JP2016013040A - Controller of rotary machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an MG 10 drivable even when an abnormality occurs in current sensors 34 and 36.SOLUTION: When it is determined that a gain abnormality occurs in current sensors 34 and 36, a reactive current is made to flow in an MG 10 by open loop control in a state of the MG 10 being stopped. A gain adjustment value G is calculated by dividing a detection ratio (iu/iw), which is a ratio of currents iu and iw detected by the current sensors at the time, by a reference ratio (Iu/Iw). When the gain adjustment value G is larger than "1", the current iw is corrected to be "G iw", and the MG 10 is driven by using the currents iu and "G iw".

Description

  The present invention flows through a rotating machine, a voltage applying circuit capable of adjusting a voltage applied to each of a plurality of terminals of the rotating machine, and an electric path connecting the first terminal and the voltage applying circuit among the plurality of terminals. A rotating machine applied to a system comprising: a first current sensor that detects a current; and a second current sensor that detects a current flowing through an electrical path connecting a second terminal and the voltage application circuit among the plurality of terminals. The present invention relates to a control device.

  For example, in Patent Document 1, based on the ratio of currents detected by current sensors relating to each phase of a three-phase motor, whether or not a current sensor has failed is detected. It has been proposed to zero immediately (paragraph “0034”).

JP-A-10-108494

  However, for example, in the case where the motor is used for running the vehicle, the vehicle cannot be run if the motor is stopped due to the abnormality of the current sensor. However, when an abnormality occurs in the current sensor, it is desirable that at least the vehicle can be driven by a dealer or the like.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a control device for a rotating machine that can drive the rotating machine even when an abnormality occurs in a current sensor. .

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
Technical idea 1: A rotating machine, a voltage applying circuit capable of adjusting a voltage applied to each of a plurality of terminals of the rotating machine, and an electric path connecting the first terminal and the voltage applying circuit among the plurality of terminals. An open loop that is applied to a system comprising: a first current sensor that detects a flowing current; and a second current sensor that detects a current flowing through an electrical path connecting the second terminal and the voltage application circuit among the plurality of terminals. An energization control unit for operating the voltage application circuit to perform energization control of the rotating machine by control, current detected by the first current sensor when the energization control is performed, and the energization control. Gain of the first current sensor and the second current sensor based on a detection ratio that is a ratio of current detected by the second current sensor and a reference ratio A rotation comprising: a calculation processing unit that calculates a gain adjustment value that can reduce variation; and an operation processing unit that operates the voltage application circuit to control a control amount of the rotating machine by using the gain adjustment value as an input. Machine control device.

  If a gain abnormality occurs in the current sensor, that is, if an abnormality occurs that causes the detected value to expand or contract the true value at a predetermined ratio, this ratio is detected as a deviation between the detection ratio and the reference ratio. Is possible. In addition, the amount of deviation between the detection ratio and the reference ratio includes information necessary for reducing variations in gains of the first current sensor and the second current sensor. In view of this point, the above apparatus calculates a gain adjustment value based on the detection ratio and the reference ratio, and controls the control amount of the rotating machine based on the gain adjustment value. For this reason, when controlling the control amount of the rotating machine, the current information based on the current detected by the first current sensor and the current detected by the second current sensor is obtained with high accuracy with reduced influence of abnormality. can do. Thereby, the rotating machine can be driven.

  Technical idea 2: The calculation processing unit calculates a ratio between the detection ratio and the reference ratio as the gain adjustment value, and the operation processing unit includes a current detected by the first current sensor and The voltage application circuit is operated based on either one of the currents detected by the second current sensor multiplied by the gain adjustment value or its reciprocal to reduce the gain variation, and the other. A control device for a rotating machine according to the technical idea 1.

  By multiplying either the current detected by the first current sensor or the current detected by the second current sensor by the gain adjustment value or its inverse, there is a gain variation between the multiplied value and the other. The value is reduced. Then, by using either one of the above-mentioned multiplied values which are a pair of current values with reduced gain variations, the gain variations between the currents detected by the first current sensor and the second current sensor can be reduced. The control amount of the rotating machine can be controlled using the suitably reduced information.

Technical idea 3: The control device for a rotating machine according to the technical idea 2, wherein the operation processing unit multiplies any one of the gains by a value larger than “1” of the gain adjustment value and its reciprocal.
When reducing variation in gain between the current detected by the first current sensor and the current detected by the second current sensor, one of the detected currents is set to a value larger than the true value or the true value A situation may occur in which the value is corrected to a smaller value. In this case, when correcting to a value smaller than the true value, there is a concern that the current flowing in the rotating machine or the voltage application circuit may exceed the upper limit value. In this regard, in the above apparatus, it is preferable to multiply the gain adjustment value and its reciprocal number that is greater than “1”, thereby suitably preventing the detected current from being corrected to a value smaller than the true value. be able to.

Technical idea 4: The control device for a rotating machine according to any one of technical ideas 1 to 3, wherein the energization control is a control for causing a reactive current to flow through the rotating machine.
When the rotating machine rotates by generating torque in the rotating machine, it becomes difficult to make the ratio between the current to be detected by the first current sensor and the current to be detected by the second current sensor constant regardless of the electrical angle. . In this respect, in the above-described apparatus, since no torque is generated in the rotating machine by passing an ineffective current, the rotating machine can be brought into a stopped state. In this case, since the ratio between the current to be detected by the first current sensor and the current to be detected by the second current sensor can be made constant regardless of the electrical angle, it is easy to calculate the gain adjustment value and the like. Can be done.

  Technical idea 5: The voltage application circuit is a DC / AC conversion circuit including a switching element that connects each of the plurality of terminals to each of a positive electrode and a negative electrode of a DC voltage source, and the energization control unit The relationship between the electrical angle of the machine and the ratio of the period during which one of the switching elements is turned on with respect to the cycle in which the switching element connected to the positive electrode and the switching element connected to the negative electrode are alternately turned on / off A control device for a rotating machine according to the technical idea 4, in which the energization control is performed by turning on and off the switching element based on the relationship information.

In the above apparatus, the current flowing through the rotating machine can be controlled in an open loop by turning on / off the switching element using the relationship information.
Technical idea 6: The operation processing unit receives the gain adjustment value based on the detection ratio when it is determined that no offset abnormality has occurred in the first current sensor and the second current sensor. The control apparatus of the rotary machine of any one of thoughts 1-5.

  A shift occurs between the detection ratio and the reference ratio not only when the gain abnormality occurs in the current sensor but also when the offset abnormality occurs. In this regard, in the above-described apparatus, the gain is erroneously corrected for the offset abnormality by controlling the control amount of the rotating machine using the gain adjustment value based on the detection ratio when it is determined that the offset abnormality does not occur. The situation in which the rotating machine is controlled based on the current information thus obtained can be suitably suppressed.

1 is a system configuration diagram according to a first embodiment. FIG. The figure which shows the drive circuit of MG concerning the embodiment. The flowchart which shows the procedure of the abnormality detection process of the current sensor concerning the embodiment. The flowchart which shows the procedure of the gain correction process of the current sensor concerning the embodiment. The figure which shows the table for the reactive current energization concerning the embodiment. The figure which shows the drive circuit of MG concerning 2nd Embodiment. The flowchart which shows the procedure of the abnormality detection process of the current sensor concerning the embodiment. The flowchart which shows the procedure of the gain correction process of the current sensor concerning the embodiment. The figure which shows the table for the reactive current energization concerning the embodiment.

<First Embodiment>
Hereinafter, a first embodiment of a control device for a rotating machine will be described with reference to the drawings.
FIG. 1 shows a system configuration according to the present embodiment.

  As shown in FIG. 1, in the vehicle according to this embodiment, an internal combustion engine 2 and a motor generator (MG4) are mechanically connected to a front wheel 8 via a transmission 6. A motor generator (MG10) is mechanically coupled to the rear wheel 12. Here, in this embodiment, a synchronous machine is assumed as MG10, and in detail, a surface magnet synchronous machine (SPM) is assumed.

  MG4 is connected to a DC / AC converter circuit (inverter 14), and MG10 is connected to an inverter 16. The inverters 14 and 16 are both power conversion circuits that convert the voltage of the battery 18 into an AC voltage. The control device 20 is an electronic control device that operates the inverters 14 and 16 with the MGs 4 and 10 as control targets.

In FIG. 2, MG10, the inverter 16, and the control apparatus 20 are shown.
The MG 10 includes U-phase, V-phase, and W-phase stator coils Cu, Cv, Cw, which are connected by neutral points.

  Inverter 16 includes a series connection of U-phase upper arm switching element Sup and lower arm switching element Sun, a V-phase upper arm switching element Svp and a lower arm switching element Svn, and a W phase. A switching element Swp of the upper arm and a series connection body of the switching element Swn of the lower arm. In the following, “U”, “V”, “W” indicating any one of the U phase, the V phase, and the W phase will be described as “H”, and either the upper arm or the lower arm will be indicated. It is described as “#” that it is either “p” or “n”. That is, for example, any one of the upper arm switching elements Sup, Svp, Swp is described as a switching element SHp, and for example, any one of the U-phase switching elements Sup, Sun is defined as a switching element. Described as Su #.

  A connection point between the switching element SHp of the upper arm and the switching element SHn of the lower arm constituting each series connection body is an output terminal of the inverter 16, and each terminal of the MG 10 is connected to these output terminals. Specifically, a connection point between switching element Sup and switching element Sun and a connection point between switching element Svp and switching element Svn are connected to MG 10 via relays 30 and 32, respectively. On the other hand, the connection point between the switching element Swp and the switching element Swn is directly connected to the terminal of the MG 10. In FIG. 2, an insulated gate bipolar transistor (IGBT) is illustrated as the switching element SH #.

In addition, a diode DH # is connected in antiparallel to the switching element SH #.
Control device 20 outputs operation signal gH # to switching element SH #. Accordingly, the corresponding drive unit UH # generates a signal to be applied to the gate of the switching element SH #, and applies this to the gate. As a result, switching element SH # is turned on / off.

  A current sensor 34 for detecting a current iu flowing through the electric path is disposed in the vicinity of the electric path between the output terminal of the inverter 16 and the U-phase stator coil Cu. A current sensor 36 for detecting a current iw flowing through the electric path is disposed in the vicinity of the electric path between the output terminal of the inverter 16 and the W-phase stator coil Cw. The current sensors 34 and 36 may be current transformers, for example.

FIG. 3 shows a procedure of abnormality detection processing of the current sensors 34 and 36 according to the present embodiment. This process is repeatedly executed by the control device 20, for example, at a predetermined control cycle.
In this series of processes, the control device 20 first determines whether or not an execution condition for the abnormality detection process is satisfied (S10). Here, the execution condition includes, for example, a condition indicating that the MG 10 is operating by operating the inverter 16. Note that it is desirable to add a condition that the amplitude of the current flowing through the MG 10 is equal to or greater than a predetermined value as the execution condition. This is to improve the S / N ratio of the abnormality detection process.

  When it is determined that the execution condition is satisfied (S10: YES), the control device 20 calculates a phase φ0 that is a current phase shift amount with respect to the d-axis current being zero (S16). This can be calculated by “φ0 = arctan (id / iq)”. Then, the control device 20 determines whether or not the electrical angle θ is “φuw + φ0” or “φuw + φ0 + 180” (S14). This process is for determining whether or not the U-phase current iu and the W-phase current iw coincide with each other. Here, the reference phase φuw is an electrical angle at which the U-phase current iu and the W-phase current iw coincide when the d-axis current is zero.

  If the determination in step S14 is affirmative, the control device 20 determines whether or not the absolute value of the difference between the current iu detected by the current sensor 34 and the current iw detected by the current sensor 36 is equal to or greater than a specified value Δth. Judgment is made (S16). This process is for determining whether or not an abnormality has occurred in the current sensors 34 and 36. Here, the specified value Δth is set to a value when a difference that should be detected as an abnormality occurs beyond a difference due to a tolerance allowed for the detection values of the current sensors 34 and 36. When determining that the value is equal to or greater than the specified value Δth (S16: YES), the control device 20 determines that the current sensor 34 or the current sensor 36 is abnormal (S18). Then, the control device 20 notifies the user or the like through the interface (not shown) that there is an abnormality (S20). Then, the control device 20 opens the relays 30 and 32 shown in FIG. 2 (S22). As a result, no current flows from the inverter 16 to the MG 10, and the MG 10 is brought into a no-load state and is rotated around the rear wheel 12.

  Next, the control device 20 determines whether or not the absolute value of the current iu detected by the current sensor 34 or the absolute value of the current iw detected by the current sensor 36 is equal to or greater than a specified value α (S24). This process is for determining whether or not the abnormality of the current sensors 34 and 36 is an offset abnormality in which the output values of the current sensors 34 and 36 are shifted by a predetermined amount. That is, when the relays 30 and 32 are opened in step S22, no current flows through the MG 10, so that if the current sensors 34 and 36 are normal, the currents iu and iw detected by the current sensors 34 and 36 are “ It should be “0”. The specified value α is set to a lower limit value of an unacceptable abnormality in consideration of tolerances allowed for the current sensors 34 and 36.

  If the determination is affirmative in step S24, the control device 20 determines that the offset is abnormal (S26). On the other hand, if a negative determination is made in step S24, it is determined that the gain is abnormal because the offset is not abnormal (S28). Here, the gain abnormality is an abnormality in which the currents iu and iw detected by the current sensors 34 and 36 are true values multiplied by a predetermined value.

Note that the control device 20 once ends the series of processes when the processes of steps S26 and S28 are completed or when a negative determination is made in steps S10, S14, and S16.
FIG. 4 shows a procedure of gain correction processing that is processing performed when it is determined that the gain is abnormal in the processing of step S28. The process shown in FIG. 4 is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, the control device 20 first determines whether or not the vehicle travel permission switch (IG) has been switched from the off state to the on state, and determines that the vehicle has been switched to the on state (S30: YES). Then, the relays 30 and 32 are closed (S31). Next, the control device 20 determines whether or not a gain abnormality determination has been made (S32). This process is a determination as to whether or not a gain abnormality determination has been made when the IG was previously turned on. The processes in steps S30 and S32 are for determining whether or not the execution condition for the gain correction process is satisfied. When the gain abnormality determination is made (S32: YES), the control device 20 acquires the electrical angle θ (S34). This process is a process of acquiring a detection value of a rotation angle detection device of the MG 10 such as a resolver (not shown). Subsequently, the control device 20 acquires the time ratios DTu, DTv, DTw for causing the reactive current to flow through the MG 10 by the open loop control based on the electrical angle θ (S36). Here, the duty ratio DTH is a time ratio of a period in which the switching element SHp is turned on with respect to a cycle in which the switching element SHp and the switching element SHn are alternately turned on. This process is performed based on the table data shown in FIG.

  The table data shown in FIG. 5 is data in which a time ratio DTH is determined for each discrete value of the electrical angle θ. Further, the table data is data in which a reference ratio (Iu / Iw) that is a ratio of the U-phase current and the W-phase current is determined for each discrete value of the electrical angle θ. Here, the reference ratio is a ratio between the U-phase current and the W-phase current that flows through the MG 10 when the switching element SH # is turned on / off according to the time ratio DTH. When the electrical angle θ does not exist in the table data, the control device 20 determines the duty ratio DTH based on a pair of electrical angles adjacent to the electrical angle θ obtained in step S34. Is obtained by interpolation processing.

  Then, the control device 20 executes energization control for causing a reactive current to flow through the MG 10 by operating the switching element SH # based on the duty ratio DTH (S38). Then, the control device 20 calculates a detection ratio (iu / iw) which is a ratio between the current iu detected by the current sensor 34 and the current iw detected by the current sensor 36 when the energization control is performed. A gain adjustment value G, which is an absolute value of a value obtained by dividing the detection ratio by the reference ratio, is calculated (S40). Here, the gain adjustment value G indicates how to correct the currents iu and iw detected by the current sensors 34 and 36 to suppress the deviation between the gain of the current sensor 34 and the gain of the current sensor 36. It becomes the parameter shown. In other words, how to correct the currents iu and iw detected by the current sensors 34 and 36 suppresses a deviation in magnitude when the true values of the U-phase current and the W-phase current are equal. It is a parameter that indicates whether or not However, in order for the gain adjustment value G to serve as the parameter, it is premised that an abnormality has occurred only in one of the current sensor 34 and the current sensor 36. In other words, it is premised that no abnormality (double abnormality) occurs in both the current sensor 34 and the current sensor 36.

  Next, the control device 20 determines whether or not the gain adjustment value G is larger than “1” (S42). This process is for determining whether or not the current iw detected by the current sensor 36 is to be corrected. When determining that the gain adjustment value G is larger than “1” (S42: YES), the control device 20 corrects the current iw detected by the current sensor 36 to “G · iw”. The operation of MG10 is permitted (S44). Here, the correction process is for suppressing a deviation between the gain of the current sensor 34 and the gain of the current sensor 36.

  That is, when the gain adjustment value G is larger than “1”, if the double abnormality is not considered, the current iu detected by the current sensor 34 is larger than the true value Iu “K · Iu (where K > 1) ”or the current iw detected by the current sensor 36 is“ L · Iw (where L <1) ”, which is smaller than the true value Iw. Here, when “iu = K · Iu”, the gain adjustment value G is “K”. Therefore, by setting the current iw (= Iw) detected by the current sensor 36 to “G · iw”, this value can be set to “K · iw = K · Iw”. That is, the current iu detected by the current sensor 34 and the corrected current (K · iw) are both the true value multiplied by “K”. On the other hand, when “iw = L · Iw”, the gain adjustment value G is “1 / L”. Therefore, by setting the current iw (= L · Iw) detected by the current sensor 34 to “G · iw”, this value can be set to “(1 / L) · L · Iw = Iw”. . That is, the current iu detected by the current sensor 34 and the corrected current (K · iw) are both true values.

  On the other hand, when the control device 20 determines that the gain adjustment value G is smaller than “1” (S42: NO), the current iu detected by the current sensor 34 is set to “(1 / G) · iu”. The MG 10 is allowed to operate on the condition that correction is made (S46). Here, the correction process is for suppressing a deviation between the gain of the current sensor 34 and the gain of the current sensor 36.

  That is, if the gain adjustment value G is smaller than “1” and the double abnormality is not considered, the current iu detected by the current sensor 34 is smaller than the true value Iu “L · Iu (where L > 1) ”or the case where the current iw detected by the current sensor 36 is“ K · Iw (where K> 1) ”, which is larger than the true value Iw. Here, when “iu = L · Iu”, the gain adjustment value G is “L”. Therefore, by setting the current iu detected by the current sensor 34 to “(1 / G) · iu”, this value can be set to “(1 / L) · iu = Iu”. That is, the corrected current “(1 / L) · iu” and the current iw detected by the current sensor 36 are both true values. On the other hand, when “iw = K · Iw”, the gain adjustment value G is “1 / K”. Therefore, by setting the current iu (= Iu) detected by the current sensor 34 to “(1 / G) · iu”, this value can be set to “K · iu = K · Iu”. That is, the corrected current “K · iu” and the current iw detected by the current sensor 36 are both values obtained by multiplying the true value by “K”.

Note that the control device 20 once ends the series of processes when the processes of steps S44 and S46 are completed or when a negative determination is made in steps S30 and S32.
Next, the operation of the above process will be described.

  After determining that there is a gain abnormality by the process of FIG. 3 after the IG is turned off and then the IG is turned on, the control device 20 first executes energization control to energize the reactive current by the process of FIG. To do. Since a reactive current flows through the MG 10 by the energization control, no torque is generated in the MG 10. The energization control is performed when the rotational speed of the rear wheel 12 is zero, that is, when the MG 10 is in the stopped state, and therefore the MG 10 maintains the stopped state. For this reason, the value of the electrical angle θ once acquired by the control device 20 in the process of step S34 in FIG. 4 does not change during the energization control. Therefore, the switching element SH # is turned on / off at a constant time ratio DTH over the period of energization control. During this time, the reference ratio (Iu / Iw) is also constant, and the detection ratio (iu / iw) is also constant.

  When the control device 20 calculates the gain adjustment value G and thereby corrects the currents iu and iw detected by the current sensors 34 and 36, the control device 20 controls the control amount of the MG 10. That is, for example, when performing current feedback control by vector control, based on the corrected values, the d-axis current id and the q-axis current iq are calculated and the output voltage of the inverter 16 is fed back to the command value. To operate.

  As a result, even when gain abnormality occurs in the current sensors 34 and 36, the control device 20 suppresses variation in the amplitude of the current flowing in each of the U phase, V phase, and W phase of the MG 10. Therefore, it is possible to drive the MG 10 while suppressing torque ripple. For this reason, even when the gain abnormality occurs in the current sensors 34 and 36, the MG 10 can be used for traveling. For example, compared to the case where only the internal combustion engine 2 or MG 4 is used, the limp home operation is performed. Can be performed more appropriately.

According to this embodiment described above, the following effects can be obtained in addition to those described above.
(1) The correction process was performed so that the corrected value was larger than the currents iu and iw. In this case, on the assumption that there is no double abnormality, the corrected current value is either close to the true value or larger than the true value. For this reason, when the control apparatus 20 uses the electric current after correction | amendment for control, the situation which misrecognizes the electric current which flows into MG10 as a value smaller than a true electric current value can be suppressed. For this reason, since the controller 20 recognizes that the current flowing through the MG 10 has reached the upper limit before the true value exceeds the upper limit of the current that can flow through the MG 10 and the upper limit of the current that can flow through the inverter 16, A situation in which the value exceeds the upper limit value can be suitably suppressed.

  (2) A reference current at normal time was given as a reference ratio (Iu / Iw). Thereby, when performing the open loop control with the duty ratio DTH, even if the input voltage of the inverter 16 (the voltage of the battery 18) takes various values, the gain adjustment value G can be calculated with high accuracy. That is, determining the duty ratio DTH according to the electrical angle θ means determining the phase of the output voltage of the inverter 16. Here, for example, when the U-phase voltage is expressed as “A · cos (θ + γ)” using the amplitude A, the phase is “γ”. However, when the input voltage of the inverter 16 fluctuates, the amplitude A does not become constant even if the duty ratio DTH is determined. This means that although “arctan (vd / vq)” is defined for the voltage vector (vd, vq) on the dq axis, its norm is not constant.

  On the other hand, in order for the reference ratio (Iu / Iw) to be uniquely determined according to the electrical angle θ, the norm of the dq-axis current vector (id, iq) may not be constant, but “arctan ( id / iq) "is required to be fixed. Here, in the present embodiment, in view of performing energization control when the MG 10 is stopped, the voltage vector of the dq axis is expressed by the following equations (c1) and (c2) ignoring the differential operator term. It becomes.

vd = R · id−ω · L · iq = R · id (c1)
vq = ω · L · id + R · iq + Φ · ω = R · iq (c2)
In the above, the resistance R, the inductance L, the counter electromotive voltage constant Φ, and the electric angular velocity ω are used, and “ω = 0” is used on the right side.

  From the above formula, “arctan (id / iq) = arctan (vd / vq)”. Therefore, by defining “arctan (vd / vq)”, that is, by determining the time ratio DTH, “arctan (id / iq)” is uniquely determined, and thus the reference ratio (Iu / Iw) is uniquely defined. Can be determined.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 6 shows the MG 10, the inverter 16, and the control device 20 according to the present embodiment. In FIG. 6, the same reference numerals are assigned to the members corresponding to those shown in FIG.

  As shown in FIG. 6, in the present embodiment, a current sensor 38 that detects a current flowing through the electrical path connecting the V-phase stator coil Cv and the switching element Sv # is also provided.

  FIG. 7 shows a procedure of abnormality detection processing of the current sensors 34 to 38 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 7, the same step numbers are assigned for the sake of convenience for those corresponding to the processing shown in FIG. 2.

  In this series of processes, the control device 20 first determines whether or not the IG is immediately after being switched from OFF to ON (S50). This process is for determining whether or not a current is flowing through the MG 10. If the determination in step S50 is affirmative, the control device 20 determines whether or not the absolute value of any of the currents iu, iw, and iv detected by the current sensors 34, 36, and 38 is greater than or equal to the specified value α. (S52). This process is for determining whether or not an offset abnormality has occurred in the current sensors 34 to 38. Then, when it is determined that there is something that is equal to or greater than the specified value α (S52: YES), the control device 20 determines that an offset abnormality has occurred in the current sensors 34 to 38 (S54).

  On the other hand, when the control device 20 makes a negative determination in step S50, or determines that there is nothing exceeding the specified value α (S52: NO), the currents iu, iv, iw detected by the current sensors 34-38. It is determined whether or not the absolute value of the sum of the two is greater than the specified value β (S56). This process is for determining whether or not a gain abnormality has occurred in the current sensors 34 to 38. That is, when no offset abnormality occurs, if no gain abnormality occurs, the sum of the currents iu, iv, iw is considered to be zero according to Kirchhoff's law. The specified value β is set to a value that does not determine that the gain is abnormal when the absolute value of the sum of the currents iu, iv, and iw deviates from zero due to an allowable error of the current sensors 34 to 38. Note that current is not necessarily flowing through the MG 10 when this processing is performed, but if no current is flowing and a negative determination is made in step S52, an affirmative determination is made in step S56. There is no.

  When it is determined that the control device 20 is greater than the specified value β (S56: YES), it is determined that a gain abnormality has occurred (S58). When determining that the offset is abnormal in step S54 or determining that the gain is abnormal in step S58, the control device 20 performs the same processing as steps S20 and S22 of FIG.

Note that when the process of step S22 is completed or when a negative determination is made in step S56, the control device 20 once ends this series of processes.
FIG. 8 shows a procedure of gain correction processing according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 8, the same step numbers are assigned for the sake of convenience for those corresponding to the processing of FIG. 4.

  In this series of processes, when the process of step S34 is completed, the control device 20 acquires the duty ratio DTH based on the electrical angle θ (S36a). However, in the table in which the time ratio DTH is set here, as shown in FIG. 9, in addition to the reference ratio (Iu / Iw), the reference ratio (Iv / Iu) and the reference ratio (Iw / Iv) are included. It has been established. Here, “Iv” is a reference value (true value) of the current flowing through the V-phase stator coil Cv of the MG 10 by energization control with the duty ratio DTH.

  Further, when executing the reactive current energization process, the control device 20 calculates the gain adjustment values Guw, Gvu, Gwv (S60). Here, the gain adjustment value Guw is a detection ratio (iu / iw) that is a ratio of the current iu detected by the current sensor 34 and the current iw detected by the current sensor 36 to the reference ratio (Iu / Iw). The absolute value of the divided value. The gain adjustment value Gvu is obtained by dividing the detection ratio (iv / iu), which is the ratio of the current iv detected by the current sensor 38 and the current iu detected by the current sensor 34, by the reference ratio (Iv / Iu). The absolute value of the value obtained. The gain adjustment value Gwv is obtained by dividing the detection ratio (iw / iv), which is the ratio of the current iw detected by the current sensor 36 and the current iv detected by the current sensor 38, by the reference ratio (Iw / Iv). The absolute value of the value obtained.

  Next, the control device 20 determines a correction target among the currents iu, iv, and iw detected by the current sensors 34 to 38 (S62). Here, it is assumed that only one of the current sensors 34 to 38 has gain abnormality, and no double abnormality or triple abnormality is assumed. FIG. 8 shows values that the gain adjustment values Guw, Gvu, and Gwv can take, and correction methods. Note that “δ” is a positive number, and particularly indicates the degree to which the gain adjustment values Guw, Gvu, Gwv deviate from “1” when a gain abnormality occurs. That is, for example, the gain adjustment value Guw being larger than “1 + δ” means that the gain adjustment value Guw exceeds “1” due to gain abnormality. When the gain adjustment value Guw is larger than “1” but does not exceed “1 + δ”, this corresponds to the case where no gain abnormality that is beyond the allowable range has occurred. In this case, the gain adjustment value Guw is It is almost “1”.

  Specifically, when the gain adjustment value Gwv is approximately “1”, the current iu detected by the current sensor 34 is set as a correction target and is corrected to “Gvu · iu”. That is, since the gain adjustment value Gwv is almost “1”, the current sensors 36 and 38 are considered to be normal. Here, when the current iu detected by the current sensor 34 is “K · Iu (where K> 1)”, the gain adjustment value Gvu is “1 / K”, so that “Gvu · iu = Iu ", and the current iu is corrected to a true value. On the other hand, when the current iu detected by the current sensor 34 is “L · Iu (where L <1)”, the gain adjustment value Gvu is “1 / L”, so that “Gvu · iu = Iu”. The current iu is corrected to a true value.

  In the same way, when the gain adjustment value Guw is approximately “1”, the current iv detected by the current sensor 38 is set as a correction target and is corrected to “Gwv · iv”. When the gain adjustment value Gvu is substantially “1”, the current iw detected by the current sensor 36 is set as a correction target and is corrected to “Guw · iw”.

According to this embodiment described above, in addition to the main effect of the first embodiment and the effect (2), the following effect can be obtained.
(3) Based on the gain adjustment values Guw, Gvu, and Gwv, the sensor in which the gain abnormality has occurred is identified, and the detection value of the sensor in which the gain abnormality has occurred is used as the correction target. As a result, it is possible to correct the detected value of the sensor in which gain abnormality has occurred close to the true value.

<Correspondence between technical idea and embodiment>
Hereinafter, the technical correspondence described in the above-mentioned “Means for Solving the Problems”, the matters within the technical thought, and typical correspondence relations with the embodiments will be described.

Rotating machine ... 10, multiple terminals ... Non-neutral side of Cu, Cv, Cw, voltage application circuit ... 16, first terminal ... Cu terminal, second terminal ... Cw terminal, first current Sensor ... 34, second current sensor ... 36
[Technical Idea 1: Energization Control Unit ... S38, Detection Ratio ... (iu / iw), Reference Ratio ... (Iu / Iw), Gain Adjustment Value ... G; Guw, Calculation Processing Unit ... S40; S60] [Technical Idea 2: “Multiplication” G · iw, (1 / G) · iu; Guw · iw] [Technical Thought 3: S44, S46] [Technical Thought 4: S38] [Technical Thought 5: DC Voltage Source ... 18, related information ... FIG. 5; FIG. 9] [Technical idea 6: "When it is determined that no offset abnormality has occurred" ... NO in S24; NO in S52]
<Other embodiments>
Each of the above embodiments may be modified as follows.

・ About gain correction processing
In step S44 of FIG. 4, the current iu may be corrected to “(1 / G) · iu”. However, in this case, it is desirable to correct the upper limit value of the current iu to “(1 / G) · (upper limit value)”. Similarly, in step S46, the current iw may be corrected to “G · iw”. However, in this case, it is desirable to correct the upper limit value of the current iw to “G · (upper limit value)”.

  In step S62 of FIG. 8, the current iu may be corrected to “(1 / Guw) · iu”. The current iv may be corrected to “(1 / Gvu) · iv”. The current iw may be corrected as “(1 / Gwv) · iw”.

  In step S62 of FIG. 8, the current sensor in which the gain abnormality has occurred is identified on the assumption that no double failure has occurred, and the current detected by the sensor is corrected to a correct value, but this is not restrictive. . For example, the detected value may be increased and corrected on condition that correction is made so as to reduce the variation in gain of each of the current sensors 34, 36, and 38. That is, for example, when the gain adjustment value Guw is greater than or equal to “1” by a predetermined amount or more and the gain adjustment value Gvu is less than or equal to “1” and the gain adjustment value Gwv is substantially “1”, the current iv is set to “Guw · The current iw may be corrected by “Guw · iw”.

  The gain correction processing is not limited to the one that increases or decreases the current detected by the current sensors 34 to 38 by the gain adjustment value. For example, in addition to the correction in the above embodiment, each detected current may be corrected by a predetermined value (> 1). Accordingly, it is possible to realize fail-safe processing in which the upper limit value for the true value of the current is lower than that in the normal state in view of the occurrence of gain abnormality.

  Note that the gain correction processing is not limited to the processing that is executed when the IG signal is turned on. For example, it may be executed within a predetermined period after the IG signal is turned off. Moreover, it is not restricted to what is performed on condition that a gain abnormality is detected. For example, if the gain adjustment value G deviates from a predetermined amount by “1” or more after executing the processing of steps S34 to S40 when the IG signal is turned on, it is assumed that an offset abnormality or gain abnormality has occurred. When the presence or absence of abnormality is detected and it is determined that there is no offset abnormality, the processing of steps S42 to S46 may be executed.

  In the above embodiment, execution of gain correction processing is not described when an offset abnormality occurs, but this may be executed. This can be realized by executing the processing shown in FIGS. 4 and 8 after the offset abnormality is corrected.

・ About the operation processing section
The present invention is not limited to the one using the corrected currents iu, iv, iw detected by the current sensors 34-38. For example, when the currents iu, iv, and iw are feedback-controlled to the command values iu *, iv *, and iw * by instantaneous current value control, those obtained by correcting the command values iu *, iv *, and iw * are used. May be. In this case, for example, the command value iw * may be corrected by “(1 / G) · iw *” instead of step S44 in FIG.

  When the MG 10 is operated in a state where the gain correction process has been performed, for example, a process of indirectly limiting the current may be executed by limiting the value of a parameter that determines the current. That is, for example, in the case where the MG 10 is operated by current vector control, if the command value (id *, iq *) of the dq axis current is determined from the torque command value, the upper limit value of the torque command value is determined by the gain correction process. It may be lowered when it is done than when it is not done.

・ About the energization control unit
The table shown in FIGS. 5 and 9 is stored, and the energization process is not limited to the table shown in FIG. For example, the energization control may be executed by the following equations (c3) and (c4) using the above (c1) and (c2).

vd * = R · id * −ω · L · iq * = 0 (c3)
vq * = ω · L · id * + R · iq * + Φ · ω = R · iq * (c4)
In the above description, the command current vector (id *, iq *) is (id *, 0) and the electrical angular velocity ω is zero. The command voltage vector (vd *, vq *) on the dq axis is converted into U-phase, V-phase, and W-phase command voltages based on the electrical angle θ, and the output voltage of the inverter 16 is converted into a three-phase command voltage. Thus, the switching element SH # may be operated. In this case, since the magnitude of the current flowing in the U phase, V phase, and W phase can be controlled by the command value id * of the d-axis current, the S / N ratio of the calculation process of the gain adjustment value G and the like It becomes possible to suppress fluctuations.

  It is not limited to a flow of reactive current. For example, when a fastening control element such as a clutch that switches between mechanical fastening of MG 10 and rear wheel 12 and cutoff of power transmission is provided, MG 10 may be rotated if the fastening control element is in a cutoff state. However, in this case, instead of the table illustrated in FIG. 5 or FIG. 9, for example, according to the terminal voltage of the battery 18 and the electrical angular velocity ω, the time ratios DTu, DTv, DTw and the reference ratio for each electrical angle θ. It is desirable to use a map that defines the relationship. This is because when the electrical angular velocity ω is not zero, the reference ratio is not uniquely determined by the electrical angle θ and is considered to vary according to the terminal voltage of the battery 18 or the electrical angular velocity ω.

・ "Voltage application circuit"
The switching element SH # is not limited to the IGBT but may be a MOS field effect transistor or the like. In this case, the diode may be a parasitic diode.

  Only the switching element SHp that opens and closes the electrical path between the positive electrode of the single DC voltage source (battery 18) and the terminal of the MG10 and the switching element SHn that opens and closes the electrical path between the negative electrode and the terminal of the MG10 are electrons. It is not limited to the operation target (two-level inverter). For example, a multi-level inverter such as a three-level inverter may be used. Even in this case, it is possible to set the reference ratio by operating the output voltage of the inverter as the operation amount of the open loop control.

・ About the rotating machine
Not only SPM but also an embedded magnet synchronous machine (IPMSM) may be used. Further, the stator coils Cu, Cv, Cw are not limited to being connected at the neutral point, and may be, for example, Δ-connected. In this case, the detection targets of the current sensors 34 to 38 are not the phase currents (iu, iv, iw) flowing through the stator coils Cu, Cv, Cw, but the currents (line currents) flowing through the electrical path between the inverter 16 and the MG 10. ) For this reason, the reference ratio and the like determine the ratio for the line current. However, if “iu, iv, iw” is used as a symbol indicating each line current, the processing of the above embodiment can be used.

  Moreover, it is not limited to a three-phase rotating machine, and may be an arbitrary multi-phase rotating machine such as a five-phase rotating machine. Even in the case of a rotating machine having more phases than three phases, it is possible to realize a correction process for the current detected by the gain adjustment value by using the process illustrated in FIG.

  The rotating machine is not limited to one mechanically connected to the rear wheel 12. For example, it may be mechanically connected to the front wheel 8. Further, for example, a rotating machine mounted on the electric power steering apparatus may be used.

・ "Offset abnormality detection process"
For example, the current maximum value and the minimum value when the current flowing through the MG 10 is open-loop controlled to a constant amplitude, for example, the command value (id *, iq *) of the dq axis in the current vector control is set to a constant value. It may be determined that the offset is abnormal when the difference between the two is more than a predetermined amount with respect to “0”.

·"others"
The hybrid vehicle is not limited to that illustrated in FIG. For example, a series hybrid vehicle may be used. In this case, since it becomes easy to rotate the MG 10 at a constant torque and a constant speed, it is easy to realize a modified example in which the gain adjustment value is calculated by energization applying the torque described above.

  Cu, Cv, Cw ... stator coil, G, Guw, Gvu, Gwv ... gain adjustment value, Sup, Svp, Swp, Sun, Svn, Swn ... switching elements, Dup, Dvp, Dwp, Dun, Dvn, Dwn ... diodes, Uup, Uvp, Uwp, Uun, Uvn, Uwn ... drive unit, 2 ... internal combustion engine, 6 ... transmission, 8 ... front wheel, 12 ... rear wheel, 14, 16 ... inverter, 18 ... battery, 20 ... control device, 30, 32 ... Relay, 34, 36, 38 ... Current sensor.

Claims (6)

A rotating machine, a voltage applying circuit capable of adjusting a voltage applied to each of a plurality of terminals of the rotating machine, and a current flowing through an electric path connecting the first terminal and the voltage applying circuit among the plurality of terminals is detected. Applied to a system comprising: a first current sensor; and a second current sensor that detects a current flowing through an electrical path connecting the second terminal and the voltage application circuit among the plurality of terminals.
An energization control unit for operating the voltage application circuit to perform energization control of the rotating machine by open loop control;
A detection ratio that is a ratio of a current detected by the first current sensor when the energization control is performed and a current detected by the second current sensor when the energization control is performed; a reference ratio; And a calculation processing unit that calculates a gain adjustment value that can reduce variation in gain of the first current sensor and the second current sensor,
A control device for a rotating machine, comprising: an operation processing unit that operates the voltage application circuit in order to control the control amount of the rotating machine with the gain adjustment value as an input. The calculation processing unit calculates a ratio between the detection ratio and the reference ratio as the gain adjustment value.
The operation processing unit multiplies either the current detected by the first current sensor or the current detected by the second current sensor by the gain adjustment value or its reciprocal to reduce variations in the gain. The control device for a rotating machine according to claim 1, wherein the voltage application circuit is operated on the basis of the one and the other.   3. The control device for a rotating machine according to claim 2, wherein the operation processing unit multiplies either one of the gain adjustment value and a reciprocal thereof by a value larger than “1”.   The control device for a rotating machine according to any one of claims 1 to 3, wherein the energization control is control for causing a reactive current to flow through the rotating machine. The voltage application circuit is a DC / AC conversion circuit including a switching element that connects each of the plurality of terminals to each of a positive electrode and a negative electrode of a DC voltage source,
In the energization control unit, one of the switching elements for a cycle in which the electrical angle of the rotating machine, the switching element connected to the positive electrode and the switching element connected to the negative electrode are alternately turned on / off is turned on. 5. The rotating machine control device according to claim 4, wherein the energization control is performed by turning on and off the switching element based on relationship information that defines a relationship with a time ratio of a predetermined period.   The input of the gain adjustment value based on the detection ratio when the operation processing unit determines that no offset abnormality has occurred in the first current sensor and the second current sensor. The control apparatus of the rotary machine of Claim 1.