JP2013179742A - Abnormality detecting device, motor control device, and abnormality detecting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a detecting sensitivity for an abnormality of a hall sensor for detecting a rotor position of a synchronous motor.SOLUTION: An abnormality detecting device 40 comprises: a rotor position detection means 47 for detecting a rotor position of a synchronous motor 31 according to an output signal of a hall sensor 80; a correction amount calculating part 46 for calculating a phase correction amount of the output signal of the hall sensor 80 according to an induction voltage generated at a stator coil of the synchronous moto 31; and a determination part 50 for determining the abnormality of the hall sensor according to the phase correction amount.

Description

  The embodiments discussed herein relate to synchronous motor anomaly detection with Hall sensors that detect the electrical angle of the rotor.

  2. Description of the Related Art A motor control device that detects a rotor position by a hall sensor and drives a motor based on a detected position signal is known. As a method for detecting an abnormality of the Hall sensor, it is known to determine whether or not the output signal of the Hall sensor changes in an order determined by the rotation direction of the motor. As another abnormality detection method, it is known to monitor the control state of the motor rotation and detect the abnormality of the Hall sensor when an abnormality occurs in the control state.

  Further, the rotation angle of the motor is detected based on a combination of an angle estimation unit that calculates an estimated motor angle of the motor based on the back electromotive voltage of the motor and a position detection signal output from the hall sensor, and the detected rotation angle There is known an electric power steering apparatus that includes a comparison operation unit that compares the estimated motor angle and a fail-safe operation unit that detects an abnormality of the Hall sensor based on a comparison result of the comparison operation unit.

  As a related technique, it is known to correct a voltage applied to a motor based on an induced voltage generated in a stator coil of the motor.

JP 2005-335591 A JP 2002-111528 A

Conventionally, even if an abnormality occurs in the Hall sensor, it has been difficult to detect the abnormality at a relatively light time.
For example, the abnormality detection method based on the order of the output signals of the hall sensors does not detect the abnormality of the hall sensor to the extent that the order of the output signals does not result.
In addition, for example, there is a manufacturing variation in mounting the Hall sensor to the motor. If a configuration is adopted in which the applied voltage is corrected based on the induced voltage of the motor in order to compensate for this manufacturing variation, the detection threshold is reduced and detected. Increasing sensitivity may cause false detection. On the other hand, the Hall sensor abnormality detection method based on monitoring the control state of the motor rotation corrects as a manufacturing variation even if a small deviation occurs in the output signal due to the abnormality, so correction of the applied voltage based on the induced voltage of the motor If the detection is performed, an abnormality of the Hall sensor that can be compensated by correction is not detected, or even if it is detected, it takes a long time to detect.

  The apparatus and method described herein aims to increase the detection sensitivity of Hall sensor anomalies.

  According to one aspect of the apparatus, a motor abnormality detection device is provided. The motor abnormality detection device includes a rotor position detection unit that detects the position of the rotor of the synchronous motor according to the output signal of the Hall sensor, and a phase of the output signal of the Hall sensor according to the induced voltage generated in the stator coil of the synchronous motor. A correction amount calculation unit that calculates a correction amount and a determination unit that determines abnormality of the Hall sensor according to the phase correction amount are provided.

  According to another aspect of the apparatus, a motor control device is provided. The motor control device includes: a rotor position detection unit that detects the position of the rotor of the synchronous motor according to the output signal of the hall sensor; and a phase correction amount of the output signal of the hall sensor according to the induced voltage generated in the stator coil of the synchronous motor. A correction amount calculation unit that calculates the difference, a determination unit that determines abnormality of the Hall sensor according to the phase correction amount, and a control unit that controls the synchronous motor based on the detected position of the rotor corrected by the phase correction amount.

  According to one aspect of the method, a motor anomaly detection method is provided. The motor abnormality detection method includes detecting a phase of the rotor of the synchronous motor by a Hall sensor, calculating a phase correction amount of the output signal of the Hall sensor according to an induced voltage generated in a stator coil of the synchronous motor, and Determining abnormality of the Hall sensor in accordance with a phase correction amount.

  According to the apparatus or method described in the present specification, the detection sensitivity of abnormality of the Hall sensor can be increased.

It is a figure which shows the hardware structural example of an electric power steering apparatus. (A) And (B) is a block diagram of a Hall sensor. It is a figure which shows the structural example of a control part. (A) is a schematic diagram of a time chart of terminal voltage of a motor coil, and (B) is a time chart of Hall sensor output. (A) is a time chart of normal hall sensor output, and (B) and (C) are time charts of examples of hall sensor output in which an abnormality has occurred. It is explanatory drawing of the 1st example of the correction process of Hall sensor output at the time of operation | use of an electric power steering device. It is a time chart of the example of the Hall sensor output in which abnormality occurred. It is explanatory drawing of the 2nd example of the correction process of Hall sensor output at the time of operation | use of an electric power steering device. It is explanatory drawing of the example of the hardware constitutions of the test | inspection apparatus which test | inspects the electric power steering apparatus at the time of manufacture. It is explanatory drawing of an example of the tolerance | permissible_range of correction amount. It is explanatory drawing of an example of manufacturing inspection work. It is explanatory drawing of an example of the process by the side of an inspection apparatus among the correction processes at the time of manufacture of an electric power steering apparatus. It is explanatory drawing of an example of the process by the side of a control part among the correction processes at the time of manufacture of an electric power steering device. It is a figure which shows the example of the time-dependent change of the correction amount of each phase. It is explanatory drawing of the 3rd example of the correction process of Hall sensor output at the time of operation | use of an electric power steering apparatus.

<1. First Example>
<1.1. Hardware configuration>
Hereinafter, preferred embodiments will be described with reference to the accompanying drawings. In the following description, a case where the abnormality detection device according to the embodiment is applied to an electrohydraulic power steering device will be described. However, the abnormality detection device according to the embodiment is widely applied to motor control products with a vehicle-mounted rotor position sensor such as an electric power steering device and an electric cooling fan with a rotor position sensor. Moreover, the abnormality detection device according to the embodiment is widely applied to motor control products with a rotor position sensor for home appliances used in, for example, washing machines and air conditioners. The abnormality detection device according to the embodiment can be applied to various devices using a measurement sensor that measures the rotor position of the synchronous motor.

  FIG. 1 is a diagram illustrating a hardware configuration example of an electric power steering apparatus. Reference numeral 4 indicates a front wheel of the vehicle. Reference numerals 2, 3, 5 and 6 respectively indicate a steering wheel, a column shaft, a rack and a pinion of the steering mechanism of the front wheel 4. Reference numerals 23 to 25 and 30 denote a vehicle speed sensor, an engine control device (EFI-ECU), an alarm output unit, and a power source, respectively.

  The electrohydraulic power steering apparatus 1 includes a control unit 10, a torque sensor 21, a rudder angle sensor 22, a motor 31, a pump 32, a power cylinder 33, and a hall sensor 80.

  The torque sensor 21 and the steering angle sensor 22 detect the steering force and the steering angle of the steering wheel 2, respectively. The vehicle speed sensor 23 detects the speed of the vehicle. The engine control device 24 is an electronic control device that controls an engine provided in the vehicle, and detects the engine rotation speed when the engine is controlled.

  The control unit 10 is an electronic circuit including a microcomputer, and according to the steering force, the steering angle, the vehicle speed, and the engine speed detected by the torque sensor 21, the steering angle sensor 22, the vehicle speed sensor 23, and the engine control device 24, respectively. The motor 31 is driven. Further, the state of the ignition switch is also sent from the engine control device 24 to the control unit 10.

  The motor 31 is a three-phase synchronous motor (DC brushless motor) that supplies power to the pump 32. The pump 32 supplies an oil pressure to the oil chamber of the power cylinder 33 to apply an auxiliary force that assists the steering force of the driver to the rack 5 of the steering mechanism of the front wheels 4.

  The control unit 10 includes a processing unit 40, a pre-driver 60, a power unit 70, an amplifier 81, a terminal voltage detection unit 82, a memory 90, and a relay 100. The processing unit 40 generates a control signal for the motor 31 according to the steering force, the steering angle, the vehicle speed, and the engine rotation speed detected by the torque sensor 21, the steering angle sensor 22, the vehicle speed sensor 23, and the engine control device 24, respectively. .

  The hall sensor 80 detects the rotor position of the motor 31. 2A is a schematic diagram of the Hall sensor 80 viewed from the direction perpendicular to the rotation axis of the motor 31, and FIG. 2B is a configuration diagram of the Hall sensor 80 viewed from the rotation axis direction. The hall sensor 80 includes a sensor magnet 83, hall elements 84u, 84v and 84w, and a support portion 85.

  The sensor magnet 83 is fixed to the rotor magnet 34 of the motor 31. The directions of the S pole 83s and the N pole 83n of the sensor magnet 83 may be aligned with the directions of the S pole and the N pole of the rotor magnet 34. The hall elements 84u, 84v, and 84w detect the direction of the magnetic pole of the sensor magnet 83. The Hall elements 84u, 84v, and 84w output an “H” level when close to the S pole 83s, and output an “L” level when close to the N pole 83n. Therefore, the output of the Hall sensor 80 while the motor 31 is rotating is a signal that alternates between the output of the Hall elements 84u, 84v, and 84w of each phase between the “H” level and the “L” level.

  By fixing the hall elements 84u, 84v, and 84w to the support portion 85, the relative position between the hall elements 84u, 84v, and 84w and the stator coil of each phase of the motor 31 is fixed. The Hall element 84u is delayed by an angle difference θd after the magnetic pole of the rotor magnet 34 facing the U-phase stator coil has changed from N pole to S pole, and then the magnetic pole of the sensor magnet 83 facing the Hall element 84u is N pole. It is attached at a position that changes from 83n to S pole 83s. Similarly, the Hall elements 84v and 84w are also delayed by an angle θd after the magnetic poles of the rotor magnet 34 facing the V-phase and W-phase stator coils are changed, and then the magnetic poles of the sensor magnet 83 facing the Hall elements 84v and 84w. It is attached at a position where changes. The value of the angle θd varies depending on the actual hardware configuration, but in one embodiment, the angle θd is 30 degrees.

  Please refer to FIG. The processing unit 40 outputs a phase current control signal for turning on and off a switching element that controls a phase current flowing to each phase coil of the motor 31. The pre-driver 60 amplifies the phase current control signal output from the processing unit 40 and supplies it to the power unit 70. The power unit 70 drives a switching element that controls the phase current flowing from the power supply 30 to each phase coil of the motor 31 in accordance with the amplified phase current control signal. The terminal voltage detector 82 detects the terminal voltage of each phase coil of the motor 31. The memory 90 stores data used for processing by the processing unit 40.

  Further, the processing unit 40 detects the rotor position of the motor 31 based on the induced voltage of each phase coil detected by the terminal voltage detection unit 82 during the period in which the motor 31 is rotated by 120-degree energization control. The 120-degree energization control is performed immediately after the ignition switch is turned on or during idling such as when there is no steering. The processing unit 40 determines a correction amount for the phase of the rising edge and the falling edge of the output signal of the Hall sensor 80 based on the rotor position detected based on the induced voltage. The processing unit 40 determines a phase coil to be energized based on the corrected output signal of the hall sensor 80.

  In the following description, the rising edge and falling edge of the output signal of the hall sensor 80 may be collectively referred to as “edge”. In addition, the correction amount for the phase of the rising edge of the output signal of the Hall sensor 80 determined based on the rotor position detected based on the induced voltage may be referred to as “correction amount for the rising edge”. Further, the correction amount for the phase of the falling edge of the output signal of the Hall sensor 80 determined based on the rotor position detected based on the induced voltage may be referred to as “correction amount for the falling edge”. The “correction amount for the rising edge” and the “correction amount for the falling edge” are sometimes collectively referred to as “correction amount for the edge”.

  The processing unit 40 detects an abnormality of the electrohydraulic power steering apparatus 1 according to the temperature signal detected by the power unit 70, each phase current of the motor 31, that is, a current detection signal indicating a detected value of the drive current, and the voltage of the power source 30. Is detected. The amplifier 81 amplifies the current detection signal and supplies it to the processing unit 40.

  The processing unit 40 detects an abnormality of the hall sensor 80 based on the order of the output signals of the hall sensor. The processing unit 40 detects an abnormality of the hall sensor 80 based on the correction amount for the rising edge obtained for each phase coil.

  The processing unit 40 generates a relay drive signal that drives the relay 100. When the processing unit 40 detects a predetermined abnormality, the processing unit 40 controls the relay 100 to stop the supply of current from the power supply 30 to the power unit 70.

  Further, the processing unit 40 outputs an alarm notifying the abnormality to the driver via the alarm output unit 25. The alarm output unit 25 may be a vehicle meter or a navigation device. For example, the processing unit 40 may output an alarm notifying the abnormality of the hall sensor 80 via the alarm output unit 25.

  FIG. 3 is a diagram illustrating a configuration example of the control unit 10. The processing unit 40 includes a flow rate command value calculation unit 41, a rotation speed command value calculation unit 42, a subtraction unit 43, a feedback (FB) control unit 44, and a duty calculation unit 45. The processing unit 40 includes a correction amount calculation unit 46, a drive element determination unit 47, a rotation speed calculation unit 48, a Hall sensor failure detection unit 49, and a determination unit 50. Operation | movement of these components 41-50 of the process part 40 is performed by the microcomputer with which the control part 10 is provided, for example.

  The power unit 70 includes switching elements Q1 to Q6, a current sensor 86, and a temperature sensor 87.

  The flow rate command value calculation unit 41 determines the command value of the flow rate of the hydraulic oil discharged from the pump 32 according to the steering force, the steering angle, and the vehicle speed detected by the torque sensor 21, the steering angle sensor 22, and the vehicle speed sensor 23, respectively. calculate. The flow rate command value calculation unit 41 calculates a basic amount of flow based on the steering state of the steering wheel 2 detected by the steering force and the steering angle, and based on the calculated flow rate, the flow rate decreases as the vehicle speed increases. The command value of the flow rate of the hydraulic oil is calculated by correcting so as to be.

  Further, the flow rate command value calculation unit 41 determines whether or not the steering assist control by driving the pump 32 is performed based on the driving state of the engine determined from the engine rotation speed sent from the engine control device 24. Specifically, when it is determined that the engine is not in a driving state, it is determined that an alternator (not shown) that charges the power source 30 that supplies power for driving the pump 32 is not generating power, In order to prevent the charging rate of the power source 30 from being lowered, the steering assist control is not performed. In addition, when generating the command value of the flow rate of the hydraulic oil, a configuration using only one of the torque sensor 21 and the steering angle sensor 22 may be used as a sensor for detecting the operation state of the steering wheel 2.

  The rotational speed command value calculation unit 42 calculates a rotational speed command value that is a rotational speed command value of the motor 31 according to the hydraulic oil flow rate command value calculated by the flow rate command value calculation unit 41. The subtraction unit 43 calculates a difference between the rotation speed command value and the current rotation speed of the motor 31 calculated by the rotation speed calculation unit 48. The feedback control unit 44 determines the operation amount of the rotation speed of the motor 31 according to the difference. The duty calculator 45 calculates the duty ratio of the driving power for driving the motor 31 according to the operation amount determined by the feedback controller 44.

  The correction amount calculation unit 46 determines whether 120-degree energization control of the motor 31 is performed based on the duty ratio of the driving power. The correction amount calculation unit 46 calculates the correction amount Cr for the rising edge for each phase coil during the period in which the 120-degree energization control is performed. The correction amount Cr calculation process will be described below with reference to FIGS. 4A and 4B.

  FIG. 4A is a schematic diagram of a time chart of the terminal voltage Vt of the stator coil. The correction amount calculation unit 46 measures the terminal voltage Vt of the coil terminal while the terminal voltage detection unit 82 is energized 120 degrees. Immediately after the ignition switch is turned on, the correction amount calculation unit 46 reads a previously calculated and stored value from the memory 90 as a correction amount for performing 120-degree energization control, and calculates the drive element determination unit 47 and the rotation speed calculation. You may give to the part 48.

  The correction amount calculation unit 46 measures a period ΔT1 at which the induced voltage Vi appearing at the coil terminal when no current is supplied is equal to the zero-cross voltage Vz of the drive voltage Vd of the motor 31. In the time chart of FIG. 4A, time T1 is a timing at which the induced voltage Vi at the time of non-energization becomes equal to the zero cross voltage Vz while increasing. Time T3 is a timing at which the induced voltage Vi at the time of non-energization becomes equal to the zero cross voltage Vz while decreasing.

  When the induced voltage Vi is larger than the lower limit value Vzd that can be regarded as the zero-cross voltage Vz and the induced voltage Vi is smaller than the upper limit value Vzu that can be regarded as the zero-cross voltage Vz, the correction amount calculation unit 46 is the zero-cross voltage Vz. You may judge. The correction amount calculation unit 46 measures the period between the timings T1 and T3 when the induced voltage Vi at the time of non-energization is equal to the zero cross voltage Vz during the rise and fall as the period ΔT1.

  Next, the correction amount calculation unit 46 measures a period ΔT2 from the timing at which the induced voltage Vi at the time of non-energization becomes equal to the zero cross voltage Vz during the rise to the rise timing of the output signal of the Hall sensor 80. FIG. 4B is a time chart of Hall sensor output. Times T2 and T4 are the rising timing and falling timing of the output signal of the Hall sensor 80, respectively. The correction amount calculation unit 46 measures the period between the timing T1 when the induced voltage Vi when not energized is equal to the zero-cross voltage Vz during the rise and the rising timing T2 of the output signal of the Hall sensor 80 as the period ΔT2.

  When the Hall sensor 80 is attached to the motor 31 as designed completely, a rotor position at which the induced voltage Vi when not energized is equal to the zero cross voltage Vz while increasing, and a rotor position at which the output signal of the Hall sensor 80 rises Is the above-described angle difference θd. The correction amount calculation unit 46 calculates the phase error e = (ΔT2 / (ΔT1 / 180 degrees) −θd) of the rising timing of the output signal of the Hall sensor 80 as the correction amount Cr. The correction amount calculation unit 46 outputs the calculated correction amount Cr to the drive element determination unit 47, the rotation speed calculation unit 48, and the determination unit 50.

  Please refer to FIG. The drive element determination unit 47 turns on and off the switching elements Q1 to Q6 according to the output signal of the hall sensor 80, the correction amount Cr output by the correction amount calculation unit 46, and the duty ratio calculated by the duty calculation unit 45. Generate a control signal. The drive element determination unit 47 controls the phase current flowing from the power supply 30 to each phase coil of the motor 31 by switching on and off the switching elements Q1 to Q6.

  The rotation speed calculation unit 48 determines the rotor position based on the output signal of the hall sensor 80 and the correction amount Cr output by the correction amount calculation unit 46, and calculates the rotation speed of the motor 31 according to the change in the rotor position. The current sensor 86 detects the all-phase current of the motor 31 and outputs a current detection signal indicating the detected value. The temperature sensor 87 detects the temperature of the power unit 70 and outputs a temperature signal indicating the detected value.

  The hall sensor failure detection unit 49 receives the hall sensor output signal, and detects an abnormality of the hall sensor when the output signal does not change in the order determined by the rotation direction of the motor. FIG. 5A is a time chart of normal hall sensor output, and FIG. 5B is a time chart of a first example of hall sensor output in which an abnormality has occurred. The outputs of the Hall elements 84u, 84v and 84w alternate between the “H” level and the “L” level every time the rotor rotates 180 degrees. Further, the phases of the Hall elements 84u, 84v, and 84w are shifted by 60 degrees between the phases, and in this embodiment, change in the order of the Hall elements 84u, 84v, and 84w.

  When the motor rotates in one direction, the combinations of the U-phase, V-phase, and W-phase levels are (H, L, L), (H, H, L), (H, as shown in FIG. , H, H), (L, H, H), (L, L, H), and a cycle that changes in the order of (L, L, L). Now, the order of the states in which the levels of the U phase, the V phase, and the W phase are (H, L, L), (H, H, L), (H, H, H) are the first and second, respectively. , The third. Further, the order of the states in which the levels of the U phase, the V phase, and the W phase are (L, H, H), (L, L, H), (L, L, L) are the fourth and fifth, respectively. , 6th.

  In the time chart shown in FIG. 5B, an abnormality occurs in the W-phase hall element 84w, and the output signal rises at time tw earlier than the original time tc. Therefore, the fifth state (L, L, H) appears immediately after the sixth state (H, L, L), and the unscheduled state (H, L, H) appears after that. . The hall sensor failure detection unit 49 detects the hall element in which an abnormality has occurred when such an abnormality in the order of the output of the hall sensors is detected.

  The hall sensor failure detection unit 49 detects an abnormality of the hall sensor when there is no change in the level of the output signal of any hall element. FIG. 5C is a time chart of a second example of Hall sensor output in which an abnormality has occurred. In this example, since the output of the W-phase hall element 84w remains at the “H” level during the period TF, the hall sensor failure detection unit 49 detects an abnormality in the W-phase hall element 84w. The hall sensor failure detection unit 49 outputs an abnormality detection signal for notifying the hall element in which an abnormality has occurred to the determination unit 50, the drive element determination unit 47, and the rotation speed calculation unit 48.

  The determination unit 50 detects an abnormality that has occurred in the electrohydraulic power steering apparatus 1 according to the temperature signal, the current detection signal, the voltage of the power supply 30, and the rotation speed of the motor 31 calculated by the rotation speed calculation unit 48. The determination unit 50 generates a relay drive signal that drives the relay 100. When the determination unit 50 detects a predetermined abnormality, the determination unit 50 controls the relay 100 to stop the supply of current from the power supply 30 to the power unit 70.

  The determination unit 50 generates a stop signal for stopping the rotation of the motor 31 and / or a limit signal for limiting the rotation of the motor 31. The rotation speed command value calculation unit 42 stops and / or limits the rotation of the motor 31 according to the stop signal and / or the limit signal. In addition, the determination unit 50 outputs an alarm notifying the driver of the abnormality via the alarm output unit 25.

  The determination unit 50 determines whether or not the correction amount Cr calculated by the correction amount calculation unit 46 is larger than the allowable lower limit value Ldar and smaller than the allowable upper limit value Luar. The determination unit 50 determines that the Hall sensor is abnormal when the correction amount Cr is equal to or less than the allowable lower limit value Ldar or equal to or greater than the allowable upper limit value Luar.

  The allowable lower limit value Ldar and the allowable upper limit value Luar may be, for example, a lower limit value and an upper limit value at which a correction amount Cr that changes over time is allowed. The determination unit 50 determines the allowable lower limit value Ldar and the allowable upper limit value Luar based on the data stored in the memory 90. The data for determining the allowable lower limit value Ldar and the allowable upper limit value Luar may be, for example, a reference value and a difference from the reference value to the allowable lower limit value Ldar and the allowable upper limit value Luar.

  This reference value may be a correction amount Cr calculated previously, for example, a correction amount Cr measured in the electrohydraulic power steering apparatus 1 at the time of inspection during manufacturing. Further, the reference value may be a value obtained statistically from a correction amount measured by another individual. Further, for example, the allowable lower limit value Ldar and the allowable upper limit value Luar may be stored as data for determining the allowable lower limit value Ldar and the allowable upper limit value Luar. The determination unit 50 outputs an abnormality detection signal for notifying the Hall element in which an abnormality has occurred to the drive element determination unit 47 and the rotation speed calculation unit 48.

  When the correction amount Cr is larger than the allowable lower limit value Ldar and smaller than the allowable upper limit value Luar, the determination unit 50 determines that the Hall sensor is not abnormal. The determination unit 50 stores the correction amount Cr in the memory 90. The correction amount Cr stored in the memory 90 is read by the correction amount calculation unit 46 during a period when the correction amount is calculated by the correction amount calculation unit 46 and is not energized 120 degrees, and the drive element determination unit 47 and the rotation speed are read. It is given to the calculation unit 48.

  When the abnormality of the hall sensor is detected, the determination unit 50 outputs an alarm notifying the abnormality of the hall sensor to the driver via the alarm output unit 25. Further, when an abnormality of the Hall sensor is detected, the processing unit 40 rotates the motor 31 by a control method called life extension control, which is different from normal control. In the life extension control, the drive element determination unit 47 generates the phase current control signal based on the output signal of the hall sensor 80 of the other phase without using the output signal of the hall sensor 80 of the phase where the abnormality has occurred. Further, the rotation speed calculation unit 48 calculates the rotation speed of the motor 31 based on the output signals of the hall sensors 80 of the other phases without using the output signals of the hall sensors 80 of the phase where the abnormality has occurred.

<1.2. Operation of processing unit>
Next, a hall sensor output correction process performed by the processing unit 40 during operation of the electrohydraulic power steering apparatus 1 will be described with reference to FIG. Hereinafter, a series of operations described with reference to FIG. 6 may be interpreted as a method including a plurality of procedures. In this case, “operation” may be read as “step”. The same applies to the operations described with reference to FIGS. 8, 11 to 13, and 15.

  In operation AA, the correction amount calculation unit 46 determines whether 120-degree energization control of the motor 31 is being performed. If 120-degree energization control is being performed (operation AA: Y), the processing proceeds to operation AB. If the 120-degree energization control is not performed (operation AA: N), the process ends. In operation AB, the correction amount calculator 46 starts measuring the terminal voltage Vt of the stator coil by activating the terminal voltage detector 82. In Operation AC, the correction amount calculation unit 46 activates a timer for measuring the timing at which the induced voltage Vi when not energized is equal to the zero cross voltage Vz and the rising timing of the Hall sensor.

  In operation AD, the correction amount calculation unit 46 determines whether or not the induced voltage Vi at the time of no energization is larger than the lower limit value Vzd that can be regarded as the zero cross voltage Vz and smaller than the upper limit value Vzu that can be regarded as the zero cross voltage Vz. To do. When the lower limit value Vzd <the induced voltage Vi during no energization while increasing <the upper limit value Vzu (operation AD: Y), the processing proceeds to operation AE. When the lower limit value Vzd <the inductive voltage Vi during no increase <the upper limit value Vzu is not satisfied (operation AD: N), the processing repeats the operation AD. In operation AE, the correction amount calculation unit 46 acquires the current time as time T1.

  In operation AF, the correction amount calculation unit 46 determines whether or not the output of the hall sensor rises. When the output of the hall sensor rises (operation AF: Y), the processing proceeds to operation AG. When the output of the hall sensor does not rise (operation AF: N), the processing repeats the operation AF. In operation AG, the correction amount calculation unit 46 acquires the current time as time T2.

  In operation AH, the correction amount calculation unit 46 determines whether or not the induced voltage Vi when the current is being lowered is greater than the lower limit value Vzd and smaller than the upper limit value Vzu. When the lower limit value Vzd <the inductive voltage Vi during the decrease and the upper limit value Vzu (operation AH: Y), the process proceeds to operation AI. When the lower limit value Vzd <the inductive voltage Vi during the decrease and the upper limit value Vzu is not satisfied (operation AH: N), the processing repeats the operation AH. In operation AI, the correction amount calculation unit 46 acquires the current time as time T3.

  In operation AJ, the correction amount calculation unit 46 calculates a correction amount Cr = (ΔT2 / (ΔT1 / 180 degrees) −θd) for the rising edge. ΔT1 is a period between times T1 and T3, and ΔT2 is a period between times T1 and T2.

  In operation AK, the determination unit 50 determines whether or not the correction amount Cr is larger than the allowable lower limit value Ldar and smaller than the allowable upper limit value Luar. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar (operation AK: Y), the processing proceeds to operation AL. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar (operation AK: N), the process proceeds to operation AM.

  In operation AL, the determination unit 50 does not detect abnormality of the hall sensor 80. Therefore, the correction amount for the edge is updated to the correction amount Cr calculated by the correction amount calculation unit 46 in operation AJ. In addition, the determination unit 50 stores the correction amount Cr in the memory 90. Thereafter, the process ends.

  In operation AM, the determination unit 50 detects an abnormality of the hall sensor 80. The determination unit 50 outputs an abnormality detection signal for notifying the Hall element in which an abnormality has occurred to the drive element determination unit 47 and the rotation speed calculation unit 48. The drive element determination unit 47 and the rotation speed calculation unit 48 drive the motor 31 by life extension control. Further, the determination unit 50 outputs an alarm notifying the abnormality of the hall sensor to the driver via the alarm output unit 25. Thereafter, the process ends.

<1.3. Effect of Example>
According to this embodiment, the abnormality of the Hall sensor is detected based on the correction amount Cr for the rising edge obtained from the induced voltage of the stator coil. Therefore, an abnormality can be detected even if the order of the output signals of the hall sensors does not reach an abnormality. For example, it is assumed that an abnormality occurs in the W-phase Hall element 84w and the output signal rises at the time tw earlier than the original time tc, as in the time chart of the Hall sensor output example shown in FIG.

  If the rise timing deviation is small, as shown in FIG. 7, (H, L, L), (H, H, L), (H, H, H), (L, H, H), (L, L , H), (L, L, L) in the order of change does not change. Therefore, no abnormality is detected by the abnormality detection method based on the order of the output signals of the hall sensors.

  On the other hand, according to the present embodiment, since abnormality is detected based on the correction amount Cr with respect to the rising edge of the output signal of the Hall sensor, there is no abnormality in the order of the output signals of the Hall sensor as shown in the time chart of FIG. In both cases, the abnormality of the Hall sensor can be detected. Thereby, the detection sensitivity of the abnormality of the Hall sensor is improved.

  Further, according to the present embodiment, the Hall sensor output signal is corrected by the correction amount Cr, so that the abnormality of the Hall sensor can be determined based on the magnitude of the correction amount Cr even if no major abnormality occurs in the motor control state. Can be detected. For this reason, both the correction of the output signal of the Hall sensor by the induced voltage and the abnormality detection of the Hall sensor can be achieved.

<1.4. Modification>
Subsequently, a modification of the embodiment will be described. In the above embodiment, the correction amount calculation unit 46 calculates the correction amount Cr during the period in which the 120-degree energization control of the motor 31 is performed. In another embodiment, the correction amount Cr may be calculated during a period in which energization is controlled in a manner in which one energization period is smaller than 180 degrees and an off period is generated in each phase, even if it is outside the 120-degree energization period.

  In the above-described embodiment, the output signal of the hall sensor 80 is corrected based on the correction amount Cr for the rising edge of the output signal of the hall sensor 80, and an abnormality of the hall sensor is detected. In the modification, the output signal of the hall sensor 80 may be corrected based on the correction amount Cf for the falling edge of the output signal of the hall sensor 80, and the abnormality of the hall sensor may be detected. In the modification described below, the correction amount Cr for the rising edge and the Cf for the falling edge of the output signal of the Hall sensor 80 are calculated, and the rotor position indicated by the output signal of the Hall sensor 80 is calculated using the correction amounts Cr and Cf. Perform correction and abnormality detection.

  FIG. 8 is an explanatory diagram of a second example of the correction process of the Hall sensor output during the operation of the electrohydraulic power steering apparatus 1. The processing of operations BA to BI is the same as the processing of operations AA to AI in FIG. In operation BJ, the correction amount calculation unit 46 determines whether or not the output of the hall sensor falls. When the output of the hall sensor falls (operation BJ: Y), the processing proceeds to operation BK. When the output of the hall sensor does not fall (operation BJ: N), the processing repeats operation BJ. In operation BK, the correction amount calculation unit 46 acquires the current time as time T4.

  In operation BL, the correction amount calculation unit 46 calculates the correction amount Cr = (ΔT2 / (ΔT1 / 180 degrees) −θd) for the rising edge. ΔT1 is a period between times T1 and T3, and ΔT2 is a period between times T1 and T2. Further, the correction amount calculation unit 46 calculates a correction amount Cf = (ΔT2 ′ / (ΔT1 / 180 degrees) −θd) for the falling edge. ΔT1 is a period between times T1 and T3, and ΔT2 ′ is a period between times T3 and T4.

  In operation BM, the determination unit 50 determines whether the correction amount Cr for the rising edge is larger than the allowable lower limit value Ldar and smaller than the allowable upper limit value Luar. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar (operation BM: Y), the processing proceeds to operation BN. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar is not satisfied (operation BM: N), the processing proceeds to operation BP.

  In operation BN, the determination unit 50 determines whether or not the correction amount Cf for the falling edge is larger than the allowable lower limit value Ldaf and smaller than the allowable upper limit value Luaf. The allowable lower limit value Ldaf and the allowable upper limit value Luaf may be, for example, a lower limit value and an upper limit value at which a correction amount Cf that changes over time is allowed. The determination unit 50 determines the allowable lower limit value Ldaf and the allowable upper limit value Luaf based on the data stored in the memory 90. Values that are different from the allowable lower limit value Ldar and the allowable upper limit value Luar of the correction amount Cr for the rising edge may be used as the allowable lower limit value Ldaf and the allowable upper limit value Luaf for the falling edge, and the same values are used. May be.

  If the allowable lower limit value Ldaf <the correction amount Cf <the allowable upper limit value Luaf (operation BN: Y), the processing proceeds to operation BO. If the allowable lower limit value Ldaf <the correction amount Cf <the allowable upper limit value Luaf is not satisfied (operation BN: N), the processing proceeds to operation BP.

  An abnormality of the hall sensor 80 is not detected in operation BO. As a result, the correction amount for the edge is updated to the correction amounts Cr and Cf calculated by the correction amount calculation unit 46 in operation BL. The determination unit 50 stores the correction amount Cr in the memory 90. The drive element determination unit 47 and the rotation speed calculation unit 48 correct the rising timing and falling timing of the output signal of the Hall sensor with the correction amounts Cr and Cf to determine the rotor position. Thereafter, the process ends. The processing of operation BP is the same as that of operation AM in FIG.

  According to this modification, when the phase of the Hall sensor output is corrected with the correction amount Cr for the rising edge and the correction amount Cf for the falling edge, the abnormality detection is performed using both correction amounts, so that only one of them can be detected. An abnormality can be detected earlier than it is detected. In other words, when detecting only with one correction amount, an abnormality can be detected with the alternating cycle of the output signal of the Hall sensor, but the abnormality is detected with both correction amounts and the abnormality is detected with a half of the row and the alternating cycle. be able to.

  Also in the following second and third embodiments, Hall sensor abnormality detection is performed based on the correction amounts Cr and Cf for the rising edge and the falling edge. However, also in the second embodiment and the third embodiment, the abnormality detection of the Hall sensor may be performed based on only one of the correction amounts Cr and Cf for the rising edge and the falling edge.

<2. Second Embodiment>
Next, another embodiment of the electrohydraulic power steering apparatus 1 will be described. In the second embodiment, the allowable lower limit values Ldar and Ldaf of the correction amount for the edge during operation of the electrohydraulic power steering device 1 and the allowable upper limit are based on the correction amount for the edge measured when the electrohydraulic power steering device 1 is manufactured. Define the values Luar and Luaf.

  FIG. 9 shows a hardware configuration example of an inspection apparatus that inspects the electrohydraulic power steering apparatus 1 at the time of manufacture. The inspection apparatus 200 includes a CPU (Central Processing Unit) 201, an auxiliary storage device 202, a memory 203, an input unit 204, an output unit 205, and an interface (I / F) circuit 206. The CPU 201 executes a computer program stored in the auxiliary storage device 202 to execute a manufacturing correction process described below. The auxiliary storage device 202 may include a nonvolatile storage device, a read only memory (ROM), a hard disk, and the like for storing a computer program.

  The memory 203 stores a program currently being executed by the CPU 201 and data temporarily used by the program. The memory 203 may include a random access memory (RAM). The input unit 204 is an input device that accepts an input operation by a user. The input unit 204 may be, for example, a keypad, a keyboard, a pointing device, a touch panel, or the like. The output unit 205 is an output device that outputs a signal processed by the inspection device 200. For example, the output unit 205 may be a display device such as a liquid crystal display, a CRT (Cathode Ray Tube) display, or an organic electroluminescence display.

  The I / F circuit 206 is connected to the I / F circuit 91 on the control unit 10 side of the electrohydraulic power steering apparatus 1 by wire and / or wirelessly, and functions as a communication interface between the control unit 10 and the inspection apparatus 200.

  When the electrohydraulic power steering apparatus 1 is manufactured, the inspection apparatus 200 receives a correction request signal for requesting correction of the rotor position indicated by the output signal of the Hall sensor and determination of correction parameters for other controls performed by the control unit 10. The data is transmitted to the control unit 10 via the I / F circuit 206. When receiving the correction request signal, the control unit 10 calculates a correction amount for the edge.

  The control unit 10 determines whether or not the calculated correction amount is within an allowable range of individual differences in correction amounts due to manufacturing variations. When the calculated correction amount is within the allowable range, the control unit 10 determines that the calculated correction amount is in a normal state and stores it in the memory 90 as a correction amount at the time of manufacture. As the allowable lower limit values Ldar and Ldaf of the correction amount during operation, values obtained by subtracting a predetermined allowable width from the correction amount during manufacturing are used. As the allowable upper limit values Luar and Luaf of the secular change during operation, values obtained by adding a predetermined allowable width to the correction amount at the time of manufacture are used.

  The control unit 10 determines that the state of the correction amount is abnormal when the correction amount is not within the allowable range. The control unit 10 notifies the inspection apparatus 200 of a status indicating the correction amount state.

  FIG. 10 shows an example of the allowable range of the correction amount at the time of manufacture and operation of the electrohydraulic power steering apparatus 1. The control unit 10 determines whether or not the correction amount Cpr with respect to the rise timing measured at the time of manufacture is within an allowable range Rpr of individual differences in correction amounts due to manufacturing variations. The allowable lower limit value Ldpr of the allowable range Rpr is a value smaller by Δdpr than Crr, which is a typical reference value for the correction amount of the rising timing. Further, the allowable upper limit value Lupr of the allowable range Rpr is a value that is larger than the reference value Crr by Δupr. When the correction amount Cpr is within the allowable range Rpr, the control unit 10 stores the correction amount Cpr in the memory 90 as a correction amount for the rising edge at the time of manufacturing.

  The allowable range Rar of the correction amount Cr during operation of the electrohydraulic power steering apparatus 1 is determined based on the correction amount Cpr at the time of manufacture. The allowable lower limit value Ldar of the allowable range Rar is a value smaller by Δdar than the correction amount Cpr at the time of manufacture. Further, the allowable upper limit value Luar of the allowable range Rar is a value larger than the correction amount Cpr at the time of manufacture by Δuar. In the example shown in FIG. 10, the allowable range Rar during operation is smaller than the allowable range Rpr during manufacturing.

  During operation of the electrohydraulic power steering apparatus 1, the control unit 10 determines whether or not the correction amount Cr sequentially calculated by the correction amount calculation unit 46 is within the allowable range Rar. When the correction amount Cr is within the allowable range Rar, the control unit 10 determines that the hall sensor 80 is normal, and newly calculates a correction amount for the rising edge stored in the memory 90 and used during operation. Update with the corrected amount. When the correction amount Cr is not within the allowable range Rar, the control unit 10 determines that the hall sensor 80 is abnormal. The correction amount Cf for the falling edge is similarly determined.

<2.1. Manufacturing inspection procedure>
Subsequently, a manufacturing inspection procedure of the electrohydraulic power steering apparatus 1 will be described. FIG. 11 is an explanatory diagram of an example of the manufacturing inspection work. In operation CA, the controller 10 is assembled. In operation CB, it is determined whether or not the assembly of the control unit 10 has been completed normally. When the assembly of the control unit 10 is normally completed (operation CB: Y), the processing proceeds to operation CC. If the assembly of the control unit 10 has not been completed normally (operation CB: N), the processing proceeds to operation CK.

  In operation CC, the inspection apparatus 200 performs single item inspection of the control unit 10 alone. In operation CD, the inspection apparatus 200 determines whether or not the results of the single item inspection of the control unit 10 are all normal. If the results of single-item inspection by the control unit 10 are all normal (operation CD: Y), the processing proceeds to operation CE. If any result of the single item inspection of the control unit 10 is not normal (operation CD: N), the processing proceeds to operation CK.

  In operation CE, the uniting operation of the control unit 10 and the motor 31 is performed. In operation CF, it is determined whether or not the control unit 10 and the motor 31 are successfully combined. If the merge is performed normally (operation CF: Y), the process proceeds to operation CG. If the merge is not performed normally (operation CF: N), the process proceeds to operation CK.

  In operation CG, the inspection apparatus 200 and the control unit 10 perform a manufacturing correction process for correcting the rotor position indicated by the output signal of the hall sensor and correcting other controls performed by the control unit 10. The manufacturing correction process will be described later. In operation CH, the inspection apparatus 200 determines whether or not the correction status indicating the correction amount state for the edge determined in the manufacturing correction process is normal. If the correction status is normal (operation CH: Y), the processing proceeds to operation CI. If the correction status is not normal (operation CH: N), the processing proceeds to operation CK.

  In operation CI, the inspection apparatus 200 performs input / output characteristic inspection of the control unit 10. In operation CJ, the inspection apparatus 200 determines whether all the input / output characteristic inspection results of the control unit 10 are normal. If all the results of the input / output characteristic inspection of the control unit 10 are normal (operation CJ: Y), the process ends. If any result of the input / output characteristic inspection of the control unit 10 is not normal (operation CJ: N), the process proceeds to operation CK. In operation CK, an abnormality handling procedure for the control unit 10 is performed. In the abnormality treatment, the target control unit 10 is repaired or re-inspected, for example, or excluded from the production line.

<2.2. Operation of inspection equipment>
Next, the manufacturing correction process of FIG. 11 will be described. FIG. 12 is an explanatory diagram of an example of processing on the inspection device 200 side in the correction processing at the time of manufacturing the electro-hydraulic power steering device 1. In operation DA, the inspection apparatus 200 transmits a correction request signal to the control unit 10. In the operation DB, the inspection apparatus 200 determines whether or not a timeout time for receiving the correction status transmitted from the control unit 10 in response to the correction request signal has elapsed. If the timeout time has elapsed (operation DB: Y), the processing proceeds to operation DG. If the timeout time has not elapsed (operation DB: N), the processing proceeds to operation DC.

  In operation DC, the inspection apparatus 200 determines whether a correction status has been received from the control unit 10. When the correction status is received (operation DC: Y), the processing proceeds to operation DD. If the correction status has not been received (operation DC: N), the processing returns to the operation DB.

  In operation DD, the inspection apparatus 200 determines whether the correction status received from the control unit 10 is normal. If the received correction status is normal (operation DD: Y), the processing proceeds to operation DE. If the received correction status is not normal (operation DD: N), the processing proceeds to operation DG. In operation DE, the inspection apparatus 200 determines that the correction status of the correction amount for the edge is normal. Thereafter, the processing proceeds to operation DF.

  In operation DF, the inspection apparatus 200 performs correction processing regarding other control items, and ends the processing. In operation DG, the inspection apparatus 200 determines that the correction status of the correction amount for the edge is abnormal. Thereafter, the process ends.

<2.3. Operation of processing unit>
FIG. 13 is an explanatory diagram of an example of processing on the control unit side in correction processing of the Hall sensor output at the time of manufacturing the electric power steering device. In operation EA, the correction amount calculation unit 46 determines whether a correction request signal has been received from the inspection apparatus 200. When the correction request signal is received (operation EA: Y), the processing proceeds to operation EB. If the correction request signal is not received (operation EA: N), the processing returns to operation EA.

  In operation EB, the correction amount calculation unit 46 activates the terminal voltage detection unit 82. In operation EC, the drive element determination unit 47 and the rotation speed calculation unit 48 start 120-degree energization control of the motor 31. The processing of operations ED to EM is the same as that of operations BC to BL in FIG.

  In operation EN, the determination unit 50 determines whether or not the correction amount Cr for the rising edge is larger than the allowable lower limit value Ldpr at the time of manufacture and smaller than the allowable upper limit value Lupr. When the allowable lower limit value Ldpr <the correction amount Cr <the allowable upper limit value Lupr (operation EN: Y), the processing proceeds to operation EO. When the allowable lower limit value Ldpr <the correction amount Cr <the allowable upper limit value Lupr is not satisfied (operation EN: N), the processing proceeds to operation EQ.

  In operation EO, the determination unit 50 determines whether or not the correction amount Cf for the falling edge is larger than the allowable lower limit value Ldpf at the time of manufacture and smaller than the allowable upper limit value Lupf. If the allowable lower limit value Ldpf <the correction amount Cf <the allowable upper limit value Lupf (operation EO: Y), the processing proceeds to operation EP. If the allowable lower limit value Ldpf <the correction amount Cf <the allowable upper limit value Lupf is not satisfied (operation EO: N), the processing proceeds to operation EQ.

  In operation EP, the determination unit 50 sets the correction status value of the correction amount for the edge to “normal”. Thereafter, the process proceeds to operation ER. In operation EQ, the determination unit 50 sets the value of the correction status to “abnormal”. Thereafter, the process proceeds to operation ER. In operation ER, the determination unit 50 transmits the correction status to the inspection apparatus 200. In operation ES, the determination unit 50 stores the calculated Cr and Cf in the memory 90 as the falling edges and the correction amounts Cpr and Cpf for the falling edges at the time of manufacture. Thereafter, the process ends.

<2.4. Effect of Example>
According to the present embodiment, at the time of inspection at the time of manufacture, it is determined whether or not the correction amount for the edge is abnormal according to the allowable range of individual differences in the correction amount due to manufacturing variations. During operation, an abnormality of the Hall sensor is detected according to an allowable range based on the correction amount measured at the time of manufacture. Therefore, it is possible to set the allowable amount of the change in the correction amount generated after the manufacturing regardless of the allowable range of the individual difference of the correction amount due to the manufacturing variation.

  For this reason, the detection threshold value that is compared with the correction amount during operation for detecting the abnormality of the Hall sensor can be set arbitrarily regardless of manufacturing variations, so the detection sensitivity of the abnormality of the Hall sensor can be increased. It becomes. For example, as shown in the example of the permissible range in FIG. 10, even when the manufacturing variation is relatively large, the operation range is narrower than the permissible range Rpr at the time of manufacture. The detection sensitivity of abnormality of the Hall sensor can be increased by the allowable range Rar. Further, for example, as in the example of the allowable range in FIG. 10, even if the correction amount is within the range Rpr of the manufacturing variation, the abnormality of the Hall sensor is detected when the correction amount exceeds the allowable range Rar of the correction amount during operation. be able to.

<3. Third Example>
Next, another embodiment of the electrohydraulic power steering apparatus 1 will be described. A shift in the mounting position of the Hall elements 84u, 84v and 84w may occur for each phase due to aging. Accordingly, the shift in the attachment position due to aging appears as a difference between the phase coils in the aging amount of the correction amount with respect to the edge.

  FIG. 14 is a diagram illustrating an example of a change over time in the correction amount of each phase. The graph shown by a solid line shows the secular change of the correction amount during operation for the edges in the U phase, the V phase, and the W phase, respectively. Values Cpu, Cpv, and Cpw indicated by dotted lines indicate correction amounts for edges at the time of manufacture in the U phase, the V phase, and the W phase. The difference between the correction amount at the time of operation and the correction amount at the time of manufacture corresponds to the amount of change of the correction amount over time.

  In the example of FIG. 14, the secular change amount of the correction amount of the V phase and the W phase changes in the negative direction, whereas the secular change amount of the correction amount of the U phase changes in the positive direction. . For this reason, it can be determined that the mounting position of the U-phase hall element 84u is starting to shift. Therefore, in the third embodiment, the abnormality of the Hall sensor is also detected when the difference between the phase coils of the aging change amount of the correction amount with respect to the edge becomes larger than the threshold value.

The determination unit 50 calculates the differences ΔC1, ΔC2, and ΔC3 between the phase coils of the aging amount of the correction amount with respect to the edge by the following equations (1) to (3).
ΔC1 = | Aging amount of correction amount for edge measured in U phase−Aging amount of correction amount for edge measured in V phase | (1)
ΔC2 = | Aging amount of correction amount for edge measured in V phase−Aging amount of correction amount for edge measured in W phase | (2)
ΔC3 = | Aging amount of correction amount for edge measured in W phase−Aging amount of correction amount for edge measured in U phase | (3)

  The determination unit 50 detects an abnormality of the Hall sensor when any of the aging difference ΔC1, ΔC2, and ΔC3 exceeds a predetermined threshold.

  FIG. 15 is an explanatory diagram of a third example of the hall sensor output correction process during operation of the electrohydraulic power steering apparatus 1. The processing of operations FA to FL is the same as the processing of operations BA to BL in FIG. In operation FM, the determination unit 50 determines whether the correction amount Cr for the rising edge is larger than the allowable lower limit value Ldar and smaller than the allowable upper limit value Luar. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar (operation FM: Y), the processing proceeds to operation FN. If the allowable lower limit value Ldar <the correction amount Cr <the allowable upper limit value Luar is not satisfied (operation FM: N), the processing proceeds to operation FQ.

  In operation FN, the determination unit 50 determines whether or not the correction amount Cf for the falling edge is larger than the allowable lower limit value Ldaf and smaller than the allowable upper limit value Luaf. If the allowable lower limit value Ldaf <the correction amount Cf <the allowable upper limit value Luaf (operation FN: Y), the processing proceeds to operation FO. If the allowable lower limit value Ldaf <the correction amount Cf <the allowable upper limit value Luaf is not satisfied (operation FN: N), the processing proceeds to operation FQ.

  In operation FO, the determination unit 50 determines whether or not the difference between the phase coils of the aging change amount of the correction amount with respect to the edge is larger than the threshold value. If the difference is larger than the threshold (operation FO: Y), the process proceeds to operation FQ. If the difference is not greater than the threshold (operation FO: N), the processing proceeds to operation FP. The processing of operations FP and FQ is the same as the processing of operations BO and BP in FIG.

  According to the present embodiment, even before the correction amount for the edge exceeds the allowable range at the time of operation, the abnormality of the Hall sensor can be detected by the difference between the aging variation amounts of the correction amount. For this reason, the abnormality detection sensitivity of the Hall sensor can be further increased.

DESCRIPTION OF SYMBOLS 1 Electric hydraulic power steering apparatus 2 Steering wheel 3 Column shaft 4 Front wheel 5 Rack 6 Pinion 30 Power supply 33 Power cylinder

Claims (6)

Rotor position detection means for detecting the position of the rotor of the synchronous motor according to the output signal of the Hall sensor;
A correction amount calculation unit that calculates a phase correction amount of the output signal of the Hall sensor according to an induced voltage generated in the stator coil of the synchronous motor;
A determination unit that determines abnormality of the Hall sensor according to the phase correction amount;
A motor abnormality detection device comprising: A storage unit for storing the phase correction amount;
2. The determination unit according to claim 1, wherein the determination unit determines abnormality of the Hall sensor according to a difference between a phase correction amount stored in the storage unit and a phase correction amount calculated by the correction amount calculation unit. The abnormality detection device described.   The abnormality determination device according to claim 2, wherein the determination unit stores the phase correction amount calculated by the correction amount calculation unit in the storage unit.   The said determination part determines abnormality of the said Hall sensor according to the difference between the phases of the secular variation of the phase correction amount computed about the stator coil of a different phase, respectively. The abnormality detection device according to item. Rotor position detection means for detecting the position of the rotor of the synchronous motor according to the output signal of the Hall sensor;
A correction amount calculation unit that calculates a phase correction amount of the output signal of the Hall sensor according to an induced voltage generated in the stator coil of the synchronous motor;
A determination unit that determines abnormality of the Hall sensor according to the phase correction amount;
A control unit that controls the synchronous motor based on the detected position of the rotor corrected by the phase correction amount;
A motor control device comprising: Detect the phase of the rotor of the synchronous motor according to the output signal of the Hall sensor,
Calculating the phase correction amount of the output signal of the Hall sensor in accordance with the induced voltage generated in the stator coil of the synchronous motor;
Determining abnormality of the Hall sensor according to the phase correction amount;
A method for detecting an abnormality of a motor.

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