timing the current flows through the coil in accordance with the relative position between each rotor magnetic pole of the rotor 29 and each stator magnetic pole of the stator 28. It may be called current advance angle or current retard angle. By adjusting the PWM duty indication, the electrical angle timing can be shifted 1/2 of the minimum interrupt interval (for example, if the phase current is peak when the rotor magnetic pole and the stator magnetic pole are in front, the rotor magnetic pole and the stator The phase is shifted so that the peak does not come when the magnetic pole is directly in front.)

  When the CPU core 62 receives the torque command value from the hybrid ECU 55, the CPU core 62 generates a PWM signal by a known procedure. Specifically, the CPU core 62 generates a current command for outputting a torque corresponding to the torque command value based on the torque command value, the rotational speed of the MG1, and the like. The generated current command is input to the subtracter 81 together with the current value detected by the AD 68.

  The deviation between the current command output from the subtractor 81 and the current value is input to the PI control unit 82. The PI control unit 82 calculates a voltage operation amount for adjusting a current flowing through the motor using a PI gain with respect to the deviation. The calculated voltage manipulated variable is converted into three phases by a two-phase / three-phase converter (not shown), and is output to the carrier / PWM generation circuit 71 via the delay circuit 83. The carrier / PWM generation circuit 71 generates a PWM signal corresponding to the voltage operation amount for each phase according to each control mode, and outputs the PWM signal to the inverter 51.

  The adder 84 adds ½ of the minimum interrupt interval to the interrupt time (generated by the counter timer 73 or the carrier / PWM generator 72) of MG2, and outputs the result to the subtracter 85. Since the interrupt time (generated by the counter timer 69 or the carrier / PWM generator 71) of MG1 is output to the subtracter 85, the value obtained by adding 1/2 of the minimum interrupt interval to the interrupt time of MG2 Subtract MG1 interrupt time. When the interruption time of MG2 of the interruption time of MG1 is approximately the same by this subtraction, a time that is 1/2 of the minimum interruption interval is obtained. Next, the filter unit 86 excludes (filters) a value equal to or less than ¼ of the minimum interruption interval from the subtraction result, and outputs the result to the PI operation unit 87. The PI calculation unit 87 calculates the adjustment amount according to the subtraction result, that is, the adjustment amount of the PWM signal for shifting the time by half of the minimum interrupt interval. Since this adjustment amount is output to, for example, the delay circuit 83, the voltage operation amount input to the carrier / PWM generation circuit 71 can be shifted by a half of the minimum interrupt interval.

[Control Procedure by Motor Control Device 100]
FIG. 6 shows an example of a flowchart showing a procedure for the motor control device 100 to control MG1 and MG2. In the present embodiment, since the phase of the carrier wave of MG1 or the duty instruction of PWM is adjusted, the control of MG1 will be described below as an example. MG2 may be the control target.

  The process of the flowchart in FIG. 6 is repeatedly executed every time one of the carrier / PWM generator 71 and the counter timer 69 outputs an interrupt request (S10).

  The carrier / PWM generator 71 or the counter timer 69 outputs an interrupt request to the deadline time prediction circuit 66 (S20). The deadline time prediction circuit 66 predicts the deadline time using any one of formulas (1) to (3) according to the control mode of MG1 (S30). The control mode and the rotational speed are stored in the control mode / rotational speed register 61.

  Next, the interrupt process determination circuit 65 determines whether or not the interrupt times of MG1 and MG2 are the same for each interrupt request, or whether they are in a multiple relationship (S40).

  If the interrupt times of MG1 and MG2 are not the same for each interrupt request or are not in a multiple relationship (No in S40), it is necessary to shift the phase of the carrier wave or the electrical angle timing by 1/2 of the minimum interrupt interval. Therefore, it is determined whether it is necessary to give priority to the control process of either MG1 or MG2.

  Therefore, the interrupt process determination circuit 65 determines whether or not the CPU core 62 is executing the control process (interrupt) of MG2 (S50).

  If the CPU core 62 is not executing the control process of MG2 (No in S50), the processing timings of MG1 and MG2 do not overlap, and the interrupt process determination circuit 65 sends the MG1 to the CPU core 62 according to the interrupt request in step S10. The process is interrupted to execute the process (S110).

  When the CPU core 62 is executing the control process of MG2 (Yes in S50), the process timings of MG1 and MG2 are overlapped. Therefore, the process is preferentially performed according to the deadline time as described in 1). MG to be determined.

  When the CPU core 62 is executing the control process of MG2, since the deadline time prediction circuit 67 predicts the deadline time of MG2, the interrupt process determination circuit 65 determines whether the deadline time of MG1 or MG2 is currently It is determined whether the time is near (S60).

  As a result of the determination, if the deadline time of MG1 is closer (Yes in S60), the interrupt processing determination circuit 65 causes the CPU core 62 to generate an interrupt so as to process MG1 (S70). When the CPU core 62 processes the control of MG1 first and completes the process, the CPU core 62 executes the process of MG2 (S80).

  As a result of the determination, when the deadline time of MG2 is closer (No in S60), the interrupt processing determination circuit 65 does not cause the CPU core 62 to generate an interrupt. For this reason, the CPU core 62 executes the control process of MG2 first (S90), and when the process is completed, executes the control process of MG1 (S100).

  Returning to step S40, if the interrupt times of MG1 and MG2 are the same for each interrupt request, or if there is a multiple relationship (Yes in S40), the carrier / PWM generator 71 indicates that the control mode of MG1 is It is determined whether the sine wave PWM mode or the overmodulation mode of asynchronous PWM control is in effect (S120).

  When the control mode is the sine wave PWM mode or the overmodulation mode of asynchronous PWM control (Yes in S110), the carrier / PWM generator 71 shifts the phase of the carrier wave of MG1 by “period T × 1/4” (S130). ).

  When the control mode is neither the asynchronous PWM control sine wave PWM mode nor the overmodulation mode (No in S120), the carrier / PWM generator 71 causes the PWM signal of MG1 to deviate by 1/2 of the minimum interrupt interval. The PWM duty instruction is adjusted (S140).

  As described above, the motor control device 100 according to the present embodiment can determine the electric motor to be preferentially processed when the processing timings of the plurality of electric motors overlap, and can process the plurality of electric motors. It is possible to prevent timing from overlapping.

It is an example of the schematic block diagram of the drive system of the hybrid vehicle to which the motor control apparatus is applied. It is an example of the block diagram of a motor control apparatus. It is a figure which shows an example of the PWM signal in an angle control mode. It is a figure which shows an example of the carrier wave which two carrier * PWM generators generate | occur | produce. It is an example of the figure which shows typically the block diagram which adjusts the duty instruction | indication of a PWM signal. It is an example of the flowchart figure which shows the procedure in which a motor control apparatus controls MG1 and MG2.

Explanation of symbols

51, 52 Inverter 55 Hybrid ECU
62 CPU core 65 Interrupt processing judgment circuit 66, 67 Deadline time prediction circuit 69, 73 Counter timer 71, 72 Carrier / PWM generator 75, 76 RD
100 Motor control device MG1, MG2 Motor generator

Claims (8)

In an electric motor control device for generating a switching signal of an inverter that generates an AC voltage supplied to a driving electric motor based on a torque command value determined according to a vehicle situation,
A CPU for determining control amounts of the first and second motors based on the torque command value;
First interrupt request means for requesting an interrupt to determine a control amount of the first motor;
A second interrupt request means for requesting an interrupt to determine a control amount of the second motor;
First prediction means for predicting the urgency level of the interrupt request when the first interrupt request means makes an interrupt request;
Second prediction means for predicting the urgency of the interrupt request when the second interrupt request means makes an interrupt request;
Judgment means for causing the CPU to generate an interrupt in accordance with an interrupt request with a higher urgent degree among the urgent degrees predicted by the first and second predicting means,
An electric motor control device comprising: The first predicting means predicts a first deadline time requested to be interrupted next time by the first interrupt requesting means,
The second predicting means predicts a second deadline time that is next requested to be interrupted by the second interrupt requesting means,
The determination means prioritizes an interrupt request closer to the current time among the first and second deadline times, and causes the CPU to generate an interrupt.
The electric motor control device according to claim 1. When the difference between the first interrupt time at which the first interrupt request means has requested an interrupt and the second interrupt time at which the second interrupt request means has requested an interrupt is within a predetermined range,
A first phase of a first carrier wave used to generate the switching signal for a first motor, or
Carrier wave generating means for shifting the second phase of the second carrier wave used for generating the switching signal for the second electric motor by a predetermined period less than ½ period of the carrier wave;
The electric motor control device according to claim 1 or 2, The difference between the first interrupt time and the second interrupt time is not within the predetermined range for one interrupt request, but is within the predetermined range for each interrupt request. When entering,
The carrier wave generating means includes
Shifting the phase of the first or second carrier wave by a predetermined period of less than ½ period,
The electric motor control device according to claim 3. The carrier wave generating means includes
Shift the phase of the first or second carrier wave by ¼ period,
The electric motor control apparatus according to claim 3 or 4, wherein When the difference between the first interrupt time at which the first interrupt request means has requested an interrupt and the second interrupt time at which the second interrupt request means has requested an interrupt is within a predetermined range,
The switching signal is adjusted such that the timing at which the AC voltage is applied to the relative position between the rotor magnetic pole and the stator magnetic pole of the first electric motor is shifted by approximately half the time interval requested by the first interrupt request means. Adjustment means,
The electric motor control device according to claim 1, wherein the electric motor control device is provided. The difference between the first interrupt time and the second interrupt time is not within the predetermined range for one interrupt request, but is within the predetermined range for each interrupt request. When entering,
The adjusting means adjusts the switching signal so that the timing is shifted by approximately half of the time interval at which the first interrupt requesting means makes an interrupt request.
The motor control device according to claim 6. In a control method of an electric motor control device that generates a switching signal of an inverter that generates an alternating voltage supplied to an electric motor for driving based on a torque command value determined according to a vehicle situation,
A first interrupt requesting means for requesting an interrupt to determine a control amount of the first motor;
A second interrupt requesting means for requesting an interrupt to determine a control amount of the second electric motor;
The first predicting means predicting the urgency level of the interrupt request when the first interrupt requesting means makes an interrupt request;
The second predicting means predicting the urgency level of the interrupt request when the second interrupt requesting means makes an interrupt request;
A step of causing the CPU to generate an interrupt in accordance with an interrupt request having a higher urgent level among the urgent levels predicted by the first and second predicting units;
The CPU determining a control amount of the interrupted first or second electric motor based on the torque command value;
A control method characterized by comprising:

Images