JP2023148070A - Motor control device, motor system, motor control method, and motor control program - Google Patents

Abstract

To provide a motor control device, etc. that can achieve stable motor rotation.SOLUTION: A motor control device includes a required time updating unit for updating a required time corresponding to a predetermined rotation angle based on an interval of a past reference signal indicating a rotation angle, a timing calculation unit for calculating a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated by the required time updating unit, and an advance angle, an energization switching unit for executing energization switching at the scheduled timing calculated by the timing calculation unit. When a reference signal corresponding to switching to a next phase is output before the scheduled timing has come, the energization switching unit executes the energization switching before the scheduled timing has come.SELECTED DRAWING: Figure 1

Description

The present invention relates to a motor control device, a motor system, a motor control method, and a motor control program.

Patent Document 1 discloses a motor control device that controls a brushless motor provided in an electric oil pump.

JP2018-098861A

However, if there is a delay in switching the energization to the motor while the rotational speed of the electric oil pump increases, there is a problem that, for example, the rotational speed of the motor suddenly decreases, impairing the stability of the rotational state of the motor.

The present invention was made to solve the above-mentioned problems, and an object of the present invention is to provide a motor control device and the like that can provide stable motor rotation.

In order to solve the above problem, one aspect of the present invention is to
a required time updating unit that updates the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation unit that calculates a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated by the required time updating unit, and a lead angle;
an energization switching unit that performs energization switching at the scheduled timing calculated by the timing calculation unit;
Equipped with
The energization switching unit includes a motor control device that executes energization switching before the scheduled timing arrives if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives. provide.

According to this invention, stable rotation of the motor can be obtained.

FIG. 1 is a diagram showing the configuration of a motor system including a motor control device according to the present embodiment. 3 is a flowchart showing the operation of the motor control device. FIG. 3 is a diagram showing the relationship between a reference signal and phase current. 3 is a diagram illustrating an example in which energization switching is performed in step S114 of FIG. 2. FIG. FIG. 7 is a diagram showing the timing of energization switching when a state in which the next reference signal is detected before the scheduled timing T0 continues.

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

FIG. 1 is a diagram showing the configuration of a motor system including a motor control device of this embodiment.

As shown in FIG. 1, the motor system includes a motor control device 10 that receives command values such as rotation speed, and an electric oil pump 100. The electric oil pump 100 includes a drive unit 20 controlled by a motor control device 10 and a brushless 3 that rotationally drives the pump 40 in response to phase currents (U-phase current, V-phase current, and W-phase current) from the drive unit 20. The motor 30 is a phase motor. The motor 30 includes a rotor having permanent magnets and a stator wound with coils corresponding to each of three phases (U phase, V phase, and W phase). For example, one end of each of the coils of each phase is connected to the drive unit 20 via a motor terminal, and the other ends are connected to each other. Note that the connection form between the coils of each phase and the drive unit 20 is arbitrary. The motor 30 is provided with a Hall sensor 31 that detects the rotation angle of the rotor, and the Hall sensor 31 detects phase signals (U phase signal, V phase signal and W phase signal) corresponding to the rotation angle of the motor 30 (rotor rotation angle) signal). In this embodiment, when the pump 40 is rotationally driven by the motor 30, the oil in the oil pan 51 is pumped to the oil supply destination 52.

As shown in FIG. 1, the motor control device 10 includes a required time updating unit 11 that updates the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle of the motor 30, and a energization The timing calculation unit 12 calculates the scheduled timing of energization switching based on the timing of the reference signal before switching, the required time updated by the required time updating unit 11, and the advance angle. The present invention includes an energization switching unit 13 that executes energization switching at a scheduled timing, and a storage unit 14 that temporarily stores the time of the reference signal output from the Hall sensor 31.

The motor control device 10 can be configured as an on-vehicle control device including, for example, a microcomputer. The hardware configuration of the motor control device 10 is arbitrary and may be similar to an on-vehicle ECU (Electronic Control Unit).

In the electric oil pump 100, the motor 30 may be directly connected to the pump 40, or may be connected via another mechanism (not shown). The oil pressure generated by the pump 40 can be used to drive actuators, cool heat-generating components of various in-vehicle electronic devices, lubricate movable parts, and the like.

In this embodiment, a brushless three-phase motor that rotationally drives the pump 40 is used as the motor 30, but the use and number of phases of the motor are arbitrary. Further, in this embodiment, the motor 30 is exemplified as one in which energization is switched every 60 degrees of rotation angle (mechanical angle), but this rotation angle is also arbitrary. Further, the form of the motor control device 10 is not limited to being mounted on a vehicle, but may be arbitrary.

The present embodiment is characterized in that, if a reference signal corresponding to switching to the next phase is detected before the scheduled timing arrives, the energization switching unit 13 executes the energization switching before the scheduled timing arrives. It is said that

FIG. 2 is a flowchart showing the operation of the motor control device.

In step S102 of FIG. 2, the required time updating unit 11 determines whether or not the reference signal from the hall sensor 31 has been detected, and waits for an affirmative determination before proceeding to step S104.

In step S104, the required time updating unit 11 acquires the time of the reference signal detected in step S102 or step S110, which will be described later, and the time of the past reference signal stored in the storage unit 14.

In step S106, the required time updating unit 11 calculates the energization switching time T as the time required for the motor 30 to rotate 60 degrees based on the time interval of the reference signal acquired in step S104.

FIG. 3 is a diagram showing the relationship between the reference signal and phase current. FIG. 3 shows a case where the motor 30 is rotating at a constant speed.

As shown in FIG. 3, the Hall sensor 31 outputs a U-phase signal, a V-phase signal, and a W-phase signal whose phases are shifted by 60 degrees as the rotation angle of the motor, and in step S102 and step S110 described later. , the switching (rising or falling) of each phase signal is detected as a reference signal. At this time, for example, if the reference signal (falling edge of the U-phase signal) is detected at time t3 in step S102, then in step S104, time t0 shown in FIG. Time t3, which is obtained as the time of the reference signal (rising edge of the U-phase signal) and shown in FIG. 3, is obtained as the time of the reference signal detected in step S102. Further, in step S106, 1/3 of the time from time t0 to time t3 is calculated as the energization switching time T required for the motor to rotate 60 degrees.

In this way, in step S106, when the motor 30 rotates 180 degrees, that is, three times in 60 degree increments corresponding to the interval of the reference signal, the average time required to rotate 60 degrees is calculated as the energization switching time T. It is calculated as However, the time required for the previous 60 degree rotation (corresponding to the time from time t2 to time t3 in FIG. 3) may be set as the energization switching time T. In addition, the average time required to rotate 60 degrees when rotating by 2 times of 60 degrees (120 degrees) or 4 times of 60 degrees (240 degrees) or more is the energization switching time. It may be calculated as T. By calculating the average of multiple intervals of the reference signal as the energization switching time T, for example, the calculated energization switching time T can be avoided due to temporary fluctuations in the rotation speed due to external factors such as oil pressure fluctuations. Fluctuations can be suppressed. On the other hand, when calculating the energization switching time T based only on the immediately preceding reference signal interval (for example, one immediately preceding interval), it is relatively easy to calculate the energization switching time T that corresponds to a rapid increase in rotational speed. Calculation results can be obtained. The method for calculating the energization switching time T can be selected as appropriate depending on the environment in which the motor 30 is used.

In step S107, the timing calculation unit 12 calculates the scheduled timing T0 of energization switching.

Here, the expiration time (T - Δ) obtained by calculating the advance angle time Δ, that is, the time required for the motor 30 to rotate by the angle of the advance angle, and subtracting the advance angle time Δ from the energization switching time T. Calculate. The scheduled timing T0 of energization switching corresponds to when the expiration time (T-Δ) has elapsed from time t3. That is,
Advance angle time Δ(s) = Energization switching time T (s)/60 (deg) x Advance angle (deg)
...(1 set)
Scheduled timing T0 = time t3 + energization switching time T (s) - advance time Δ (s)
...(2 types)
The scheduled timing T0 is calculated by (see also FIG. 3).

In step S108, the energization switching unit 13 determines whether the current time has reached the scheduled timing T0, and if the determination is affirmative, the process proceeds to step S112, and if the determination is negative, the process proceeds to step S110. .

In step S110, the energization switching unit 13 determines whether the next reference signal from the Hall sensor 31 has been detected, and if the determination is affirmative, the process proceeds to step S114, and if the determination is negative, the process proceeds to step S108. Proceed with the process.

In step S112, the energization switching unit 13 executes energization switching, and advances the process to step S102. The example in FIG. 3 shows an example in which the determination in step S108 is affirmative and the energization switching is performed at the scheduled timing T0. As shown in FIG. 3, in this example, energization switching from the U-phase current to the V-phase current is executed at the scheduled timing T0.

In step S114, the energization switching unit 13 executes energization switching, and advances the process to step S104.

FIG. 4 is a diagram showing an example in which energization switching is performed in step S114 of FIG. In the example of FIG. 4, since the speed of the motor 30 increases from time t0 to time t14, in step S108, the hall sensor 31 The next reference signal from is detected. That is, the determination in step S110 is affirmed.

In this case, as shown in FIG. 4, the energization switching time T calculated at time t13 when the reference signal (the falling edge of the U-phase signal) is detected is the same as the energization switching time T when the next reference signal (the rising edge of the W-phase signal) is detected. The time until the time t14 is detected has been significantly exceeded, and the time t14 arrives before the expiration time (T-Δ) elapses from the time t13.

If, in the case shown in FIG. 4, the energization switching is executed after waiting for the scheduled timing T0, the advance angle will not be ensured, and on the contrary, the energization switching will be executed at a timing with a retard angle. However, in this embodiment, if the next reference signal is detected before the scheduled timing T0, energization switching is performed simultaneously with the detection of the reference signal. Therefore, energization switching can be performed without causing a delay.

FIG. 5 is a diagram showing the timing of energization switching when a state in which the next reference signal is detected before the scheduled timing T0 continues. As shown in FIG. 5, in this case, the energization is switched simultaneously with the reference signal from the Hall sensor 31, and the state where the advance angle is zero continues. Further, the time interval between energization switching becomes shorter as the speed of the motor 30 increases. When the speed increase of the motor 30 is suppressed to some extent or when the motor 30 is in a state of deceleration, the timing of energization switching shifts to a state that coincides with the scheduled timing T0.

As described above, according to the present embodiment, if the next reference signal is output before the arrival of the scheduled timing T0, energization switching is executed when the reference signal is detected. Therefore, the energization can be switched without causing a delay, so that stable rotation of the motor 30 can be obtained.

Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and includes designs within the scope of the gist of the present invention.

For example, in the embodiment described above, if the next reference signal is output before the arrival of the scheduled timing T0, energization switching is executed at the same time as the detection of that reference signal, so that the effects of the embodiment described above can be reliably achieved. Obtainable. However, as a modification, when the next reference signal is output, the energization switching may be performed in response to the detection of the reference signal, or the energization switching may be performed after the reference signal is detected. In this case as well, it is possible to obtain at least part of the effects of the embodiments described above.

In addition, regarding the above embodiments of the present invention, the following additional notes are further disclosed.

[Additional note 1]
a required time updating unit (11) that updates the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation unit (12) that calculates a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated by the required time updating unit, and a lead angle;
an energization switching unit (13) that performs energization switching at the scheduled timing calculated by the timing calculation unit;
Equipped with
The energization switching unit is configured to include a motor control device ( 10).

According to the configuration described in Appendix 1, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed, the energization switching is performed before the scheduled timing arrives. Therefore, stable rotation of the motor can be obtained without any delay in the timing of energization switching.

[Additional note 2]
The motor control device according to supplementary note 1, wherein the required time updating unit updates the required time based on a plurality of the intervals.

According to the configuration described in Appendix 2, since the required time is updated based on a plurality of intervals, the calculated energization switching time T will not fluctuate inadvertently due to temporary fluctuations in the rotational speed due to external factors. It can be suppressed.

[Additional note 3]
The motor control device according to appendix 1 or 2, wherein the energization switching unit executes energization switching when outputting the reference signal corresponding to switching to the next phase.

According to the configuration described in Appendix 3, if a reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed, the switching to the next phase is handled. Since the energization switching is executed when the reference signal is output, stable rotation of the motor can be obtained without any delay in the timing of the energization switching.

[Additional note 4]
A motor control device described in any one of Supplementary notes 1 to 3,
A motor system comprising: a motor (30) controlled by the motor control device.

According to the configuration described in Appendix 4, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed, the energization switching is performed before the scheduled timing arrives. Therefore, stable rotation of the motor can be obtained without any delay in the timing of energization switching.

[Additional note 5]
The motor system according to appendix 4, wherein the motor is a motor that drives a pump.

According to the configuration described in Appendix 5, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed due to fluctuations in oil pressure, etc., the scheduled timing Since the energization switching is executed before the arrival of the energization switch, stable rotation of the motor can be obtained without any delay in the timing of the energization switching.

[Additional note 6]
a required time updating step of updating the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation step of calculating a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated in the required time updating step, and a lead angle;
an energization switching step of performing energization switching at the scheduled timing calculated in the timing calculation step;
is executed by a computer,
In the energization switching step, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives, the energization switching is performed before the scheduled timing arrives.

According to the configuration described in Appendix 6, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed, the energization switching is performed before the scheduled timing arrives. Therefore, stable rotation of the motor can be obtained without any delay in the timing of energization switching.

[Additional note 7]
a required time updating step of updating the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation step of calculating a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated in the required time updating step, and a lead angle;
an energization switching step of performing energization switching at the scheduled timing calculated in the timing calculation step;
A program that causes a computer to execute
In the energization switching step, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives, the motor control program executes energization switching before the scheduled timing arrives.

According to the configuration described in Appendix 7, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives due to an increase in rotational speed, the energization switching is performed before the scheduled timing arrives. Therefore, stable rotation of the motor can be obtained without any delay in the timing of energization switching.

10 Motor control device 11 Required time changing section 12 Timing calculating section 13 Energization switching section 20 Drive section 30 Motor 31 Hall sensor 40 Pump 100 Electric oil pump

Claims (7)

a required time updating unit that updates the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation unit that calculates a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated by the required time updating unit, and a lead angle;
an energization switching unit that performs energization switching at the scheduled timing calculated by the timing calculation unit;
Equipped with
The energization switching unit is configured to perform energization switching before the scheduled timing arrives if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives. The motor control device according to claim 1, wherein the required time updating unit updates the required time based on a plurality of the intervals. The motor control device according to claim 1 or 2, wherein the energization switching section executes energization switching when outputting the reference signal corresponding to switching to the next phase. A motor control device according to any one of claims 1 to 3,
A motor system comprising: a motor controlled by the motor control device. The motor system according to claim 4, wherein the motor is a motor that drives a pump. a required time updating step of updating the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation step of calculating a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated in the required time updating step, and a lead angle;
an energization switching step of performing energization switching at the scheduled timing calculated in the timing calculation step;
is executed by a computer,
In the energization switching step, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives, the energization switching is performed before the scheduled timing arrives. a required time updating step of updating the required time corresponding to a predetermined rotation angle based on the interval of past reference signals indicating the rotation angle;
a timing calculation step of calculating a scheduled timing of energization switching based on the timing of the reference signal before energization switching, the required time updated in the required time updating step, and a lead angle;
an energization switching step of performing energization switching at the scheduled timing calculated in the timing calculation step;
A program that causes a computer to execute
In the energization switching step, if the reference signal corresponding to switching to the next phase is output before the scheduled timing arrives, the motor control program executes energization switching before the scheduled timing arrives.

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