JP2015106975A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a vehicle from traveling in a direction different from an advancing direction which a driver asks for, by ceasing driving of a motor in a case an abnormality relevant to a traveling direction occurs.SOLUTION: The invention includes drive control means that controls driving of a motor on the basis of a command signal, and monitoring means that compares an estimated driving direction which is estimated based on a signal received from a shift position sensor, with a command drive direction contained in the command signal. If the comparison demonstrates that the command drive direction and estimated driving direction are different from each other, the monitoring means allows the driving control means to cease driving of the motor.

Description

  The present invention relates to a motor control device mounted on a vehicle such as a hybrid vehicle or an electric vehicle.

  In recent years, environmentally friendly vehicles such as hybrid vehicles, electric vehicles, and fuel cell vehicles have attracted attention. In these vehicles, a driving motor as a driving source is driven and controlled by a motor control device. In a motor control device mounted on a hybrid vehicle or an electric vehicle, if a motor torque abnormality occurs due to a failure of motor drive control, there is a possibility that a malfunction or damage of motor components may occur. is there.

  In order to suppress such torque abnormality of the motor, there is a control for stopping the vehicle by cutting off the power supply to the motor when detecting a state where the driving torque of the motor is larger than usual. Japanese Patent Laid-Open No. 2006-230051 discloses that in a hybrid vehicle equipped with an internal combustion engine and a motor for power generation and traveling, power supply from the battery to the motor is cut off when the motor generates an unexpected driving torque. Thus, a device that prevents over-rotation of the internal combustion engine and the motor is disclosed.

JP 2006-230051 A

  By the way, as a malfunction of the motor, for example, a malfunction related to the traveling direction such that the vehicle travels in a direction different from the traveling direction required when the driver shifts the transmission forward (or reverse shift). Is also a concern.

  The present invention is for solving the above-described problem. When an abnormality relating to the traveling direction occurs, the vehicle travels in a direction different from the traveling direction requested by the driver by stopping the driving of the motor. The purpose is to prevent in advance.

  The present invention compares the drive control means for controlling the drive of the motor based on the command signal, the estimated drive direction estimated based on the signal received from the shift position sensor, and the command drive direction included in the command signal. Monitoring means for performing, when the command drive direction and the estimated drive direction are different from each other in the comparison, the drive control means stops driving of the motor.

  The present invention can prevent the vehicle from traveling in a direction different from the traveling direction requested by the driver.

FIG. 1 is a system configuration diagram of a motor control device. (Example) FIG. 2 is a flowchart of abnormality determination by the monitoring means. (Example) FIG. 3 is a flowchart of motor control by the drive control means. (Example) FIG. 4 is a flowchart of power control by the power supply control means. (Example) FIG. 5 is a time chart when determining abnormality of the command driving force. (Example) FIG. 6 is a time chart when determining abnormality in the command drive direction. (Example) FIG. 7 is a system configuration diagram of a motor control device in which each means is integrated. (Modification)

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 6 show an embodiment of the present invention. In FIG. 1, a motor control device 1 is mounted on a vehicle that can be driven by electric energy such as a hybrid vehicle, an electric vehicle, and a fuel cell vehicle, has a motor 2 for traveling, and stores a power for driving the motor 2. 3. The battery 3 is connected to the drive control means 6 by a plus side electric path 4 and a minus side electric path 5.
The plus-side electric circuit 4 includes a plus-side contactor 7 that opens and closes the electric circuit. The minus-side electric circuit 5 includes a minus-side contactor 8 that opens and closes the electric circuit. The plus side contactor 7 and the minus side contactor 8 are controlled to be opened and closed by the power supply control means 9 to supply / cut off the electric power of the battery 3 to the motor 2. The drive control means 6 is connected to the motor 2 by a three-phase electric circuit 10. The drive control means 6 controls the electric power supplied from the battery 3 to the motor 2 to drive / stop the motor 2.
The drive control means 6 and the power supply control means 9 are connected to each branched one end side of the command signal line 11. The other end side of the command signal line 11 is connected to the command means 12. The command means 12 is connected to an accelerator pedal sensor 13 for detecting the operation state of the accelerator pedal and a shift position sensor 14 for detecting the shift state of the transmission.
The command means 12 calculates the command drive force and the command drive direction of the motor 2 based on the signal received from the accelerator pedal sensor 13 and the signal received from the shift position sensor 14. The command unit 12 transmits a command signal including the calculated command driving force and command driving direction to the drive control unit 6 through the command signal line 11. The drive control means 6 controls the power supplied from the battery 3 to the motor 2 based on the received command signal, and drives or stops the motor 2.
The command means 12 transmits a command signal for permitting or shutting off power supply to the power supply control means 9 through the command signal line 11 based on, for example, on / off control of an ignition switch (not shown) and the state of the vehicle. To do. The power supply control means 9 opens and closes the plus-side contactor 7 and the minus-side contactor 8 based on the received command signal, and controls the supply and interruption of the power of the battery 3 to the motor 2.

The motor control device 1 includes a monitoring unit 15 that monitors a command signal from the command unit 12. The monitoring means 15 connects the accelerator pedal sensor 13 and the shift position sensor 14. The monitoring means 15 is connected to the command means 12 by a signal input line 16. The monitoring unit 15 receives a command signal from the command unit 12 through the signal input line 16. The monitoring means 15 connects one end side of the signal output line 17. The other end side of the signal output line 17 is branched and connected to the drive control means 6 and the power supply control means 9. The monitoring unit 15 transmits various signals to the drive control unit 6 and the power supply control unit 9 through the signal output line 17.
The monitoring unit 15 estimates the driving force of the motor 2 based on the signal received from the accelerator pedal sensor 13 and estimates the driving direction of the motor 2 based on the signal received from the shift position sensor 14. The monitoring unit 15 compares the estimated driving force estimated with the command driving force included in the command signal received from the command unit 12, and command driving included in the estimated driving direction estimated from the command signal received from the command unit 12. Compare with direction.
When the difference between the command driving force and the estimated driving force is equal to or greater than a predetermined value or at least one of the command driving direction and the estimated driving direction does not match in the comparison, the monitoring unit 15 12 determines that an abnormality has occurred. If the monitoring unit 15 determines that an abnormality has occurred in the command unit 12, the monitoring unit 15 transmits a stop signal to the drive control unit 6 and the power supply control unit 9.
When receiving the stop signal from the monitoring unit 15, the drive control unit 6 invalidates the command signal from the command unit 12 and stops driving the motor 2. When the power supply control means 9 receives the stop signal from the monitoring means 15, the power supply control means 9 invalidates the command signal of the command means 12, controls the opening of the plus side contactor 7 and the minus side contactor 8, and the electric power of the battery 3 to the motor 2. Shut off the supply.

Next, the operation will be described.
As shown in FIG. 2, the motor control device 1 performs abnormality determination by the monitoring unit 15.
In FIG. 2, when the abnormality determination program starts (101), the monitoring means 15 receives a command signal including a command driving force and a command driving direction from the command means 12 (102), and an accelerator pedal sensor 13, a shift position sensor. The estimated driving force and the estimated driving direction are calculated from the signal No. 14 (103), and it is determined whether the difference between the command driving force and the estimated driving force is a predetermined value or more (104).
If this determination (104) is YES, it is determined that the command means 12 is abnormal (105), a stop signal is transmitted to the drive control means 6 and the power supply control means 9 (106), and the program ends ( 107).
If the determination (104) is NO, it is determined whether the operating state of the accelerator pedal is in the plus (depression) direction (108).
If this determination (108) is YES, it is determined whether or not the command drive direction and the estimated drive direction match (109).
If this determination (109) is YES, it is determined that the command means 12 is abnormal (105), a stop signal is transmitted to the drive control means 6 and the power supply control means 9 (106), and the program ends ( 107).
On the other hand, if the determination (108) is NO, and if the determination (109) is NO, the process returns to receiving the command signal (102).

As shown in FIG. 3, the motor control device 1 performs motor control by drive control means 6.
In FIG. 3, when the motor control program starts (201), the drive control means 6 determines whether or not a command signal including a command drive force and a command drive direction has been received from the command means 12 (202).
If this determination (202) is NO, the program is ended (205). If this determination (202) is YES, it is determined whether a stop signal has been received from the monitoring means 15 (203).
If this determination (203) is YES, the command signal of the command means 12 is invalidated, the drive torque of the motor 2 is set to zero, the program is stopped (204), and the program is ended (205).
When the determination (203) is NO, the power supplied from the battery 3 to the motor 2 is controlled based on the command signal, the drive of the motor 2 is controlled (206), and the process returns to the determination (202).

As shown in FIG. 4, the motor control device 1 performs power control by the power supply control means 9.
In FIG. 4, when the power control program starts (301), the power supply control means 9 determines whether a power supply permission command signal is received from the command means 12 (302).
If this determination (302) is NO, the program is ended (305). If this determination (302) is YES, it is determined whether a stop signal has been received from the monitoring means 15 (303).
If this determination (303) is YES, the command signal of the command means 12 is invalidated and the positive side contactor 7 and the negative side contactor 8 are controlled to open, and the power supply of the battery 3 to the motor 2 is cut off (304). The program is ended (305).
If the determination (303) is NO, the plus-side contactor 7 and the minus-side contactor 8 are closed based on the command signal for permitting power supply, and the power of the battery 3 is supplied to the motor 2 (306). Return to (302).

The motor control device 1 operates as shown in FIG. 5 when determining abnormality of the command driving force.
The monitoring unit 15 monitors the difference Y between the command driving force included in the command signal received from the command unit 12 and the estimated driving force calculated based on the signal received from the accelerator pedal sensor 13.
In FIG. 5, when the difference Y between the command driving force and the estimated driving force becomes equal to or larger than a predetermined value Z at T1, and the state where the difference Y is equal to or larger than the predetermined value Z is continued until T2, the monitoring means 15 12 is determined to be abnormal, and a stop signal is transmitted to the drive control means 6 and the power supply control means 9.
The drive control means 6 that has received the stop signal stops the drive torque of the motor 2 at zero at T3. The power supply control means 9 that has received the stop signal opens the plus-side contactor 7 and the minus-side contactor 8 at T3, and cuts off the power supply of the battery 3 to the motor 2.

The motor control device 1 operates as shown in FIG. 6 when determining an abnormality in the command drive direction.
The monitoring unit 15 monitors the command drive direction included in the command signal received from the command unit 12 and the estimated drive direction calculated based on the signals received from the accelerator pedal sensor 13 and the shift position sensor 14. .
In FIG. 6, the monitoring means 15 maintains that the command drive direction (reverse) and the estimated drive direction (forward) are different from each other at T4, and the operation state of the accelerator pedal continues in the plus (depression) direction. When the current state continues until T5, the command unit 12 is determined to be abnormal, and a stop signal is transmitted to the drive control unit 6 and the power supply control unit 9.
The drive control means 6 that has received the stop signal stops the drive torque of the motor 2 with zero at T6. The power supply control means 9 that has received the stop signal opens the plus-side contactor 7 and the minus-side contactor 8 at T6, and cuts off the power supply of the battery 3 to the motor 2.

Thus, the motor control device 1 compares the estimated drive direction estimated based on the signal of the shift position sensor 14 with the command drive direction included in the command signal for controlling the drive of the motor 2, and When the estimated driving directions are different from each other, the driving of the motor 2 is stopped, so that the vehicle can be prevented from traveling in a direction different from the traveling direction requested by the driver.
When the command drive direction and the estimated drive direction are different from each other, the motor control device 1 determines that an abnormality has occurred in the command unit 12, so that the abnormality of the command unit 12 can be detected, and the power supply control unit 9 Since the supply of power to 2 is cut off, the driving of the motor 2 can be stopped more reliably.
When the command drive direction and the estimated drive direction are different from each other, the motor control device 1 sends a stop signal for stopping the drive of the motor 2 and cutting off the power supply to the motor 2 to the drive control means 6 and the power supply control means 9. Since the drive control means 6 and the power supply control means 9 that received the stop signal invalidate the command based on the command signal, for example, even if the command signal is erroneously transmitted, the motor 2 Can be stopped reliably.
When the difference between the command driving force and the estimated driving force is a predetermined value or more in the comparison between the estimated driving force and the command driving force included in the command signal, the motor control device 1 is included in the estimated driving direction and the command signal. When at least one of the command drive directions to be different from each other is established, the drive control means 6 stops the drive of the motor 2 and the power supply control means 9 cuts off the supply of power to the motor 2. 2 can be determined in detail, and driving of the motor 2 can be stopped more accurately.

In the motor control apparatus 1 of the above-described embodiment, the drive control means 6, the command means 12, and the monitoring means 15 are configured separately, but the drive control means 6 and the motor control apparatus 1 of the modification shown in FIG. The command unit 12 and the monitoring unit 15 can be integrated.
In FIG. 7, the modified motor control device 1 includes a battery 3 that stores electric power for driving the motor 2, and supplies a positive side electric circuit 4 and a negative side electric circuit 5 that supply the electric power of the battery 3 to the motor 2. A contactor 7 and a minus contactor 8 are provided, and a power supply control means 9 for controlling the opening and closing of the plus contactor 7 and the minus contactor 8 is provided.
The motor control device 1 includes a motor control unit 18 that controls the motor 2. The motor control unit 18 includes a power source 19 for integrating the drive control unit 6, the command unit 12, and the monitoring unit 15 and for differentially driving the drive control unit 6.
The battery 3 connects the plus-side electric circuit 4 and the minus-side electric circuit 5 to the drive control means 6. The drive control means 6 is connected to the motor 2 through the three-phase electric circuit 10 and controls the drive of the motor 2. The drive control means 6 is connected to the command means 12 by the first command signal line 11-1. The power supply control means 9 is connected to the command means 12 by the second command signal line 11-2. An accelerator pedal sensor 13 and a shift position sensor 14 are connected to the command means 12.
The command means 12 calculates the command drive force and the command drive direction of the motor 2 based on the signal received from the accelerator pedal sensor 13 and the signal received from the shift position sensor 14, and calculates the command drive force and the command drive direction. The command signal including it is transmitted to the drive control means 6 through the first command signal line 11-1. The drive control means 6 controls the drive of the motor 2 based on the command signal.
Further, the command means 12 uses a second command signal line 11-2 to send a command signal for permitting or stopping power supply based on, for example, on / off control of an ignition switch (not shown) and the state of the vehicle. This is transmitted to the supply control means 9. The power supply control means 9 controls supply and interruption of the power of the battery 3 to the motor 2 based on the command signal.

The monitoring means 15 connects the accelerator pedal sensor 13 and the shift position sensor 14. The monitoring unit 15 is connected to the command unit 12 through the signal input line 16 and receives a command signal from the command unit 12. The monitoring means 15 is connected to the power supply 19 through the first signal output line 17-1, and is connected to the power supply control means 9 through the second signal output line 17-2. The power source 19 is connected to the drive control means 6 by a power line 20. The monitoring unit 15 transmits various signals to the power supply 20 and the power supply control unit 9 through the first signal output line 17-1 and the second signal output line 17-2.
The monitoring unit 15 estimates the driving force of the motor 2 based on the signal received from the accelerator pedal sensor 13 and estimates the driving direction of the motor 2 based on the signal received from the position sensor 14. The monitoring unit 15 compares the estimated driving force with the command driving force, and compares the estimated driving direction with the command driving direction.
When the difference between the command driving force and the estimated driving force is equal to or greater than a predetermined value or at least one of the command driving direction and the estimated driving direction does not match in the comparison, the monitoring unit 15 12 determines that an abnormality has occurred. When the monitoring unit 15 determines that an abnormality has occurred in the command unit 12, the monitoring unit 15 transmits a stop signal to the power source 19 and the power supply control unit 9.
When the power supply 19 receives the stop signal from the monitoring unit 15, the power supply 19 interrupts the supply of power to the drive control circuit 6. Thereby, the drive of the motor 2 is stopped. Further, when the power supply control means 9 receives the stop signal from the monitoring means 15, the power supply control means 9 invalidates the command signal of the command means 12, controls the opening of the plus side contactor 7 and the minus side contactor 8, and the battery 3 to the motor 2. Shut off the power supply.

  The motor control device 1 according to the modified example can simplify the structure and reduce the cost by integrating the drive control means 6, the command means 12, and the monitoring means 15 as the motor control unit 18. In addition, the motor control device 1 according to the modified example shuts off the supply of power to the drive control circuit 6 and stops the operation of the drive control circuit 6 by a stop signal from the monitoring means 15, so that the motor 2 is reliably driven. Can be stopped.

  This invention can prevent the vehicle from traveling in a direction different from the traveling direction requested by the driver, and is not limited to a four-wheeled vehicle, as long as the vehicle can travel by a motor. It can also be applied to motorcycles and tricycles. That is, the vehicle to which the present invention is applicable is not limited to the number of wheels or the presence or absence of wheels.

DESCRIPTION OF SYMBOLS 1 Motor control apparatus 2 Motor 3 Battery 6 Drive control means 7 Positive side contactor 8 Negative side contactor 9 Electric power supply control means 12 Command means 13 Accelerator pedal sensor 14 Shift position sensor 15 Monitoring means

Claims (5)

  Drive control means for controlling the drive of the motor based on the command signal; monitoring means for comparing the estimated drive direction estimated based on the signal received from the shift position sensor and the command drive direction included in the command signal; And the monitoring means stops driving of the motor by the drive control means when the command drive direction and the estimated drive direction are different from each other in the comparison.   Command means for transmitting the command signal to the monitoring means, wherein the monitoring means determines that an abnormality has occurred in the command means when the command drive direction and the estimated drive direction are different from each other. The motor control device according to claim 1.   Power supply control means for controlling supply of power to the motor based on the command signal, and the monitoring means is configured to control the motor supply by the power supply control means when the command drive direction and the estimated drive direction are different from each other. The motor control device according to claim 1, wherein the supply of electric power is cut off.   The command means transmits the command signal to the drive control means and the power supply control means. When the command drive direction and the estimated drive direction are different from each other, the monitoring means stops motor drive and A stop signal for cutting off the power supply is transmitted to the drive control means and the power supply control means. When the drive control means and the power supply control means receive the stop signal, a command based on the command signal is sent. The motor control device according to claim 3, wherein the motor control device is invalidated.   The monitoring means compares the estimated driving force estimated based on the signal received from the accelerator pedal sensor and the command driving force included in the command signal, and the command driving force and the estimated driving force are compared in the comparison. When at least one of the difference between the command drive direction and the estimated drive direction is different from each other, the drive control means stops driving the motor, and the power supply control means The motor control device according to claim 3 or 4, wherein supply of electric power to the motor is interrupted by the motor.

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