JP2021114806A - Motor control device - Google Patents

Abstract

To provide a motor control device preventing a piping from being bursted and slipped when an oil pump and an oil hydraulic circuit, driven by a motor becomes a high oil pressure state due to a piping jamming.SOLUTION: When a driving power P is a value exceeding an upper limit value Pup2 of an appropriate power range and a target rotational number N** after a correction is within a high rotational number region, a microcomputer generates a motor control signal on the basis of the target rotational number N** after the correction, corrected so as to reduce the target rotational number N**. Therefore, when a jamming occurs in a transmission oil passage in which an oil discharged from, for example, an oil pump is circulated, an excessive load applied to the oil pump and the oil pressure circuit can be suppressed even in the case where a relief valve is a small type.SELECTED DRAWING: Figure 4

Description

The present invention relates to a motor control device for a motor that drives an oil pump.

Conventionally, by driving an oil pump with a motor, oil is circulated in a hydraulic circuit to lubricate a mechanical mechanism attached to the hydraulic circuit, or to cool an object to be cooled. (Patent Document 1, Patent Document 2). It is preferable that the hydraulic circuit has a function for preventing a high hydraulic state due to clogging of foreign matter or the like.

JP-A-2017-121934 Japanese Unexamined Patent Publication No. 2012-197848 International Publication No. 2018/084000 (A1)

It has been proposed to attach a relief valve to the hydraulic circuit in order to satisfy the function of preventing a high hydraulic state due to clogging of foreign matter described above, but it is assumed that the relief valve is simply provided in the hydraulic circuit. However, the high hydraulic condition may not be resolved early.

In Patent Document 3, on the premise that foreign matter is entangled in the impeller of the pump, in order to prevent clogging due to the entanglement, the rotation speed of the pump may have decreased due to clogging of the foreign matter, or the motor that drives the pump. A method of controlling a pump device that can distinguish whether the number of revolutions of a pump has decreased due to a decrease in the supplied electric power is disclosed. However, the control method of Patent Document 3 is designed to prevent entanglement by intermittently driving or reversing the motor, and even if this control method is applied to a hydraulic circuit in a highly hydraulic state, it is high. It is difficult to eliminate the hydraulic condition.

An object of the present invention is to provide a motor control device that suppresses pipe rupture or pipe disconnection when an oil pump driven by a motor and a hydraulic circuit are in a high hydraulic state due to pipe clogging.

In order to solve the above problems, the motor control device of the present invention includes a control circuit that outputs a motor control signal based on a reference target rotation speed and a drive circuit that supplies drive power to the motor based on the motor control signal. In a motor control device for generating oil in a hydraulic circuit by driving an oil pump by a motor driven by the drive circuit, the control circuit includes the oil pump and the oil pump according to the rotation speed of the motor. When a high oil pressure determination threshold value for a load amount indicating a load state of a motor caused by a high oil pressure state of a hydraulic circuit is set (hereinafter, this process is referred to as a setting process), and the load amount exceeds the high oil pressure determination threshold value. The motor is corrected so that the target rotation speed is smaller than the reference target rotation speed, or the target rotation speed is corrected so that the rotation speed becomes 0, and the motor is based on the corrected target rotation speed. Generate a control signal.

According to the above configuration, when there is no abnormality in the oil pump and the hydraulic circuit and the oil pump is operating normally, the load amount indicating the load state of the motor with respect to the increase in the rotation speed of the motor. Increases linearly. Therefore, when the oil pump is operating normally, the load amount becomes a value equal to or less than the high oil pressure determination threshold value according to the rotation speed of the motor.

On the contrary, when the load amount exceeds the high oil pressure determination threshold value, there is a possibility that an abnormality has occurred in the oil pump or its hydraulic circuit due to the high oil pressure state.
Further, the high oil pressure determination threshold value indicates a boundary value between the rotation speed and the load amount when the motor is rotating without any problem. Therefore, if the load amount exceeds the high oil pressure determination threshold and the rotation speed is within the high rotation speed range larger than the rotation speed threshold, increasing the target rotation speed forces the oil pump to be forced. There is a risk that an excessive load will act on the oil pump and hydraulic circuit when driven.

Therefore, when the load amount exceeds the high oil pressure determination threshold and the rotation speed is within the high rotation speed range larger than the rotation speed threshold, the target rotation speed is reduced and corrected. When the motor control signal is generated based on the target rotation speed of, or when the rotation speed is set to 0, the action of an excessive load on the oil pump and the hydraulic circuit is suppressed.

Further, in the motor control device, it is preferable that the control circuit increases the high oil pressure determination threshold value as the temperature of the oil flowing through the hydraulic circuit increases.
According to the above configuration, when the temperature of the oil decreases, the viscosity of the oil increases, so that the load on the motor increases. Therefore, even if the oil pump and the hydraulic circuit are not abnormal due to pipe clogging and the oil pump is operating normally, if the oil temperature is low, the rotor of the motor is rotated. Requires a large load. Therefore, by changing the high oil pressure judgment threshold value according to the oil temperature, that is, by increasing the high oil pressure judgment threshold value as the oil temperature rises, the oil pump or the hydraulic circuit can be changed according to the load state of the motor. It can be suitably determined whether or not an abnormality has occurred in the engine. On the contrary, as the temperature of the oil becomes lower, the high oil pressure determination threshold value is reduced to preferably determine whether or not an abnormality has occurred in the oil pump or the hydraulic circuit according to the load state of the motor. can.

Further, in the motor control device, in the control circuit, the load amount exceeds the high oil pressure determination threshold value, the rotation speed is a value within the high rotation speed range, and the target rotation speed becomes small. Even if the rotation speed becomes a value in a small low rotation speed range equal to or less than the rotation speed threshold value after the correction to the above, it is preferable not to correct the target rotation speed so as to increase.

According to the above configuration, when an abnormality occurs in the oil pump or the hydraulic circuit, it is possible to prevent an excessive load from acting on the target rotation speed by correcting it so that the target rotation speed becomes smaller, but the abnormality itself continues. May remain. Therefore, after correcting so that the target rotation speed becomes smaller, assuming that the corrected target rotation speed is a value within the low rotation speed range, if the correction is made so that the target rotation speed becomes larger, the load amount becomes the high oil pressure judgment threshold again. The value exceeds the above, and the corrected target rotation speed of the motor becomes a value within the high rotation speed range, and the correction is performed so that the target rotation speed becomes smaller. That is, there is a possibility that the correction for increasing the target rotation speed and the correction for decreasing the target rotation speed are repeatedly performed.

In this regard, according to the above configuration, even if the load amount exceeds the high oil pressure determination threshold value after the correction is made so that the target rotation speed becomes smaller, the correction is not made so that the target rotation speed becomes larger. It is possible to suppress the repetition of the subsequent target rotation speed increasing or decreasing.

Further, in the motor control device, in the control circuit, the load amount exceeds the high oil pressure determination threshold value, the rotation speed is a value within the high rotation speed range, and the target rotation speed becomes small. If the load amount becomes a value within the appropriate load amount range, or if the load amount becomes equal to or less than the high oil pressure determination threshold value after the correction as described above, the load amount is based on the target rotation speed before the correction. It is preferable to generate the motor control signal.

According to the above configuration, if the abnormality of the oil pump or the hydraulic circuit is resolved for some reason after the correction is made so that the target rotation speed becomes smaller, the load amount becomes a value within the appropriate load amount range. When the abnormality of the oil pump or the hydraulic circuit is resolved in this way, the load amount is within the appropriate load amount range even if the operation is controlled so that the rotation speed of the motor becomes the target rotation speed before correction. It is considered to be a value. In this respect, in the above configuration, after the correction is made so that the target rotation speed becomes smaller, when the load amount becomes a value within the appropriate load amount range, the motor control signal is generated based on the target rotation speed before the correction. Therefore, it can be assumed that the operating state of the oil pump is required.

Further, in the control motor control device, the hydraulic circuit includes a mechanical relief valve, and the high oil pressure determination threshold value set by the control circuit in the setting process is higher than the relief pressure of the mechanical relief valve. The load amount of the motor when it becomes hydraulic is set, and the control circuit corrects the target rotation speed so as to be smaller than the reference target rotation speed, and then the motor is based on the corrected target rotation speed. It is preferable to generate a control signal.

According to the above configuration, the control circuit corrects the target rotation speed so as to be smaller than the reference target rotation speed, and then generates the motor control signal based on the corrected target rotation speed to rotate the motor. When the motor is driven by lowering the number below the reference target rotation speed, it is expected that the oil pressure of the hydraulic circuit will decrease. In this case, the oil pressure of the hydraulic circuit having a high oil pressure lower than the relief pressure of the mechanical relief valve is lowered.

In particular, in a hydraulic circuit in which a high flow rate type oil pump supplies oil, when a mechanical relief valve is provided, the relief valve has a large override, and the back pressure of the relief valve at a flow rate required at a low temperature including variation It is difficult to meet the PQ characteristics (pressure flow rate characteristics) up to the upper limit pressure. That is, it is expected that the oil cannot be completely returned by the operation of the mechanical relief valve in the high hydraulic state.

Therefore, in such a case, the rotation of the motor is lowered, that is, the operation of the oil pump is lowered to reduce the flow rate of the oil flowing in the hydraulic circuit before the mechanical relief valve is relieved. In such a state, the mechanical relief valve makes it possible to completely return the oil.

Further, in the motor control device, the control circuit corrects the target rotation speed so as to be smaller than the reference target rotation speed, and then generates the motor control signal based on the corrected target rotation speed. Then, after the setting process is performed again, when the load amount exceeds the high oil pressure determination threshold value, the target rotation speed is corrected so that the target rotation speed becomes 0, and the motor is stopped. Is preferable.

According to the above configuration, the control circuit corrects the target rotation speed so as to be smaller than the reference target rotation speed, and then generates the motor control signal based on the corrected target rotation speed to generate the motor control signal. Decrease the number of revolutions. After that, the control circuit corrects the target rotation speed so that the target rotation speed becomes 0 when the load amount exceeds the high oil pressure determination threshold value after the setting process is performed again. Stop the motor. As a result, if the cause of the oil pressure rise is not eliminated, the load amount may exceed the high oil pressure determination threshold value after the setting process is performed again. In this case, the control circuit can prevent the oil pressure from rising by stopping the motor.

Further, in the motor control device, the control circuit is corrected to a normal control mode for outputting the motor control signal and an increase target rotation speed larger than the reference target rotation speed based on the reference target rotation speed. Then, the detection control mode for outputting the motor control signal is alternately performed, and in the detection control mode, it is determined whether or not the load amount exceeds the high oil pressure determination threshold value (hereinafter, depending on the increase target rotation speed). When the load amount exceeds the high oil pressure determination threshold value and the rotation speed of the motor is within the high rotation speed range larger than the rotation speed threshold value, the reference target rotation speed is higher than the reference target rotation speed. It is preferable to correct the target rotation speed so that it becomes smaller, or correct the target rotation speed so that the rotation speed becomes 0, and generate the motor control signal based on the corrected target rotation speed.

According to the above configuration, in the detection control mode, the control circuit increases the rotation speed of the motor with a value set to the increase target rotation speed larger than the reference target rotation speed, and performs determination processing based on the increase target rotation speed. Then, when the load amount exceeds the high oil pressure determination threshold value, the control circuit corrects the target rotation speed so that it becomes smaller than the reference target rotation speed, or the control circuit corrects the target rotation speed so that the rotation speed becomes 0. The number is corrected, and a motor control signal is generated based on the corrected target rotation speed.

When the temperature of the oil is high and the rotation speed of the motor is low, the drive current of the motor becomes small. In this state, if an attempt is made to determine whether or not the vehicle is in a high hydraulic pressure state, an erroneous determination may occur. Therefore, in order to determine the high oil pressure state, the rotation speed of the oil pump is intentionally raised above the reference target rotation speed, so that the oil temperature is high and the rotation speed of the motor is low. Even so, it is possible to suppress erroneous determination of the high hydraulic pressure state.

Further, in the motor control device, it is preferable that the control circuit executes the detection control mode every detection cycle or during a start period.
According to the above configuration, especially in the region where the rotation speed of the motor 5 is low, when the temperature of the oil is low, or when the temperature is expected to be low such as the starting period of the motor, every predetermined detection cycle. , Or when executed during the start-up period, it is possible to suppress erroneous determination of the high hydraulic state.

Further, in the motor control device, the control circuit determines that the hydraulic circuit is in a high hydraulic state when the state in which the load amount exceeds the high hydraulic pressure determination threshold exceeds the first detection duration. While this high-hydraulic state continues within the second detection duration, it is preferable to correct the motor so that the target rotation speed becomes smaller.

According to the above configuration, the control circuit assumes that the hydraulic circuit is in the high oil pressure state when the state in which the load amount exceeds the high oil pressure determination threshold value exceeds the first detection duration. That is, when the state in which the load amount exceeds the high oil pressure determination threshold value is resolved within the first detection duration, the hydraulic circuit is not considered to be in the high oil pressure state. This prevents erroneous detection of the high hydraulic pressure state. Then, the control circuit can correct the target rotation speed of the motor so as to be smaller than the reference target rotation speed when the high hydraulic pressure state continues within the second detection continuation time.

Further, in the motor control device, when the high-hydraulic state continues beyond the second detection duration, the control circuit preferably stops the motor as being in the high-hydraulic continuation state.

According to the above configuration, when the high hydraulic pressure state continues beyond the second detection duration, the control circuit stops the motor as being in the high hydraulic pressure continuation state. When the motor is stopped, the oil is not supplied to the hydraulic circuit, and damage to the oil pump and the hydraulic circuit can be suppressed.

Further, in the motor control device, after the motor stop period for stopping the motor in the high-hydraulic continuation state has elapsed, the control circuit is in the high-hydraulic return state until the reference target rotation speed is reached. It is preferable to correct the target rotation speed of the motor so as to gradually increase for each step, and perform return control including a redrive process for driving the motor.

According to the above configuration, the control circuit sets the state of high hydraulic pressure recovery after the motor stop period for stopping the motor has elapsed, and when the redrive process is executed, the target rotation speed of the motor is increased for each step. Therefore, the rotation speed of the motor can be increased to the reference target rotation speed. In this case, since the motor rotation speed is gradually increased, the oil pump load can be reduced unlike the case where the target rotation speed is increased to the reference target rotation speed at once.

Further, in the motor control device, the control circuit compares the setting process and the high oil pressure determination threshold value set in the setting process with the load amount for each step during the return control. When the processing is performed and the state in which the load amount exceeds the high oil pressure determination threshold value in the comparison process exceeds the first detection duration, it is regarded as a high hydraulic state, and the control in the high hydraulic state is performed. While continuing within the second detection duration, it is preferable to make corrections so that the target rotation speed of the motor becomes smaller.

According to the above configuration, during the return control, the control circuit performs a setting process for each step and a comparison process for comparing the high oil pressure determination threshold value set in the setting process with the load amount. Then, in the comparison process, when the state in which the load amount exceeds the high oil pressure determination threshold value set in the setting process exceeds the first detection duration, it is regarded as the high oil pressure state and the control in the high oil pressure state is performed. As a result, even during the return control, when the high hydraulic state is reached, the control is performed in the high hydraulic state, that is, while the high hydraulic state continues within the second detection duration, the motor It can be corrected so that the target rotation speed becomes smaller.

Further, in the motor control device, the control circuit counts the number of processing times of the re-driving process or measures the processing time related to the re-driving process, and the target rotation speed of the motor becomes the reference target rotation speed. If the count value reaches the abnormality determination number threshold before reaching the value, or if the processing time related to the redrive process reaches the abnormality processing total time determination value, an abnormality determination is performed and the motor is stopped. If the target rotation speed of the motor reaches the reference target rotation speed before the count value reaches the abnormality determination number threshold, or in the processing time less than the abnormality processing total time determination value, it is normal. As a state, it is preferable to control the motor at the reference target rotation speed.

According to the above configuration, when the count value reaches the abnormality determination number threshold value before the target rotation speed of the motor reaches the reference target rotation speed, or the processing time related to the redrive processing is the total abnormality processing time. When the judgment value is reached, an abnormality judgment is made and the motor is stopped. As a result, the motor can be stopped when the high hydraulic pressure state continues due to the abnormality determination of the control circuit.

Further, the control circuit is in a normal state when the target rotation speed of the motor reaches the reference target rotation speed before the count value reaches the abnormality determination number threshold value or in the processing time less than the abnormality processing total time determination value. The motor is controlled at the reference target rotation speed. Thereby, when the oil pump and the hydraulic circuit are in the normal state by the control circuit, the motor can be continuously controlled at the reference target rotation speed.

Further, in the motor control device, when the motor is stopped, it is preferable to output a notification signal to that effect to the notification unit or the host control circuit.
According to the above configuration, when the motor is stopped, a notification signal indicating the stop is output to the notification unit or the upper control circuit. Therefore, the stop of the oil pump is detected via the notification unit or the upper control circuit. It becomes possible for people to know.

According to the present invention, when the oil pump and the hydraulic circuit driven by the motor are in a high hydraulic state due to the clogging of the pipes, it is possible to suppress the rupture of the pipes and the disconnection of the pipes.

The schematic block diagram which shows the hydraulic circuit for cooling the drive motor of 1st Embodiment. The block diagram of the EOPECU of the first embodiment. The block diagram of the microcomputer of 1st Embodiment. The graph which shows the relationship between the target rotation speed after correction of 1st Embodiment, and a drive power. The block diagram of the microcomputer of the 2nd Embodiment. The flowchart which executes the microcomputer of the 2nd Embodiment. FIG. 6 is a PQI diagram showing the relationship between the oil pressure, the drive current, and the flow rate flowing through the hydraulic circuit when the microcomputer controls the motor to impose a high hydraulic pressure limit in the second embodiment. The PQI diagram which shows the relationship between the oil pressure, the drive current, and the flow rate flowing through a hydraulic circuit when the microcomputer of a conventional example controls a motor. Explanatory drawing of high oil pressure determination current value map of 2nd Embodiment. The transition diagram between the normal state, the high oil pressure state, the high oil pressure continuation state, the high oil pressure return in progress state, and the high oil pressure return impossible state of the third embodiment. The flowchart in the normal state executed by the microcomputer of the 3rd Embodiment. The flowchart in the high-hydraulic state or the high-hydraulic continuation state executed by the microcomputer of the 3rd Embodiment. The flowchart in the state of high hydraulic pressure restoration which the microcomputer of 3rd Embodiment executes. The flowchart in the state of high hydraulic pressure restoration which the microcomputer of 3rd Embodiment executes. (A) is a flowchart in a high-hydraulic continuation state executed by the microcomputer of the third embodiment, and (b) is a flowchart at the time of abnormality determination executed by the microcomputer of the third embodiment. In the third embodiment, the timing chart of the example in the case of returning after detecting the high hydraulic pressure state. In the third embodiment, the timing chart of an example in which a high-hydraulic state is detected, a high-hydraulic continuation state is entered, and then a return is made. A timing chart of an example in which an abnormality is confirmed in the third embodiment. FIG. 5 is a flowchart of a program in which the microcomputer of the fourth embodiment is executed in the detection control mode M2. Explanatory drawing of high oil pressure abnormality determination electric power map of 4th Embodiment. In the fourth embodiment, a timing chart of an example in which a high hydraulic state is detected and then returned.

(First Embodiment)
Hereinafter, the first embodiment embodied in the motor control device that controls the operation of the motor that is the drive source of the electric pump device will be described with reference to FIGS. 1 to 4. This embodiment is an embodiment that supports claims 1 to 4.

As shown in FIG. 1, the electric pump device 1 is provided in a hydraulic circuit 3 in which oil for cooling a drive motor 2 for traveling a vehicle circulates. The electric pump device 1 includes an oil pump 4 for generating flood control, a motor 5 for driving the oil pump 4, and an EOPECU 6 as a motor control device for controlling the operation of the motor 5.

The oil pump 4 is connected to the oil storage unit 12 via the suction oil passage 11 and is connected to the drive motor 2 via the delivery oil passage 13. The drive motor 2 is connected to the oil storage unit 12 via the discharge oil passage 14. Therefore, in the hydraulic circuit 3, the oil is sent from the oil storage unit 12 to the drive motor 2 by the operation of the oil pump 4, and after cooling the drive motor 2, the oil is discharged to the oil storage unit 12.

As shown in FIG. 1, the oil pump 4 includes a relief valve 41. The relief valve 41 short-circuits the suction side and the discharge side of the oil pump 4. The relief valve 41 is a mechanical relief valve, and opens when the oil pressure in the delivery oil passage 13 exceeds a preset relief pressure, that is, a relief pressure, and oil is opened from the discharge side to the suction side of the oil pump 4. By returning the above, it is possible to prevent the oil pressure in the delivery oil passage 13 from becoming excessive. As the relief valve 41 of the present embodiment, a small one having a small valve diameter is adopted.

The drive motor 2 transmits the rotation to the drive wheels 15 of the vehicle to drive the drive wheels 15. The upper ECU 16 is electrically connected to the drive motor 2. Various signals indicating the accelerator opening degree, the temperature of the drive motor 2, and the like are input to the upper ECU 16. The upper ECU 16 controls the operation of the drive motor 2 based on these various signals. Further, the upper ECU 16 is a target at which the rotation speed of the motor 5 is such that the flow rate of oil required for cooling the drive motor 2 circulates in the hydraulic circuit 3 by the operation of the oil pump 4 according to the operating state of the drive motor 2. The rotation speed N * is output to the EOPERC 6. That is, the target rotation speed N * is the rotation speed of the motor 5 that causes the oil pump 4 to circulate the required flow rate of oil, in other words, to bring the oil pump 4 into a desired operating state. The target rotation speed N * corresponds to the reference target rotation speed, which is a higher-level command.

Specifically, in the upper ECU 16, for example, when the vehicle is stopped and the drive motor 2 is stopped, the target rotation speed N * is circulated by the oil at the minimum in the hydraulic circuit 3. Set it to a low value, for example, several hundred rpm. On the other hand, when the vehicle is running and the drive motor 2 is rotating at high speed, the upper ECU 16 has a high target rotation speed N * and a sufficient flow rate of oil circulates in the hydraulic circuit 3. Set the value, for example, about several thousand rpm.

In addition to the target rotation speed N * output from the upper ECU 16, the temperature To of the oil flowing through the oil pump 4 detected by the temperature sensor 17 is input to the EOPECU 6. The EOPECU 6 controls the operation of the motor 5 so that the rotation speed of the motor 5 becomes the target rotation speed N * based on these state quantities, so that the oil pump 4 has a flow rate of oil according to the operating state of the drive motor 2. The operation of the motor 5 is controlled so that the pump is discharged from the pump and circulates in the hydraulic circuit 3.

Next, the electrical configuration of the electric pump device 1 will be described in detail.
As shown in FIG. 2, the EOPERC 6 includes a microcomputer 21 as a control circuit that outputs a motor control signal Sm, and a drive circuit 22 that supplies three-phase drive power to the motor 5 based on the motor control signal Sm. There is. The EOPECU 6 of the present embodiment supplies the drive power P to the motor 5 by a square wave energization that switches an energization phase and an energization pattern that defines an energization direction every 120 degrees or 150 degrees in an electric angle. The motor 5 employs a sensorless type brushless motor that does not have a rotation angle sensor that detects the rotation position of the rotor 23.

The drive circuit 22 includes a PWM inverter in which a switching arm composed of a pair of switching elements connected in series is used as a basic unit, and three switching arms corresponding to coils 24u, 24v, 24w of each phase are connected in parallel. It has been adopted. The motor control signal Sm defines an on / off state of each switching element constituting the drive circuit 22, that is, a duty ratio which is a ratio of the on-time of each switching element. Then, the drive circuit 22 outputs the drive power of the energization pattern and the duty ratio according to the motor control signal Sm to the motor 5.

The microcomputer 21 includes voltage sensors 25u, 25v, 25w that detect the terminal voltages Vu, Vv, Vw of the coils 24u, 24v, 24w, a voltage sensor 27 that detects the power supply voltage Vb of the battery 26 mounted on the vehicle, and a motor. A current sensor 28 that detects the drive current I supplied to the 5 is connected. Further, the target rotation speed N * and the oil temperature To output from the upper ECU 16 are input to the microcomputer 21. Then, the microcomputer 21 generates a motor control signal Sm indicating an energization pattern and a duty ratio based on each of these state quantities, and outputs the motor control signal Sm to the drive circuit 22. As a result, the drive circuit 22 supplies the three-phase drive power corresponding to the power supply voltage Vb of the battery 26 to the motor 5, and the motor 5 rotates to operate the oil pump 4.

Specifically, as shown in FIG. 3, the microcomputer 21 has a motor state determination unit 51 that determines the state of the motor 5, which will be described later, and a target rotation speed correction unit that corrects the target rotation speed N * according to the state of the motor 5. 32 and a rotation position estimation unit 33 that estimates the rotation position of the rotor 23 are provided. Further, the microcomputer 21 has a feedback control unit (hereinafter referred to as an F / B control unit) 34 that calculates a duty command value D * that is a target of the duty ratio, and a motor control signal generation unit 35 that generates a motor control signal Sm. And have.

The motor state determination unit 51 and the target rotation speed correction unit 32 will be described later.
The terminal voltages Vu, Vv, Vw detected by the voltage sensors 25u, 25v, 25w are input to the rotation position estimation unit 33. The rotation position estimation unit 33 estimates the rotation position of the rotor 23 based on the induced voltages of the coils 24u, 24v, and 24w shown in the terminal voltages Vu, Vv, and Vw.

Specifically, the rotation position estimation unit 33 compares the magnitude of each terminal voltage Vu, Vv, Vw with the preset reference potential, and the zero cross point where the induced voltage of the coils 24u, 24v, 24w straddles the reference potential. The rotation position of the rotor 23 is estimated by a well-known method for detecting the above. Then, the rotation position estimation unit 33 outputs the rotation position signal Sp indicating the estimated rotation position of the rotor 23 to the motor control signal generation unit 35. Further, the rotation position estimation unit 33 calculates the actual rotation speed N of the motor 5 based on, for example, the time interval of the zero cross point, and outputs it to the subtractor 36.

In addition to the actual rotation speed N, the corrected target rotation speed N ** output from the target rotation speed correction unit 32 is input to the subtractor 36. The deviation ΔN obtained by subtracting the actual rotation speed N from the corrected target rotation speed N ** in the subtractor 36 is input to the F / B control unit 34. The F / B control unit 34 calculates the duty command value D * by executing feedback control in order to make the actual rotation speed N follow the corrected target rotation speed N ** based on the deviation ΔN. The F / B control unit 34 of the present embodiment adds the proportional component obtained by multiplying the deviation ΔN by the proportional gain and the integral component obtained by multiplying the integrated value of the deviation ΔN by the integrated gain, thereby performing the duty. Calculate the command value D *. That is, the F / B control unit 34 calculates the duty command value D * by executing the PI control calculation.

The rotation position signal Sp and the duty command value D * are input to the motor control signal generation unit 35. The motor control signal generation unit 35 generates a motor control signal Sm having an energization pattern corresponding to the rotation position of the rotor 23 indicated by the rotation position signal Sp and a duty ratio indicated by the duty command value D *, and the drive circuit 22. Output to. As a result, the three-phase driving power is supplied to the motor 5.

(Action of Embodiment)
Next, the operation of this embodiment will be described.
For example, it is assumed that the delivery oil passage 13 is clogged with foreign matter and the load for the oil pump 4 to deliver oil becomes excessive. In such a case, if the rotation speed of the motor 5 is increased to circulate a sufficient amount of oil in the hydraulic circuit 3, the oil pressure in the delivery oil passage 13 becomes excessive, and the oil pump 4 is driven. Since the required torque becomes large, a large load is applied to the motor 5.

In the present embodiment, the oil pump 4 is provided with a relief valve 41, but since the valve diameter is small and small, the delivery oil passage 13 is clogged with foreign matter and the rotation speed of the motor 5 is high. , A sufficient amount of oil cannot be recirculated, and the oil pressure in the delivery oil passage 13 tends to become excessive.

Therefore, the motor 5 of the present embodiment may be in an overload state in which a large load is applied due to an abnormality in the oil pump 4 and the hydraulic circuit 3 and an abnormality in the operating state of the oil pump 4. In such an overload state, it is preferable to reduce the rotation speed of the motor 5 in order to prevent an excessive load from acting on the hydraulic circuit 3.

By the way, when the hydraulic circuit 3 is not clogged with foreign matter and the oil pump 4 is operating normally, the drive power P linearly increases with the increase in the rotation speed of the motor 5. Therefore, when the oil pump 4 is operating normally, the drive power P is a value within an appropriate power range according to the rotation speed of the motor 5. On the other hand, when the drive power P exceeds the upper limit value of the appropriate power range, there is a possibility that the oil pump 4 or the hydraulic circuit 3 has an abnormality in the high hydraulic state. Here, the upper limit value corresponds to the high oil pressure determination threshold value. Further, the appropriate power range corresponds to the appropriate load amount range. Further, the drive power P corresponds to the load amount.

The appropriate power range indicates the relationship between the rotation speed and the driving power when the motor 5 is rotating without any problem. Therefore, when the drive power P exceeds the upper limit of the appropriate power range, if the target rotation speed N * is uniformly increased, the oil pump 4 is forcibly driven to drive the oil pump 4 and the hydraulic circuit 3 There is a risk that an excessive load will act due to the high hydraulic pressure.

Here, when the rotation speed of the motor 5 is in the high rotation speed range, if an abnormality occurs in the oil pump 4 or the hydraulic circuit 3, the drive power P tends to increase.
Based on this point, as shown in FIG. 3, the microcomputer 21 of the present embodiment includes a motor state determination unit 51 that determines the state of the motor 5. The microcomputer 21 determines whether or not it is in an overload state by the motor state determination unit 51. Then, when the motor 5 is in an overloaded state and the rotation speed of the motor 5 is a value within the high frequency range, the microcomputer 21 corrects the target rotation speed N * so that the target rotation speed N * becomes smaller by the target rotation speed correction unit 32. do. Then, the motor control signal Sm is generated so that the rotation speed of the motor 5 becomes the corrected target rotation speed N **, and is output to the drive circuit 22.

Specifically, the motor state determination unit 51 is provided with a map for setting an appropriate power range indicating a range of drive power P according to the rotation speed of the motor 5 when no abnormality has occurred in the oil pump 4 and the hydraulic circuit 3. ing.

As shown in FIG. 4, when no abnormality has occurred in the oil pump 4 or the hydraulic circuit 3, the drive power P linearly increases with the increase in the rotation speed of the motor 5. In the map of the present embodiment, the corrected target rotation speed N ** is used as a value indicating the rotation speed of the motor 5. The ideal relationship between the corrected target rotation speed N ** and the drive power P is corrected when the motor control signal Sm and the rotation position of the rotor 23 are synchronized, as shown by the broken line in the figure. This is consistent with the ideal relationship between the later target rotation speed N ** and the drive power P.

The upper limit value Pup2 and the lower limit value Plo2 of the appropriate power range are set to larger and smaller values by predetermined values than the ideal values, for example, in consideration of individual differences of the manufactured motor 5 and EOPECU6. There is. The process of setting the upper limit value Pup2 corresponds to the setting process. Therefore, when no abnormality has occurred in the oil pump 4 or the hydraulic circuit 3, the drive power P is a value within an appropriate power range according to the rotation speed of the motor 5.

Further, when the temperature To of the oil decreases, the viscosity of the oil increases, so that the load on the motor 5 increases. Therefore, even if the oil pump 4 and the hydraulic circuit 3 are not abnormal and the oil pump 4 is operating normally, if the oil temperature To is low, the rotor 23 can be rotated. A large drive power P is required. Based on this point, in the map of the present embodiment, the lower the oil temperature To, the larger the upper limit value Pup2 and the lower limit value Plo2 of the drive power P indicated by the appropriate power range are set.

The motor state determination unit 51 calculates the drive power P by multiplying the input power supply voltage Vb and the drive current I, and the drive power P is used as the corrected target rotation speed N ** and the oil temperature To. It is determined whether or not the motor 5 is in an overloaded state based on whether or not the value is within the corresponding appropriate power range. Then, when the driving power P exceeds the upper limit value Pup2 of the appropriate power range and the corrected target rotation speed N ** is a value within the high rotation speed range, the motor state determination unit 51 determines the value. The determination signal Sd indicating the overload state is output to the target rotation speed correction unit 32. On the other hand, when the drive power P is within the appropriate power range, the motor state determination unit 51 outputs a determination signal Sd indicating that the overload state is not present to the target rotation speed correction unit 32.

The low rotation speed range is a rotation speed range in which the rotation speed of the motor 5 is equal to or less than a predetermined rotation speed threshold Nth, and the high rotation speed range is a rotation speed range in which the rotation speed of the motor 5 is larger than the rotation speed threshold Nth. Is. The rotation speed threshold Nth is set based on a predetermined rated rotation speed Nr as the maximum rotation speed at which the motor 5 can rotate. For example, it is set to about 20% of the rated rotation speed Nr. The% value is an example and is not limited to this value.

The target rotation speed N * and the determination signal Sd are input to the target rotation speed correction unit 32. The target rotation speed correction unit 32 corrects the value of the target rotation speed N * when the determination signal Sd indicating that the load is not overloaded is input, that is, when the drive power P is within the appropriate power range. Instead, the target rotation speed N * is used as it is as the corrected target rotation speed N **.

Further, the target rotation speed correction unit 32 is a value when the determination signal Sd indicating that the overload state is input, that is, the drive power P exceeds the upper limit value Pup2 of the appropriate power range, and the corrected target. When the rotation speed N ** is a value within the high rotation speed range, the correction is made so that the corrected target rotation speed N ** becomes smaller. Specifically, the target rotation speed correction unit 32 corrects the target rotation speed N * so that the corrected target rotation speed N ** immediately becomes a predetermined low rotation speed Nlo set in advance. The predetermined low rotation speed Nlo of the present embodiment is set to a value smaller than the rotation speed threshold value Nth.

The target rotation speed correction unit 32 is input with a determination signal Sd indicating that it is in an overload state, and after correcting so that the corrected target rotation speed N ** becomes smaller, the drive power P is out of the range of the appropriate power range. Even if the corrected target rotation speed N ** becomes a value within the low rotation speed range, the value is not corrected so that the target rotation speed N * becomes large. On the other hand, the target rotation speed correction unit 32 corrects the corrected target rotation speed N ** so that it becomes smaller, and then when the drive power P becomes a value within the appropriate power range, the target rotation speed N * Is stopped, and the target rotation speed N * is set as the corrected target rotation speed N **.

Next, the change in the operating state of the motor 5 after the overload state will be described.
For example, as shown in FIG. 4, when the target rotation speed N * is “N2”, the delivery oil passage 13 is clogged with foreign matter and becomes in a high hydraulic state, so that the drive power P is corrected to the target rotation speed N. It is assumed that the value P2 exceeds the upper limit value Pup2 of the appropriate power range according to **.

At this point, since the determination signal Sd indicating that the overload state has not been input to the target rotation speed correction unit 32, the corrected target rotation speed N ** is equal to the target rotation speed N *. In such a case, the motor state determination unit 51 determines that the overload state is present, so that the corrected target rotation speed N ** is corrected to be reduced to a predetermined low rotation speed Nlo.

As a result, the rotation speed of the motor 5 becomes low, so that the driving power P becomes small, for example, as shown by the alternate long and short dash line in FIG. At this time, when the delivery oil passage 13 is clogged with foreign matter, the drive power P becomes a value outside the appropriate power range. After that, for example, the temperature To of the oil rises and its viscosity decreases, so that the clogging of foreign matter is cleared, the load on the motor 5 becomes small, and the drive power P becomes a value within the appropriate power range. Then, since the target rotation speed N ** is directly set as the corrected target rotation speed N **, the rotation speed of the motor 5 becomes high, and the operating state of the oil pump 4 is required.

In this embodiment, the following actions and effects are exhibited.
(1) The microcomputer 21 sets the target rotation speed N * when the drive power P exceeds the upper limit value Pup2 of the appropriate power range and the corrected target rotation speed N ** is within the high rotation speed range. The motor control signal Sm is generated based on the corrected target rotation speed N ** corrected so as to be smaller. Therefore, for example, when the delivery oil passage 13 through which the oil discharged from the oil pump 4 flows is clogged, even if the relief valve 41 is small, an excessive load is applied to the oil pump 4 and the hydraulic circuit 3. It can suppress the action. In other words, while suppressing the increase in size of the oil pump 4, it is possible to prevent an excessive load from acting on the oil pump 4 and the hydraulic circuit 3 when an abnormality occurs.

(2) The microcomputer 21 has an appropriate power range according to the temperature To of the oil flowing through the oil pump 4, considering that when the temperature To of the oil decreases, the viscosity of the microcomputer 21 increases and the load of the motor 5 increases. The upper limit value Pup2 and the lower limit value Plo2 of are changed. Therefore, it can be suitably determined whether or not an abnormality has occurred in the oil pump 4 or the hydraulic circuit 3 according to the load state of the motor 5.

(3) When an abnormality occurs in the oil pump 4 or the hydraulic circuit 3, by correcting the target rotation speed N * to be small, it is possible to prevent an excessive load from acting on them, but the abnormality itself is It may remain continuously. Therefore, after correcting so that the target rotation speed becomes smaller, assuming that the corrected target rotation speed is a value within the low rotation speed range, if the correction is made so that the target rotation speed becomes larger, the drive power P is again in the appropriate power range. The value exceeds the upper limit value of Pup2, and the corrected target rotation speed of the motor 5 becomes a value within the high rotation speed range, and the correction is made so that the target rotation speed becomes smaller. That is, there is a possibility that the correction for increasing the target rotation speed and the correction for decreasing the target rotation speed are repeatedly performed.

In this respect, according to the above configuration, even if the drive power exceeds the upper limit value Pup2 of the appropriate power range after the correction is made so that the target rotation speed becomes small, the correction is not made so that the target rotation speed becomes large. , It is possible to prevent the target rotation speed after correction from increasing or decreasing and repeating.

(4) After the correction is made so that the target rotation speed N * becomes smaller, if the abnormality of the oil pump 4 or the hydraulic circuit 3 is resolved for some reason, the drive power P becomes a value within the appropriate power range. When the abnormality of the oil pump 4 and the hydraulic circuit 3 is resolved in this way, the drive power P is reduced even if the operation is controlled so that the rotation speed of the motor 5 becomes the target rotation speed N * before correction. It is considered that the value is within the appropriate power range. In this respect, the microcomputer 21 of the present embodiment is corrected so that the target rotation speed N * becomes smaller, and then when the drive power P becomes a value within the appropriate power range, the target rotation speed N * before the correction is set. Based on this, the motor control signal Sm is generated. Therefore, the operating state of the oil pump 4 can be required.

(Second Embodiment)
Next, the second embodiment will be described with reference to FIGS. 5 to 8. Including this embodiment, the hardware configuration of the electric pump device 1 and the hardware configuration of the EOPECU 6 in each of the embodiments described below are the same as those of the first embodiment shown in the figure. The same reference numerals are given and the description thereof will be omitted. This embodiment is an embodiment that supports claims 5 and 6. FIG. 5 is a block diagram of the microcomputer 21 of the present embodiment.

In this embodiment, the microcomputer 21 shown in FIG. 5 executes the flowchart of the program shown in FIG.
In S10, the motor state determination unit 51 of the microcomputer 21 refers to or calculates the high oil pressure determination current value map shown in FIG. 9 based on the internal target rotation speed N **, the power supply voltage Vb, and the oil temperature To. Acquire the oil pressure determination current threshold value Ia. The high oil pressure determination current threshold value Ia corresponds to the high oil pressure determination threshold value.

For convenience of explanation, in the second embodiment, the "corrected target rotation speed" described in the first embodiment may be referred to as an "internal target rotation speed".
As shown in FIG. 9, the map has items of an internal target rotation speed N **, a power supply voltage Vb, and an oil temperature To. In FIG. 9, the internal target rotation speed N ** is divided into Na to Nf and the like, and has a magnitude relationship of Na <Nb <Nc <Nd <Ne <Nf <... Further, the internal target rotation speeds Na, Nb, Nc, Nd, Ne, Nf and the like are classified into V1, V2 and V3 of the power supply voltage Vb, respectively. V1, V2, and V3 have a magnitude relationship of V1 <V2 <V3. Then, in each of the power supply voltages V1, V2, and V3, the temperature To is divided into Ta to Td and the like, and there is a magnitude relationship of Ta <Tb <Tc <Td <...

In each column classified as described above, "..." indicates that the high oil pressure determination current threshold value Ia set in advance based on the test value or the like is written. Further, each column in which diagonal hatching is described is a column in which the high oil pressure determination current threshold value Ia is not set. Each column marked with dot hatching is set by linear interpolation based on a known preset high oil pressure determination current threshold value in the surroundings when the motor state determination unit 51 executes the program. be.

In the oil temperature To, Ta is the temperature in the low temperature range, Tb is the temperature in the medium temperature range, and Tc or higher is the temperature in the high temperature range. The temperature Ta and the temperature Tb are, for example, 20 ° C. and 50 ° C., but are not limited to these values.

Since the oil in the low temperature range has a higher viscous resistance than the oil in the medium temperature range, the high hydraulic pressure judgment current threshold Ia at the temperature Ta at the power supply voltages V1, V2, and V3 is the high hydraulic pressure judgment current at the temperature Tb. It is smaller than the half value of the threshold Ia. It should be noted that this reduced value is not limited to being smaller than the above half price.

On the other hand, at the power supply voltages V1, V2, and V3, the viscous resistance of the oil in the high temperature region above the temperature Tc becomes smaller as the temperature becomes higher than the viscous resistance of the oil in the temperature Tb in the medium temperature region. However, since the viscous resistance gradually decreases, the high oil pressure determination current threshold value Ia at the temperature Tc or higher is gradually reduced as the temperature rises above the high oil pressure determination current threshold value Ia at the temperature Tb. Further, the higher the power supply voltage Vb, the larger the value of the high oil pressure determination current threshold value Ia. The process of S10 corresponds to the setting process.

The high oil pressure determination current threshold value Ia as the high oil pressure determination threshold value is set to the drive current of the motor 5 when the hydraulic circuit 3 becomes high oil pressure lower than the relief pressure Ps of the relief valve 41.

In S11, the motor state determination unit 51 determines whether or not the drive current I is larger than the high oil pressure determination current threshold value Ia acquired in S10. When the drive current I is equal to or less than the high oil pressure determination current threshold value Ia acquired in S10, the motor state determination unit 51 outputs a determination signal Sd indicating that it is not in an overload state to the target rotation speed correction unit 32, and outputs the determination signal Sd to the target rotation speed correction unit 32 to S12. Transition. In this embodiment, the drive current I corresponds to the load amount.

In S12, the target rotation speed N * and the determination signal Sd from the upper ECU 16 are input to the target rotation speed correction unit 32. When the determination signal Sd indicating that the load is not overloaded is input, the target rotation speed correction unit 32 does not correct the value of the target rotation speed N *, and the target rotation speed N * is corrected as it is, and the target rotation speed N * is corrected. *, Output to the subtractor 36 side, and return to S10. In S12, when the drive current I is larger than the high oil pressure determination current threshold value Ia acquired in S10, it is determined that the drive current is high oil pressure, and the process proceeds to S13.

In S13, the motor state determination unit 51 counts up one high oil pressure determination counter and shifts to S14.
In S14, the motor state determination unit 51 determines whether or not the count value C1 of the high oil pressure determination counter has reached the abnormal state determination count value Ca.

Then, when the count value C1 of the high oil pressure determination counter is less than the abnormal state determination count value Ca (Ca> C), the motor state determination unit 51 sets the determination signal Sd indicating the overload state as the target rotation speed. The output is output to the correction unit 32, and the process proceeds to S15.

In S15, when the determination signal Sd indicating that the overload state is input is input, the target rotation speed correction unit 32 makes the corrected target rotation speed N ** smaller than the target rotation speed N * of the upper ECU 16. Is corrected to, output to the subtractor 36 side, and returned to S10. Specifically, the target rotation speed correction unit 32 corrects the target rotation speed N * so that the corrected target rotation speed N ** immediately becomes a preset low predetermined rotation speed X.

In S14, when the count value C1 of the high oil pressure determination counter becomes the abnormal state determination count value Ca, the motor state determination unit 51 outputs a determination signal Sd indicating an abnormal state to the target rotation speed correction unit 32. , S16.

In S16, when the determination signal Sd indicating that the abnormal state is input is input, the target rotation speed correction unit 32 corrects the corrected target rotation speed N ** to 0, outputs it to the subtractor 36 side, and outputs it to the subtractor 36 side. Transition. As a result, the oil pump 4 is stopped. When the target rotation speed correction unit 32 corrects the target rotation speed N ** to 0 and outputs the target rotation speed N ** to the subtractor 36 side, the microcomputer 21 sends a notification signal to the upper ECU 16 to the effect that the motor 5 is stopped. Output. The upper ECU 16 corresponds to a higher control circuit. When the higher-level ECU 16 inputs the notification signal, the higher-level ECU 16 lights a notification device (not shown), for example, a warning light, and sounds a warning buzzer or the like.

In S17, the motor state determination unit 51 returns to S10 after clearing the high oil pressure determination counter.
FIG. 7 is a PQI diagram showing the relationship between the oil pressure, the drive current, and the flow rate flowing through the hydraulic circuit when the above program is executed in the motor control device of the motor that drives the high flow rate type oil pump. An example is shown in which the valve is opened at the relief pressure Ps without stopping the motor 5.

As shown in the figure, the flow rate of the hydraulic circuit 3 decreases as shown by arrow A due to clogging of foreign matter, but the oil pressure and drive current increase as shown by arrow a. Then, when it is detected that the drive current has reached the high oil pressure determination current threshold value Ia, the motor 5 is controlled so that its rotation speed drops to a predetermined rotation speed X lower than the target rotation speed of the higher command. .. As a result, the drive current I changes as shown by arrows b and c, and the oil pressure and flow rate change as shown by arrows B, C and D.

That is, after the drive current becomes less than the high oil pressure determination current threshold value Ia, the motor 5 is controlled so as to reach the target rotation speed N ** output by the upper ECU 16, so that the drive current is indicated by the arrow c. As well as rising, the oil pressure also rises. Then, when the oil pressure reaches the relief pressure Ps of the relief valve 41, the valve is opened.

In addition, in FIG. 7 and FIG. 8, Pa indicates a limit pressure at which damage such as pipe disconnection or rupture occurs in the hydraulic circuit 3.
FIG. 8 shows a conventional example of a hydraulic circuit in which a high flow rate type oil pump supplies oil, and when a mechanical relief valve is provided, the override of the relief valve is large. As shown in the figure, the flow rate of the hydraulic circuit decreases as shown by arrows E and F due to clogging of foreign matter, but the oil pressure and drive current increase as shown by arrow d. Then, even if the oil pressure reaches the relief pressure Ps, the oil pressure rises and does not reach the limit pressure Pa of the hydraulic circuit, but reaches the vicinity thereof.

In this embodiment, the following actions and effects are exhibited.
(1) In the setting process of S10, the microcomputer 21 sets the high oil pressure determination current threshold value Ia to the drive current of the motor 5 when the high oil pressure is lower than the relief pressure of the mechanical relief valve. Then, the microcomputer 21 corrects the target rotation speed so as to be smaller than the target rotation speed N * as the reference target rotation speed, and then generates the motor control signal Sm based on the corrected target rotation speed.

As a result, the microcomputer 21 corrects the target rotation speed so as to be smaller than the target rotation speed N *, and then generates a motor control signal Sm based on the corrected target rotation speed to reduce the rotation speed of the motor 5. It is expected that the oil pressure of the hydraulic circuit 3 is lowered by driving the motor 5 at a lower speed than the target rotation speed N *. In this case, the oil pressure of the hydraulic circuit 3 having a high oil pressure lower than the relief pressure of the relief valve 41 is lowered.

In particular, in a hydraulic circuit in which a high flow rate type oil pump supplies oil, when a mechanical relief valve is provided, the relief valve has a large override, and the back pressure of the relief valve at a flow rate required at a low temperature including variation It is difficult to meet the PQ characteristics (pressure flow rate characteristics) up to the upper limit pressure. That is, it is expected that the oil cannot be completely returned by the operation of the mechanical relief valve in the high hydraulic state.

Therefore, in such a case, the rotation of the motor is lowered, that is, the operation of the oil pump is lowered to reduce the flow rate of the oil flowing in the hydraulic circuit before the mechanical relief valve is relieved. In such a state, the mechanical relief valve makes it possible to completely return the oil.

(2) The microcomputer 21 corrects the target rotation speed so as to be smaller than the target rotation speed N * as the reference target rotation speed, and then generates the motor control signal Sm based on the corrected target rotation speed. Then, after the setting process is performed again, if the drive current I exceeds the high oil pressure determination current threshold value Ia as the high oil pressure determination threshold value, the target rotation speed is corrected so that the target rotation speed becomes 0. Then, the motor is stopped.

As a result, if the cause of the oil pressure rise is not eliminated, the drive current I as the load amount may exceed the high oil pressure determination current threshold value Ia as the high oil pressure determination threshold value after the setting process is performed again. In this case, the microcomputer 21 can prevent the oil pressure from rising by stopping the motor.

(3) When the motor 5 is stopped, the microcomputer 21 outputs a notification signal to the effect that the motor 5 is stopped to the upper ECU 16 as the upper control circuit. As a result, it becomes possible for a person to know that the motor 5 and the oil pump have stopped by turning on the warning light electrically connected to the upper ECU 16 or sounding the warning buzzer.

Although not shown, the microcomputer 21 may electrically connect a notification unit including a warning light or a warning buzzer to the microcomputer 21 to notify and operate these devices.
(Third Embodiment)
Next, the third embodiment will be described with reference to FIGS. 1, 5, and 10 to 18. This embodiment is an embodiment that supports claims 9 to 14.

In the present embodiment, the microcomputer 21 shown in FIG. 5 displays the flowcharts of the programs shown in FIGS. 11, 12, 13, 15 (a), and 15 (b) in predetermined control cycles, for example, in ms units. It is executed in the control cycle of.

<1. Flowchart in normal state>
The flowcharts of S20 to S36 of FIG. 11 are processed when the flag of the high oil pressure limiting state is set to the normal state.

In S20, the motor state determination unit 51 of the microcomputer 21 determines whether or not the flag of the high oil pressure limiting state is set to the normal state, and if it is set to the normal state, shifts to S22 and is normal. If it is not set to the state, this flowchart is temporarily terminated. The high oil pressure limit state flag is set to the normal state when this program is started.

In S22, the motor state determination unit 51 acquires the high oil pressure determination current threshold value Ia based on the high oil pressure determination current value map based on the correction target rotation speed after correction, the input power supply voltage Vb, and the oil temperature To.

In the high oil pressure determination current value map of the second embodiment, the high oil pressure determination current threshold value Ia is acquired by calculation or the like according to the internal target rotation speed N **, the oil temperature To, and the power supply voltage Vb. I was doing it. On the other hand, the high oil pressure determination current value map of the present embodiment has a high oil pressure determination current threshold value Ia according to the correction target rotation speed, the oil temperature To, and the power supply voltage Vb after the target rotation speed correction unit 32 corrects. Is obtained by calculation or the like. That is, the configuration of the high oil pressure determination current value map of the present embodiment may be read as the correction target rotation speed after the correction of the actual rotation speed in the map shown in FIG. In the present embodiment, the high oil pressure determination current threshold value Ia corresponds to the high oil pressure determination threshold value.

In FIGS. 11, 12, 13, and 14, for example, in S22 and S34, the "corrected target rotation speed after correction" is described as "internal target rotation speed" for convenience of explanation. Also in the present specification, for convenience of explanation, the corrected target rotation speed after correction is simply referred to as an internal target rotation speed, and the target rotation speed N * input from the upper ECU 16 is referred to as a “higher command target rotation speed”. Sometimes.

In S24, the motor state determination unit 51 determines whether or not the drive current I exceeds the high oil pressure determination current threshold value Ia. When the drive current I is less than the high oil pressure determination current threshold value Ia, the motor state determination unit 51 determines "NO" and shifts to S36, and when the drive current I exceeds the high oil pressure determination current threshold value Ia, the motor state determination unit 51 determines. It is determined as "YES" and the process proceeds to S26.

After shifting to S36, the motor state determination unit 51 clears the high oil pressure determination counter and returns to S20.
When shifting to S26, the motor state determination unit 51 counts up one high oil pressure determination counter and shifts to S28.

In S28, the motor state determination unit 51 determines whether or not the count value C1 of the high oil pressure determination counter exceeds the first detection duration A1. When the count value C1 is less than the first detection duration A1, the motor state determination unit 51 considers that the elapsed time from the high oil pressure determination is short, does not need to change the flag of the high oil pressure restriction state, and returns to S20. Further, when the count value C1 reaches the count value corresponding to the first detection duration A1, the motor state determination unit 51 shifts to S30 on the assumption that the high oil pressure continues to the extent that the flag needs to be changed.

In S30, the motor state determination unit 51 sets the flag of the high-hydraulic limit state to the high-hydraulic state, and shifts to S32.
In S32, the motor state determination unit 51 clears the high oil pressure determination counter, outputs a determination signal Sd indicating that the vehicle is in an overload state to the target rotation speed correction unit 32, and shifts to S34.

In S34, when the determination signal Sd indicating that the overload state is input is input, the target rotation speed correction unit 32 makes the corrected target rotation speed N ** smaller than the target rotation speed N * of the upper ECU 16. Is corrected to, output to the subtractor 36 side, and this flowchart is temporarily terminated.

Specifically, the target rotation speed correction unit 32 immediately corrects the target rotation speed N so that the corrected target rotation speed N ** becomes smaller than the target rotation speed N * as the reference target rotation speed. Set to a predetermined rotation speed X [rpm] as *. The rotation speed X [rpm] may be a preset value, or may be a value obtained by multiplying the target rotation speed N * by a predetermined ratio.

<2. Flowchart in high hydraulic condition>
The flowcharts of S40 to S68 of FIG. 12 are processed when the flag of the high hydraulic pressure limiting state is set to the high hydraulic pressure state.

In S40, the motor state determination unit 51 determines whether or not the high-hydraulic limit state flag is set to the high-hydraulic state or the high-hydraulic continuous state, and is set to the high-hydraulic state or the high-hydraulic continuous state. , And if not, the flow chart is temporarily terminated.

In S42, the motor state determination unit 51 acquires the high oil pressure determination current threshold value Ia based on the high oil pressure determination current value map based on the correction target rotation speed after correction, the input power supply voltage Vb, and the oil temperature To. .. In S42, when the motor 5 is stopped, the high oil pressure determination current threshold value Ia is not acquired. That is, the process shifts to S44 without setting the high oil pressure determination current threshold value Ia.

In S44, the motor state determination unit 51 determines whether or not the drive current I exceeds the high oil pressure determination current threshold value Ia while the motor is being driven, except when the motor 5 is not stopped. When the drive current I is less than the high oil pressure determination current threshold value Ia, or when the motor is stopped, the motor state determination unit 51 determines "NO", shifts to S60, and the drive current I is high oil pressure. If the determination current threshold value Ia is exceeded, a determination of "YES" is made and the process proceeds to S46.

When shifting to S60, the motor state determination unit 51 clears the high oil pressure determination counter and shifts to S62.
In S62, the motor state determination unit 51 counts up the count value C2 of the return counter by one, and shifts to S64.

In S64, the motor state determination unit 51 determines whether or not the count value C2 of the return counter exceeds the return duration B1.
When the count value C2 is less than the return duration B1, the motor state determination unit 51 considers that the elapsed time for allowing the transition to the high-hydraulic return state has not elapsed, and changes the flag of the high-hydraulic limit state. It is no longer needed and returns to S40.

Further, when the count value C2 reaches the return duration B1, the motor state determination unit 51 may allow the transition from the high hydraulic pressure state or the high hydraulic pressure continuous state to the high hydraulic pressure return in progress state. Is determined to have reached, and the process proceeds to S66.

In S66, the motor state determination unit 51 sets the flag of the high-hydraulic limit state to the high-hydraulic return state, and shifts to S68.
In S68, the motor state determination unit 51 clears the count value C2 of the return counter and returns to S40.

When shifting to S46, the motor state determination unit 51 clears the count value C2 of the return counter and shifts to S48.
When shifting to S48, the motor state determination unit 51 counts up one high oil pressure determination counter and shifts to S50.

In S50, the motor state determination unit 51 determines whether or not the count value C1 of the high oil pressure determination counter exceeds the second detection duration A2. The second detection duration A2 may be the same as or different from the first detection duration A1. When the count value C2 is less than the second detection duration A2, the motor state determination unit 51 determines that the elapsed time has not reached the second detection duration duration, and does not need to change the flag of the high oil pressure limiting state, and determines S40. Return. Further, when the count value C1 reaches the count value corresponding to the second detection duration A2, the motor state determination unit 51 shifts to S52, assuming that the elapsed time required to change the flag has been reached.

In S52, the motor state determination unit 51 sets the flag of the high-hydraulic limit state to the high-hydraulic continuous state, and shifts to S54.
In S54, the motor state determination unit 51 clears the high oil pressure determination counter, outputs a determination signal Sd indicating an abnormal state to the target rotation speed correction unit 32, and shifts to S56.

In S56, when the determination signal Sd indicating that the abnormal state is input is input, the target rotation speed correction unit 32 corrects the corrected target rotation speed N ** regardless of the target rotation speed N * of the upper ECU 16. After that, the target rotation speed is set to 0 rpm, the motor 5 is stopped, and the process shifts to S58.

In S58, the microcomputer 21 performs a retry process for re-driving the motor 5, counts up the retry count by one, and temporarily ends this flowchart.
That is, after the motor 5 is re-driven by the retry from the stopped state by the retry process, the count value C3 of the retry counter increases every time the processes of S40 to S58 are repeated.

<3. Flowchart when high hydraulic pressure is being restored>
The flowcharts of S70 to S108 of FIGS. 13 and 14 are processed when the flag of the high-hydraulic limit state is set to the high-hydraulic return state.

In S70, the motor state determination unit 51 determines whether or not the high-hydraulic limit state flag is set to the high-hydraulic return state, and if it is set to the high-hydraulic return state, the process proceeds to S72. If not, this flowchart is terminated once.

In S72, the motor state determination unit 51 acquires the high oil pressure determination current threshold value Ia based on the high oil pressure determination current value map based on the correction target rotation speed after correction, the input power supply voltage Vb, and the oil temperature To. ..

In S74, the motor state determination unit 51 determines whether or not the drive current I exceeds the high oil pressure determination current threshold value Ia. The motor state determination unit 51 determines "NO" when the drive current I is less than the high oil pressure determination current threshold value Ia, shifts to S86, and when the drive current I exceeds the high oil pressure determination current threshold value Ia. , "YES" is determined, and the process proceeds to S76.

The processing of S86 and below will be described later.
In S76, the motor state determination unit 51 counts up the high oil pressure determination counter by one and shifts to S78.

In S78, the motor state determination unit 51 determines whether or not the count value C1 of the high oil pressure determination counter exceeds the first detection duration A1. When the count value C1 is less than the first detection duration A1, the motor state determination unit 51 considers that the elapsed time from the determination of the high oil pressure restoration state is short, and makes it unnecessary to change the flag of the high oil pressure restriction state, and sets S70. Return. Further, when the count value C1 reaches the count value corresponding to the first detection duration A1, the motor state determination unit 51 shifts to S80 on the assumption that the high oil pressure continues to the extent that the flag needs to be changed.

In S80, the motor state determination unit 51 sets the high-hydraulic limit state flag to the high-hydraulic state, and shifts to S82.
In S82, the motor state determination unit 51 clears the high oil pressure determination counter, outputs the determination signal Sd indicating that the overload state is in the overload state to the target rotation speed correction unit 32, and shifts to S84.

In S84, when the determination signal Sd indicating that the overload state is input is input, the target rotation speed correction unit 32 makes the corrected target rotation speed N ** smaller than the target rotation speed N * of the upper ECU 16. Is corrected to, output to the subtractor 36 side, and this flowchart is temporarily terminated.

Specifically, the target rotation speed correction unit 32 immediately corrects the target rotation speed N so that the corrected target rotation speed N ** becomes smaller than the target rotation speed N * as the reference target rotation speed. Set to a predetermined rotation speed X [rpm] as *. The rotation speed X [rpm] may be a preset value, or may be a value obtained by multiplying the target rotation speed N * by a predetermined ratio.

When shifting to S86, the motor state determination unit 51 clears the high oil pressure determination counter and shifts to S88 shown in FIG.
In S88, the motor state determination unit 51 counts up the count value C2 of the return counter by one, and shifts to S90.

In S90, the motor state determination unit 51 determines whether or not the corrected target rotation speed N ** is the target rotation speed N * of the higher-level command input from the higher-level ECU 16, and the corrected target rotation speed N **. If ** is the target rotation speed N * of the higher command, the process proceeds to S92, and if not, the process proceeds to S98.

In S92, the motor state determination unit 51 determines whether or not the count value C2 of the return counter exceeds the return duration B1.
When the count value C2 is less than the return duration B1, the motor state determination unit 51 considers that the elapsed time for allowing the transition from the high-hydraulic return state to the normal state has not elapsed, and is in the high-hydraulic limit state. No need to change the flag, and the system returns to S70.

Further, when the count value C2 reaches the return duration B1, the motor state determination unit 51 determines that the elapsed time for allowing the transition from the high-hydraulic return state to the normal state has been reached. , S94.

In S94, the motor state determination unit 51 sets the flag of the high oil pressure limiting state to the normal state, and shifts to S96.
In S96, the motor state determination unit 51 clears the count value C2 of the return counter, and temporarily ends this flowchart.

When shifting to S98, the motor state determination unit 51 determines whether or not the count value C2 of the return counter exceeds the return duration B1.
When the count value C2 is less than the return duration B1, the motor state determination unit 51 considers that the elapsed time for allowing the transition from the high-hydraulic return state to the normal state has not elapsed, and is in the high-hydraulic limit state. No need to change the flag, and the system returns to S70. Further, when the count value C2 reaches the return duration B1, the motor state determination unit 51 shifts to S100.

In S100, the motor state determination unit 51 determines whether or not the following conditions are satisfied.
Internal target rotation speed N ** ≤ Target rotation speed N ** of higher-level command-rotation speed increase value Y
The rotation speed increase value Y is for bringing the internal target rotation speed N * closer to the target rotation speed N ** of the upper command when the internal target rotation speed N ** is smaller than the target rotation speed N ** of the upper command. It is a constant value to be added to the internal target rotation speed N **.

When the above conditions are satisfied, the value obtained by adding the internal target rotation speed and the rotation speed increase value Y is equal to or less than the higher target rotation speed N **. In this case, the motor state determination unit 51 may add a rotation speed increase value Y to the internal target rotation speed N *, or a determination signal that sets the internal target rotation speed N * to X [rpm]. Sd is output to the target rotation speed correction unit 32, and the process shifts to S102.

If the above conditions are not satisfied, the value obtained by adding the internal target rotation speed and the rotation speed increase value Y exceeds the higher target rotation speed N **. In this case, the motor state. The determination unit 51 outputs a determination signal Sd indicating that the internal target rotation speed N * may be the target rotation speed N * of the higher command to the target rotation speed correction unit 32, and shifts to S106.

In S102, the target rotation speed correction unit 32 determines that the rotation speed increase value Y may be added to the internal target rotation speed N *, or that the internal target rotation speed N * is X [rpm]. The internal target rotation speed is corrected based on the signal Sd. That is, when the target rotation speed N * inside the previous cycle is 0, the target rotation speed correction unit 32 corrects the internal target rotation speed N * to X [rpm] and shifts to S104. Further, when the target rotation speed N * inside the previous cycle is not 0, the target rotation speed correction unit 32 sets the value obtained by adding the rotation speed increase value Y to the target rotation speed N ** inside the previous cycle this time. It is corrected to the target rotation speed N ** inside the cycle, and the process shifts to S104.

In S104, the motor state determination unit 51 clears the count value C2 of the return counter and returns to S70. Therefore, when S100 to S102 are repeated, the internal target rotation speed N ** rises in steps.

After shifting to S106, the target rotation speed correction unit 32 sets the internal target rotation speed N * to the target rotation speed N * of the higher command based on the determination signal Sd, which is the internal target rotation speed of the current cycle. Set N ** to the target rotation speed N * of the higher command, and shift to S108.

In S108, the motor state determination unit 51 clears the count value C2 of the return counter and returns to S70. Therefore, when S100 to S106 are reached after S100 to S102 are repeated, the internal target rotation speed N * rises stepwise and then becomes the target rotation speed N * of the higher command. ..

<4. Flowchart when high oil pressure is continued>
The flowcharts of S110 to S120 of FIG. 15A are processed in a predetermined control cycle after the standby time τ is timed by a timer (not shown) from the time when the motor 5 is stopped.

In S110, the motor state determination unit 51 determines whether or not the high-hydraulic limit state flag is set to the high-hydraulic continuous state, and if it is set to the high-hydraulic continuous state, the process proceeds to S112. If not, the count value C4 of the high-hydraulic state transition counter is cleared in S120, and this flowchart is temporarily terminated.

In S112, the motor state determination unit 51 counts up the count value C4 of the high-hydraulic state transition counter by one, and shifts to S114.
In S114, the motor state determination unit 51 determines whether or not the count value C4 of the hydraulic state transition counter exceeds the state transition determination time A3.

When the count value C4 of the hydraulic state transition counter exceeds the state transition determination time A3, the motor state determination unit 51 shifts to S116, and the count value C4 of the hydraulic state transition counter determines the state transition. If the time A3 is not exceeded, the process returns to S110.

In S116, the motor state determination unit 51 sets the flag of the high-hydraulic limit state to the high-hydraulic return state, and shifts to S118.
In S118, the motor state determination unit 51 clears the count value C4 of the high-hydraulic state transition counter, and temporarily ends this flowchart.

<5. Flowchart at the time of abnormality confirmation ＞
The flowcharts of S130 to S132 of FIG. 15B are processed at a predetermined control cycle.

In S130, the motor state determination unit 51 determines whether or not the count value C3 of the retry counter exceeds the abnormality confirmation threshold value, and if the count value C3 of the retry counter does not exceed the abnormality confirmation threshold value, this is performed. When the flowchart is temporarily terminated and the count value is equal to or higher than the abnormality determination threshold value, the process proceeds to S132.

In S132, the motor state determination unit 51 sets the flag for confirming the abnormality. When this abnormality confirmation flag is set, assuming that the EOPECU 6 is in a state where the high hydraulic pressure cannot be restored, the microcomputer 21 does not execute the retry process after that and keeps the motor 5 in the stopped state, and a warning light (not shown) or A notification unit consisting of a warning buzzer or the like is used to notify this effect. That is, the high-hydraulic return impossible state is a state in which the retry process is not executed and the motor 5 is held in the stopped state.

<5. About transition between normal state, high oil pressure state, high oil pressure continuous state, high oil pressure return in progress state, and high oil pressure return impossible state>
When each of the above flowcharts is executed, the transition between the normal state, the high hydraulic pressure state, the high hydraulic pressure continuous state, the high hydraulic pressure return in progress state, and the high hydraulic pressure return impossible state will be described with reference to FIG.

In the figure, the detection condition 1 in the transition from the normal state to the high hydraulic pressure state is “YES” in the determination step of S24 of FIG. 11 and “YES” in the determination step of S28. Further, the detection condition 2 in the case of transitioning from the high-hydraulic state to the high-hydraulic continuous state is "YES" in the determination step of S44 of FIG. 12 and "YES" in the determination step of S50. Further, the return condition 1 when transitioning from the high-hydraulic state to the high-hydraulic return state "restriction relaxation" and from the high-hydraulic continuous state to the high-hydraulic return-returning state "restriction relaxation" is the determination step of S44 in FIG. Is "NO" and "YES" in the determination step of S64.

Further, the detection condition 4 in the case of transitioning from the "restriction relaxation" in the state of returning to the high hydraulic pressure to the high hydraulic pressure state is "YES" in the determination step of S74 of FIG. 13 and "YES" in the determination step of S78. That is. The state of "relaxation of restrictions" means that S44 to S64 to S40 are processed at least once.

Further, the return condition 2 when transitioning from "relaxation of restriction" in the state of high hydraulic pressure return to "confirmation of recovery completion" is "NO" in the determination step of S74 in FIG. 13 and "YES" in the determination step of S100. Is to become. The state of "confirming the completion of restoration" means that S100 to S104 are processed at least once.

Further, the return condition 3 when transitioning from the "return completion confirmation" in the high-hydraulic return state to the normal state is "NO" in the determination step of S74 in FIG. 13 and "NO" in the determination step of S90 in FIG. It is "YES" in the determination step of "YES" and S92.

Further, the detection condition 3 in the case of transitioning from the high-hydraulic continuous state to the high-hydraulic return impossible state is "YES" in the determination step of S122 of FIG. 15 (b).
Although not described in the above flowchart, in FIG. 10, as the detection condition 3 in the transition from the high-hydraulic state, the high-hydraulic return in progress state, and the high-hydraulic continuous state to the high-hydraulic return impossible state, the continuous state before the transition is set. When the elapsed time exceeds the threshold value, the transition to the high-hydraulic return impossible state may be made. That is, the continuous elapsed time of each of the high-hydraulic state, the high-hydraulic return in progress state, and the high-hydraulic continuous state is measured, and when the time exceeds the threshold value, the motor is stopped and held in the high-hydraulic return impossible state.

<Example of the third embodiment 1: When returning after detecting the high hydraulic pressure state>
An example in which the microcomputer 21 returns after detecting the high hydraulic pressure state will be described with reference to FIGS. 11 to 14 and 16.

In FIGS. 16 to 18, the vertical axis represents the target rotation speed and the current value, and the horizontal axis represents time. In the figure, the target rotation speed N * of the upper command is a constant value and is shown by a dotted line. The internal target rotation speed N ** is indicated by a thick solid line. Further, the high oil pressure determination current threshold value Ia is indicated by a dotted line, and the drive current I is indicated by a alternate long and short dash line.

[1. Until time t1]
When the flowchart of FIG. 11 is executed and the oil pressure does not rise, the internal target rotation speed N * is set to the target rotation speed N * of the higher command, and the drive current I is constant. At this time, S20, S22, S24, and S36 are executed, and in S22, the high oil pressure determination current threshold value Ia shown in FIG. 16 is set.

Then, when the oil pressure rises due to clogging or the like of the hydraulic circuit 3 shown in FIG. 1, the drive current I also rises as shown in FIG. 16, and when the drive current I reaches the high oil pressure determination current threshold value Ia, S24 in FIG. 11 The judgment of is "YES". The time at this time is t1.

[2. Time t1 to t2]
If the target rotation speed N * of the higher-level command is constant even after the time t1, the drive current I rises as it is due to the rise in the oil pressure due to the clogging of the hydraulic circuit 3, and the flow chart of FIG. 11 shows S24, S26, and S28. Is executed, and until the determination step of S28 becomes “YES”, the process returns to S20 and this process is repeated. Then, when the count value C1 of the high oil pressure determination counter in S26 is counted up and the count value C1 of the high oil pressure determination counter reaches the first detection duration A1 in the determination step of S28, the determination is "YES". And the time is time t2.

If "YES" is obtained in the determination step of S28, the high oil pressure limiting state flag is set to the high oil pressure state in S30, and the internal target rotation speed N ** is lower than the target rotation speed of the higher command in S34. It becomes a predetermined rotation speed X [rpm].

[3. Time t2 to t3]
When the flag is set to the high hydraulic condition, the flowchart of FIG. 12 is executed.
In S42 after the processing of S40, since the internal target rotation speed N ** is lowered to X [rpm], the set high oil pressure determination current threshold value Ia is larger than the high oil pressure determination current threshold value Ia in the normal state. Also decreases as shown in FIG. For convenience of explanation, also in this example and the example described later, the high oil pressure determination current threshold Ia is based on the premise that only the drive current I changes and the temperature and the power supply voltage Vb are constant, and the internal target rotation speed. Each time the value decreases, the internal target rotation speed N ** also decreases, and the high oil pressure determination current threshold Ia also decreases.

In this example, the drive current I becomes equal to or less than the high oil pressure determination current threshold value Ia at time t3 before the count value C1 of the high oil pressure determination counter due to the count-up reaches the second detection duration A2, that is, I. This is an example in which ≦ Ia.

In this example, since the drive current I is larger than the high oil pressure determination current threshold value Ia set in S42 during the time t2 to t3, the determination step of S44 is determined to be "YES", and the process of S46 is performed. After that, the count value C1 of the high oil pressure determination counter is counted up in S48.

In the determination step of S50, the count value C1 is determined to be "NO" at the initial stage of count-up and returns to S40. Then, while the processes of S40 to S50 are repeated, if the drive current I becomes equal to or less than the high oil pressure determination current threshold value Ia before the second detection duration A2 elapses, it is determined as "NO" in the determination step of S44. Then, after the processing of S60, the count value C2 of the return counter is counted up in S62, and the process shifts to S64.

[4. Time t3 to t4]
After that, until the count value C2 of the return counter reaches the return duration B1, the processes of "YES" for S40, "NO" for S42 and S44, and "NO" for S60, S62, and S64 are repeated. , The flag remains in the high hydraulic state until the time t4, which is determined as “YES” in the determination step of S64. During this time t3 to t4, the internal target rotation speed is held at X [rpm].

While the processes of S40 to S64 are repeated, when the count value C2 of the return counter reaches the return duration B1, it is determined as "YES" in S64, and the flag is set in the high hydraulic pressure return state in S66. NS. Then, after the return counter clear of S68 is processed, the process returns to S40, and the determination process of S40 determines "NO", and this flowchart is temporarily terminated.

[5. Time t4 to t5]
The time period t4 to t7 in this example is an example in which the drive current I is smaller than the high oil pressure determination current threshold value Ia, and is the period during which the high oil pressure is being restored.

When the flag is first set to the high hydraulic pressure returning state, the flowcharts of FIGS. 13 and 14 are executed. After the processing of S70 and S72 in FIG. 13, it is determined as "NO" in the determination step of S74. Therefore, after the processing of S86, the process proceeds to S88 of FIG. 14, and the count value C2 of the return counter counts up. Will be done.

In the initial stage of the high-pressure return state, in S90, the internal target rotation speed N ** is not the target rotation speed N * of the higher command, so it is determined as "NO" and shifts to S98. .. Further, in the initial stage of the high-voltage return state, the count value C2 of the return counter has not reached the return duration B1, so that it is determined as "NO" in the determination step of S98 and returns to S70 of FIG.

After that, if the internal target rotation speed N ** does not become the target rotation speed N * of the higher command and the count value C2 of the return counter has not reached the return duration B1, the count value C2. However, the processes of "YES" for S70, "NO" for S72 and S74, "NO" for S86, S88 and S90, and "NO" for S98 are repeated until the return duration B1 is exceeded. From time t4 to time t5, which will be described later, the internal target rotation speed is held at X [rpm].

When the count value C2 of the return counter exceeds the return duration B1 while this process is repeated, the determination step of S98 is determined to be "YES", and the process proceeds to S100.
In the initial stage of the high-voltage recovery state, in S100, the internal target rotation speed N ** is smaller than the value of "target rotation speed N ** of higher command-rotation speed increase value Y", so in this determination step, It is determined as "YES", and the process proceeds to S102.

In S102, the internal target rotation speed N ** is set to a value obtained by adding the rotation speed increase value Y to the internal target rotation speed N ** in the previous cycle, and after the return counter is cleared in S104, FIG. 13 Return to S70.

That is, as described above, the internal target rotation speed N ** is set to a value obtained by adding the rotation speed increase value Y to the X [rpm] set in the high hydraulic pressure state, and the processing of S104 is performed. After that, it returns to S70 in FIG. Here, the time at which the value of (X + Y) [rpm] is first set is the time t5.

[6. Time t5 to t6]
After that, after returning to S70, in the processing of S72 being "YES", S74 being "NO", S86, S88, S90 being "NO", and S98 being "NO", the count value C2 of the return counter is the return duration B1. It is repeated until the time t6 that exceeds. The internal target rotation speed is (X + Y) [rpm], and the value is held until time t6.

[7. Time t6 to t7]
Then, when the count value C2 of the return counter exceeds the return duration B1 in the repetition, it is determined as "YES" in S98 and shifts to S100. In S100, the internal target rotation speed N ** is set. Since it is smaller than the value of "target rotation speed N * -rotation speed increase value Y" of the higher command, it is determined as "YES" in this determination step, and the process proceeds to S102.

In S102, the internal target rotation speed N ** in the current cycle is set to a value obtained by adding the rotation speed increase value Y to the internal target rotation speed N ** in the previous cycle, and after the return counter is cleared in S104. , Return to S70 in FIG.

That is, as described above, the target rotation speed N ** inside the current cycle is a value obtained by adding 2Y [rpm] to X [rpm] set in the high hydraulic state. Here, the time when the time is first set to (X + 2Y) [rpm] is the time t6.

After returning to S70, the processing of "YES" for S72 and S74, "NO" for S86, S88, and S90, and "NO" for S98 is repeated until the time t7 when the count value C2 of the return counter exceeds the return duration B1. Is done. Then, the value of the target rotation speed inside this (X + 2Y) [rpm] is held until the time t7.

[8. Time t7 to t8]
In this example, the sum of the internal target rotation speed and the rotation speed increase value Y in the cycle immediately before reaching the time t7 is larger than the target rotation speed N * of the higher command.

In the above repetition, when the count value C2 of the return counter exceeds the return duration B1, the determination step of S98 becomes "YES", and when it is determined as "NO" in the next determination step of S100, S106 The target rotation speed N * of the higher command is set to the internal target rotation speed N **, and after the return counter is cleared in S108, the process returns to S70.

After that, when each process of S70, S72, S74, S86, and S88 is executed and the process shifts to S90, the internal target rotation speed N ** is the target rotation speed N * of the higher command, so "YES". Is determined. At the initial stage when this "YES" is determined, the count value C2 of the return counter by S88 has not reached the return duration B1, so it is determined as "NO" and returns to S70. After that, the processes of "YES" for S70, S72, and S74, "NO" for S86, S88, and S90, and "NO" for S92 are repeated.

Then, when the count value C2 of the return counter exceeds the return duration B1 while this process is repeated, the determination step of S92 is determined to be "YES", and the process proceeds to S94. In S94, the flag is set to the normal state, S96 is processed, and then this flowchart is temporarily terminated. The end time of this flowchart is once t8 via S96 of FIG. After that, since it is in the normal state, the flowchart of FIG. 11 is executed again.

<Example 2: Example of the case where the high hydraulic pressure state is detected, the state transitions to the high hydraulic pressure continuous state, and then the state is restored>
An example in which the microcomputer 21 returns to the high-hydraulic continuation state after detecting the high-hydraulic state will be described with reference to FIGS. 11 to 14 and 17.

[1. Until time t11] and [2. Times t11 to t12] are the same as “1. Time t1” and “2. Times t1 to t2” in Example 1 described above, and “t1” and “t2” are “t11” and “t12”, respectively. , And “FIG. 16” may be replaced with “FIG. 17”, so the description thereof will be omitted.

[3. Time t12 to t13]
When the flag is set to the high hydraulic condition, the flowchart of FIG. 12 is executed. After time t12, the internal target rotation speed is set to X [rpm].

In this example, when the count value C1 due to the count-up of the high oil pressure determination counter reaches the second detection duration A2, it is detected only once that the drive current I exceeds the high oil pressure determination current threshold value Ia. This is a case in which the drive current I does not exceed the high-hydraulic determination current threshold value Ia during the high-hydraulic return after the detection.

In FIG. 12, in S42 after the processing of S40, the internal target rotation speed N ** is set to X [rpm] lower than the target rotation speed N * of the higher command, so that the high oil pressure determination to be set is determined. The current threshold value Ia is lower than the high oil pressure determination current threshold value Ia in the normal state as shown in FIG.

However, since the drive current I is larger than the high oil pressure determination current threshold value Ia set in S42 during the time t12 to t13, the determination step in S44 is determined to be "YES", and after the processing in S46. , S48 counts up the count value C1 of the high oil pressure determination counter. In the initial stage, the determination step of S50 is determined to be "NO" and returns to S40.

Then, during the period during which the drive current I does not fall below the high oil pressure determination current threshold value Ia, the processes S40 to S50 are repeated until the count value C1 of the high oil pressure determination counter reaches the second detection duration A2. Processing is repeated.

When the processes of S40 to S50 are repeated and the count value C1 of the high oil pressure determination counter exceeds the second detection duration A2 during this repetition, the determination step of S50 is determined to be "YES", and the determination step is set to S52. Transition. When the flag is set to the high hydraulic pressure continuous state in S52, after the processing of S54, the internal target rotation speed N ** is set to 0 [rpm] in S56, and the motor 5 is stopped. Then, in S58, the retry process is performed.

In this retry process, the count value C3 of the retry counter is counted up by one, and this flowchart is temporarily terminated. Here, the time when the processes S52 to S58 are executed is the time t13.

[3. Time t13 to t14]
Times t13 to t14 are waiting times τ that are timed by a timer (not shown) until the start of timekeeping of the state transition determination time A3. During the time t13 to t14, the high hydraulic pressure continuation state is maintained, and the motor 5 is held stopped.

As shown in FIG. 17, the drive current I does not immediately become 0, and gradually decreases for a while even after the times t13 and t14 have passed.
[4. Time t14 to t15]
After the lapse of the standby time τ, from time t14, the motor state determination unit 51 sets the count value C4 of the high-hydraulic state transition counter in each of the steps S110 and S112 of the flowchart of FIG. 15A to exceed the state transition determination time A3. Repeat until. When the count value C4 exceeds the state transition determination time A3, the motor state determination unit 51 sets the high-hydraulic limit state flag to the high-hydraulic return state in S116, and in S118, the high-hydraulic state transition counter The count value C4 is cleared, and this flowchart is temporarily terminated. During this time, in this example, the drive current I becomes 0.

[4. Time t15 to t16]
When the state transition determination time A3 ends at time t15, the flowcharts of FIGS. 13 and 14 are executed.

The processing here is described in [5. In the process described in [Times t4 to t5], in the process of S102, the internal target rotation speed N ** is set to X [rpm], but the other processes are the same. Therefore, in Example 1 described above, [5. Times t4 to t5], if t4 is read as t15, t5 is read as t16, and t6 is read as t17, the description of this example will be obtained, and thus the description will be omitted.

[5. Time t16 to t17]
The processing here is described in [6. It is the same as the process described in [Times t5 to t6]. Therefore, in Example 1 described above, [6. Time t5 to t6], if t6 is read as t17, the description of this example will be obtained, and thus the description will be omitted.

[6. Time t17 to t18]
The processing here is described in [7. It is the same as the process described in [Times t6 to t7]. Therefore, in Example 1 described above, [7. Times t6 to t7], if t6 is read as t17 and t7 is read as t18, the explanation of this example will be obtained, and thus the description will be omitted.

[7. Time t18-t19]
The processing here is described in [8. It is the same as the process described in [Times t7 to t8]. Therefore, in Example 1 described above, [8. Times t7 to t8], if t7 is read as t18 and t8 is read as t19, the explanation of this example will be obtained, and thus the description will be omitted.

<Example 3: Example when the number of retries reaches the abnormality confirmation threshold>
An example of the case where the number of retries of the microcomputer 21 reaches the abnormality determination threshold will be described with reference to FIGS. 11 to 14 and 18.

[1. Times t21 to t25]
The processing performed by the microcomputer 21 at times t21 to t25 shown in FIG. 18 is the same as that at times t11 to t15 in Example 2 described above. The description of the processing performed by the microcomputer 21 at times t21 to t25 will be omitted because t11 to t15 may be read as t21 to t25, respectively.

[2. Time t25 to t26]
When the state transition determination time A3 ends at time t25, the flowcharts of FIGS. 13 and 14 are executed, and the internal target rotation speed N ** is set to X [rpm] by the processing of S102.

In this example, after the internal target rotation speed N ** becomes X [rpm] by the processing of S102 as described above, the drive current I rises, and the time t26 elapses, the drive current I becomes This is a case where the high oil pressure determination current threshold value Ia is exceeded.

In this case, in the flowcharts of FIGS. 13 and 14, during the time t25 to t26, the processes of "NO" for S70, S72, and S74, "NO" for S86, S88, and S90, and "NO" for S98 are repeated. ..

[3. Time t26-t27]
When the drive current I exceeds the high oil pressure determination current threshold value Ia at time t26, S74 becomes “YES”, the count value C1 of the high oil pressure determination counter is counted up in S76, and the process proceeds to the determination step of S78. At the initial stage when the drive current I exceeds the high oil pressure determination current threshold value Ia, the determination in S78 is set to "NO" and the process returns to S70. S70 to S78 are repeated until the count value C1 exceeds the first detection duration A1. The time when the count value C1 exceeds the first detection duration A1 is t27.

[4. Time t27-t28]
When S78 is determined to be "YES" at time t27, the flag of the high oil pressure limiting state is set to the high oil pressure state in S80, the count value C1 of the high oil pressure determination counter is cleared in S82, and the process shifts to S84. do. In S84, the internal target rotation speed N ** is set to X [rpm], this flowchart is temporarily terminated, and the flowchart of FIG. 12 is executed in the next control cycle.

In this example, the drive current I rises even during the time t27 to t28, and the drive current I exceeds the high oil pressure determination current threshold value Ia.
In the flowchart of FIG. 12, S40 is “YES”, S42 and S44 are “YES”, and S46 and S48 count up the count value C1 of the high oil pressure determination counter. At the initial stage of counting up the count value C1, the determination in S50 is set to "NO" and the process returns to S40. S40 to S50 are repeated until the count value C1 exceeds the second detection duration A2. The time when the count value C1 exceeds the second detection duration A2 is t28.

[5. Time t28-t29]
When S50 is determined to be "YES" at time t28, the flag of the high oil pressure limiting state is set to the high oil pressure continuation state in S52, the count value C1 of the high oil pressure determination counter is cleared in S54, and S56 is reached. Transition. In S56, the internal target rotation speed N ** is set to 0 rpm, the motor 5 is stopped, and in S58, a retry process for re-driving the motor 5 is performed, and the count value C3 of the retry counter is counted up by one. Then, this flowchart is temporarily terminated.

After that, until t29, the waiting time τ is timed by a timer (not shown) until the start of timekeeping of the state transition determination time A3.
Below, [5. The same processing as that in the time t28 to t29] is repeated, and the flowchart of FIG. 15B is executed at a predetermined control cycle.

In this example, even after the time t29 has passed, the high-hydraulic limit state flag repeats the transitions of "high-hydraulic continuous state", "high-hydraulic return state", and "high-hydraulic state". This is a case where the count value C3 of the retry counter increases stepwise.

[6. Times t31 to t32]
At time t30 to time t32, the same processing as at time t25 to t27 is executed, and the flowchart of FIG. 15B is executed. In S130, the count value C3 of the retry counter reaches the abnormality determination threshold value. , "YES" is determined, and in S132, the process of confirming the abnormality is executed.

That is, assuming that the flag for confirming the abnormality is set and the EOPECU 6 is in a state where the high hydraulic pressure cannot be restored, the microcomputer 21 does not execute the retry process thereafter and keeps the motor 5 in the stopped state, and a warning light (not shown) or A notification unit consisting of a warning buzzer or the like is used to notify this effect. Instead of operating the notification unit, the fact that the abnormality is confirmed, that is, the stop may be output to the upper ECU 16 which is the upper control circuit.

(Fourth Embodiment)
Next, the fourth embodiment will be described with reference to FIGS. 5, 19 to 21. This embodiment is an embodiment that supports claims 7 and 8.

In the present embodiment, the microcomputer 21 shown in FIG. 5 always alternately performs the normal control mode and the detection control mode as shown in FIG. In FIG. 21, the detection cycle of the detection control mode is shown by Cb.

In the normal control mode M1, the microcomputer 21 controls the motor 5 by setting the target rotation speed N * of the higher command to the corrected target rotation speed N **. This normal control mode M1 is continuously executed for the first predetermined period, and when the predetermined period ends, that is, when the detection cycle Cb comes, the detection control mode M2 is next executed for the second predetermined period. The first predetermined period in which the normal control mode M1 is executed is longer than the second predetermined period in which the detection control mode M2 is executed. The microcomputer 21 alternately executes the normal control mode M1 and the detection control mode M2.

FIG. 19 is a flowchart of a program executed in the detection control mode M2.
In S200, the motor state determination unit 51 of FIG. 5 sets the rotation increase na for high hydraulic abnormality determination with reference to a rotation increase map for high hydraulic abnormality determination (not shown) based on the oil temperature To. In the rotation increase map for determining high oil pressure abnormality, the viscosity of the oil increases when the oil temperature To is low, so the rotation increase na is set to a low value, and when the oil temperature To is high, the viscosity of the oil is low. Therefore, the rotation increase na is set to a high value.

Then, the motor state determination unit 51 sets the value obtained by adding the rotation increase na to the target rotation speed N * of the higher command as the high oil pressure determination rotation speed.
In S202, the motor state determination unit 51 refers to the high oil pressure abnormality determination power map of the oil temperature To, the drive current I, and the power supply voltage Vb, and makes a high oil pressure abnormality determination based on the high oil pressure determination rotation speed. The power threshold Ea is calculated. The power threshold value Ea for determining a high oil pressure abnormality corresponds to the high oil pressure determination threshold value.

This will be described in detail. First, the high oil pressure abnormality determination power map will be described with reference to FIG. FIG. 20 is a high oil pressure abnormality determination power map when the oil has a certain temperature To. In the figure, the vertical axis is electric power and the horizontal axis is rotation speed. In the map, the power is obtained by multiplying the drive current I by the power supply voltage Vb.

As shown in the figure, in the map, the lower limit value and the upper limit value of the normal power range increase proportionally as the rotation speed increases. Then, the region exceeding the upper limit value of the normal power becomes the region of the abnormal power. Further, as the temperature To of the oil increases, this map is set so that the slopes of the lower limit value and the upper limit value of the normal power range increase as shown in the figure. As shown in the figure, by using the map, the value of the power at which the high oil pressure determination rotation speed intersects the upper limit value of the normal power range is set as the high oil pressure abnormality determination power threshold value Ea.

It should be noted that the smaller the rotation speed of the map, the narrower the range of the lower limit value and the upper limit value of the normal power range, and the closer to the lower limit value of the abnormal power range. Therefore, if the power threshold value Ea for determining the high oil pressure abnormality is set based on the rotation speed for determining the high oil pressure corresponding to the region in the vicinity thereof, there is a risk of erroneous detection.

In S204, the motor state determination unit 51 controls the motor 5 by setting the value obtained by adding the rotation increase na to the target rotation speed N * of the higher command to the corrected target rotation speed N **. The value obtained by adding the rotation increase na to the target rotation speed N * corresponds to the increase target rotation speed.

In S206, the motor state determination unit 51 calculates the power Q by multiplying the drive current I and the power supply voltage Vb in the motor control. The electric power Q corresponds to the load amount.
In S208, the motor state determination unit 51 determines whether or not the electric power Q exceeds the high oil pressure abnormality determination electric power threshold value Ea. If the power Q exceeds the high oil pressure abnormality determination power threshold Ea, the process proceeds to S210, and if the power Q does not exceed the high oil pressure abnormality determination power threshold Ea, the process proceeds to S214.

In S210, the motor state determination unit 51 clears the count value C5 of the monitoring period counter and shifts to S212.
In S212, the motor state determination unit 51 sets the internal target rotation speed, that is, the corrected target rotation speed N ** to 0 rpm, stops the motor 5, and ends this flowchart. In this case, the motor state determination unit 51 does not transition to the normal control mode.

That is, in this case, the target rotation speed is corrected to 0 so that the corrected target rotation speed N ** is smaller than the target rotation speed N * as the reference target rotation speed.
When shifting to S214, the motor state determination unit 51 counts up the count value C5 of the monitoring period counter and shifts to S216.

In S216, the motor state determination unit 51 determines whether or not the count value C5 of the monitoring period counter has reached the monitoring engine Cc. If the count value C5 of the monitoring period counter has not reached the monitoring organization Cc, it returns to S200, and if it has reached, it shifts to S218.

In S218, the motor state determination unit 51 clears the count value C5 of the monitoring period counter, ends this flowchart, and transitions to the normal control mode.
The present embodiment has the following features.

(1) The microcomputer 21 of the present embodiment increases the target rotation speed by adding the value obtained by adding the rotation increase amount na to the target rotation speed N * in the normal control mode that outputs the motor control signal Sm based on the target rotation speed N *. In this state, that is, in the state of being corrected to the target rotation speed, the detection control mode for outputting the motor control signal Sm is alternately performed.

In the detection control mode, the microcomputer 21 determines whether or not the power Q as the load amount exceeds the high oil pressure abnormality determination power threshold Ea as the high oil pressure determination threshold value.
When the power Q exceeds the power threshold Ea for determining a high oil pressure abnormality, the microcomputer 21 corrects the target rotation speed so that the rotation speed becomes 0, and the motor control signal is based on the corrected target rotation speed. Generate Sm.

As a result, when the temperature of the oil is high and the rotation speed of the motor is low, the drive current of the motor becomes small and the electric power also becomes small. In this state, if an attempt is made to determine whether or not the vehicle is in a high hydraulic pressure state, an erroneous determination may occur. Therefore, in order to determine the high oil pressure state, the rotation speed of the oil pump is intentionally raised above the reference target rotation speed, so that the oil temperature is high and the rotation speed of the motor is low. Even so, it is possible to suppress erroneous determination of the high hydraulic pressure state.

(2) In the present embodiment, the microcomputer 21 executes the detection control mode every detection cycle Cb.
As a result, especially in the region where the rotation speed of the motor 5 is low and the oil temperature is low, it is possible to suppress erroneous determination of the high hydraulic pressure state when the execution is performed every predetermined detection cycle.

The embodiment of the present invention is not limited to the above embodiment, and may be changed as follows.
-In the above embodiment, the motor 5 employs a sensorless type brushless motor that does not have a rotation angle sensor that detects the rotation position of the rotor 23. However, the motor is not limited to the sensorless type brushless motor, and may be a motor having a rotation angle sensor, or may be another motor such as a DC motor or an AC motor.

-In each of the above embodiments, the EOPECU 6 may not directly acquire the oil temperature To from the temperature sensor 17, but may acquire it from the upper ECU 16.
-In each of the above embodiments, the appropriate power range may not be changed according to the temperature To of the oil and may be constant.

-In the first embodiment, in the map for setting the appropriate power range, for example, the actual rotation speed N may be used as a value indicating the rotation speed of the motor 5.
-In the first embodiment, the predetermined low rotation speed Nlo may be set to a value equal to or higher than the rotation speed threshold value Nth.

-In the first embodiment, after the correction is made so that the target rotation speed N * becomes smaller, the target rotation speed N * continues to decrease even when the drive power P becomes a value within the appropriate power range. The motor control signal Sm may be generated based on the target rotation speed N ** corrected as described above.

-In the first embodiment, the oil pump 4 may not be provided with the relief valve 41.
-In each of the above embodiments, the motor 5 that drives the oil pump 4 that circulates the oil for cooling the drive motor 2 for running the vehicle is the control target, but the control target motor supplies the oil to the flood control circuit. It is not limited as long as it is a motor that drives an oil pump. For example, a transmission or a motor for driving an oil pump for supplying hydraulic oil to bearings may be controlled.

-In the first embodiment, various controls are performed on the premise that the drive power P exceeds the upper limit value Pup2 of the appropriate power range, but the drive current I of the motor 5 exceeds the high oil pressure determination current threshold value. You may change it if you do.

In this case, the upper limit value Pup2 of the appropriate power range and the high oil pressure determination current threshold value have a relationship of upper limit value Pup2 = high oil pressure determination current threshold value × power supply voltage Vb.
Therefore, the microcomputer 21 reduces the target rotation speed N * when the drive current I exceeds the high oil pressure determination current threshold value and the corrected target rotation speed N ** is within the high rotation speed range. The motor control signal Sm may be generated based on the corrected target rotation speed N **.

Here, the high oil pressure determination current threshold value corresponds to the high oil pressure determination threshold value. Further, below the high oil pressure determination threshold value corresponds to an appropriate load amount range. Further, the drive current I corresponds to the load amount.
-In the first embodiment, the microcomputer 21 responds to the temperature To of the oil flowing through the oil pump 4 based on the fact that when the temperature To of the oil decreases, the viscosity increases and the load of the motor 5 increases. Therefore, the high oil pressure determination current threshold value may be changed. Even in this case, it can be suitably determined whether or not an abnormality has occurred in the oil pump 4 or the hydraulic circuit 3 according to the load state of the motor 5.

-In the first embodiment, even if the drive current I exceeds the high oil pressure determination current threshold value after the correction is made so that the target rotation speed becomes small, the correction is not made so that the target rotation speed becomes large. May be good. Even in this case, it is possible to prevent the corrected target rotation speed from increasing, decreasing, and repeating.

-In the modified example of the first embodiment, the drive current I exceeds the high oil pressure determination current threshold value, the rotation speed is a value within the high rotation speed range, and the target rotation speed becomes small. If the drive current I becomes equal to or less than the high oil pressure determination current threshold value after the correction to the above, the motor control signal may be generated based on the target rotation speed before the correction. By doing so, even in this modified example, when the drive current I becomes equal to or less than the high oil pressure determination current threshold value, the operating state of the oil pump 4 can be required.

In the fourth embodiment, in S212 of FIG. 19, the motor state determination unit 51 sets the internal target rotation speed, that is, the corrected target rotation speed N ** to 0 rpm, and stops the motor 5. Similar to the third embodiment, the internal target rotation speed, that is, the corrected target rotation speed N ** may be set to X rpm smaller than the target rotation speed N * as the reference target rotation speed.

-In the fourth embodiment, as in the case of Example 3 of the third embodiment, a retry counter is provided, and when the number of retries continues and the abnormality determination number threshold is reached, the motor is stopped and the abnormality is confirmed. You may go.

In the fourth embodiment, the motor state determination unit 51 refers to the high oil pressure abnormality determination power map of the oil temperature To, the drive current I, and the power supply voltage Vb, and is high based on the high oil pressure determination rotation speed. The power threshold Ea for determining a hydraulic abnormality is calculated.

Instead, the motor state determination unit 51 refers to the high oil pressure abnormality determination current map of the oil temperature To, the drive current I, and the power supply voltage Vb, and based on the high oil pressure determination rotation speed, the high oil pressure abnormality The determination current threshold value may be calculated.

In this case, in the map, the lower limit value and the upper limit value of the normal current range increase proportionally as the rotation speed increases. Then, the region exceeding the upper limit value of the normal current becomes the region of the abnormal current. Further, as the temperature To of the oil increases, this map is set so that the slopes of the lower limit value and the upper limit value of the normal current range increase as shown in the figure. By using the map, the value of the current at which the high oil pressure determination rotation speed intersects the upper limit value of the normal current range is set as the high oil pressure abnormality determination current threshold value.

In the fourth embodiment, the microcomputer 21 constantly executes the detection control mode for each detection cycle Cb, but alternately executes the normal control mode M1 and the detection control mode M2 only during the start period of the motor 5. You may. Then, after the start period has elapsed, the control may be switched to the control described in the third embodiment.

1 ... Electric pump device 4 ... Oil pump 5 ... Motor 6 ... EOPECU
21 ... Microcomputer (control circuit)
22 ... Drive circuit 23 ... Rotor 23u, 23v, 23w ... Coil 32 ... Target rotation speed correction unit 33 ... Rotation position estimation unit 34 ... F / B control unit 35 ... Motor control signal generation unit 41 ... Relief valve 51 ... Motor status determination Part N ... Actual rotation speed N * ... Target rotation speed N ** ... Target rotation speed after correction Nr ... Rated rotation speed Nth ... Rotation speed threshold P ... Drive power Sd ... Judgment signal Sm ... Motor control signal Sp ... Rotation position signal To ... Temperature I ... Drive current

Claims (14)

A control circuit that outputs a motor control signal based on the reference target rotation speed and a drive circuit that supplies drive power to the motor based on the motor control signal are provided, and the oil pump is driven by the motor driven by the drive circuit. In the motor control device that generates electric power in the hydraulic circuit
The control circuit
A high oil pressure determination threshold value for a load amount indicating a load state of the motor caused by the high oil pressure state of the oil pump and the hydraulic circuit is set according to the rotation speed of the motor (hereinafter, this process is referred to as a setting process).
When the load amount exceeds the high oil pressure determination threshold value, the target rotation speed is corrected so as to be smaller than the reference target rotation speed, or the target rotation speed is corrected so that the rotation speed becomes 0. death,
A motor control device that generates the motor control signal based on the corrected target rotation speed. In the motor control device according to claim 1,
The control circuit
A motor control device that increases the high oil pressure determination threshold value as the temperature of the oil flowing through the hydraulic circuit increases. In the motor control device according to claim 2,
The control circuit
The load amount exceeds the high oil pressure determination threshold value, and the rotation speed is a value within the high rotation speed range.
A motor control device that does not correct so that the target rotation speed becomes large even if the rotation speed becomes a value in a small low rotation speed range equal to or less than the rotation speed threshold value after the correction is made so that the target rotation speed becomes small. In the motor control device according to claim 2 or 3.
The control circuit
The load amount exceeds the high oil pressure determination threshold value, and the rotation speed is a value within the high rotation speed range.
If the load amount becomes a value within the appropriate load amount range after the correction is made so that the target rotation speed becomes smaller, or if the load amount becomes equal to or less than the high oil pressure determination threshold value, before the correction. A motor control device that generates the motor control signal based on the target rotation speed. In the motor control device according to claim 1 or 2.
The hydraulic circuit includes a mechanical relief valve.
The high oil pressure determination threshold value set by the control circuit in the setting process is set to the load amount of the motor when the high oil pressure is lower than the relief pressure of the mechanical relief valve.
The control circuit is a motor control device that corrects a target rotation speed so as to be smaller than the reference target rotation speed, and then generates the motor control signal based on the corrected target rotation speed. In the motor control device of claim 5,
The control circuit
After correcting the target rotation speed so as to be smaller than the reference target rotation speed, the motor control signal is generated based on the corrected target rotation speed, and then the setting process is performed again, and then the load amount. Is a motor control device that stops the motor by correcting the target rotation speed so that the target rotation speed becomes 0 when the high oil pressure determination threshold value is exceeded. The motor control device according to any one of claims 2 to 4.
The control circuit
A normal control mode that outputs the motor control signal based on the reference target rotation speed, and
In a state of being corrected to an increase target rotation speed larger than the reference target rotation speed, the detection control mode for outputting the motor control signal is alternately performed.
In the detection control mode,
It is determined whether or not the load amount exceeds the high oil pressure determination threshold value (hereinafter, referred to as a determination process based on the increase target rotation speed).
When the load amount exceeds the high oil pressure determination threshold value, the target rotation speed is corrected so as to be smaller than the reference target rotation speed, or the target rotation speed is corrected so that the rotation speed becomes 0. death,
A motor control device that generates the motor control signal based on the corrected target rotation speed. In the motor control device according to claim 7,
The control circuit is a motor control device that executes the detection control mode every detection cycle or during a start period. In the motor control device of claim 1 or 2.
The control circuit
When the state in which the load amount exceeds the high oil pressure determination threshold value exceeds the first detection duration, it is assumed that the hydraulic circuit is in the high oil pressure state.
A motor control device that corrects the high hydraulic pressure state so that the target rotation speed of the motor becomes smaller while the high hydraulic pressure state continues within the second detection duration. In the motor control device according to claim 9,
The control circuit
A motor control device that stops the motor as a high-hydraulic continuation state when the high-hydraulic state continues beyond the second detection duration. In the motor control device according to claim 10,
The control circuit
After the motor stop period for stopping the motor in the high-hydraulic continuation state has elapsed, the target rotation speed of the motor is gradually increased step by step until the reference target rotation speed is reached in the high-hydraulic return state. A motor control device that performs return control including a redrive process for driving the motor. In the motor control device according to claim 11,
The control circuit
During the return control, the setting process and the comparison process for comparing the high oil pressure determination threshold value set in the setting process with the load amount are performed for each step.
In the comparison process, when the state in which the load amount exceeds the high oil pressure determination threshold exceeds the first detection duration, it is regarded as the high pressure state, and the control is performed in the high pressure state. 2 A motor control device that corrects the target rotation speed of the motor so that the target rotation speed of the motor becomes smaller while the detection duration is continued. In the motor control device according to claim 12,
The control circuit
Count the number of processing times of the re-driving process, or measure the processing time related to the re-driving process.
When the count value reaches the abnormality determination number threshold value before the target rotation speed of the motor reaches the reference target rotation speed, or when the processing time related to the redrive process reaches the abnormality processing total time determination value. Determines an abnormality, stops the motor, and
If the target rotation speed of the motor reaches the reference target rotation speed before the count value reaches the abnormality determination number threshold, or in the processing time less than the abnormality processing total time determination value, the normal state. A motor control device that controls the motor at the reference target rotation speed. In the motor control device according to claim 6 or 10.
A motor control device that outputs a notification signal to the effect of stopping to a notification unit or a host control circuit when the motor is stopped.

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