JP4802529B2 - ELECTRIC LIQUID PUMP, CONTROL METHOD AND CONTROL DEVICE THEREOF - Google Patents

Description

  The present invention relates to an electric liquid pump that supplies liquid of a necessary hydraulic pressure to a hydraulic circuit from a liquid pump driven by an electric motor, and a control method and control apparatus therefor.

  Conventionally, a compact and compact electric hydraulic pump that drives the hydraulic pump with an electric motor is used to operate the hydraulic pressure required for the clutch of an automatic transmission when, for example, the engine is idling stopped while the automobile is stopped. It is used to supply oil or it is used to supply the required hydraulic oil to the cooling jacket of the electric motor of the hybrid vehicle.

  Some conventional electric liquid pumps control the rotation of an electric motor so that a liquid having a required hydraulic pressure is supplied from a liquid pump to a hydraulic circuit in consideration of a change in liquid temperature. For example, an electric motor is driven by controlling the motor current to be a predetermined value, the motor rotation number when the motor current is a predetermined value is detected, and based on the predetermined value of the motor current and the detected motor rotation number Estimate the liquid temperature, calculate the target value of the motor current to supply the required hydraulic pressure to the hydraulic circuit at the estimated liquid temperature, and control the current so that the detected motor current becomes the target value Thus, there is a control device for an electric liquid pump that drives and controls an electric motor (see Patent Document 1). Thereby, even if the liquid temperature changes, it is possible to supply the liquid having the required hydraulic pressure from the electric liquid pump.

Japanese Patent Laid-Open No. 2005-16460 JP 2000-341982 A

  By the way, in an automobile equipped with such an electric liquid pump and a control device, the electric motor of the electric liquid pump continues to rotate even when idling is stopped. Therefore, when the rotation speed of the electric motor is high, the rotation sound of the electric motor is conspicuous, and the driver may feel uncomfortable.

  Further, when starting the electric liquid pump from a stopped state, if the maximum value of the instruction voltage is used so that the motor current value of the electric motor can be shifted from 0 to the target value in a short time, the motor current value is changed from 0 to the target value. The potential to be pulled up causes an overshoot in which the motor current value exceeds the target value. If the motor current value overshoots and the rotational speed of the electric motor becomes too high, the rotational noise of the electric motor increases and the power consumption may increase.

  Also, when the electric liquid pump rotates, if it tries to converge to the target value while undershooting and overshooting after the motor current value overshoots, the time until it converges to the target value becomes longer and the responsiveness decreases. Resulting in.

  In addition, when the power supply voltage of the battery decreases, if the motor current value is made to reach a low target value, the voltage according to the command voltage may not be supplied to the electric motor, and the hydraulic pressure is insufficient. There is a risk that frictional noise will be generated from the automatic transmission due to insufficient engagement force of the frictional engagement elements in the automatic transmission connected to the automatic transmission.

  Furthermore, if the motor current undershoots and overshoots near the target value, the engagement force of the friction engagement element in the automatic transmission connected to the hydraulic circuit may fluctuate, and a shift shock may occur.

  The subject of this invention is suppressing generation | occurrence | production of the sound accompanying rotation of the electric motor of an electric liquid pump.

According to a first aspect of the present invention, in a method for controlling an electric liquid pump that supplies liquid of a necessary hydraulic pressure to a hydraulic circuit from a liquid pump driven by an electric motor, the activation specified in advance when the electric motor is activated applying a time command voltage to the electric motor, a predefined predetermined time, a first step of holding a voltage, the voltage to be applied to the electric motor, so that the current of the motor current value approaches the target electric current value A second step of performing feedback control, and a third step of applying a stable command voltage to the electric motor when the current motor current value is within the stability determination range of the target value for a predetermined time or longer. It is characterized by including.

In a second aspect of the present invention, in a control device for an electric liquid pump that supplies liquid of a necessary hydraulic pressure from a liquid pump driven by an electric motor to a hydraulic circuit, control for controlling a voltage applied to the electric motor The control unit applies a startup command voltage specified in advance to the electric motor when the electric motor starts up, holds the voltage for a specified time for a predetermined time, and holds the voltage for the specified time After that, feedback control is started so that the current motor current value approaches the target current value with respect to the voltage applied to the electric motor, and the current motor current value is within the target value stability determination range. When it continues for more than a specified time, a stable command voltage is applied to the electric motor .

  In the control apparatus for the electric liquid pump according to the present invention, the control unit includes: a current detection unit that detects a motor current value of the electric motor; and a rotation number detection unit that detects a motor rotation number of the electric motor. The startup command voltage is preferably determined based on the detected current motor current value and the motor rotation speed.

  According to a third aspect of the present invention, an electric liquid pump that supplies liquid of a necessary hydraulic pressure to a hydraulic circuit from a liquid pump driven by an electric motor includes the control device.

According to the present invention (Claim 1-4 ), even when idling is stopped, the rotational sound of the electric motor of the electric liquid pump becomes inconspicuous, and the driver does not feel uncomfortable. In addition, when the electric liquid pump is started from a stopped state, overshoot of the motor current value of the electric motor is suppressed, and the motor current value can be efficiently reached to the target value in relation to the power consumption of the electric motor. .

According to the present invention (Claims 1 and 2 ), since the motor current value can be converged to the target value so that it does not undershoot after overshooting, the response of the motor current value is improved and automatic by undershooting is achieved. Occurrence of a shift shock of the transmission can be prevented.

According to the present invention (Claim 3 ), even when the power supply voltage of the battery is lowered, the engagement force of the friction engagement element in the automatic transmission can be satisfied by correcting the instruction voltage, Generation of frictional noise due to insufficient engagement force can be prevented.

(Embodiment 1)
A method and apparatus for controlling an electric liquid pump according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram schematically showing the configuration of the control device for the electric liquid pump according to the first embodiment of the present invention. FIG. 2 is a flowchart schematically showing duty control of the FET circuit in the control device for the electric liquid pump according to the first embodiment of the present invention.

  The electric liquid pump includes a hydraulic pump 1 and an electric motor 3, is connected to the hydraulic circuit 2 as a flow path, and is electrically connected to the battery 4 via the control device 20. The control device 20 includes an FET circuit 6, a motor drive IC 7, a motor drive circuit 5, a unit rotation angle detection circuit 8, a voltage detection circuit 9, a shunt resistor 10, a current detection circuit 11, a microcomputer 12, Have

  The hydraulic pump 1 supplies the necessary hydraulic pressure to the hydraulic circuit 2. The hydraulic pump 1 is rotationally driven by an electric motor 3. Examples of the hydraulic pump 1 include a constant discharge hydraulic pump such as a trochoid pump.

  The hydraulic pressure circuit 2 is a circuit having a predetermined flow path resistance R while a liquid with a predetermined hydraulic pressure flows, and is connected to the hydraulic pressure pump 1 as a flow path. As the hydraulic circuit 2, for example, when the engine is idling stopped while the vehicle is stopped, it is necessary for a hydraulic circuit that supplies hydraulic oil necessary for the clutch of the automatic transmission, or a cooling jacket for an electric motor of a hybrid vehicle. A cooling circuit for supplying hydraulic cooling oil can be used.

  The electric motor 3 drives the hydraulic pump 1 to rotate. Examples of the electric motor 3 include a sensorless three-phase brushless DC motor. The voltage of the battery 4 is applied to the three wires of the electric motor 3 via the FET circuit 6. A unit rotation angle detection circuit 8 is electrically connected to the three wires of the electric motor 3.

  The motor drive circuit 5 is a circuit for driving the electric motor 3 and includes an FET circuit 6 and a motor drive IC 7.

  The FET circuit 6 sequentially applies a voltage between two of the three lines of the electric motor 3 based on the unit rotation angle signal from the motor drive IC 7 to drive the electric motor 3 to rotate by the unit rotation angle. Further, the FET circuit 6 performs duty control by turning on and off the voltage applied between the two lines based on the command voltage signal from the motor drive IC 7 and the DC power supply voltage from the voltage detection circuit 9. The average voltage applied to the electric motor 3 is controlled to the command voltage. Here, the unit rotation angle signal is a signal related to the unit rotation angle detected by the unit rotation angle detection circuit 8. The command voltage signal is a signal related to the voltage commanded from the CPU 13.

  The duty control of the FET circuit 6 is performed by the following steps. Referring to FIG. 2, first, a DC power supply voltage is acquired from the voltage detection circuit 9 (step F1). Next, the minimum output duty is calculated based on the acquired DC power supply voltage (step F2). Here, the minimum output duty is calculated by, for example, an arithmetic expression “(minimum motor voltage specified value; for example, 0.4) × 12 × (DC power supply voltage)”. Next, the output duty is calculated based on the command voltage signal (step F3). Here, the output duty is calculated based on the deviation of the command voltage signal. Next, it is determined whether or not the calculated output duty is equal to or less than the minimum output duty (step F4). When the output duty is larger than the minimum output duty (NO in step F4), the process proceeds to step F6. If the output duty is less than or equal to the minimum output duty (YES in step F4), the output duty is corrected to the minimum output duty (step F5). If the output duty is greater than the minimum output duty (NO in step F4), the calculated output duty is used as it is, and the voltage applied between the two lines is turned on and off to control the duty (step F6). On the other hand, when the output duty is corrected to the minimum output duty (step F5), the voltage applied between the two lines is turned on and off using the minimum output duty to control the duty (step F6). By the steps as described above, it is possible to eliminate the lack of hydraulic pressure.

  The motor drive IC 7 sends the unit rotation angle signal from the unit rotation angle detection circuit 8 to the FET circuit 6 and the input / output circuit 16. The motor drive IC 7 sends a command voltage signal from the input / output circuit 16 to the FET circuit 6.

  The unit rotation angle detection circuit 8 detects the unit rotation angle of the electric motor 3 by sequentially detecting the low voltage line among the three wires circulating as the electric motor 3 rotates, and sends the unit rotation angle signal to the motor drive IC 7. To do. The unit rotation angle signal is used for motor drive control by the motor drive circuit 5 and is sent to the microcomputer 12 via the motor drive IC 7.

  The voltage detection circuit 9 detects the DC power supply voltage of the battery 4 and sends a DC power supply voltage signal to the FET circuit 6.

  The shunt resistor 10 has one end electrically connected to the first wiring connecting the FET circuit 6 and the current detection circuit 11, and the other end electrically connected to the second wiring connecting the FET circuit 6 and the battery 4 to the current detection circuit 11. It is connected.

  The current detection circuit 11 is a current detection unit that measures a voltage between both terminals of the shunt resistor 10, detects a motor current value supplied to the electric motor 3, and sends a motor current signal to the microcomputer 12.

  The microcomputer 12 is a computer that performs control processing based on a predetermined program. The microcomputer 12 includes a CPU 13, a ROM 14, a RAM 15, and an input / output circuit 16.

  The CPU 13 performs various calculation processes based on programs such as a motor rotation number calculation program 17, a motor control program 18, a current control program 19, and the like. The ROM 14 stores various programs executed by the CPU 13. The RAM 15 reads and writes data necessary for the CPU 13 during arithmetic processing.

  The input / output circuit 16 sends a unit rotation angle signal from the motor drive IC 7 to the CPU 13. The input / output circuit 16 sends the motor current signal from the current detection circuit 11 to the CPU 13. The input / output circuit 16 sends a command voltage signal from the CPU 13 to the motor drive IC 7.

  The ROM 14 stores programs such as a motor rotation number calculation program 17, a motor control program 18, a current control program 19 and the like, and predetermined information.

  The motor rotation number calculation program 17 is a program for calculating the motor rotation number of the electric motor 3 by counting unit rotation angle detection signals sent within a predetermined time. The motor rotation number calculation program 17 necessary for detecting the motor rotation number of the electric motor 3 and a portion related thereto (including the unit rotation angle detection circuit 8 and the CPU 13) constitute a rotation number detection unit.

  The motor control program 18 estimates the liquid temperature based on the motor rotational speed calculated by the motor rotational speed calculation program 17 and the motor current value detected by the current detection circuit 11, and is necessary at the estimated liquid temperature. This is a program for calculating a target value of a motor current for securing a hydraulic pressure.

  The current control program 19 is a program for controlling the motor current value detected by the current detection circuit 11 to be the target value calculated by the motor control program 18. When the current control program 19 is executed, the difference between the motor current value and the target value is calculated, the command voltage applied to the electric motor 3 is calculated using proportional control and integral control, and this command voltage signal is output. Note that the current control program 19 necessary for controlling the motor current value of the electric motor 3 and portions related thereto (including the FET circuit 6 and the CPU 13) constitute a current control unit. The current control program 19 includes a startup mode, a start mode, a convergence mode, a startup mode, and a stable mode. The operation of each mode of the current control program 19 will be described later.

  Next, the operation of the control device for the electric liquid pump according to the first embodiment will be described with reference to the drawings. FIGS. 3-7 is the flowchart figure which showed typically the action | operation of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. 3 relates to the start mode, FIG. 4 relates to the start mode, FIG. 5 relates to the convergence mode, FIG. 6 relates to the start-up mode, and FIG. 7 relates to the stable mode. FIG. 8 is a graph schematically showing changes over time in the motor current value, the target value, and the command voltage in the process of shifting from the startup mode to the stable mode of the control device for the electric liquid pump according to the first embodiment of the present invention. is there. FIG. 9 is a graph schematically showing changes over time of the motor current value, the target value, and the command voltage in the process of going through the start-up mode of the control device for the electric liquid pump according to the first embodiment of the present invention. FIG. 10 is a graph schematically showing changes over time in the motor current value, the target value, and the command voltage in the process of shifting from the convergence mode to the start-up mode of the control device for the electric liquid pump according to the first embodiment of the present invention. It is.

The start mode will be described. In the start mode, the motor rotational speed R calculated from the motor rotational speed calculation program 17 is monitored at a predetermined cycle (for example, 5 ms), so that the electric motor 3 is stopped (0 rpm) and the motor rotational speed R is Until the specified rotation speed R ₁ (for example, 300 rpm) is defined in advance, the command voltage at the time of start-up specified for the electric motor 3 (start-up command voltage; for example, about 8.4V, about 70% of 12V) ) Is applied (see FIG. 8). In the startup mode, a command voltage signal related to the startup command voltage is output from the CPU 13. The activation mode starts when, for example, the CPU 13 receives an activation signal when the ignition switch is turned on. When the motor rotation speed reaches a predetermined value after the start mode starts, the start mode ends and the start mode starts. Here, the startup command voltage is a voltage that is specified in advance and is a voltage that is necessary for the motor current to reliably exceed the initial target value (for example, 7 A).

An example of the operation in the start mode will be described with reference to FIG. First, the microcomputer 12 applies a startup command voltage to the electric motor 3 (step A1). Next, the microcomputer 12 detects the motor rotation speed R (step A2). Next, the microcomputer 12 determines whether or not the detected motor rotation speed R is stipulated rotational speed R ₁ or (step A3). If the motor rotation speed R is stipulated rotational speed R ₁ or (YES in step A3), the microcomputer 12 ends the start-up mode, starts the start mode. If the motor rotation speed R is not stipulated rotational speed R ₁ or (NO in step A3), the microcomputer 12 counts the number of times of detecting the motor rotation speed R from the start of the startup mode, the counted motor speed R It is determined whether or not the number of times of detection is equal to or greater than a predetermined number of times (for example, five times) defined in advance (step A4). If the number of detections of the motor rotation number R is equal to or greater than the specified number (YES in step A4), a malfunction such as a foreign matter being caught by the hydraulic pump 1 is considered, so the start mode is terminated. If the number of detections of the motor rotation number R is not equal to or greater than the specified number (NO in step A4), the process returns to step A2.

  The start mode will be described. In the start mode, after the start mode ends, the motor current value is monitored at a predetermined period (for example, 5 ms), so that the start is applied to the electric motor 3 to ensure that the motor current value exceeds the initial target value and is stabilized. In this mode, the hour command voltage is held for a predetermined time (for example, 100 ms) (see FIG. 8). In the start mode, a command voltage signal related to the startup command voltage is output from the CPU 13. The start mode starts when the motor rotation speed reaches a specified rotation speed (for example, 300 rpm). When the specified time elapses after the start mode starts, the start mode ends and the convergence mode starts.

  An example of the operation in the start mode will be described with reference to FIG. First, after the start mode ends, the microcomputer 12 starts the start mode and continuously applies the start command voltage to the electric motor 3 (step B1). Next, the microcomputer 12 detects the motor current value I (step B2). Next, the microcomputer 12 determines whether or not the detected motor current value I is larger than the initial target value (step B3). When larger than the initial target value (YES in step B3), the microcomputer 12 determines whether or not a specified time or more has elapsed since the start mode was started (step B4). If the specified time has elapsed (YES in step B4), the microcomputer 12 ends the start mode and starts the convergence mode. If the specified time has not elapsed (NO in step B4), the process returns to step B2. If it is equal to or smaller than the initial target value (NO in step B3), the microcomputer 12 determines whether or not a specified time has elapsed since the start mode was started (step B5). If the specified time has passed (YES in step B5), there is some problem, and the microcomputer 12 ends the start mode. If the specified time has not elapsed (NO in step B5), the process returns to step B2.

  The convergence mode will be described. The convergence mode is applied to the electric motor 3 so that the motor current value approaches the target value by monitoring the motor current value at a predetermined period (for example, 75 ms) after the start mode, the stable mode, or the start-up mode ends. In this mode, the command voltage is controlled (see FIGS. 8 to 10). In the convergence mode, the CPU 13 outputs a command voltage signal related to a command voltage that is controlled to gradually decrease (stepwise) or increase according to the difference between the motor current value and the target value. In the control of the command voltage, when the motor current value is higher than the target value (including the initial target value and the changed target value), control is performed so that the motor current value does not fall below the target value stability determination lower limit value. When the motor current value is lower than the target value (including the initial target value and the changed target value), control is performed so that the motor current value does not exceed the stability determination upper limit value of the target value. When the convergence mode starts after the start mode ends, the convergence mode starts after the motor current value is larger than the initial target value and a specified time has elapsed from the start of the start mode. Further, when the convergence mode starts after the end of the stable mode, the target value is changed in the stable mode, and the second target value after the change is equal to or lower than the target change lower limit value of the first target value before the change. Start when Further, when the convergence mode starts after the end of the stable mode, the target value is not changed in the stable mode and the motor current value is larger than the target value instability determination upper limit value for a specified time (for example, 100 ms). ) Start when you continue. Further, when the convergence mode starts after the end of the stable mode, the target value is not changed in the stable mode, and the state where the motor current value is smaller than the target value instability determination lower limit value is a specified time (for example, 100 ms). ) Start when you continue. Further, when the convergence mode is started after the start-up mode is finished, the convergence mode is started when the motor current value becomes larger than the target value. When the target value has changed since the start of the convergence mode, and the second target value after the change is greater than or equal to the target change upper limit value of the first target value before the change, the convergence mode ends and starts up The mode starts. In addition, the state in which the target value has not changed since the convergence mode has started and the motor current value is between the lower limit value of the target value and the upper limit value of the stability determination (within the stability determination range) is the specified time. When it continues for (for example, 300 ms) or more, the convergence mode ends and the stable mode starts. Note that the convergence mode continues when the target value has changed since the convergence mode started and the second target value after the change is equal to or less than the target change upper limit value of the first target value before the change.

  Here, referring to FIG. 10, the target change upper limit value is shifted from the convergence mode or the stable mode to the start-up mode when the second target value after the change is increased with respect to the first target value before the change. This is the upper limit value for judging. The target change lower limit value is a lower limit value for determining the transition from the stable mode to the convergence mode when the second target value after the change decreases with the first target value before the change as a reference. The instability determination upper limit value and the instability determination lower limit value are an upper limit value and a lower limit value for determining the transition from the stable mode to the convergence mode when the target value is not changed. The stability determination upper limit value and the stability determination lower limit value are an upper limit value and a lower limit value for determining the transition from the convergence mode to the stability mode when the target value is not changed. The upper limit value increases in the order of the stability determination upper limit value, the unstable determination upper limit value, and the target change upper limit value. About a lower limit, it becomes low in order of a stability judgment lower limit, an unstable judgment lower limit, and a target change lower limit.

  An example of the operation in the convergence mode will be described with reference to FIG. First, the microcomputer 12 starts the convergence mode after completion of the convergence mode, the stable mode, or the start-up mode, and detects the motor current value I (step C1). Next, the microcomputer 12 sets a command voltage to be applied to the electric motor 3 so that the motor current value I approaches the target value (the latest target value if the target value has changed since the convergence mode was started). Feedback control is performed (step C2). Next, the microcomputer 12 determines whether or not the state where the motor current value I is between the stability determination lower limit value of the target value and less than or equal to the stability determination upper limit value (within the stability determination range) continues for a specified time or longer ( Step C3). If the state within the stability determination range continues for a specified time or longer (YES in Step C3), the microcomputer 12 determines whether or not the target value has been changed after detecting the latest motor current value I (Step S3). C4). If there is no change in the target value (NO in step C4), the microcomputer 12 ends the convergence mode and starts the stable mode. If the state within the stability determination range does not continue for the specified time or longer (NO in step C3), the microcomputer 12 controls the command voltage for the latest target value, and then counts the number of detections of the motor current value I. Then, it is determined whether or not the counted number of times of detection of the motor current value I is equal to or greater than a predetermined number of times (for example, 10 times) (step C5). If the number of times the motor current value I is detected is equal to or greater than the specified number (YES in step C5), the convergence mode is terminated because some problem such as idling is considered. If the number of detections of the motor current value I is not equal to or greater than the specified number (NO in step C5), the process returns to step C1. If the target value has been changed (YES in step C4), the microcomputer 12 determines whether or not the motor current value I is equal to or greater than the changed second target value (step C6). If it is equal to or greater than the second target value (YES in step C6), the process returns to step C1. If it is not greater than or equal to the second target value (NO in step C6), the microcomputer 12 determines whether or not the second target value after the change is greater than or equal to the target change upper limit value of the first target value before the change (step C7). ). If it is not greater than or equal to the target change upper limit value of the first target value (NO in step C7), the process returns to step C1. When it is equal to or greater than the target change upper limit value of the first target value (YES in step C7), the convergence mode is terminated and the start-up mode is started.

  The startup mode will be described. In the start-up mode, after the convergence mode or the stable mode ends, the motor current value is monitored at a predetermined cycle (for example, 5 ms), so that the motor current value lower than the target value is a predetermined amount (safety amount) than the target value. In this mode, a predetermined command voltage at startup (command voltage at startup) is applied to the electric motor 3 so as to approach a higher value (see FIGS. 9 and 10). In the startup mode, a command voltage signal related to the startup command voltage is output from the CPU 13. Here, the startup command voltage is a voltage selected based on the map according to the first target value before the change and the second target value after the change, and the motor current value becomes the second target value. This is the minimum voltage necessary to reach a value obtained by adding a safe amount (for example, 0.05 A). As a result, the motor current value does not exceed a value obtained by adding a safe amount to the second target value, and the rotation sound of the electric motor can be made inconspicuous. The start-up mode is started when the target value has been changed when starting after the end of the stable mode or the convergence mode, and the second target value after the change is greater than or equal to the target change upper limit value of the first target value before the change. To do. When the motor current value exceeds the target value after the start-up mode starts, the start-up mode ends and the convergence mode starts. Note that when the target value has changed since the start-up mode started and the second target value after the change is equal to or greater than the target change upper limit value of the first target value before the change, the start-up mode continues.

  An example of the operation in the startup mode will be described with reference to FIG. First, the microcomputer 12 selects a startup command voltage according to the first target value before the change and the second target value after the change, and applies the startup command voltage to the electric motor 3 (step D1). Next, the microcomputer 12 detects the motor current value I (step D2). Next, the microcomputer 12 determines whether or not the detected motor current value I is larger than the latest target value (step D3). When larger than the target value (YES in step D3), the microcomputer 12 determines whether or not the target value has been changed after detecting the latest motor current value I (step D4). When there is no change in the target value (NO in step D4), the microcomputer 12 ends the start-up mode and starts the convergence mode. If it is equal to or smaller than the target value (NO in step D3), the microcomputer 12 counts the number of detections of the motor current value I after selecting the command voltage for the latest target value. It is determined whether or not a predetermined number of times (for example, 10 times) or more is set (step D5). If the number of times the motor current value I is detected is equal to or greater than the specified number (YES in step D5), the start-up mode is terminated because there is some problem. When the number of detections of the motor current value I is not equal to or greater than the specified number (NO in step D5), the process returns to step D1. If the target value has been changed (YES in step D4), the microcomputer 12 determines whether or not the motor current value I is equal to or greater than the second target value after the change (step D6). If it is equal to or greater than the second target value (YES in step D6), the microcomputer 12 ends the start-up mode and starts the convergence mode. If it is not greater than or equal to the second target value (NO in step D6), the microcomputer 12 determines whether or not the second target value after the change is greater than or equal to the target change upper limit value of the first target value before the change (step D7). ). If it is equal to or greater than the target change upper limit value of the first target value (YES in step D7), the process returns to step D1. If it is not equal to or higher than the target change upper limit value of the first target value (NO in step D7), the start-up mode is terminated and the convergence mode is started.

  The stable mode will be described. In the stable mode, after the convergence mode ends, the motor current value is monitored at a predetermined cycle (for example, 5 ms), so that a stable command voltage is applied to the electric motor 3 so that the motor current value does not pulsate (the command voltage is stabilized). Mode (fixed to the hour command voltage) (see FIGS. 8 to 10). In the stable mode, a command voltage signal related to the stable command voltage is output from the CPU 13. The stable command voltage is the command voltage when the motor current value is less than or equal to the target stability determination upper limit value and greater than or equal to the stability determination lower limit value in the convergence mode and a predetermined time (for example, 300 ms) has elapsed. is there. In the stable mode, there is no change in the target value in the convergence mode, and a state in which the motor current value is between the stability determination upper limit value of the target value and the stability determination lower limit value is exceeded for a predetermined time (for example, 300 ms). When to start. When the target value has changed since the start of the stable mode, and the second target value after the change is equal to or greater than the target change upper limit value of the first target value before the change, the stable mode is ended and the start-up mode Starts. When the target value has changed since the start of the stable mode and the second target value after the change is less than or equal to the target change lower limit value of the first target value before the change, the stable mode is terminated and the convergence mode is Start. The stable mode is terminated when the target value has not changed since the start of the stable mode and the motor current value is greater than the target value instability determination upper limit for a predetermined time (100 ms) or longer. Then, the convergence mode starts. Also, when the target value has not changed since the start of the stable mode and the motor current value is smaller than the target value instability determination lower limit value continues for a predetermined time (100 ms) or longer, the stable mode is ended. Then, the convergence mode starts.

  An example of the operation in the stable mode will be described with reference to FIG. First, after the convergence mode ends, the microcomputer 12 starts the stable mode, and applies a stable command voltage to the electric motor 3 (step E1). Next, the microcomputer 12 determines whether or not the target value has been changed after starting the stable mode (step E2). If the target value is not changed (NO in step E2), the microcomputer 12 detects the motor current value I (step E3). Next, the microcomputer 12 determines whether or not the motor current value I is between the target value instability determination lower limit value and the instability determination upper limit value (within the instability determination range) (step E4). If it is within the instability determination range (YES in step E4), the process returns to step E2. If it is not within the instability determination range (NO in step E4), the microcomputer 12 determines whether or not a state outside the instability determination range has continued for a specified time (step E5). If it continues for the specified time or longer (YES in step E5), the microcomputer 12 ends the stable mode and starts the convergence mode. If it does not continue for the specified time (NO in step E5), the process returns to step E2. When the target value has been changed (YES in step E2), the microcomputer 12 determines whether or not the second target value after the change is equal to or greater than the target change upper limit value of the first target value before the change (step). E6). If it is equal to or greater than the target change upper limit value of the first target value (YES in step E6), the microcomputer 12 ends the stable mode and starts the start-up mode. If it is not equal to or higher than the target change upper limit value of the first target value (NO in step E6), the microcomputer 12 determines whether or not the changed second target value is equal to or lower than the target change lower limit value of the first target value before change. Determine (step E7). When it is below the target change lower limit value of the first target value (YES in Step E7), the microcomputer 12 ends the stable mode and starts the convergence mode. If it is not less than or equal to the target change lower limit value of the first target value (NO in step E7), the process proceeds to step E3.

  According to the first embodiment, even when idling is stopped, the rotational sound of the electric motor 3 of the electric liquid pump becomes inconspicuous, and the driver is not uncomfortable. Further, when the electric liquid pump is started from a stopped state, the overshoot of the motor current value of the electric motor 3 is suppressed, and the motor current value can be efficiently reached the target value in relation to the power consumption of the electric motor 3. Can do. In addition, since the motor current value can be converged to the target value so that it does not undershoot after the motor current value overshoots, the responsiveness of the motor current value is improved and the occurrence of shift shock of the automatic transmission due to the undershoot Can do. Even when the power supply voltage of the battery drops, the instruction voltage is corrected so that the engagement force of the friction engagement element in the automatic transmission can be satisfied, and the generation of friction noise due to insufficient engagement force is prevented. can do.

  In the above embodiment, a sensorless three-phase brushless DC motor is used as the electric motor. However, the present invention is not limited to this, and a two-phase brushless DC motor, a direct current motor, or the like may be used. It is preferable to add a rotation speed detection device that detects the motor current and a current detection device that detects the motor current.

It is the block diagram which showed typically the structure of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the duty control of the FET circuit in the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the action | operation in the starting mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the action at the time of the start mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the action | operation at the time of the convergence mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the action | operation in the starting mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the flowchart figure which showed typically the action | operation at the time of the stable mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention. It is the graph which showed typically the time-dependent change of the motor electric current value in the process which transfers to the stable mode from the starting mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention, a target value. It is the graph which showed typically the time-dependent change of the motor electric current value in the process which goes through the starting mode of the control apparatus of the electrically-driven liquid pump which concerns on Embodiment 1 of this invention, a target value, and an instruction | indication voltage. It is the graph which showed typically the time-dependent change of the motor electric current value in the process which transfers to the starting mode from the convergence mode of the control apparatus of the electric liquid pump which concerns on Embodiment 1 of this invention, a target value.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hydraulic pump 2 Hydraulic circuit 3 Electric motor 4 Battery 5 Motor drive circuit 6 FET circuit 7 Motor drive IC
8 Unit rotation angle detection circuit 9 Voltage detection circuit 10 Shunt resistor 11 Current detection circuit (current detection unit)
12 Microcomputer 13 CPU
14 ROM
15 RAM
16 I / O circuit 17 Motor rotation speed calculation program 18 Motor control program 19 Current control program 20 Controller

Claims (4)

In the control method of the electric liquid pump for supplying the liquid of the required hydraulic pressure from the liquid pump driven by the electric motor to the hydraulic circuit,
A first step of applying a start-time command voltage specified in advance to the electric motor to the electric motor and holding the voltage for a predetermined time ;
A second step of performing feedback control so that a current motor current value approaches a target current value with respect to a voltage applied to the electric motor;
A third step of applying a stable command voltage to the electric motor when the current motor current value is within a stability determination range of the target value for a predetermined time or longer; and
An electric liquid pump control method comprising: In a control device for an electric liquid pump that supplies liquid of a necessary hydraulic pressure from a liquid pump driven by an electric motor to a hydraulic circuit,
A control unit for controlling a voltage applied to the electric motor;
The control unit applies a startup command voltage specified in advance to the electric motor when the electric motor starts up, and holds the voltage for a specified time for a predetermined time ,
After holding the voltage for the specified time, feedback control is started so that the current motor current value approaches the target current value for the voltage applied to the electric motor,
A control device for an electric liquid pump, wherein a stable command voltage is applied to the electric motor when a current motor current value is within a target value stability determination range for a predetermined time or longer . A current detector for detecting a motor current value of the electric motor;
A rotational speed detection unit for detecting the rotational speed of the electric motor;
With
3. The control device for an electric liquid pump according to claim 2 , wherein the control unit determines a startup command voltage based on the detected current value of the motor current and the number of rotations of the motor. An electric liquid pump comprising the control device according to claim 2 .

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