JP2012170214A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect an excitation phase shift based on motor behavior to correct the excitation phase shift.SOLUTION: A transmission mechanism 3 has a manual lever 3a switched between a parking position and a non-parking position. The manual lever 3a is driven by an SR type motor 12. A rotational position of the motor 12 is detected by an encoder 13. A control device 11 counts a signal from the encoder 13 to compute a count value N indicating a position of a rotor. The control device 11 selects an excitation phase based on the count value N to drive the motor 12. The control device 11 detects the excitation phase shift based on a speed for switching between the parking position and the non-parking position to determine a direction of the excitation phase shift. The control device 11 corrects the detected excitation phase shift. The excitation phase shift can be detected and corrected without depending only on initialization processing including excitation phase learning processing and wall abutment processing.

Description

  The present invention relates to a motor control device that detects the rotational position of a motor (rotor) using an encoder and controls energization of the motor.

  2. Description of the Related Art Conventionally, a motor control device that detects the rotational position of a motor (rotor) using an encoder and controls energization of the motor is known. For example, Patent Documents 1 to 3 disclose an apparatus using an SR (Switched Reluctance) motor. In this apparatus, the excitation phase of the motor is determined so as to feedback control the motor. When an SR motor that rotates the rotor by switching the excitation phase is used, initialization processing is required at an appropriate timing in order to specify the position of the rotor and execute energization control. This initialization process may include at least one of a process of specifying the correspondence between the rotor position and the excitation phase and a process of specifying a reference position for recognizing the rotor position.

  For example, Patent Document 4 discloses an apparatus using an SR motor. In this apparatus, processing for learning the correspondence between the rotor position and the excitation phase is executed at the start of control. Such a process is called, for example, an excitation phase learning process. In this process, the excitation phase is cycled through a predetermined time schedule, and the encoder output during that period is observed. And based on this observation result, the excitation phase in subsequent normal drive is determined.

  Further, Patent Document 5 discloses an apparatus that determines an abnormality based on an encoder signal after the excitation phase learning process and executes the excitation phase learning process again. In this apparatus, the pattern of the A phase signal and the B phase signal immediately after the excitation phase learning is performed is confirmed, and when the two-phase energization is not performed, the excitation phase learning is performed again.

JP 2004-23931 A JP 2004-129451 A JP 2004-129552 A JP 2004-15849 A JP 2009-112151 A

  In the configuration of the prior art, it is possible to correct an erroneous control state only at the timing immediately after the excitation phase learning process. For this reason, after shifting to normal control, there has been a problem that an incorrect control state cannot be detected and corrected. For example, the calculated value indicating the rotational position calculated based on the learning value may deviate from the value corresponding to the actual rotational position due to the influence of external noise or the like during normal control. In such a case, feedback control is executed based on an incorrect calculated value. As a result, it becomes difficult to control the motor to a desired state. For example, the responsiveness and controllability of the motor may be deteriorated.

  Further, in the configuration of the conventional technique, when an abnormality is determined, the excitation phase learning process is executed again. For this reason, there is a problem that a long waiting time is required until the excitation phase learning is completed.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control device capable of detecting an excitation phase shift based on the behavior of the motor and correcting the excitation phase shift. It is.

  The present invention employs the following technical means to achieve the above object.

  According to the first aspect of the present invention, a motor (12) that moves a control object between at least two positions, an encoder (13) that outputs a signal for each predetermined rotation angle of the motor, and an output from the encoder Control means (21d) for controlling the motor by switching the excitation phase of the motor based on the signal, and detection for detecting the deviation of the excitation phase applied to the motor based on the behavior of the motor indicated by the encoder signal Means (21b) and correction means (21c) for correcting the deviation of the excitation phase detected by the detection means.

  According to this configuration, the excitation phase shift can be detected based on the behavior of the motor, and the excitation phase can be corrected in accordance with the detected excitation shift. Therefore, the excitation phase shift can be corrected without depending on the initialization process including the excitation phase learning process. As a result, it is possible to suppress the occurrence of a long waiting time required for the initialization process.

  According to a second aspect of the present invention, the detection means is based on the rotational speed (Tn, Tp) of the motor and the predetermined reference values (Tnth, Tpth) when the control object is moved between two positions. It is characterized by detecting a deviation of the excitation phase applied to the motor. According to this configuration, the excitation phase shift can be detected based on the rotation speed of the motor.

  According to a third aspect of the present invention, the detection means has an abnormal value of the rotational speed (Tn) of the motor when the control object is moved toward the first position (non-P), and the control object When the rotational speed (Tp) of the motor when the motor is moved toward the second position (P) is an abnormal value, the deviation of the excitation phase applied to the motor is detected.

  According to this configuration, both the rotation speed of the motor when the control object is moved toward the first position and the rotation speed of the motor when the control object is moved backward toward the second position. Based on this, the deviation of the excitation phase is detected. For this reason, it is possible to accurately detect the deviation of the excitation phase.

  According to a fourth aspect of the present invention, the detection means has a motor rotation speed (Tn) slower than the first reference value (Tnth) when the control object is moved toward the first position (non-P). When the motor has an abnormal value and the rotational speed (Tp) of the motor when the control object is moved toward the second position (P) is an abnormal value faster than the second reference value (Tpth), the motor First detecting means (154-155, 354-355) for detecting a first deviation of the excitation phase given to the motor, and a motor when the control object is moved toward the first position (non-P) The rotational speed (Tn) of the motor is an abnormal value faster than the first reference value (Tnth), and the rotational speed (Tp) of the motor when the control object is moved toward the second position (P) is Given to the motor when the abnormal value is slower than the second reference value (Tpth) Second correction means (158-159, 358-359) for detecting a second deviation of the excitation phase, and the correction means corrects the excitation phase in a direction according to the first deviation. (156, 356) and second correction means (160, 360) for correcting the excitation phase in the direction according to the second deviation.

  According to this configuration, the combination of the rotation speed of the motor when the control object is moved toward the first position and the rotation speed of the motor when the control object is moved back toward the second position. Based on the above, it is possible to determine the direction of excitation phase shift. For this reason, the excitation phase can be corrected in the direction according to the determination result.

  According to a fifth aspect of the present invention, the detecting means detects the rotational speed (Tn) of the motor when the control object is moved from the second position (P) to the first position (non-P), and the control object. Based on the rotational speed (Tp) of the motor when the motor is moved from the first position (non-P) to the second position (P), the excitation phase shift applied to the motor is detected. .

  According to this configuration, the rotation speed of the motor when the control object is moved from the second position to the first position and the rotation of the motor when the control object is moved back from the first position to the second position are reversed. The excitation phase shift can be detected based on the speed. For this reason, it is possible to accurately detect the deviation of the excitation phase.

  According to a sixth aspect of the present invention, the detection means moves the control object from the first position to the second position and the time (Tn) required to move the control object from the second position to the first position. The deviation of the excitation phase given to the motor is detected on the basis of the time (Tp) required for the operation. According to this configuration, the excitation phase shift can be detected based on the time required for the movement.

  According to a seventh aspect of the present invention, the correction means sets the excitation phase correction amount in accordance with the amount of deviation between the motor rotation speed (Tn, Tp) and the reference value (Tnth, Tpth). (356, 360). According to this configuration, it is possible to set a correction amount according to the deviation amount. For this reason, it is possible to deal with a wide range of deviations.

  The invention according to claim 8 is characterized in that the setting means sets the correction amount to a larger value as the deviation amount increases. According to this configuration, the correction amount can be increased as the deviation amount increases.

  The invention described in claim 9 is characterized in that the detection means includes compensation means (258) for compensating for fluctuations in the behavior of the motor in accordance with the power supply voltage (VB) of the motor. According to this configuration, it is possible to compensate for changes in the behavior of the motor due to fluctuations in the power supply voltage. For this reason, the influence of fluctuations in the power supply voltage can be suppressed, and the excitation phase shift can be accurately detected.

  According to the tenth aspect of the present invention, the detection means detects the excitation phase shift when the motor rotor is stopped, and the correction means detects the excitation phase shift when the motor rotor is stopped. It is characterized by correcting. According to this configuration, when the rotor of the motor is stopped, the excitation phase shift is detected, and the excitation phase shift is corrected. For this reason, an undesirable behavior of the motor accompanying the correction of the excitation phase can be avoided.

  Note that the reference numerals in parentheses described in the claims and the above-described means indicate the correspondence with the specific means described in the embodiments described later as one aspect, and are technical terms of the present invention. It does not limit the range.

It is a block diagram which shows the shift-by-wire apparatus which concerns on 1st Embodiment to which this invention is applied. It is sectional drawing which shows the SR motor of 1st Embodiment. 3A and 3B are time charts showing the operation of the shift-by-wire device according to the first embodiment, in which FIG. 3A is a waveform diagram showing whether a motor is energized, and FIG. 3B is a waveform diagram showing a count value indicating the position of a rotor. 4A and 4B are time charts showing the operation of the shift-by-wire device of the first embodiment, in which FIG. 4A is a waveform diagram showing a target position, FIG. 4B is a waveform diagram showing a detection position, and FIG. 4C is a waveform diagram showing a count value. 5A is a time chart showing the operation of the shift-by-wire device of the first embodiment, FIG. 5A is a waveform diagram showing a target position, FIG. 5B is a waveform diagram showing a detection position, and FIG. 5C is a waveform diagram showing a count value. It is a flowchart which shows the action | operation of the shift-by-wire apparatus of 1st Embodiment. It is a table | surface which shows the relationship between the excitation phase and count position of 1st Embodiment. It is a table | surface which shows the relationship between the excitation phase and count position of 1st Embodiment. 9A is a time chart showing the operation of the shift-by-wire device according to the second embodiment to which the present invention is applied, FIG. 9A is a waveform diagram showing a target position, FIG. 9B is a waveform diagram showing a detection position, and FIG. 9C is a count value. FIG. It is a flowchart which shows the action | operation of the shift-by-wire apparatus of 2nd Embodiment. It is a flowchart which shows the action | operation of the shift-by-wire apparatus of 3rd Embodiment to which this invention is applied. It is a map which shows the correction process of 3rd Embodiment. It is a map which shows the correction process of 3rd Embodiment.

  A plurality of modes for carrying out the present invention will be described below with reference to the drawings. In each embodiment, parts corresponding to the matters described in the preceding embodiment may be denoted by the same reference numerals, and redundant description may be omitted. When only a part of the configuration is described in each mode, the other modes described above can be applied to the other parts of the configuration. Not only combinations of parts that clearly show that combinations are possible in each embodiment, but also combinations of the embodiments even if they are not explicitly stated unless there is a problem with the combination. Is also possible.

(First embodiment)
(First embodiment)
FIG. 1 is a block diagram showing a shift-by-wire device 1 according to a first embodiment to which the present invention is applied. A shift-by-wire device (hereinafter referred to as SBW device) 1 is mounted on a vehicle. The SBW device 1 includes a vehicle power source 2, a transmission mechanism 3, and a control device 11. The power source 2 includes both an internal combustion engine and an electric motor. This vehicle is a so-called hybrid vehicle that can be driven by both or either of the internal combustion engine and the electric motor. The transmission mechanism 3 transmits the power supplied from the power source 2 to the drive wheels of the vehicle. The transmission mechanism 3 can switch its power transmission state to a plurality of states. For example, the transmission mechanism 3 is provided by an automatic transmission for a vehicle. The power transmission state provided by the transmission mechanism 3 is also called a shift position, a shift range, a shift position, or the like. The power transmission state provided by the transmission mechanism 3 can include a non-parking position as the first position and a parking position as the second position. The parking position is denoted as P in this specification and the drawings. At the parking position, the transmission mechanism 3 interrupts the transmission of power and restrains the drive wheels to prohibit the movement of the vehicle. The non-parking position is denoted as non-P in this specification and the drawings. In the non-parking position, the transmission mechanism 3 transmits power and allows the vehicle to move by the power source 2. The transmission mechanism 3 has a manual lever 3a for switching the power transmission state as described above. The manual lever 3a is movable between at least two positions, a P position and a non-P position. The manual lever 3a is a control object in a motor control device provided by the control device 11. The transmission mechanism 3 has walls 3b and 3c that mechanically restrain movement of the manual lever 3a at both ends of the operable range of the manual lever 3a. The walls 3b and 3c can be provided in a speed reduction mechanism for driving the manual lever 3a. A P wall 3b is provided at a position where the manual lever 3a is further moved beyond the P position from the center of the operable range of the manual lever 3a. A non-P wall 3c is provided at a position where the manual lever 3a is further moved beyond the non-P position from the center of the operable range of the manual lever 3a.

  The control device 11 moves the manual lever 3a according to the position of the lever operated by the driver of the vehicle. The lever can be selectively operated to a P position or a non-P position. The control device 11 includes an electric motor (hereinafter referred to as a motor) 12 that moves the position of the manual lever 3a. The motor 12 is a three-phase switched reluctance (SR type) (Switched Reluctance) motor. The control device 11 constitutes a motor control device.

  FIG. 2 is a cross-sectional view showing the SR motor of the first embodiment. The motor 12 includes a 12-pole stator 12a, a three-phase coil 12b provided on each pole, and a 12-pole rotor (hereinafter referred to as a rotor) 12c. Three-phase coil 12b has a U phase, a V phase, and a W phase. These three-phase coils 12b are energized in a predetermined pattern, and the rotor 12c rotates by exciting the stator 12a. In this configuration, it is necessary to excite an appropriate phase coil in order to rotate the rotor 12c. For this reason, it is necessary to specify the position of the rotor 12c correctly. Moreover, it is necessary to specify the relationship between the position of the rotor 12c and an appropriate excitation phase.

  Returning to FIG. 1, the control device 11 includes an encoder 13. The encoder 13 is an incremental encoder. The encoder 13 is connected to the rotating shaft of the motor 12. The encoder 13 outputs a signal for each predetermined rotation angle of the motor. When the motor 12 rotates, the encoder 13 outputs a multiphase signal whose phase is shifted. The polyphase signal is inverted at predetermined rotation angle intervals. The encoder 13 outputs at least an A phase signal and a B phase signal. The level of the A phase signal is inverted every predetermined rotation angle. The phase of the B phase signal is shifted from the phase of the A phase signal, and the level is inverted every predetermined rotation angle.

  The control device 11 includes a plurality of control devices. The control device 11 includes a range switching electronic control device (hereinafter referred to as a range ECU) 14 and a hybrid vehicle electronic control device (hereinafter referred to as a hybrid ECU) 15. Furthermore, the control device 11 is configured to be capable of information communication with other vehicle-mounted electronic control devices via the vehicle-mounted network 16. Other on-vehicle electronic control devices may include an electronic control device (hereinafter referred to as a body ECU) 17 for body equipment that controls a vehicle meter or the like. The range ECU 14 and the hybrid ECU 15 are directly supplied with electric power from the in-vehicle battery 18. The power source that is directly and constantly supplied from the battery 18 to the range ECU 14 is also referred to as a BATT power source. Further, the range ECU 14 is also supplied with power from the hybrid ECU 15. The power supplied from the hybrid ECU 15 to the range ECU 14 is also called a + B power supply. The hybrid ECU 15 can intermittently supply + B power.

  The range ECU 14 includes a microcomputer (hereinafter referred to as a microcomputer) 21. The microcomputer 21 includes counting means (hereinafter referred to as a counter) 21 a that calculates a count value N indicating the rotational position of the motor 12 by counting the A-phase signal and the B-phase signal output from the encoder 13. The count value N is calculated by counting the A-phase signal and the B-phase signal from the reference position specified by the initialization process. The microcomputer 21 includes detection means 21 b that detects a deviation of the excitation phase applied to the motor 12 based on the behavior of the motor 12 indicated by the signal of the encoder 13. The detection means 21b detects the motor 12 on the basis of an index (Tn, Tp) indicating the rotation speed of the motor 12 when the manual lever 3a is moved between two positions and a predetermined reference value (Tnth, Tpth). Detects a given excitation phase shift. The detecting means 21b detects an excitation phase shift by detecting a rotational speed error caused by the excitation phase shift due to the control characteristics of the control means for controlling the motor 12. The microcomputer 21 includes correction means 21c for correcting the excitation phase shift detected by the detection means 21b. The microcomputer 21 provides control means 21d for controlling the motor 12 by switching the excitation phase of the motor based on the signal output from the encoder 13. The feedback control of the motor 12 can be provided by the methods described in Patent Documents 1 to 5.

  The range ECU 14 includes an input circuit 23 that inputs a signal from the hybrid ECU 15. A signal from the hybrid ECU 15 is input to the microcomputer 21 via the input circuit 23. The range ECU 14 includes a LAN driver 24. The LAN driver 24 is a communication device for communicating with the in-vehicle network 16. The LAN driver 24 supports a LIN (Local Interconnect Network) protocol or a CAN (Controller Area Network) protocol used for a vehicle. The LAN driver 24 receives a signal indicating the vehicle speed transmitted from the body ECU 17 and inputs the signal to the microcomputer 21.

  The range ECU 14 includes a three-phase driver 25 and an input circuit 26. The three-phase driver 25 is a drive circuit that intermittently energizes the three-phase coil 12b of the motor 12. The microcomputer 21 controls the energization of the motor 12, that is, the excitation state of the motor 12 by controlling the three-phase driver 25. The input circuit 26 receives at least the A-phase signal and the B-phase signal from the encoder 13 and inputs the A-phase signal and the B-phase signal to the microcomputer 21.

  The range ECU 14 includes a power supply circuit 27. The power supply circuit 27 inputs BATT power from the battery 18 and + B power from the hybrid ECU 15. The power supply circuit 27 supplies power to a plurality of devices in the range ECU 14 based on the BATT power supply and the + B power supply.

  The hybrid ECU 15 outputs a range switching signal from the P position to the non-P position or a range switching signal from the non-P position to the P position. The hybrid ECU 15 detects the state of the lever operated by the driver, and outputs a range switching signal according to the state. The range switching signal is input to the microcomputer 21 via the input circuit 23.

  The control devices 14, 15, and 17 are provided by a microcomputer having a computer-readable storage medium. The storage medium stores a computer-readable program. The storage medium can be provided by a memory. The program is executed by the control devices 14, 15, and 17 to cause the control devices 14, 15, and 17 to function as the devices described in this specification, and to execute the control method described in this specification. The control devices 14, 15, and 17 are caused to function. The means provided by the control devices 14, 15, and 17 can also be referred to as functional blocks or modules that achieve a predetermined function.

  FIG. 3 is a time chart showing an example of the operation of the SBW device 1 of the first embodiment. FIG. 3A is a waveform diagram showing whether or not the motor is energized. FIG. 3B is a waveform diagram showing a count value indicating the position of the rotor. In the figure, a case where an excitation phase learning process and a wall contact process are performed is illustrated. The solid line indicates the actual value of the count value N. The alternate long and short dash line indicates the target value of the count value N. The range ECU 14 includes an excitation phase learning process and a wall contact process in normal control means for controlling the motor 12 so as to move the position of the manual lever 3a to the target position. The range ECU 14 executes the excitation phase learning process and the wall contact process when it is determined that initialization is necessary, such as at the first activation after resetting or when an abnormality is detected. In the illustrated example, when the range ECU 14 is activated at time t0, the range ECU 14 executes an excitation phase learning process. In the excitation phase learning process, the synchronous position of the motor 12 is searched by driving the motor 12 in a predetermined pattern as illustrated between the time t1 and the time t2. In addition, the range ECU 14 may execute a wall hitting process. In the wall contact process, as shown between time t3 and time t4, when a movable part including the manual lever 3a and the motor 12 is pressed against the P wall, and between time t5 and time t6. As shown, the movable part may be pressed against the non-P wall. In the wall contact process using the P wall, the target value is set at a position beyond the P wall. In the wall contact process using the non-P wall, the target value is set at a position beyond the non-P wall.

  FIG. 4 is a time chart showing the operation of the SBW device 1 of the first embodiment. FIG. 4A is a waveform diagram showing the target position. FIG. 4B is a waveform diagram showing detection positions. FIG. 4C is a waveform diagram showing the count value N.

  First, it is assumed that the initialization process including the excitation phase learning process is normally executed, and that the count value N counted based on the initialization process accurately indicates the actual rotational position of the rotor 12c. . In this case, the excitation phase of the motor 12 is selected by the control means 21d so as to rotate the motor 12 at a desired speed toward the target position, and further switched in order.

  The behavior of the motor 12 during such normal operation is indicated by a broken line. When the target value is switched from the P position to the non-P position at time t1, the motor 12 is controlled to move the manual lever 3a from the P position to the non-P position. The count value N exceeds the threshold value THP for determining the P position at time t2. As a result, the detection position of the manual lever 3a changes from the P position to an undefined (UN) position. When the motor 12 further rotates, the count value N exceeds the threshold THN for non-P position determination at time t4. As a result, the detection position changes from the UN position to the non-P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops. Next, when the target value is switched from the non-P position to the P position at time t6, the motor 12 is controlled to move the manual lever 3a from the non-P position to the P position. The count value N falls below the threshold value THN at time t8. As a result, the detection position of the manual lever 3a changes from the non-P position to the UN position. When the motor 12 further rotates, the count value N falls below the threshold value THP at time t10. As a result, the detection position changes from the UN position to the P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops.

  Next, it is assumed that the count value N does not accurately indicate the actual rotational position of the rotor 12c. Such a situation may occur when the excitation phase learning process or the origin search process (wall contact process) is not executed normally. Such a situation may occur when the count value N is shifted due to a disturbance such as noise. In this case, the count value N counted based on the initialization process including the excitation phase learning process deviates from the actual rotational position of the rotor 12c. As a result, a deviation occurs between the excitation phase given to the motor 12 based on the shifted count value N and the excitation phase to be given based on the actual position of the rotor 12c. That is, an excitation phase different from the excitation phase during normal operation is excited. As a result, the motor 12 does not exhibit the desired behavior.

  For example, a case where the excitation phase is shifted to the non-P position side is assumed. In this case, if the motor 12 is rotated toward the non-P position, the same state as that when the phase advance correction amount in the feedback control is set smaller than the control target value is generated. For this reason, the rotational speed of the motor 12 becomes slow. At this time, the inclination of the change in the count value N becomes small. Conversely, if the motor 12 is rotated toward the P position, a state similar to the case where the phase advance correction amount in the feedback control is set larger than the control target value is generated. For this reason, the rotational speed of the motor 12 is increased. At this time, the slope of the change in the count value N increases.

  In the drawing, the behavior of the motor 12 when the excitation phase is shifted to the non-P position side is indicated by a solid line. When the target value is switched from the P position to the non-P position at time t1, the motor 12 is controlled to move the manual lever 3a from the P position to the non-P position. The count value N exceeds the threshold value THP for determining the P position at time t3. As a result, the detection position of the manual lever 3a changes from the P position to an undefined (UN) position. When the motor 12 further rotates, the count value N exceeds the threshold value THN for non-P position determination at time t5. As a result, the detection position changes from the UN position to the non-P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops. Next, when the target value is switched from the non-P position to the P position at time t6, the motor 12 is controlled to move the manual lever 3a from the non-P position to the P position. The count value N falls below the threshold value THN at time t7. As a result, the detection position of the manual lever 3a changes from the non-P position to the UN position. When the motor 12 further rotates, the count value N falls below the threshold value THP at time t9. As a result, the detection position changes from the UN position to the P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops.

  The time Tnth until the count value N exceeds the threshold value THN from the P position when the excitation phase is normal is shorter than the time Tn until the count value N exceeds the threshold value THN from the P position when the excitation phase is abnormal. . The time Tpth until the count value N falls below the threshold value THP from the non-P position when the excitation phase is normal is the time until the count value N falls below the threshold value THP from the non-P position when the excitation phase is abnormal. Longer than time Tp. The time Tnth provides a first reference value for determining whether or not the index Tn indicating the rotation speed of the motor 12 is an abnormal value. The time Tpth provides a second reference value for determining whether or not the index Tp indicating the rotation speed of the motor 12 is an abnormal value.

  Here, the times Tn and Tp can be measured by actually driving the motor 12. Further, Tnth and Tpth can be set in advance based on the behavior of the motor 12 at the normal time. Therefore, by determining at least one of the condition Tn> Tnth and the condition Tp <Tpth, it can be determined that the excitation phase is shifted to the non-P side. For example, it can be determined that the excitation phase is shifted to the non-P side by determining the condition Tn> Tnth and the condition Tp <Tpth.

  FIG. 5 is a time chart showing the operation of the SBW device 1 of the first embodiment. FIG. 5A is a waveform diagram showing the target position. FIG. 5B is a waveform diagram showing detection positions. FIG. 5C is a waveform diagram showing count values. In the figure, the behavior of the motor 12 during normal operation is indicated by broken lines.

  For example, a case where the excitation phase is shifted to the P position side is assumed. In this case, if the motor 12 is rotated toward the non-P position, the same state as that when the phase advance correction amount in the feedback control is set larger than the control target value is generated. For this reason, the rotational speed of the motor 12 is increased. At this time, the slope of the change in the count value N increases. Conversely, if the motor 12 is rotated toward the P position, a state similar to the case where the phase advance correction amount in the feedback control is set smaller than the control target value is generated. For this reason, the rotational speed of the motor 12 becomes slow. At this time, the inclination of the change in the count value N becomes small.

  In the drawing, the behavior of the motor 12 when the excitation phase is shifted to the P position side is indicated by a solid line. When the target value is switched from the P position to the non-P position at time t1, the motor 12 is controlled to move the manual lever 3a from the P position to the non-P position. The count value N exceeds the threshold value THP at time t2. As a result, the detection position of the manual lever 3a changes from the P position to the UN position. When the motor 12 further rotates, the count value N exceeds the threshold value THN at time t4. As a result, the detection position changes from the UN position to the non-P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops. Next, when the target value is switched from the non-P position to the P position at time t6, the motor 12 is controlled to move the manual lever 3a from the non-P position to the P position. The count value N falls below the threshold value THN at time t8. As a result, the detection position of the manual lever 3a changes from the non-P position to the UN position. When the motor 12 further rotates, the count value N falls below the threshold value THP at time t10. As a result, the detection position changes from the UN position to the P position. Eventually, when the motor 12 reaches the target position, the change in the count value N stops.

  The time Tnth until the count value N exceeds the threshold value THN from the P position when the excitation phase is normal is longer than the time Tn until the count value N exceeds the threshold value THN from the P position when the excitation phase is abnormal. . The time Tpth until the count value N falls below the threshold value THP from the non-P position when the excitation phase is normal is the time until the count value N falls below the threshold value THP from the non-P position when the excitation phase is abnormal. Shorter than time Tp. Here, the times Tn and Tp can be measured by actually driving the motor 12. Further, Tnth and Tpth can be set in advance based on the behavior of the motor 12 at the normal time. Therefore, by determining at least one of the condition Tn <Tnth and the condition Tp> Tpth, it can be determined that the excitation phase is shifted to the P side. For example, it can be determined that the excitation phase is shifted to the P side by determining the condition Tn <Tnth and the condition Tp> Tpth.

  FIG. 6 is a flowchart showing the operation of the SBW device 1 according to the first embodiment. In the figure, a correction process 150 for correcting the excitation phase is shown. In step 151, it is determined whether or not the rotor 12c is stopped. In step 151, in performing the excitation phase correction process, it is determined whether or not the rotor 12c is stopped in order to prevent the motor 12 from stepping out or rotating in reverse, which may occur as a result of the correction process. . In step 151, for example, when the vehicle speed signal received from another ECU by the in-vehicle network 16 is equal to or less than a predetermined value, it can be determined that the rotor 12c is stopped. Further, the determination in step 151 may be executed depending on whether or not the accompanying information of the range request received from the hybrid ECU 15 is “during vehicle travel”. The determination in step 151 can be a logical sum determination that determines stop of the rotor 12c when any of these multiple conditions is satisfied.

  By this step 151, the detection means 21b detects the excitation phase shift when the rotor 12c of the motor 12 is stopped. Further, the correction means 21c corrects the excitation phase shift when the rotor 12c of the motor 12 is stopped. Thereby, when the rotor of the motor is stopped, the excitation phase shift is detected, and the excitation phase shift is corrected. For this reason, an undesirable behavior of the motor 12 due to the correction of the excitation phase can be avoided.

  In step 152, it is determined whether there is history information indicating that switching from the non-P position to the P position has been performed in the past. In step 153, it is determined whether there is history information indicating that switching from the P position to the non-P position has been performed in the past. If a negative determination is made in any of steps 151-153, the process ends without executing the correction process. If all the determinations in steps 151-153 are positive, the process proceeds to step 154.

  In step 154, the actual time Tn actually required when switching from the P position to the non-P position is compared with the value obtained by adding the margin amount (margin) m1 to the threshold value Tnth. When the condition Tn> Tnth + m1 is satisfied, the excitation phase may be shifted to the non-P position side. In this case, the process proceeds to step 155. In step 155, the actual time Tp actually required when switching from the non-P position to the P position is compared with the value obtained by subtracting the margin m1 from the threshold value Tpth. When the condition Tp <Tpth-m1 is satisfied, it is considered that the excitation phase is shifted to the non-P position side. In this case, the process proceeds to step 156. In step 156, correction processing is executed. In step 156, the excitation phase is incremented by one count (+1).

  FIG. 7 is a table showing the relationship between the excitation phase and the counting position in the first embodiment. In the figure, MOD (N / 12) indicates a counting position. The counting position indicates the remainder when the count value N is divided by the number of poles 12 of the motor 12. In the range ECU 14, an excitation phase is set according to this remainder. For example, when the actual rotational position of the motor 12 is the remainder 4, the U phase and the W phase are excited. However, when the count value N is deviated, the remainder 3 may be obtained. In this case, only the W phase is excited. Therefore, the counting position for determining the excitation phase is corrected by addition (+1), and the excitation phase corresponding to the remainder 4 is corrected so as to be excited.

  Returning to FIG. 6, if the condition Tn> Tnth + m1 is not satisfied in step 154, the process proceeds to step 158. In step 158, the actual time Tn actually required when switching from the P position to the non-P position is compared with the value obtained by subtracting the margin m2 from the threshold value Tnth. When the condition Tn <Tnth-m2 is satisfied, the excitation phase may be shifted to the P position side. In this case, the process proceeds to step 159. In step 159, the actual time Tp actually required when switching from the non-P position to the P position is compared with the value obtained by adding the margin amount m2 to the threshold value Tpth. When the condition Tp> Tpth + m2 is satisfied, it is considered that the excitation phase is shifted to the P position side. In this case, the process proceeds to step 160. In step 160, correction processing is executed. In step 160, the excitation phase is subtracted (-1) by one count.

  FIG. 8 is a table showing the relationship between the excitation phase and the counting position in the first embodiment. When the actual rotational position of the motor 12 is the remainder 5, the U phase and the W phase are excited. However, when the count value N is deviated, the remainder 6 may be obtained. In this case, only the U phase is excited. Therefore, the counting position for determining the excitation phase is corrected by subtraction (−1), and the excitation phase corresponding to the remainder 5 is corrected so as to be excited.

  Returning to FIG. 6 again, after step 156 or step 160 is executed, the routine proceeds to step 157. In step 157, the switching history information to the P position and the switching history information to the non-P position are deleted. Thereafter, when the switching to the P position and the switching to the non-P position are executed, the determinations of step 152 and step 153 become affirmative again, and the process proceeds to step 154.

  If a negative determination is made in step 155, step 158, or step 159, the process ends without executing correction processing steps 156 and 160.

  According to this embodiment, the excitation phase shift can be detected based on the behavior of the motor 12, and the excitation phase can be corrected in accordance with the detected excitation shift. Therefore, the excitation phase shift can be corrected without depending on the initialization process including the excitation phase learning process. As a result, it is possible to suppress the occurrence of a long waiting time required for the initialization process.

  In this embodiment, when an affirmative determination is made in both step 154 and step 155, the excitation phase shift is detected, and the process proceeds to the correction process 156. Further, when an affirmative determination is made in both step 158 and step 159, the excitation phase shift is detected, and the process proceeds to the correction process 160. Therefore, the detecting means 21b moves the manual lever 3a toward the P position, and the index Tn indicating the rotational speed of the motor 12 when the manual lever 3a is moved toward the non-P position is an abnormal value. When the index Tp indicating the rotational speed of the motor 12 at this time is an abnormal value, the excitation phase shift applied to the motor 12 is detected. For this reason, it is possible to accurately detect the deviation of the excitation phase.

  Steps 154 to 155 provide first detection means for detecting a first shift of the excitation phase applied to the motor (shift to the non-P position side). The first detection means detects the first deviation when both of the following conditions (1) and (2) are satisfied. The first condition (1) is that the rotational speed (Tn) of the motor when the manual lever 3a is moved toward the non-P position is an abnormal value slower than the first reference value (Tnth). The second condition (2) is that the rotational speed (Tp) of the motor 12 when the manual lever 3a is moved toward the P position is an abnormal value that is faster than the second reference value (Tpth).

  Steps 158 to 159 provide second detection means for detecting a second shift of the excitation phase applied to the motor 12 (shift toward the P position). The second shift is a shift in the opposite direction to the first shift. The second detection means detects the second deviation when both of the following conditions (3) and (4) are satisfied. The third condition (3) is that the rotational speed (Tn) of the motor 12 when the manual lever 3a is moved toward the non-P position is an abnormal value that is faster than the first reference value (Tnth). . The fourth condition (4) is that the rotational speed (Tp) of the motor 12 when the manual lever 3a is moved toward the P position is an abnormal value slower than the second reference value (Tpth).

  Step 156 provides first correction means for correcting the excitation phase in the direction (addition) according to the first deviation. Step 160 provides second correction means for correcting the excitation phase in the direction (subtraction) according to the second deviation. According to this configuration, the combination of the rotation speed of the motor when the control object is moved toward the first position and the rotation speed of the motor when the control object is moved back toward the second position. Based on the above, it is possible to determine the direction of excitation phase shift. As a result, the counting position for determining the excitation phase can be corrected in accordance with the determined direction of deviation. As a result, even if there is a deviation in the excitation phase, the excitation phase deviation can be automatically detected and corrected so as to eliminate the excitation phase deviation.

(Second Embodiment)
FIG. 9 is a time chart showing the operation of the SBW device 1 according to the second embodiment to which the present invention is applied. FIG. 9A is a waveform diagram showing the target position. FIG. 9B is a waveform diagram showing detection positions. FIG. 9C is a waveform diagram showing the count value N. The behavior of the motor 12 changes according to the power supply voltage for exciting the motor 12. As the power supply voltage of the motor 12, the voltage VB of the battery that supplies power to the motor 12 can be used. In the drawing, a change when the voltage VB is V1 is shown by a solid line. In the drawing, the change when the voltage VB is V2 is shown by a broken line. In the drawing, a change when the voltage VB is V3 is shown by a one-dot chain line. The voltage is V1>V2> V3. At time t1, the target position is switched from the P position to the non-P position. When voltage VB is V1, count value N exceeds threshold value THP at time t2, and exceeds threshold value THN at time t3. In this case, the time required for switching from the P position to the non-P position is Tnth1. When voltage VB is V2, count value N exceeds threshold value THP at time t4 and exceeds threshold value THN at time t6. In this case, the time required for switching from the P position to the non-P position is Tnth2. When voltage VB is V3, count value N exceeds threshold value THP at time t5 and exceeds threshold value THN at time t7. In this case, the time required for switching from the P position to the non-P position is Tnth3. Thus, the behavior of the motor 12 varies according to the power supply voltage. The speed of the motor 12 decreases as the power supply voltage decreases. Therefore, in this embodiment, threshold values Tnth and Tpth for determining the excitation phase shift are set according to the power supply voltage VB. Here, the threshold values Tnth and Tpth are set to be longer as the power supply voltage VB is lower.

  FIG. 10 is a flowchart showing the operation of the SBW device 1 according to the second embodiment. In the figure, a correction process 250 for correcting the excitation phase is shown. In this correction process 250, step 258 is executed in addition to the correction process 150 of the preceding embodiment. In step 258, a process for setting the threshold value Tpth and the threshold value Tnth according to the power supply voltage VB of the motor 12 is executed. Step 258 provides compensation means for compensating for variations in behavior of the motor 12 in response to the power supply voltage VB of the motor 12. Therefore, in this embodiment, the detection means includes compensation means. According to this configuration, the behavior change of the motor 12 due to the fluctuation of the power supply voltage VB can be compensated. For this reason, the influence by the fluctuation | variation of the power supply voltage VB can be suppressed, and the deviation | shift of an excitation phase can be detected correctly.

(Third embodiment)
FIG. 11 is a flowchart showing the operation of the shift-by-wire device according to the third embodiment to which the present invention is applied. In the preceding embodiment, correction for only one count was performed. Instead, in this embodiment, the shift amount of the excitation phase is set according to the amount of deviation between the times Tp and Tn actually required for switching and the threshold values Tpth and Tnth.

  In the figure, a correction process 350 for correcting the excitation phase is shown. In this correction process 350, steps 354-356 are executed instead of steps 154-156 of the preceding embodiment. Steps 358-359 are executed instead of steps 158-160.

  In step 354, the real time Tn is compared with the threshold value Tnth. When the condition Tn> Tnth is satisfied, the excitation phase may be shifted to the non-P position side. In this case, the process proceeds to step 355. In step 355, the real time Tp is compared with the threshold value Tpth. When the condition Tp <Tpth is satisfied, that is, when the real time Tp is lower than the threshold value Tpth, it is considered that the excitation phase is shifted to the non-P position side. In this case, the process proceeds to step 356. In step 356, correction processing is executed based on the first map (MAP (A)). In step 356, the excitation phase is shifted in the addition direction by the number corresponding to the deviation amount.

  FIG. 12 is a first map showing the correction processing of this embodiment. As the deviation amount Tn−Tnth increases, the shift amount (correction amount) of the excitation phase in the addition direction is set larger. In other words, the excitation phase correction amount is set to increase as the actual time Tn becomes longer than the threshold value Tnth, which is the reference time. Here, the excitation phase is corrected to two steps or more. Further, as the deviation amount Tpth−Tp increases, the shift amount (correction amount) in the subtraction direction of the excitation phase is set larger. In other words, the excitation phase correction amount is set to increase as the actual time Tp becomes shorter than the threshold value Tpth, which is the reference time. Here, the excitation phase is corrected to two steps or more.

  Returning to FIG. 11, if the condition Tn> Tnth is not satisfied in step 354, that is, if the real time Tn exceeds the threshold value Tnth, the process proceeds to step 358. In step 358, the real time Tn is compared with the threshold value Tnth. When the condition Tn <Tnth is satisfied, that is, when the real time Tn is lower than the threshold value Tnth, the excitation phase may be shifted to the P position side. In this case, the process proceeds to step 359. In step 359, the real time Tp is compared with the threshold value Tpth. When the condition Tp> Tpth is satisfied, that is, when the real time Tp exceeds the threshold value Tpth, it is considered that the excitation phase is shifted to the P position side. In this case, the process proceeds to step 360. In step 360, correction processing is executed based on the second map (MAP (B)). In step 360, the excitation phase is shifted in the subtraction direction by the number corresponding to the deviation amount.

  FIG. 13 is a second map showing the correction processing of this embodiment. As the deviation amount Tnth−Tn increases, the shift amount (correction amount) in the addition direction of the excitation phase is set larger. In other words, the excitation phase correction amount is set to increase as the actual time Tn becomes shorter than the threshold value Tnth, which is the reference time. Here, the excitation phase is corrected to two steps or more. Further, as the deviation amount Tp−Tpth increases, the shift amount (correction amount) in the subtraction direction of the excitation phase is set larger. In other words, the excitation phase correction amount is set to increase as the actual time Tp becomes longer than the threshold value Tpth, which is the reference time. Here, the excitation phase is corrected to two steps or more.

  In the illustrated first map and second map, when the divergence amount is 0 and the correction amount is 0, this is a case where the determination is branched to a negative determination in step 355, step 358, or step 359.

  In this embodiment, step 356 and step 360 are setting means for setting the excitation phase correction amount in accordance with the amount of deviation between the indices Tn and Tp indicating the rotational speed of the motor 12 and the reference values Tnth and Tpth. I will provide a. Therefore, in this embodiment, the correction unit includes a setting unit. Further, the setting means sets the correction amount to be larger as the deviation amount increases. According to this configuration, it is possible to set a correction amount according to the deviation amount. For this reason, it is possible to deal with a wide range of deviations. The setting means sets the excitation phase correction amount to two or more steps according to the deviation amount. For this reason, even if the excitation phase is greatly shifted beyond one step, the excitation phase shift can be corrected.

(Other embodiments)
The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. The structure of the said embodiment is an illustration to the last, Comprising: The scope of the present invention is not limited to the range of these description. The scope of the present invention is indicated by the description of the scope of claims, and further includes meanings equivalent to the description of the scope of claims and all modifications within the scope.

  For example, the means and functions provided by the control device can be provided by software only, hardware only, or a combination thereof. For example, the control device may be configured by an analog circuit.

  In the above embodiment, the excitation phase shift is detected based on the switching times Tn and Tp between the two positions of the P position and the non-P position. It can replace with this and the various parameter | index which shows the behavior of the motor 12 can be used. For example, various indexes indicating the rotation speed of the motor can be used. In this case, the rotational speed of the motor 12 toward the P position direction and the rotational speed of the motor 12 toward the non-P position direction can be used.

  Moreover, in the said embodiment, the control apparatus 11 provided the switching between two positions, P position and non-P position. Alternatively, the controller 11 can be configured to provide switching between a plurality of three or more positions. For example, switching between four positions such as P position, R (reverse) position, N (neutral) position, and D (drive) position can be provided. In such a configuration, the control device 11 can be configured to detect the deviation of the excitation phase based on the behavior of the motor 12 between any two positions and correct the deviation. For example, based on the behavior of the motor 12 between the R position and the D position, or based on the behavior of the motor 12 between the P position and the D position, the deviation of the excitation phase is detected and the deviation is corrected. be able to.

  In the above embodiment, the present invention is applied to a hybrid vehicle. However, the present invention can also be applied to a vehicle using only an internal combustion engine as a power source or a vehicle using only an electric motor as a power source.

DESCRIPTION OF SYMBOLS 1 Shift-by-wire apparatus 2 Power source 3 Transmission mechanism 11 Control apparatus 12 Motor 13 Encoder 14 Electronic control apparatus (range ECU) for range switching
15 Electronic control device (hybrid ECU) for hybrid vehicle
16 In-vehicle network 17 Electronic controller for body equipment (Body ECU)

Claims (10)

A motor (12) for moving the control object between at least two positions;
An encoder (13) for outputting a signal for each predetermined rotation angle of the motor;
Control means (21d) for controlling the motor by switching the excitation phase of the motor based on a signal output from the encoder;
Detection means (21b) for detecting a deviation of the excitation phase applied to the motor based on the behavior of the motor indicated by the signal of the encoder;
A motor control apparatus comprising: a correction unit (21c) that corrects a deviation in excitation phase detected by the detection unit. The detection means includes
Based on the rotational speed (Tn, Tp) of the motor and the predetermined reference values (Tnth, Tpth) when the control object is moved between the two positions, the excitation phase given to the motor The motor control device according to claim 1, wherein a deviation is detected. The detection means includes
The rotational speed (Tn) of the motor when the control object is moved toward the first position (non-P) is an abnormal value, and the control object is directed toward the second position (P). The motor control device according to claim 2, wherein when the rotational speed (Tp) of the motor when moved is an abnormal value, a deviation of an excitation phase given to the motor is detected. The detection means includes
The rotational speed (Tn) of the motor when the control object is moved toward the first position (non-P) is an abnormal value slower than a first reference value (Tnth), and the control object When the rotational speed (Tp) of the motor when moving toward the second position (P) is an abnormal value faster than the second reference value (Tpth), the excitation phase given to the motor First detection means (154-155, 354-355) for detecting a first shift;
The rotational speed (Tn) of the motor when the control object is moved toward the first position (non-P) is an abnormal value faster than the first reference value (Tnth), and the control When the rotational speed (Tp) of the motor when the object is moved toward the second position (P) is an abnormal value slower than the second reference value (Tpth), the motor is given to the motor. Second detection means (158-159, 358-359) for detecting a second deviation of the excitation phase that is present,
The correction means includes
First correction means (156, 356) for correcting the excitation phase in a direction according to the first deviation;
4. The motor control device according to claim 3, further comprising second correction means (160, 360) for correcting the excitation phase in a direction according to the second deviation. The detection means includes
The rotational speed (Tn) of the motor when the control object is moved from the second position (P) to the first position (non-P), and the control object is moved to the first position (non-P). The deviation of the excitation phase applied to the motor is detected based on the rotational speed (Tp) of the motor when the motor is moved to the second position (P). The motor control device according to claim 4. The detection means includes
Time (Tn) required to move the control object from the second position to the first position and time (Tn) required to move the control object from the first position to the second position ( 6. The motor control device according to claim 5, wherein a deviation of an excitation phase given to the motor is detected based on Tp).   The correction means includes setting means (356, 360) for setting the correction amount of the excitation phase according to the amount of deviation between the rotation speed (Tn, Tp) of the motor and the reference value (Tnth, Tpth). The motor control device according to claim 2, comprising: a motor control device according to claim 2.   The motor control device according to claim 7, wherein the setting unit sets the correction amount to be larger as the deviation amount is larger.   The said detection means is provided with the compensation means (258) which compensates the fluctuation | variation of the behavior of the said motor according to the power supply voltage (VB) of the said motor, The one of Claim 1-7 characterized by the above-mentioned. Motor control device. The detection means detects the excitation phase shift when the rotor of the motor is stopped,
10. The motor control device according to claim 1, wherein the correction unit corrects the deviation of the excitation phase when the rotor of the motor is stopped. 11.

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