JP2018085794A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress power loss.SOLUTION: A motor controller 1 determines whether a disturbance determination condition showing that noise is superimposed on a rotation detection signal outputted from a resolver 6 is satisfied or not. When the disturbance determination condition is not satisfied, the motor controller 1 sets a rotation angle mode for allowing the motor controller 1 to determine whether switching timing arrives or not based on a resolver angle calculated based on the rotation detection signal. When the disturbance determination condition is satisfied, the motor controller 1 estimates a change of the resolver angle until the switching timing becomes next switching timing on the basis of the past resolver angle. The motor controller 1 sets an estimation time mode for allowing the motor controller 1 to determine whether the switching timing arrives or not on the basis of the estimated result.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a motor control device that controls a motor.

  In Patent Document 1, a rotation angle of a motor is detected by a resolver, and a sine wave PWM control method, an overmodulation PWM control method, or a rectangular wave control method is selected to supply a three-phase alternating current to the motor. A motor controller is described that is configured to control a three-phase bridge circuit.

Japanese Patent No. 5409034

  In the rectangular wave control method, the motor control device controls on / off switching timings of a plurality of switching elements constituting the three-phase bridge circuit based on the rotation angle calculated based on the detection signal detected by the resolver. To do. For this reason, when noise is superimposed on the detection signal of the resolver, an error occurs in the calculated rotation angle, and the switching timing fluctuates. As a result, the fluctuation of the phase current increases, and there is a possibility that abnormal noise and torque pulsation may occur in the motor.

  For this reason, the rectangular wave control method cannot be used in a region where an angle error due to noise can occur, and control is performed to perform the sine wave PWM control method or the overmodulation PWM control method. As a result, power loss may increase.

  The present disclosure aims to suppress power loss.

  One aspect of the present disclosure includes an inverter (5) that includes a three-phase bridge circuit having a plurality of switching elements (31, 32, 33, 34, 35, 36) and supplies a three-phase alternating current to a motor (2). A motor control device (1) that controls at least using a rectangular wave control system.

  In the rectangular wave control method, a plurality of switches that are set in advance so that the detection angles calculated based on the rotation detection signal output from the angle detection unit (6) that detects the rotation angle of the motor are different from each other. Timing is preset. In the rectangular wave control method, a switching element to be turned on and a switching element to be turned off are set in advance among a plurality of switching elements in the three-phase bridge circuit for each of a plurality of switching timings.

The motor control device according to the present disclosure includes a disturbance determination unit (S250), a first setting unit (S310), and a second setting unit (S210, S300).
The disturbance determination unit is configured to determine whether or not a predetermined disturbance determination condition indicating that noise is superimposed on the rotation detection signal is satisfied.

  The first setting unit, when the disturbance determination unit determines that the disturbance determination condition is not satisfied, causes the motor control device to determine whether the switching timing has arrived based on the detection angle. Configured to set mode.

  When the disturbance determination unit determines that the disturbance determination condition is satisfied, the second setting unit has at least the next switching timing based on the past detection angle calculated based on the rotation detection signal. It is configured to estimate the change in the detected angle until. The second setting unit is configured to set the second determination mode in which the motor control device determines whether or not the switching timing has arrived based on the estimation result.

  The motor control device of the present disclosure configured as described above can estimate a change in the detection angle based on the past detection angle when it is determined that noise is superimposed on the rotation detection signal. That is, the motor control device of the present disclosure can estimate a change in the detection angle in a state where noise is not superimposed on the rotation detection signal even when noise is superimposed on the rotation detection signal. Accordingly, the motor control device of the present disclosure can determine whether or not the switching timing has arrived based on the estimation result of the change in the detection angle in a state where noise is not superimposed on the rotation detection signal, The change in the switching timing due to can be suppressed. Therefore, the motor control device of the present disclosure can continuously control the inverter using the rectangular wave control method without changing to the sine wave PWM control method or the overmodulation PWM control method, and suppresses power loss. can do.

  Note that the reference numerals in parentheses described in this column and in the claims indicate the correspondence with the specific means described in the embodiment described later as one aspect, and the technical scope of the present disclosure It is not limited.

It is a figure showing composition of motor control device 1, motor 2, inverter 5, etc. It is a timing chart explaining a rectangular wave control system. It is a flowchart which shows a time interval calculation process. It is a flowchart which shows a switching setting process. It is a graph which shows the time change of a resolver angle. It is a timing chart which shows the movement of a resolver angle and an estimated angle, and a switching timing.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
A motor control device 1 according to the present embodiment is mounted on an electric vehicle and controls a traveling motor 2 that is a power source of the electric vehicle as shown in FIG.

  The electric vehicle according to the present embodiment includes a traveling motor 2 (hereinafter referred to as a motor 2) that is a known AC synchronous motor, a battery 3 that is a DC power source, a booster circuit 4, an inverter 5, and a resolver 6. The output shaft of the motor 2 is connected to the left and right drive wheels via a differential gear.

The booster circuit 4 boosts the battery voltage VL of the battery 3 to a driving voltage VH having a voltage value higher than the battery voltage VL.
The inverter 5 is a well-known three-phase bridge circuit including six switching elements. Inverter 5 converts drive voltage VH from booster circuit 4 into a three-phase alternating current, and drives motor 2 with a three-phase alternating current of U phase, V phase, and W phase.

  Inverter 5 includes a U-phase arm 21, a V-phase arm 22, and a W-phase arm 23. U-phase arm 21 includes switching elements 31 and 32 connected in series with each other. V-phase arm 22 includes switching elements 33 and 34 connected in series with each other. W-phase arm 23 includes switching elements 35 and 36 connected in series with each other. The switching elements 31 to 36 are insulated gate bipolar transistors.

  The collectors of the switching elements 31, 33 and 35 are applied with the driving voltage VH from the booster circuit 4, and the emitters of the switching elements 32, 34 and 36 are grounded. In the switching elements 31, 32, 33, 34, 35, and 36, diodes 41, 42, 43, 44, 45, and 46 are connected between the collector and the emitter, respectively.

  The voltage at the connection point between the switching element 31 and the switching element 32 of the U-phase arm 21 is output to the motor 2 as the U-phase voltage Vu. The voltage at the connection point between the switching element 33 and the switching element 34 of the V-phase arm 22 is output to the motor 2 as the V-phase voltage Vv. The voltage at the connection point between the switching element 35 and the switching element 36 of the W-phase arm 23 is output to the motor 2 as the W-phase voltage Vw.

  The inverter 5 includes a drive circuit that drives the three-phase bridge circuit. The drive circuit converts the DC of the booster circuit 4 into three-phase AC by turning on / off the switching elements 31 to 36 based on the pulse width modulation signals UU, UV, UW input from the motor control device 1. To do.

  The resolver 6 is attached to the output shaft of the motor 2 and detects the rotation angle of the motor 2. Hereinafter, the rotation angle of the motor 2 is also referred to as a motor rotation angle. The resolver 6 includes a resolver stator and a resolver rotor. The resolver rotor is rotatably disposed in the resolver stator, is fixed to the output shaft of the motor 2, and rotates with the output shaft of the motor 2.

  The resolver 6 is configured such that the reluctance between the resolver rotor and the resolver stator changes depending on the rotational position of the resolver rotor. As a result, the resolver 6 outputs two rotation detection signals Sa and Sb whose amplitude changes sinusoidally in accordance with the change in reluctance (that is, in accordance with the motor rotation angle) and whose phases are shifted from each other by 90 ° in electrical angle. To do.

  More specifically, the resolver stator of the resolver 6 is provided with a primary coil and two secondary coils. Then, by supplying an excitation signal f (t) having a constant frequency to the primary coil, a rotation detection signal Sa (= f) having a waveform obtained by amplitude-modulating the excitation signal f (t) with sin θ from each of the secondary coils. (T) · sin θ) and a rotation detection signal Sb (= f (t) · cos θ) having a waveform obtained by amplitude-modulating the excitation signal f (t) with cos θ are output.

The motor control device 1 includes an RD converter 11, a microcomputer 12, and a pulse width modulation circuit (hereinafter referred to as PWM circuit) 13.
The RD converter 11 supplies an excitation signal f (t) to the resolver 6. The RD converter 11 also receives the rotation detection signals Sa and Sb output from the resolver 6, and A indicates the rotation angle of the motor 2 (specifically, the rotation angle of the resolver 6) from the rotation detection signals Sa and Sb. A phase signal, a B phase signal, and a Z phase signal are output. Hereinafter, the rotation angle of the resolver 6 is referred to as a resolver angle.

  The RD converter 11 is a digital tracking type RDC, and converts the rotation detection signals Sa and Sb from the resolver 6 into digital data representing the resolver angle (hereinafter, actual detection data). RDC is an abbreviation for Resolver Digital Converter.

  The RD converter 11 includes an encoder / emulator, and the actual detection data is a pulse signal in a format equivalent to a signal output from a so-called incremental encoder, an A phase signal, a B phase signal, and a Z phase. Converted to a signal.

  The A phase signal and the B phase signal generate one pulse every time the resolver 6 rotates by a predetermined angle, and the A phase signal and the B phase signal are shifted from each other by 90 degrees. The Z-phase signal is a signal that designates the origin (that is, 0 degree), and one pulse is generated every time the resolver 6 makes one electrical rotation.

  The microcomputer 12 includes a CPU, a ROM, a RAM, and the like, and controls the motor control device 1. Various functions of the microcomputer 12 are realized by the CPU executing a program stored in a non-transitional physical recording medium. In this example, the ROM corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed. Note that some or all of the functions executed by the CPU may be configured by hardware using one or a plurality of ICs. The number of microcomputers constituting the motor control device 1 may be one or more.

  The PWM circuit 13 generates a pulse width modulation signal UU, UV, UW corresponding to each phase of the three-phase alternating current according to the control signal from the microcomputer 12 and outputs the pulse width modulation signal UU, UV, UW to the inverter 5. To do. As a result, the motor control device 1 controls the inverter 5 by switching the switching elements of the three-phase bridge circuit according to the duty ratios of the pulse width modulation signals UU, UV, UW.

  The motor control device 1 controls the motor 2 by selecting one of a sine wave PWM control method, an overmodulation PWM control method, and a rectangular wave control method in accordance with the rotation speed and torque of the motor 2.

  In the sine wave PWM control method, the motor control device 1 uses a sine wave voltage indicating the voltage command values of the U phase voltage Vu, the V phase voltage Vv, and the W phase voltage Vw, and a carrier wave voltage including a triangular wave or a sawtooth wave. And the switching operation of the switching elements in the U-phase arm 21, the V-phase arm 22, and the W-phase arm 23 are controlled.

  Specifically, the motor control device 1 switches the U-phase arm 21 when the voltage of the sine wave (hereinafter referred to as the U-phase sine wave) indicating the voltage command value of the U-phase voltage Vu is equal to or higher than the voltage of the carrier wave. A control signal for turning on the element 31 and the switching element 32 is output. When the voltage of the U-phase sine wave is less than the voltage of the carrier wave, the motor control device 1 outputs a control signal for turning the switching element 31 and the switching element 32 on and off, respectively.

  Similarly, the motor control device 1 switches the switching element 33 of the V-phase arm 22 when the voltage of the sine wave (hereinafter referred to as V-phase sine wave) indicating the voltage command value of the V-phase voltage Vv is equal to or higher than the voltage of the carrier wave. And a control signal for turning on and off the switching element 34, respectively. When the voltage of the V-phase sine wave is lower than the voltage of the carrier wave, the motor control device 1 outputs a control signal for turning the switching element 33 and the switching element 34 on and off, respectively.

  Furthermore, when the voltage of the sine wave (hereinafter referred to as the W phase sine wave) indicating the voltage command value of the W phase voltage Vw is equal to or higher than the voltage of the carrier wave, the motor control device 1 A control signal for turning on and off the switching element 36 is output. When the voltage of the W-phase sine wave is less than the voltage of the carrier wave, the motor control device 1 outputs a control signal for turning the switching element 35 and the switching element 36 on and off, respectively.

  In the overmodulation PWM control method, the motor control device 1 uses the amplitudes of the U-phase sine wave, the V-phase sine wave, and the W-phase sine wave as the U-phase sine wave, V-phase sine wave, and W-phase sine in the sine wave PWM control method. The switching operation of the switching element is controlled in the same manner as the sine wave PWM control method in a state where the amplitude is greater than the wave amplitude.

  In the rectangular wave control method, as shown in FIG. 2, the motor control device 1 causes the motor controller 1 to rotate 2 in any one of the U-phase arm 21, the V-phase arm 22, and the W-phase arm 23 every time the resolver 6 rotates 60 °. Switch on / off of two switching elements.

  Specifically, when the resolver angle becomes 0 °, the motor control device 1 turns on the switching element 31 and turns off the switching element 32 in the U-phase arm 21.

When the resolver angle reaches 60 °, the motor control device 1 turns off the switching element 35 and turns on the switching element 36 in the W-phase arm 23.
When the resolver angle reaches 120 °, the motor control device 1 turns on the switching element 33 and turns off the switching element 34 in the V-phase arm 22.

When the resolver angle reaches 180 °, the motor control device 1 turns off the switching element 31 and turns on the switching element 32 in the U-phase arm 21.
When the resolver angle reaches 240 °, the motor control device 1 turns on the switching element 35 and turns off the switching element 36 in the W-phase arm 23.

When the resolver angle reaches 300 °, the motor control device 1 turns off the switching element 33 and turns on the switching element 34 in the V-phase arm 22.
The microcomputer 12 of the motor control device 1 calculates the resolver angle based on the A phase signal, the B phase signal, and the Z phase signal input from the RD converter 11 when the rotation angle mode described later is set. Based on the calculated resolver angle, the switching element is switched on / off.

However, when the microcomputer 12 of the motor control device 1 is set to the later-described estimated time mode, when the later-described estimated time _Test is elapsed from the time when the switching element is switched on / off. The next switching element is switched on / off.

  In the motor control device 1 configured as described above, the microcomputer 12 executes a time interval calculation process and a switching setting process. The time interval calculation process and the switching setting process are processes that are repeatedly executed when the rectangular wave control method is selected.

First, the procedure of the time interval calculation process will be described.
When the time interval calculation process is executed, the microcomputer 12 determines whether or not a Z-phase signal is input from the RD converter 11, as shown in FIG. If no Z-phase signal is input, the process proceeds to S90.

On the other hand, when the Z-phase signal is input, the Z-phase signal time interval _TNM is calculated by subtracting the time when the Z-phase signal was previously input from the time when the Z-phase signal was input this time at S20. . That is, the Z-phase signal time interval T _NM is the time required for the resolver 6 to rotate 360 °.

In S30, an exclusion determination coefficient m is set. The exclusion determination coefficient m is a coefficient used in the determination of S40. An exclusion determination coefficient calculation map showing the correspondence between the latest estimated rotational speed ω _est and the exclusion determination coefficient m is stored in advance in the ROM of the microcomputer 12, and the CPU of the microcomputer 12 refers to this exclusion determination coefficient calculation map. By doing so, the exclusion determination coefficient m is calculated. The exclusion determination coefficient m is set so as to have a negative correlation with the estimated rotational speed ω _est . In the present embodiment, the exclusion determination coefficient m is set to monotonously decrease as the estimated rotational speed ω _est increases. The estimated rotation speed ω _est is calculated in the process of S60 described later. When the estimated rotation speed ω _est is not calculated, the exclusion determination coefficient m is set to a predetermined value set in advance.

In S40, it is determined whether or not the following expression (1) is established.
| T _NM -Ave (T _NM ) | <m × Dev (T _NM ) (1)
T _{NM in the} above equation (1) is the latest Z-phase signal time interval calculated in S20. Ave (T _NM ) and Dev (T _NM ) in the above equation (1) are the average value and variance of the Z-phase signal time interval T _NM calculated up to the present time in the time interval calculation process, respectively. However, the average Ave (T _NM ) and the variance Dev (T _NM ) are calculated by excluding the Z-phase signal time interval T _NM that does not satisfy the condition of the above equation (1).

If the above formula (1) is not established, the process proceeds to S90. On the other hand, if the above equation (1) is established, the Z-phase signal time interval T _NM calculated in S20 is stored in the RAM of the microcomputer 12 in S50. Note that the RAM of the microcomputer 12 stores the Z-phase signal time interval T _{NM of} the upper limit storage number M that is set in advance by giving priority to the later time calculated in S20.

Next, in S60, the average and variance of the M Z-phase signal time intervals _TNM stored in the RAM of the microcomputer 12 are calculated, and these values are averaged Ave provided in the RAM of the microcomputer 12, respectively. the _{(T NM)} and be stored in distributed Dev _{(T NM),} and updates the average Ave _{(T NM)} and distributed Dev _{(T NM).}

In S60, the estimated rotational speed ω _est is calculated by the following equation (2). In the following equation (2), k _i is a weighting factor. The weight coefficient k _i is set in advance so as to have a negative correlation with the natural number i. T _NM (i) represents the i-th new Z-phase signal time interval T _NM among the M Z-phase signal time intervals T _NM stored in the RAM of the microcomputer 12.

Further, in S70, the estimated rotational acceleration dω _est / dt is calculated by the following equation (3), and the process proceeds to S90. In the following formula (3), l _i is a weighting factor. The weighting factor l _i is set in advance so as to have a negative correlation with the natural number i.

  In S90, based on the A phase signal, the B phase signal, and the Z phase signal input to the microcomputer 12, it is determined whether or not the resolver 6 has rotated 60 ° with the most recent switching timing as a starting point. Here, when the resolver 6 is not rotated by 60 °, the time interval calculation process is temporarily ended. As will be described later, the switching timing is a timing at which the resolver angle becomes 0 °, 60 °, 120 °, 180 °, 240 °, and 300 ° in the rectangular wave control method.

On the other hand, when the resolver 6 is rotated by 60 °, a subtraction value obtained by subtracting the most recent switching timing from the current time in S100 is a 60-degree rotation time provided in the RAM of the microcomputer 12. stored in T _{[Delta] [theta],} temporarily ends the time interval calculation process.

Next, the procedure of the switching setting process will be described.
When the switching setting process is executed, the microcomputer 12 first calculates the estimated time _Test by the following equation (4) in S210 as shown in FIG. The estimated time T _est is an estimated value of the time required for the resolver 6 to rotate by the switch switching angle Δθ. In this embodiment, the switch switching angle Δθ is 60 °.

Next, in S220, it is determined whether or not the following expression (5) is established. ΔTj in the following equation (5) is a preset disturbance determination time.
| _TΔθ − _Test | <ΔTj (5)
For example, FIG. 5 shows the time T _Δθ actually required for the resolver angle calculated based on the A phase signal, the B phase signal, and the Z phase signal to rotate by 0 ° to 60 °, and the resolver angle from 0 °. It shows that the difference from the estimated time T _est required to rotate by 60 ° is longer than the disturbance determination time ΔTj. In FIG. 5, a solid line L <b> 1 indicates a time change of the resolver angle calculated based on the A phase signal, the B phase signal, and the Z phase signal. Moreover, the broken line L2 shows the time change of the resolver angle estimated based on the estimated time T _est .

  Here, if the above equation (5) holds, as shown in FIG. 4, the disturbance determination counter provided in the RAM of the microcomputer 12 is decremented (that is, 1 is subtracted), as shown in FIG. The process proceeds to S250. On the other hand, if the above equation (5) is not satisfied, the disturbance determination counter is incremented in S240, and the process proceeds to S250.

  In S250, it is determined whether or not the value of the disturbance determination counter exceeds a preset disturbance determination value. If the value of the disturbance determination counter exceeds the disturbance determination value, a disturbance flag provided in the RAM of the microcomputer 12 is set in S260, and the process proceeds to S290.

  On the other hand, if the value of the disturbance determination counter is equal to or less than the disturbance determination value, it is determined in S270 whether or not the value of the disturbance determination counter is less than a preset return determination value. If the value of the disturbance determination counter is greater than or equal to the return determination value, the process proceeds to S290. On the other hand, if the value of the disturbance determination counter is less than the return determination value, the disturbance flag is cleared in S280, and the process proceeds to S290.

  In S290, it is determined whether or not the turbulence flag is set. If the disturbance flag is set, the microcomputer 12 is set to the estimated time mode in S300, and the switching setting process is temporarily ended.

On the other hand, if the disturbance flag is not set, in S310, the microcomputer 12 is set to the rotation angle mode, and the switching setting process is temporarily ended.
The motor control device 1 configured as described above includes an inverter 5 that includes a three-phase bridge circuit having six switching elements 31, 32, 33, 34, 35, and 36 and supplies a three-phase alternating current to the motor 2. Control is performed using at least a rectangular wave control method.

  In the rectangular wave control method, the resolver angles calculated based on the rotation detection signal output from the resolver 6 that detects the motor rotation angle are 0 °, 60 °, 120 °, 180 °, 240 °, and 300 ° 6 Two switching timings are preset. In the rectangular wave control method, a switching element to be turned on and a switching element to be turned off among the switching elements 31 to 36 in the three-phase bridge circuit are set in advance for each of a plurality of switching timings. .

  The motor control device 1 determines whether or not a disturbance determination condition indicating that noise is superimposed on the rotation detection signal is satisfied. In the present embodiment, the disturbance determination condition is that the number of times that the above expression (5) is satisfied (that is, the value of the disturbance determination counter) exceeds the disturbance determination value.

  If the motor control device 1 determines that the disturbance determination condition is not satisfied, whether or not the switching timing has arrived at the motor control device 1 based on the resolver angle calculated based on the rotation detection signal. Is set to the rotation angle mode.

  When the motor control device 1 determines that the disturbance determination condition is satisfied, based on the past resolver angle calculated based on the rotation detection signal, at least the resolver angle until the next switching timing is reached. Estimate changes. The motor control device 1 sets the estimation time mode in which the motor control device 1 determines whether or not the switching timing has arrived based on the estimation result.

  As described above, when it is determined that the noise is superimposed on the rotation detection signal, the motor control device 1 can estimate the change in the resolver angle based on the past resolver angle. That is, the motor control device 1 can estimate a change in the resolver angle in a state where noise is not superimposed on the rotation detection signal even when noise is superimposed on the rotation detection signal. Accordingly, the motor control device 1 can determine whether or not the switching timing has arrived based on the estimation result of the change in the resolver angle in a state where noise is not superimposed on the rotation detection signal. Timing variations can be suppressed. Therefore, the motor control device 1 can continuously control the inverter 5 using the rectangular wave control method without changing to the sine wave PWM control method or the overmodulation PWM control method, and suppresses power loss. be able to.

Further, the motor control device 1 estimates the estimated rotational speed ω _est of the resolver angle, and estimates the estimated rotational acceleration dω _est / dt of the resolver angle. The motor control device 1 uses the estimated rotational speed ω _est and the estimated rotational acceleration dω _est / dt to switch the estimated time T _est that is the time from the most recently completed switching timing to the next switching timing to the next switching. Estimated as change in resolver angle until timing.

In the estimation time mode, it is determined whether or not the switching timing has arrived, with the timing at which the estimation time T _est has elapsed from the switching timing most recently ended as the next switching timing.
Thus, the motor control device 1 calculates the estimated time T _est using the estimated rotational speed ω _est and the estimated rotational acceleration dω _est / dt, thereby determining the determination accuracy for determining whether or not the switching timing has arrived. Can be improved.

Further, the motor control device 1 repeatedly measures the Z-phase signal time interval T _NM required for the resolver 6 to make one rotation. The motor control device 1 calculates the average Ave (T _NM ) and variance Dev (T _NM ) of the measured Z phase signal time intervals T _NM . The motor control device 1 determines that the difference between the latest Z-phase signal time interval T _NM and the calculated average Ave (T _NM ) is a preset exclusion determination coefficient m and the calculated variance Dev (T _NM ). It is determined whether or not an exclusion determination condition indicating that the value is greater than or equal to the multiplication value is established.

The motor control device 1 sets the weighted average of the reciprocal of the plurality of measured Z-phase signal time intervals T _NM as the estimated rotation speed ω _est . The motor control device 1 uses the latest measured before the time when the target Z-phase signal time interval T _NM (i) is measured for each of the reciprocals of the plurality of Z-phase signal time intervals T _NM (i). The difference from the reciprocal of the Z phase signal time interval T _NM (i−1) is calculated. The motor control device 1 sets the calculated weighted average of the plurality of differences as the estimated rotational acceleration dω _est / dt.

When the motor control device 1 determines that the exclusion determination condition is satisfied, the motor control device 1 excludes the latest Z-phase signal time interval T _NM that is the object of determination, and calculates the average Ave (T _NM ) and variance Dev ( T _NM ) is calculated.

When the motor control device 1 determines that the exclusion determination condition is satisfied, the motor control device 1 excludes the latest Z-phase signal time interval _TNM that is the object of determination and calculates the estimated rotational speed ω _est .
When it is determined that the exclusion determination condition is satisfied, the motor control device 1 excludes the latest Z-phase signal time interval _TNM that is the object of determination and calculates the estimated rotational acceleration dω _est / dt. .

As a result, the motor control apparatus 1 can calculate the estimated rotational speed ω _est and the estimated rotational acceleration dω _est / dt by excluding the Z-phase signal time interval T _NM that deviates significantly from the average, so that the estimated time T _est Calculation accuracy can be improved.

The exclusion determination coefficient m is set so as to have a negative correlation with the latest estimated rotational speed ω _est estimated. Thus, as the estimated rotational speed ω _est increases, the Z-phase signal time interval T _NM calculated under the influence of noise is more easily excluded. Therefore, the motor control device 1 can accurately calculate the estimated time T _est even when the estimated rotational speed ω _est is large.

Further, the motor control device 1 detects a time T _Δθ from the most recently completed switching timing to the next switching timing.
The motor control device 1 increments the disturbance determination counter when the difference between the time T _Δθ and the estimated time T _est is equal to or greater than a predetermined disturbance determination time ΔTj. When the difference between the time T _Δθ and the estimated time T _est is less than the disturbance determination time ΔTj, the motor control device 1 decrements the disturbance determination counter.

The motor control device 1 sets a turbulence flag when the value of the turbulence determination counter exceeds a preset turbulence determination value.
That is, the motor control device 1 sets the estimated time mode in a situation where noise frequently superimposes on the rotation detection signal. In other words, the estimated time mode is not set in a situation where noise is superimposed on the rotation detection signal in a single shot. Thereby, the motor control apparatus 1 can suppress the situation where the estimated time mode is set unnecessarily, and suppress a decrease in determination accuracy for determining whether or not the switching timing has arrived. Can do.

  In addition, after the disturbance determination condition is satisfied, the motor control device 1 clears the disturbance flag when the value of the disturbance determination counter becomes less than a preset return determination value so as to be smaller than the disturbance determination value. .

Thereby, the motor control apparatus 1 can suppress the occurrence of a situation where the transition between the estimated time mode and the rotation angle mode is frequently repeated in a short time.
In the embodiment described above, the resolver 6 corresponds to the angle detection unit, S250 corresponds to the process as the disturbance determination unit, S310 corresponds to the process as the first setting unit, and S210 and S300 are the second setting unit. It corresponds to the processing as.

The resolver angle corresponds to the detected angle, the rotation angle mode corresponds to the first determination mode, and the estimated time mode corresponds to the second determination mode.
Further, S70 corresponds to the process as the speed estimation unit, S80 corresponds to the process as the acceleration estimation unit, and the estimated time _Test is equivalent to the switching time estimated by the second setting unit.

S20 corresponds to processing as a time measurement unit, S60 corresponds to processing as an average calculation unit, S40 corresponds to processing as an exclusion determination unit, and the Z-phase signal time interval T _NM corresponds to rotation time. To do.

S100 corresponds to processing as a switching time detection unit, S240 corresponds to processing as an addition unit, S230 corresponds to processing as a subtraction unit, and time T _Δθ is a switching detected by the switching time detection unit. It corresponds to time.

As mentioned above, although one embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.
[Modification 1]
For example, in the above embodiment, the estimation time T _est is estimated as a change in the resolver angle until the next switching timing. However, as shown in FIG. 6, for example, an estimated angle obtained by estimating the resolver angle is calculated using the estimated rotational speed ω _est and the estimated rotational acceleration dω _est / dt, and the switching timing has arrived based on the estimated angle. It may be determined whether or not.

FIG. 6 is a timing chart showing a disturbance flag, a resolver angle, an estimated angle, and U, V, and W phase switching timing.
In FIG. 6, as indicated by arrows L11, L12, L13, and L14, when the resolver angle is 0 ° to 180 °, the U-phase arm 21, the V-phase arm 22, and the W-phase arm 23 are based on the resolver angle. The switching element in any one of these is switched on / off.

  When the disturbance flag is set immediately after the resolver angle exceeds 180 °, the estimated angles are 240 °, 300 °, 0 °, as indicated by arrows L15, L16, L17, L18, L19, and L20. At the timing of 60 °, 120 °, and 180 °, the switching elements in any one of the U-phase arm 21, the V-phase arm 22, and the W-phase arm 23 are switched on / off.

  Further, when the disturbance flag is cleared after the resolver angle exceeds 180 °, as shown by arrows L21, L22, and L23, the U-phase arm is reached at the timing when the resolver angle becomes 240 °, 300 °, and 0 °. 21, the switching element on / off of any one of the V-phase arm 22 and the W-phase arm 23 is switched.

[Modification 2]
Moreover, in the said embodiment, when the disorder | damage | failure determination condition which shows that the noise was superimposed on the rotation detection signal was satisfied, the thing which continues a rectangular wave control system by setting to estimation time mode was shown. However, when the difference between the time T _Δθ and the estimated time T _est exceeds a preset stop determination time, the rectangular wave control method in the estimated time mode is stopped, and the driving voltage VH is increased by the booster circuit 4. You may make it raise and transfer to an overmodulation PWM control system or a sine wave PWM control system.

  In addition, the function of one component in the above embodiment may be shared by a plurality of components, or the function of a plurality of components may be exhibited by one component. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

  In addition to the motor control device 1 described above, various forms such as a system including the motor control device 1 as a constituent element, a program for causing a computer to function as the motor control device 1, a medium storing the program, a motor control method, and the like The present disclosure can also be realized.

  DESCRIPTION OF SYMBOLS 1 ... Motor control apparatus, 2 ... Motor, 5 ... Inverter, 6 ... Resolver, 31, 32, 33, 34, 35, 36 ... Switching element

Claims (6)

An inverter (5) that includes a three-phase bridge circuit having a plurality of switching elements (31, 32, 33, 34, 35, 36) and supplies a three-phase alternating current to the motor (2), and at least a rectangular wave control system A motor control device (1) to be controlled using:
In the rectangular wave control method, a plurality of detection angles calculated based on the rotation detection signal output from the angle detection unit (6) for detecting the rotation angle of the motor are set to a preset switching angle so as to be different from each other. Switching timing is set in advance, and for each of the plurality of switching timings, among the plurality of switching elements in the three-phase bridge circuit, the switching element to be turned on, and the switching element to be turned off Is preset,
A disturbance determination unit (S250) configured to determine whether or not a predetermined disturbance determination condition indicating that noise is superimposed on the rotation detection signal is satisfied;
A first determination mode for causing the motor control device to determine whether or not the switching timing has arrived based on the detected angle when the disturbance determination unit determines that the disturbance determination condition is not satisfied. A first setting unit (S310) configured to set to
When the disturbance determination unit determines that the disturbance determination condition is satisfied, at least until the next switching timing is reached based on the past detection angle calculated based on the rotation detection signal. A second setting configured to set a second determination mode in which the motor control device determines whether or not the switching timing has arrived based on the estimation result. A motor control device comprising: (S210, S300). The motor control device according to claim 1,
A speed estimation unit (S70) configured to estimate the rotational speed of the detected angle;
An acceleration estimation unit (S80) configured to estimate the rotational acceleration of the detected angle,
The second setting unit uses the rotation speed estimated by the speed estimation unit and the rotation acceleration estimated by the acceleration estimation unit, from the most recently completed switching timing to the next switching timing. Is configured to estimate the change time of the detected angle until the next change timing,
In the second determination mode, a motor control device that determines whether or not the switching timing has arrived, with a timing at which the switching time has elapsed from the switching timing that ended most recently as the next switching timing. The speed estimation unit according to claim 2,
A time measurement unit (S20) configured to repeatedly measure a rotation time required for one rotation of the motor;
An average calculation unit (S60) configured to calculate an average and variance of the plurality of rotation times measured by the time measurement unit;
The difference between the latest rotation time measured by the time measurement unit and the average calculated by the average calculation unit is a preset exclusion determination coefficient, and the variance calculated by the average calculation unit An exclusion determination unit (S40) configured to determine whether or not an exclusion determination condition indicating that the value is equal to or greater than the multiplication value of
The speed estimation unit sets a weighted average of reciprocals of the plurality of rotation times measured by the time measurement unit as the rotation speed,
The acceleration estimation unit calculates, for each of a plurality of reciprocals of the rotation times, a difference from a reciprocal of the latest rotation time measured before the time at which the rotation time is measured. The rotational acceleration is a weighted average of a plurality of the difference,
When the exclusion determination unit determines that the exclusion determination condition is satisfied, the average calculation unit excludes the latest rotation time that is the object of determination by the exclusion determination unit, and calculates the average and Calculating the variance,
The speed estimation unit excludes the latest rotation time that is the object of determination by the exclusion determination unit when the exclusion determination unit determines that the exclusion determination condition is satisfied, and the rotation speed To calculate
The acceleration estimation unit excludes the latest rotation time that is the object of determination by the exclusion determination unit when the exclusion determination unit determines that the exclusion determination condition is satisfied, and Motor control device for calculating The motor control device according to claim 3,
The motor control apparatus, wherein the exclusion determination coefficient is set so as to have a negative correlation with the latest rotation speed estimated by the speed estimation unit. The motor control device according to any one of claims 2 to 4,
A switching time detector (S100) configured to detect the switching time;
When a difference between the switching time detected by the switching time detection unit and the switching time estimated by the second setting unit is equal to or greater than a preset disturbance determination time, the disturbance determination counter is incremented. An addition unit (S240);
A subtraction unit that decrements the disturbance determination counter when a difference between the switching time detected by the switching time detection unit and the switching time estimated by the second setting unit is less than the disturbance determination time. (S230)
The disturbance determination unit is a motor control device that determines that the disturbance determination condition is satisfied when a value of the disturbance determination counter exceeds a predetermined disturbance determination value. The motor control device according to claim 5,
The disturbance determination unit determines the disturbance determination when the value of the disturbance determination counter becomes less than a preset return determination value so as to be smaller than the disturbance determination value after the disturbance determination condition is satisfied. A motor control device that determines that the condition is not satisfied.