JP2019062623A - Motor driving control device - Google Patents

Abstract

To provide a motor driving control device in which the number of components can be reduced, and the cost reduction and space and weight reduction can be achieved.SOLUTION: A motor driving control device 22 controls motor equipment Ms provided with a plurality of electrode systems of three phases including a U phase, a V phase, and a W phase, across multiple three-phase motors 6and 6. The motor driving control device includes current sensors that detect currents flowing through the U phase, the V phase, and the W phase of each of the systems, and a motor driving control unit 19 that controls the systems separately by using the currents detected by the current sensors. Among the current sensors that detect currents of the three phases of each of the systems, at least one current sensor is a non-contact current sensor that detects currents of one phase of two systems together, while the current sensors of the other phases are current sensors that detect currents separately.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a motor drive control device, and relates to a technology capable of reducing the number of parts, cost and weight.

  When current feedback control of the three-phase motor is performed, detection of the three-phase current is performed using a current sensor or the like, and control is performed so that the detected current approaches the command current. It is also possible to detect two of the three phases and control using the fact that the sum of the three phases is zero, without detecting all three phase currents.

In addition, in order to detect an abnormality in the current sensor, it is possible to detect the current of all three phases by taking care of a part where the current detection of two phases is usually sufficient, and to detect an abnormality depending on whether the sum of three phases is zero or not. is there.
Conventionally, there has been proposed a technique for determining an abnormality when the sum of three-phase current detection values deviates from a predetermined range (Patent Document 1).

JP, 2015-173554, A

Patent Document 1 gives an example in which two sets of three-phase energizing circuits are provided, in which case six current sensors are required. Although Patent Document 1 exemplifies a motor provided with two energizing circuits (three-phase coils) in one motor, six currents can be used even when two motors provided with a pair of energizing circuits are used. A sensor is required.
Using as many as six current sensors is disadvantageous in terms of cost, space and weight. In particular, when handling large currents, non-contact type current sensors such as Hall type, CT type, Rogowski coil type are often used for reasons of loss and safety. This is disadvantageous in cost, space and weight.

  An object of the present invention is to provide a motor drive control device capable of reducing the number of parts, cost and space and weight.

A motor drive control device 22 according to the present invention comprises a motor system including a plurality of U-phase, V-phase and W-phase three-phase electrode systems in one three-phase motor or across a plurality of three-phase motors. A motor drive control device for controlling Ms,
A motor drive control unit is provided with current sensors that detect currents flowing through the U-phase, V-phase, and W-phase of each system in all phases, and individually controls the systems by currents detected by these current sensors Have nineteen,
One of the current sensors for detecting the current flowing through the U phase, the V phase and the W phase of each system is a common current sensor for detecting the current of each phase in two systems, and this common Characterized in that the integrated current sensor is a non-contact current sensor.

  According to this configuration, the motor drive control unit 19 individually controls each system by means of a current sensor that detects the current flowing through each individual phase of each system. Among the current sensors, one current sensor is a common current sensor that detects the current of one phase in each of two systems, and the common current sensor is a non-contact current sensor. For example, the remaining phase current sensors are current sensors that are individually detected. When the motor installation Ms includes two systems of three-phase electrodes, separate current sensors are used for any two phases of U-phase, V-phase and W-phase of each system, and the remaining phase of the two systems is used. Through a non-contact current sensor common to

  For example, when each current sensor is normal, the motor drive control unit 19 can individually control each system using an individual current sensor of each system. When the current sensor is commonly used in two systems, the sum of the three phases can not simply be obtained, and therefore the sum of the currents is calculated including another system using the commonly used current sensor. Thus, the normal abnormality of the current sensor can be determined. As described above, the current of one phase in the two systems is passed through a common non-contact current sensor, thereby reducing the number of component current sensors, reducing cost, space and weight. Can be

A control target in the current detected by the common current sensor using the fact that the sum of three-phase currents is zero from the currents respectively detected by the common current sensor and the current sensors of the remaining phases The current detection unit 23 may be provided to calculate the current flowing through the system of In this case, the motor drive control unit 19 can individually control each system finely using the current calculated by the current detection unit 23.
The term "to be zero" includes a "range around zero" in which the detection error of the current sensor is taken into consideration. The following "being zero" also includes "a range near zero" in consideration of the detection error of the current sensor. The “near-zero range” is set, for example, from a test or simulation.

  When the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases becomes zero, the common current sensor and the current sensors of the remaining phases are determined to be normal, and When the sum does not become zero, the common current sensor and the remaining phase current sensor may have an abnormality detection unit 24 that determines that one or both of the current sensors are abnormal. In this case, the motor drive control unit 19 can control each system individually based on the determination result by the abnormality detection unit 24.

  The motor drive control unit 19 may control the respective systems individually using only the current detected by the current sensor of the remaining phase. In this case, the control system can be simplified and the processing load can be reduced.

  When any of the current sensors is determined to be abnormal by the abnormality detection unit 24, the motor drive control unit 19 stops the energizing circuit 16 connected to all the systems for driving the motor 6, and the abnormality is detected. The detection unit 24 may detect the current with each current sensor and determine that the current sensor whose current does not become zero is abnormal. In this case, it is possible to easily determine an abnormal current sensor by temporarily stopping the energizing circuits 16 connected to all the systems.

  When any one of the current sensors is determined to be abnormal by the abnormality detection unit 24, the motor drive control unit 19 stops the conduction circuit 16 connected to one system, and the common current sensor performs one phase The abnormality detection unit 24 determines whether or not the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases becomes zero with respect to the system in which the current flows. The current sensor which becomes In this case, it is possible to determine the abnormal current sensor without completely stopping the driving of the motor 6 while maintaining the system in which the current flows.

  When the motor drive control unit 19 stops the energizing circuit 16 connected to one system, the abnormality detection unit 24 detects the current detected by the current sensor of the remaining phase for the stopped system. The current sensor which becomes abnormal may be determined depending on whether it becomes zero or not. Also in this case, it is possible to determine the abnormal current sensor without completely stopping the driving of the motor 6.

  When one of the current sensors is determined to be abnormal by the abnormality detection unit 24, the motor drive control unit 19 stops the energizing circuit 16 connected to one system, and the abnormality detection unit 24 causes a current to flow. With regard to the system, when there is a system in which the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases is zero, it may be determined that the common current sensor is normal.

The rotational speed detection means 26 for detecting the rotational speed of the motor 6 is provided, and the abnormality detection unit 24 calculates a back electromotive voltage according to a condition determined from the rotational speed detected by the rotational speed detection means 26. Abnormality detection may be performed when the back electromotive force does not exceed the power supply voltage.
The predetermined condition is a condition arbitrarily determined by design or the like, and is determined by, for example, finding an appropriate condition by either or both of a test and a simulation.
The "rotational speed" is a rotational speed per unit time, and is synonymous with "rotational speed".
According to this configuration, the abnormality detection of the current sensor can be performed with high accuracy by performing the abnormality detection when the calculated back electromotive force does not exceed the power supply voltage.
When the back electromotive force exceeds the power supply voltage, even if the energizing circuit 16 is stopped, the electric power generated by the motor 6 causes a current to flow from the motor 6 to the battery 18 via the energizing circuit 16. The current of the system that has stopped is not zero.

  When the motor equipment Ms includes two or more motors 6 and the motor drive control unit 19 stops the energizing circuit 16 connected to the system of a part of the plurality of motors 6, the motor drive control unit 19 performs the energization. The command torque of the motor 6 in which the energizing circuit 16 is stopped may be increased with respect to the command torque of the motor 6 in which the circuit 16 is not stopped. A desired motor torque can be maintained by thus increasing the command torque of the stopped motor 6.

  When a current sensor that detects a current of one phase of any one system is determined to be abnormal by the abnormality detection unit 24, the motor drive control unit 19 individually detects another phase of the one system. From the sum of individual current sensors that detect the current of another system phase and a common current sensor to the common current sensor of the energizing circuit 16 connected to the one system The current of may be calculated to perform current control. In this case, even if it is determined that the current sensor that detects the current of one phase of any one system is abnormal, the current control can be performed by the remaining current sensors.

  The motor drive control device according to the present invention comprises a motor facility including a plurality of U-phase, V-phase and W-phase three-phase electrode systems in one three-phase motor or across a plurality of three-phase motors. A motor drive control device for controlling, comprising current sensors for detecting currents flowing through the U-phase, V-phase and W-phase of each system in all phases, each of which is detected by the current detected by the current sensors One of the current sensors for detecting the current flowing through the U-phase, V-phase and W-phase of each system, which has a motor drive control unit for individually controlling the system, is one phase of each of two systems. Since the common current sensor is a non-contact current sensor that detects the current of (1), the number of parts can be reduced, and the cost and space and weight can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the conceptual structure which shows the electric vehicle carrying the motor drive control apparatus which concerns on embodiment of this invention by a top view. It is sectional drawing of the in-wheel motor drive device in the electric vehicle. It is a block diagram of a control system of the motor drive control device. It is a flowchart which shows the abnormality detection method of the motor drive control apparatus. It is a flow chart which shows a part of the flow chart. It is a flow chart which shows a part of the flow chart. It is a flowchart which shows the abnormality detection method of the motor drive control apparatus which concerns on other embodiment of this invention. It is a flow chart which shows a part of the flow chart. It is a flow chart which shows a part of the flow chart. It is a block diagram which shows the example of arrangement | positioning of the current sensor of the motor drive control apparatus which concerns on further another embodiment of this invention. It is a flowchart which shows the abnormality detection method of the motor drive control apparatus. It is a flow chart which shows a part of the flow chart. It is a flow chart which shows a part of the flow chart. It is a block diagram of the control system of the motor drive control apparatus which concerns on further another embodiment of this invention.

Embodiments of the invention will be described in conjunction with FIGS.
<About the conceptual composition of this electric car>
FIG. 1 is a block diagram of a conceptual configuration showing a plan view of an electric vehicle equipped with a motor drive control device according to this embodiment. This electric vehicle is a four-wheeled vehicle in which the wheels 2 serving as the left and right rear wheels of the vehicle body 1 are drive wheels and the wheels 3 serving as the left and right front wheels are driven wheels. The front wheel 3 is a steered wheel. The left and right wheels 2, 2 serving as drive wheels are driven by independent traveling motors 6, respectively. Each motor 6 constitutes an in-wheel motor drive device IWM described later. Each wheel 2 and 3 is provided with a brake. Further, the wheels 3 which are steered wheels serving as the left and right front wheels are steerable via a steering mechanism (not shown), and are steered by the steering means 15 such as a steering wheel.

<About schematic configuration of in-wheel motor drive device IWM>
As shown in FIG. 2, the left and right in-wheel motor drive devices IWM which are motor equipment respectively have a motor 6, a reduction gear 7 and a bearing 4 for a wheel, and a part or all of these are disposed in the wheel Ru. The rotation of the motor 6 is transmitted to the wheel 2 which is a driving wheel via the reduction gear 7 and the wheel bearing 4. The brake rotor 5 constituting the brake is fixed to the flange portion of the hub wheel 4 a of the wheel bearing 4, and the brake rotor 5 rotates integrally with the wheel 2.
The motor 6 is a three-phase motor, and is, for example, an embedded magnet synchronous motor in which a permanent magnet is built in the core portion of the rotor 6a. The motor 6 is a motor in which a radial gap is provided between a stator 6 b fixed to the housing 8 and a rotor 6 a attached to the rotation output shaft 9.

<About control system>
FIG. 3 is a block diagram of a control system of the motor drive control device 22. As shown in FIG. The motor drive control device 22 controls a motor installation Ms including a plurality of (two in this example) three-phase motors 6 of a system of U-phase, V-phase, and W-phase three-phase electrodes. The motor drive control device 22 has an ECU 14 that is an electric control unit that controls the entire vehicle, and an inverter device 13 that controls the left and right motors 6 for traveling in accordance with an instruction from the ECU 14. The ECU 14 is also referred to as a VCU (vehicle control unit) in the case of an electric vehicle.

  The inverter device 13 has power circuit units 16 and 16 provided for the respective motors 6, and a motor control unit 17 that controls the power circuit units 16. The motor control unit 17 includes motor drive control units 19 and 19 corresponding to the respective motors 6, a current detection unit 23, and an abnormality detection unit 24. The motor control unit 17 has a function of outputting each information such as each detection value and control value regarding the in-wheel motor drive device IWM which the motor control unit 17 has to the ECU 14.

  The power circuit unit 16 includes an inverter 16a that converts DC power of the battery 18 into three-phase AC power used to drive the motor 6, and a gate drive circuit 16b that drives the inverter 16a. The inverter 16 a is composed of U-phase, V-phase and W-phase semiconductor switching elements 25. The gate drive circuit 16b drives each of the semiconductor switching elements 25 based on the input on / off command.

  The motor control unit 17 is configured by a computer, a program executed by the computer, and an electronic circuit, and includes motor drive control units 19 and 19 as a control unit that is a basis of the computer. Each motor drive control unit 19 controls each system individually. The ECU 14 generates an acceleration command, a deceleration command, and a steering unit from the signal (acceleration command) of the accelerator opening output from the accelerator operation unit 20 (FIG. 1) and the deceleration command output from the brake operation unit 21 (FIG. 1). An acceleration / deceleration command to be given to the motors 6 and 6 of the left and right rear wheels 2 and 2 (FIG. 1) is generated as a torque command from the turning command output from 15 (FIG. 1) and output to each inverter device 13.

  Each motor drive control unit 19 converts an acceleration / deceleration command into a current command in accordance with an acceleration / deceleration command according to a torque command or the like (command value) given from the ECU 14 which is a higher-order control unit. The motor drive control unit 19 obtains the current flowing from the inverter 16a to the motor 6 from the current sensors U1, V1, W, U2, V2, and performs current feedback control to make the detected current follow the command value. The command voltage is calculated by feedback control, and the command voltage is made a pulse width modulation signal to give an on / off command to the gate drive circuit 16b.

<About current sensor>
The current sensor detects the current flowing through each of the U phase, V phase, and W phase of each system. Of the current sensors that detect three-phase currents of each system, one (in this example, W-phase) current sensors W is a common noncontact type that detects the current of each one phase in two systems. Current sensor. The remaining two (in this example, U-phase and V-phase) current sensors U1, V1, U2, and V2 are four non-contact current sensors that individually detect one system. A total of five current sensors are provided.

  Since a large current is applied to the motor equipment Ms for driving the vehicle, the current sensor is often a non-contact current sensor for reasons such as loss and safety. In this embodiment, non-contact current sensors are applied to the common current sensor W and the individual current sensors U1, V1, W, U2, and V2. As a non-contact current sensor, for example, a non-contact current sensor such as a Hall sensor, a CT sensor, or a Rogowski coil sensor is applied. In a motor installation, for example, when a large current is not applied, and a condition in which losses can be tolerated and safety can be satisfied, individual current sensors may also be used as contact current sensors provided with a shunt resistor or the like. Good. However, the common current sensor must be a non-contact current sensor in order to collectively detect the currents flowing through the plurality of conductors (phases) to be measured.

The current detection unit 23 uses the fact that the sum of three-phase currents is zero from the currents detected by the common (commonized) current sensor W and the individual current sensors U1, V1, U2, and V2, respectively. In the current detected by the common current sensor W, the current flowing to the system to be controlled is calculated. Specifically, the current flowing to the system to be controlled can be calculated from the following formula.
iu1 + iv1 + iw + iu2 + iv2 = 0 (while all motors are driven)
iu1 + iv1 + iw = 0 (the second motor _{6 2} only stop)
iu2 + iv2 + iw = 0 (first motor _{6 1} only stop)
However, iu1, iv1: in the first motor ₆₁ of the system, the detection value of the U-phase, separate current sensor V-phase U1, V1, iu2, iv2: in the second motor _{6 2} strains, U-phase, Detection value of individual current sensor U2, V2 of V phase, iw: detection value of common current sensor W

When the sum of currents respectively detected by the common current sensor W and the individual current sensors U1, V1, U2, V2 becomes zero, the abnormality detection unit 24 detects the common current sensor W and the individual current sensors U1, V1, U1. When it is determined that U2 and V2 are normal and the sum of the currents does not become zero, it is determined that one or both of the common current sensor W and the individual current sensors U1, V1, U2, and V2 are abnormal.
When each of the current sensors U1, V1, W, U2, and V2 is determined to be normal by the abnormality detection unit 24, each motor drive control unit 19 only detects the current detected by the individual current sensors U1, V1, U2, and V2. It may be used to control each system individually. In this case, the control system can be simplified to reduce the computational processing load.

  By the way, there are abnormalities in the current sensor, for example, an abnormality in which the output is stuck or shorted on the Hi side, an abnormality in which the output is stuck or shorted on the Lo side, an offset abnormality in which the output is not 0A when deenergized, etc. In the case of the method, if a shift in the gain of the output of the current sensor, a shift in the halfway output, or the like occurs, the abnormality may not be detected in some cases. Therefore, in addition to these anomaly detection methods, anomaly detection is performed using the fact that the sum of three-phase currents is zero.

As in this embodiment, when the common current sensor W is used, the sum of three phases can not simply be obtained, and therefore the sum including the other energizing circuit using the common current sensor W is You need to ask. Also, since you want to determine possible abnormal current sensor, for example, another for and detect the individual sensor output all of the motor 6 _1, 6 ₂ outputs once stopped, using common current sensor W Stop the output of the energizing circuit and perform abnormality detection.
Examples of the abnormality detection in driving of the motor 6 ₁ or 6 ₂ shows a flow chart in FIGS. 4-6.

<Flow chart>
FIG. 4 is a flowchart showing a method of detecting an abnormality in the motor drive control device. 5 and 6 are flowcharts showing a part of the flowchart. The following description will be given with reference to FIG. 3 as appropriate. All motor ₆ 1, _{6 2} starts the process during operation, the abnormality detection unit 24, the sum of five pieces all current sensors U1, V1, W, U2, V2 determines whether 0A ( Step a1). When the sum of current sensors U1, V1, W, U2, V2 is 0 A (step a1: Yes), abnormality detection unit 24 determines that all current sensors U1, V1, W, U2, V2 are normal, and The motor drive control unit 19 performs control based on the determination result (step a2), and ends the present process.

When the sum of the current sensors U1, V1, W, U2, and V2 is not 0 A (step a1: No), the abnormality detection unit 24 determines that any one of the current sensors is abnormal, and each motor drive control unit 19 , power circuit connected to all the system for driving the second motor 6 _and 62 (the current supply circuit) 16 is stopped, stop all motor output (step a3). Next, the abnormality detection unit 24 detects current by each current sensor and determines whether each sensor output is 0 A (step a4). The abnormality detection unit 24 determines that the current sensor does not become 0 A (step a4: No) and the current sensor is abnormal (step a5). Thereafter, the process proceeds to step a2. The control continuation method at the time of abnormality of the current sensor in step a2 will be described later.

When the sensor outputs of all of the current sensor is determined to be 0A (Step a4: Yes), the motor drive control unit 19, a state in which a current flows only in the first motor 6 ₁ lineage (step a6), abnormality detection unit 24, the first motor ₆₁ of the system in which current flows, it is determined whether the sum of the current detected respectively by a common current sensors W and individual current sensors U1, V1 becomes 0A ( Step a7).

In the determination of the sum of the current becomes 0A (step a7: Yes), the motor drive control unit 19, a state in which a current flows only in the second motor 6 ₂ strains (step a8), the abnormality detecting section 24 , the second motor 6 ₂ strains which current flows, it is determined whether the sum of the common current sensors W and individual current sensor U2, current detected respectively V2 becomes 0A (step a9). If it is determined that the sum of the currents becomes 0 A (step a9: Yes), the process returns to step a1. In the determination of the sum of the currents does not become 0A (Step a9: No), the abnormality detecting unit 24, U-phase of the second motor _{6 2} strains, the current sensor U2 to detect a current of the V-phase, V2 of At least one is determined to be abnormal (step a10). Thereafter, the process proceeds to step a2.

In step a7, the first motor ₆₁ of the system in which current flows, in the determination of the sum of the current detected respectively by a common current sensors W and individual current sensors U1, V1 does not become 0A (Step a7: No ), the motor drive control unit 19, a state in which a current flows only in the second motor _{6 2} strains (step a11). Next, the abnormality detecting unit 24, the second motor 6 ₂ strains which current flows, whether the sum of the common current sensors W and individual current sensor U2, current detected respectively V2 becomes 0A It determines (step a12).

In the determination of the sum of the current becomes 0A (Step a12: Yes), the abnormality detecting unit 24, U-phase of the first motor ₆₁ of the system, the current sensor U1, V1 for detecting the current of the V phase at least One is determined to be abnormal (step a13). Thereafter, the process proceeds to step a2. When the sum of the currents does not become 0A (Step a12: No), the abnormality detecting unit 24 can not determine the abnormal current sensor is determined as abnormal any of the current sensors of the motors 6 _and 62 ( Step a14). Thereafter, the process proceeds to step a2.

  Although the flowchart described above describes a method of stopping all motor outputs to detect abnormality and a method of stopping motor outputs other than the motor to be detected to detect abnormalities, the order of detection may be reversed. If there is no problem or an abnormal part can be determined, either one may be used. Further, separately from this method, an abnormality that can be determined by Hi side abnormality detection, Lo side abnormality detection or the like should be determined.

Table 1, according to this embodiment, showing the two motors _{6 and 62} in five pieces of current sensors U1, V1, W, U2, V2 control continuation method abnormality in the case of. The control continuation method is the same for the embodiments of FIGS. 7 to 9 described later. If an abnormal current sensor can not be determined, current control can not be continued.

<About effect>
According to the motor drive control device 22 described above, when the current sensor is commonly used in the same phase of the two systems, the sum of three phases can not simply be output, so the commonly used current is used. It is possible to determine the normal abnormality of the current sensor by calculating the sum of the current including another system using the sensor. As described above, since the non-contact current sensor that commonly detects the current of each phase in the two systems passes, the number of current sensors, which is the number of parts, is reduced, cost, space and weight are reduced. The reduction can be achieved.

<Other Embodiments>
In the following description, the portions corresponding to the items described in advance in each embodiment are denoted by the same reference numerals, and the redundant description will be omitted. When only a part of the configuration is described, the other parts of the configuration are the same as those described in the preceding embodiment unless otherwise stated. The same function and effect can be obtained from the same configuration. Not only the combination of the portions specifically described in the embodiments but also the embodiments may be partially combined if any problem does not occur in the combination.

7-9, like the embodiment described above, first, when the second motor _{6 and 62} after five pieces of current sensors U1, V1, W, U2, V2, as much as possible motor output It is a flowchart at the time of detecting abnormality so that it might not stop. FIG. 3 will also be described with appropriate reference.
All motor ₆ 1, _{6 2} starts the process during operation, the abnormality detection unit 24, the sum of five pieces all current sensors U1, V1, W, U2, V2 determines whether 0A ( Step b1). When the total sum of current sensors is 0 A (step b1: Yes), the abnormality detection unit 24 determines that all current sensors are normal, and each motor drive control unit 19 controls based on the determination result (step b2). ), End this processing.

The sum of the current sensor not equal 0A (Step b1: No), the motor drive control unit 19, a power circuit connected to the system for driving the second motor 6 ₂ (energization circuit) 16 is stopped, the second Only the motor output of is stopped (step b3). Next, the abnormality detection unit 24 determines whether or not the outputs of the individual current sensors of U2 and V2 of the system which has been deenergized become 0 A (step b4). In the determination of no (step b4: No), the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U2 and V2 is abnormal (step b5). Thereafter, the process proceeds to step b2.

U2, when the output of the individual current sensor V2 becomes 0A (Step b4: Yes), the abnormality detecting section 24, the first motor ₆₁ of the system in which a current flows, a common current sensors W and U1, V1 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b6). In the determination of the sum of the current becomes 0A (Step b6: Yes), the motor drive control unit 19, a state in which a current flows only in the second motor 6 ₂ strains (step b7), the abnormality detecting section 24 , for the first motor ₆₁ of the system in which current is not flowing, and determines whether the U1, the output of the individual current sensor V1 becomes 0A (step b8).

In the determination of no (step b8: No), the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U1 and V1 is abnormal (step b9). Thereafter, the process proceeds to step b2.
U1, when the output of the individual current sensor V1 becomes 0A (Step b8: Yes), the abnormality detecting unit 24, the second motor _{6 2} strains which current flows, a common current sensors W and U2, V2 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b10).

  If it is determined that the sum of the currents becomes 0 A (step b10: Yes), the process returns to step b1. If it is determined that the sum of the currents does not become 0 A (step b10: No), the abnormality detection unit 24 determines that at least one of the current sensors U2 and V2 is abnormal (step b11). Thereafter, the process proceeds to step b2.

In step b6, the first motor ₆₁ of the system, the determination of the sum of the currents does not become 0A (Step b6: No), the motor drive control unit 19, current only to the second motor _{6 2} strains a state in which the flow (step b12), the abnormality detecting section 24, the first motor ₆₁ of the system in which current is not flowing, and determines whether the U1, the output of the individual current sensor V1 is 0A (Step b13).

In the determination of no (step b13: No), the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U1 and V1 is abnormal (step b14). Thereafter, the process proceeds to step b2.
U1, when the output of the individual current sensor V1 becomes 0A (Step b13: Yes), the abnormality detecting unit 24, the second motor _{6 2} strains which current flows, a common current sensors W and U2, V2 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b15).

If it is determined that the sum of the currents becomes 0 A (step b15: Yes), the abnormality detection unit 24 determines that at least one of the current sensors U1 and V1 is abnormal (step b16). Thereafter, the process proceeds to step b2. When the sum of the currents does not become 0A (Step b15: No), the abnormality detecting unit 24 can not determine the abnormal current sensor is determined as abnormal any of the current sensors of the motors 6 _and 62 ( Step b17). Thereafter, the process proceeds to step b2.

According to the flowchart of FIGS. 7-9, the motor 6 _1, 6 without completely stopping the _second drive, it is possible to perform abnormality detection. Therefore, it is possible to prevent the driver from feeling discomfort when detecting an abnormality.
In the flowchart of FIGS. 4 to 6 or 7 to 9, when the abnormality detection to stop the motor 6 _1, 6 ₂ each side, so that the drive torque is not reduced, that amount of torque of the motor to continue driving It may be many. That is, when the motor drive control unit 19 stops the power circuit unit 16 connected to the system of one motor, the motor drive control unit 19 stops the power circuit unit 16 with respect to the command torque of the motor not stopping the power circuit unit 16. You may make it increase the command torque of the made motor. As described above, by increasing the command torque of the stopped motor, a desired motor torque can be maintained.

As shown in FIG. 10, three motors 6 _{and 62,} 6 ₃ seven pieces of current sensors (of which, a common current sensor two is) may be used. In this case, first, mutually the same phase of the second motor 6 _and 62 of the two systems through the current sensor W1 / W2 of a common non-contact type in (W phase in this example), the second, third The common non-contact current sensor U2 / U3 passes through the same phase (in this example, the U phase) of the two motors 6 ₂ and 6 _{23 2} and the individual current sensors U 1 , V1, V2, V3, and W3. In this example, a non-contact current sensor common to the same phase of the two systems is used, but may not be the same phase.

11 to 13 are flowcharts illustrating a method for detecting abnormality the three motors 6 _{and 62,} 6 ₃ motor drive control device in the case of using seven pieces of current sensor. Description will be made with reference to FIG. 10 and the like as appropriate. This process is started while all the motors 6 ₁ , 6 ₂ and 6 ₃ are driven, and the abnormality detection unit 24 (FIG. 3) determines whether or not the sum of all seven current sensors is 0 A (step c1). ). When the sum of the current sensors is 0 A (step c1: Yes), the abnormality detection unit 24 (FIG. 3) determines that all current sensors are normal, and each motor drive control unit 19 (FIG. 3) (Step c2), and the process ends.

When the sum of the current sensors is not 0 A (step c1: No), the abnormality detection unit 19 (FIG. 3) determines that any current sensor is abnormal, and each motor drive control unit 19 (FIG. 3) the energizing circuit which is connected to all of the system for driving the second and third motor 6 _1, 6 _2, 6 ₃ is stopped, stop all motor output (step c3). Next, the abnormality detection unit detects the current with each current sensor and determines whether each sensor output is 0 A (step c4). The abnormality detection unit determines that the current sensor does not become 0 A (step c4: No) and the current sensor is abnormal (step c5). Thereafter, the process proceeds to step c2. The control continuation method at the time of abnormality of the current sensor in step c2 will be described later.

When the sensor outputs of all of the current sensor is 0A, (Step c4: Yes), the motor drive control unit includes a state in which the first, current flows through the third motor ₆ 1, _{6 3} of the system (step c6) , the abnormality detecting unit determines whether the sum of the current detected respectively common current sensor of the first motor 6 U1 in _one lineage, V1 individual current sensor and W1 / W2 becomes 0A ( Step c7).

In the determination of the sum of the current becomes 0A (step c7: Yes), the abnormality detection unit, a common current sensor of the third motor ₆ U3 in ₃ strains, W3 individual current sensor and U2 / U3 It is determined whether the sum of each detected current is 0 A (step c8).

In the determination of the sum of the current becomes 0A (Step c8: Yes), the motor drive control unit includes a state in which a current flows only in the second motor 6 ₂ strains (step c9), the abnormality detection unit, a current second for system 6 ₂ motors, separate current sensor V2, (step of determining whether the sum of the current detected respectively by a common current sensor W1 / W2, U2 / U3 becomes 0A flows c10). If it is determined that the sum of the currents becomes 0 A (step c10: Yes), the process returns to step c1. When it is determined that the sum of the currents does not become 0 A (step c10: No), the abnormality detection unit determines that the individual current sensor of V2 is abnormal (step c11). Thereafter, the process proceeds to step c2.

In step c8, when the sum of the currents does not become 0A (Step c8: No), motor drive control section, a state in which a current flows only in the second motor 6 ₂ strains (Step c12), the abnormality detection unit, a second motor 6 ₂ strains which current flows, a separate current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 ( Step c13).

If it is determined that the sum of the currents becomes 0 A (step c13: Yes), the abnormality detection unit determines that at least one of the V3 and W3 individual current sensors is abnormal (step c14). Thereafter, the process proceeds to step c2. When the sum of the currents does not become 0A (Step c13: No), the abnormality detection unit, a second, but in abnormal third current sensor of the motor ₆ 2, _{6 3} is, can not be determined (step c15). Thereafter, the process proceeds to step c2.

In step c7, when a sum of the currents does not become 0A (step c7: No), the abnormality detection unit, a common current sensor of the third motor ₆ U3 in ₃ strains, W3 individual current sensor and U2 / U3 At step c16, it is determined whether the sum of the currents respectively detected is 0A. When the sum of the current becomes 0A (Step c16: Yes), the motor drive control unit includes a state in which a current flows only in the second motor _{6 2} strains (Step c17), the abnormality detection unit, the second the system of the motor _{6 2,} separate current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 (step c18).

When the sum of the currents becomes 0 A (step c18: Yes), the abnormality detection unit determines that at least one of the individual current sensors U1 and V1 is abnormal (step c19). Thereafter, the process proceeds to step c2. When the sum of the currents does not become 0A (Step c18: No), the abnormality detection unit, first, although abnormalities second motor ₆ 1, _{6 2} of the current sensor is, it can not be determined (step c 20). Thereafter, the process proceeds to step c2.

In step c16, when the sum of the currents does not become 0A (Step c16: No), motor drive control section, a state in which a current flows only in the second motor _{6 2} strains (Step c21), the abnormality detection unit, a second motor _{6 2} strains, the individual current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 (step c22) .

When the sum of the currents becomes 0 A (step c22: Yes), the abnormality detection unit detects at least one of U1 and V1 individual current sensors and at least one of V3 and W3 individual current sensors. Is determined to be abnormal (step c23). Thereafter, the process proceeds to step c2. When the sum of the currents does not become 0A (Step c22: No), the first, second, third motor _{6 1,} 6 2, ₆ is abnormality in ₃ current sensor, can not be determined (Step c24) . Thereafter, the process proceeds to step c2.

Table 2 shows a control continuation method at the time of abnormality in the case of three current sensors and seven current sensors according to this embodiment. If an abnormal current sensor can not be determined, current control can not be continued.

As shown in FIG. 14, a plurality of systems (two systems in this example) of U-phase, V-phase, and W-phase three-phase electrodes may be provided in one three-phase motor 6.
The individual current sensors may be, for example, contact current sensors with shunt resistors.
The motor drive device may be a two-motor on-board type in which the vehicle body is installed in the motor other than the in-wheel motor type.
It is also possible to apply the motor drive control device according to any one of the embodiments to a hybrid vehicle including an internal combustion engine and a vehicle drive motor, an electric power steering device, a train, a robot or the like.

As shown in FIG. 3, it comprises a rotation speed detecting means 26 for detecting the rotational speed of the motor 6 _1, 6 _2, the abnormality detecting unit 24 in accordance with conditions determined from the rotational speed detected by the rotational speed detecting means 26 A back electromotive voltage may be calculated, and abnormality detection may be performed when the back electromotive voltage does not exceed the power supply voltage. The rotational speed, for example, can be determined by, for example differentiating the rotation angle of the motor 6 _1, 6 _2. According to this configuration, the abnormality detection of the current sensor can be performed with high accuracy by performing the abnormality detection when the calculated back electromotive force does not exceed the power supply voltage.

  As mentioned above, although the form for implementing this invention was demonstrated based on embodiment, embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is indicated not by the above description but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

6 ... Motor 16 ... Power circuit section (electric circuit)
22 ... motor drive control device 23 ... current detection unit 24 ... abnormality detection unit 26 ... rotational speed detection means U1, V1, W, U2, V2 ... current sensor

Claims (11)

A motor drive control device for controlling a motor facility including a plurality of U-phase, V-phase, and W-phase three-phase electrode systems in one three-phase motor or a plurality of three-phase motors. ,
Current sensors for detecting the current flowing through the U phase, V phase and W phase of each system are provided in all phases, and there is a motor drive control unit for individually controlling each system by the current detected by these current sensors. And
One of the current sensors for detecting the current flowing through the U phase, the V phase and the W phase of each system is a common current sensor for detecting the current of each phase in two systems, and this common A motor drive control apparatus characterized in that the integrated current sensor is a non-contact current sensor.   The motor drive control device according to claim 1, wherein the current detected by the common current sensor and the current sensors of the remaining phases respectively makes use of the fact that the sum of three-phase currents is zero. A motor drive control device comprising a current detection unit for calculating a current flowing through a control target system among currents detected by the integrated current sensor.   The motor drive control device according to claim 1 or 2, wherein when the sum of currents respectively detected by the common current sensor and the current sensors of the remaining phases becomes zero, the common current sensor and the common current sensor Abnormality detection in which the current sensor in the common phase and the current sensor in the remaining phase are determined as abnormal when the current sensors in the remaining phases are determined to be normal and the sum of the currents does not become zero. Motor drive control device having a control unit.   The motor drive control device according to any one of claims 1 to 3, wherein the motor drive control unit individually controls the respective systems using only the current detected by the current sensor of the remaining phase. Motor drive control device.   The motor drive control device according to claim 3 or 4, wherein when any one of the current sensors is determined to be abnormal by the abnormality detection unit, the motor drive control unit is all systems for driving the motor. A motor drive control device for stopping a current-carrying circuit connected to the motor drive control device, wherein the abnormality detection unit detects current with each current sensor and determines that the current sensor whose current does not become zero is abnormal.   The motor drive control device according to any one of claims 3 to 5, wherein when any one of the current sensors is determined to be abnormal by the abnormality detection unit, the motor drive control unit is connected to one system. And the abnormality detection unit is configured to stop the current passing through the common current sensor and the current of the remaining phase for the system through which the current flows. A motor drive control device that determines a current sensor that becomes abnormal depending on whether or not the sum of currents respectively detected by the sensor becomes zero.   The motor drive control device according to claim 6, wherein when the motor drive control unit stops the energizing circuit connected to one system, the abnormality detection unit is configured to determine the remaining phases of the stopped system. The motor drive control device determines the current sensor which becomes abnormal depending on whether or not the current detected by each of the current sensors becomes zero.   The motor drive control device according to claim 6 or 7, wherein when any one of the current sensors is determined to be abnormal by the abnormality detection unit, the motor drive control unit is configured to have an energizing circuit connected to one system. When there is a system in which the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases becomes zero, the abnormality detection unit stops the system in which current flows. Motor drive control unit that determines that the sensor is normal.   The motor drive control device according to any one of claims 3 to 8, further comprising: a rotation number detection unit that detects the rotation number of the motor, wherein the abnormality detection unit is detected by the rotation number detection unit. A motor drive control device that calculates a back electromotive force according to a condition determined from the number of revolutions, and performs abnormality detection when the back electromotive voltage does not exceed the power supply voltage.   The motor drive control device according to any one of claims 6 to 8, wherein the motor equipment includes two or more motors, and the motor drive control unit is a part of a plurality of motors. And a motor drive control device for increasing the command torque of the motor having the energizing circuit stopped with respect to the command torque of the motor not having the energizing circuit stopped when the energizing circuit connected to the system is stopped.   The motor drive control device according to any one of claims 3 to 10, wherein the abnormality detection unit determines that the current sensor that detects the current of one phase of any one system is abnormal. The motor drive control unit may use the sum of an individual current sensor that detects another phase of the one system, or an individual current sensor that detects the current of another system phase and a common current sensor. A motor drive control device that performs current control by calculating the current of the phase flowing to the common current sensor of the energizing circuit connected to one system.

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