JP4971040B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

Conventionally, for example, first and second rotors provided concentrically around a rotating shaft of an electric motor are provided, and the first and second rotors are provided in accordance with the rotational speed of the electric motor or the rotational magnetic field generated in the stator. There is known a permanent magnet rotary electric motor that controls the relative position of the second rotor in the circumferential direction, that is, the phase difference (see, for example, Patent Document 1).
Conventionally, for example, a motor that includes a first permanent magnetic pole piece and a second permanent magnetic pole piece that can change the phase position of each other by servo pressure and that can change the amount of field magnetic flux is known (for example, Patent Documents). 2).
JP 2002-204541 A JP-A-55-153300

By the way, in the motor according to the above prior art, the relative phase is set when an abnormality occurs in which the phase position related to the relative phase is locked regardless of the change request for the relative phase due to, for example, biting in the mechanical element. If the phase control to be changed is continuously executed, a sudden phase change may occur when this locked state is released at an appropriate timing, and the motor behavior may fluctuate rapidly.
On the other hand, for example, if execution of phase control is prohibited, the phase position cannot be grasped, the motor output possible range corresponding to the phase position cannot be grasped, and controllable output is possible. There is a problem that the range is excessively reduced and a desired output cannot be secured.
The present invention has been made in view of the above circumstances, and provides a motor control device capable of appropriately controlling the output of a motor even when an abnormality occurs in which the phase position is locked. Objective.

  In order to solve the above-described problems and achieve the object, the motor control device according to the first aspect of the present invention includes a plurality of rotors that can change relative phases of each other (for example, the outer circumferential rotor in the embodiment). 5 and an inner circumferential rotor 6), and a motor control device comprising phase changing means (for example, phase changing means 12 in the embodiment) for changing the relative phase by the fluid pressure of the working fluid. The phase changing means includes an actuator (for example, the rotation mechanism 11 and the hydraulic control device 13 in the embodiment) that controls the fluid pressure in response to a change request for the relative phase, and the actuator is locked. A lock state detection means (for example, step S01 to step S08 in the embodiment) for detecting the phase and a phase corresponding to the lock state in the lock state of the actuator Current control means (for example, the motor control unit 40 in the embodiment) that executes current control according to the position, and fluid pressure control that holds the phase position corresponding to the locked state in the locked state of the actuator Fluid pressure control means (for example, phase lock failure control unit 66 in the embodiment).

  Furthermore, in the motor control device according to the second aspect of the present invention, the lock state detection means is configured to lock the actuator when the deviation between the phase command value related to the relative phase and the actual phase value is equal to or greater than a predetermined value. It detects that it is.

  In addition, the motor control device according to the third aspect of the present invention is a lock release control means (for example, step S21 to step S34 in the embodiment) that causes the actuator to reciprocate when the motor is stopped in the locked state of the actuator. ).

  According to the motor control device of the first aspect, by performing current control according to the phase position corresponding to the locked state in the locked state of the actuator, it is possible to prevent the behavior of the motor from fluctuating rapidly. Can do. In addition, by performing fluid pressure control that maintains the phase position corresponding to the locked state in the locked state of the actuator, it is possible to prevent a sudden phase change from occurring when the locked state is released at an appropriate timing. Can do.

  Further, according to the motor control device of the second aspect, when the deviation between the phase command value related to the relative phase and the actual phase value (for example, the detected value or the estimated value with respect to the phase position) is equal to or larger than the predetermined value, that is, the phase By detecting that the actuator is in a locked state when an actual phase value having a deviation of a predetermined value or more with respect to the command value is in a locked state, an appropriate response can be executed.

  Further, according to the motor control device of the third aspect, the locked state can be released while preventing the behavior of the motor from fluctuating by causing the actuator to reciprocate when the motor is stopped.

Embodiments of a motor control device according to the present invention will be described below with reference to the accompanying drawings.
The motor control device according to this embodiment is mounted as a control device in a vehicle such as a hybrid vehicle or an electric vehicle including a motor as a travel drive source. Specifically, as shown in FIG. 1, a vehicle 100 equipped with a motor control device 100a (hereinafter simply referred to as a control device 100a) is a parallel hybrid vehicle equipped with a motor 1 and an internal combustion engine E as drive sources. The motor 1, the internal combustion engine E, and the transmission T / M are directly connected in series, and at least the driving force of the motor 1 or the internal combustion engine E is applied to the driving wheels W of the vehicle 100 via the clutch C and the transmission T / M. It is to be transmitted.

When the driving force is transmitted from the driving wheel W side to the motor 1 during deceleration of the vehicle 100, the motor 1 functions as a generator to generate a so-called regenerative braking force and convert the kinetic energy of the vehicle body into electric energy ( Recovered as regenerative energy). Also, when the output of the internal combustion engine E is transmitted to the motor 1, the motor 1 functions as a generator and generates power generation energy.
Here, the vehicle 100 provided with the control device 100a is provided with various sensors such as an accelerator pedal opening sensor (not shown), a brake pedal switch sensor (not shown), a wheel speed sensor NW, a liquid temperature sensor To, and the like. The control device 100a outputs control commands to the control systems of the internal combustion engine E, the motor 1, the clutch C, and the transmission T / M based on the detection results of these various sensors.

As shown in FIGS. 2 to 5, for example, the motor 1 is an inner rotor type brushless motor in which a rotor unit 3 is disposed on the inner peripheral side of an annular stator 2.
The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. The rotational force of the motor 1 is transmitted to the drive wheels W via the clutch C and the transmission T / M.

  The rotor unit 3 includes, for example, an annular outer circumferential rotor 5 and an annular inner circumferential rotor 6 disposed coaxially inside the outer circumferential rotor 5. The circumferential rotor 6 is relatively rotatable within a predetermined set angle range.

  The outer circumferential rotor 5 and the inner circumferential rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, which are the main bodies of the rotors, being biased toward the outer circumferential side of the rotor cores 7 and 8. In this position, a plurality of magnet mounting slots 7a and 8a are formed at equal intervals in the circumferential direction. In each of the magnet mounting slots 7a and 8a, two flat plate-like permanent magnets 9 and 9 magnetized in the thickness direction are mounted in parallel. Two permanent magnets 9, 9 mounted in the same magnet mounting slot 7a, 8a are magnetized in the same direction, and a pair of permanent magnets 9 mounted in each adjacent magnet mounting slot 7a, 7a and 8a, 8a. The magnetic poles are set so that the directions of the magnetic poles are opposite to each other. That is, in each of the rotors 5 and 6, a pair of permanent magnets 9 whose outer peripheral side is an N pole and a pair of permanent magnets 9 that are an S pole are alternately arranged in the circumferential direction. Note that the flow of magnetic flux of the permanent magnet 9 is controlled between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6 (for example, suppression of magnetic path short-circuiting, etc.) ) Is formed along the axial direction of the rotors 5 and 6.

  The same number of magnet mounting slots 7a, 8a of the outer rotor 5 and inner rotor 6 are provided, and the permanent magnets 9,..., 9 of the rotors 5, 6 correspond to each other on a one-to-one basis. ing. Therefore, by making the pair of permanent magnets 9 in each of the magnet mounting slots 7a and 8a of the outer peripheral rotor 5 and the inner peripheral rotor 6 face each other with the same polarity (with different polar arrangement), the rotor unit 3 is capable of obtaining a field-weakening state (see, for example, FIG. 5 and FIG. 6B) in which the entire field is weakened, and mounting the outer rotor 5 and inner rotor 6 with magnets. The pair of permanent magnets 9 in the slots 7a and 8a are opposed to each other with different polarities (with the same polarity), so that the field of the entire rotor unit 3 is strengthened most strongly (for example, FIG. 3, FIG. 6 (a)) can be obtained.

The rotor unit 3 includes a rotation mechanism 11 for relatively rotating the outer peripheral rotor 5 and the inner peripheral rotor 6. The rotating mechanism 11 constitutes a part of phase changing means 12 for arbitrarily changing the relative phase of the rotors 5 and 6, and is a working fluid (for example, an incompressible working fluid) It may be operated by the pressure of transmission T / M lubricating oil, engine oil or the like.
For example, as shown in FIG. 7, the phase changing unit 12 includes a rotation mechanism 11 and a hydraulic control device 13 that controls the pressure of the hydraulic fluid supplied to the rotation mechanism 11 as main elements. Yes.

  As shown in FIGS. 2 to 5, for example, the rotating mechanism 11 is disposed on the outer periphery of the vane rotor 14 so as to be relatively rotatable on the outer periphery of the vane rotor 14. And the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner circumferential rotor 6, and the vane rotor 14 is disposed on both sides of the annular housing 15 and the inner circumferential rotor 6. It is integrally coupled to the outer circumferential rotor 5 via a pair of disk-shaped drive plates 16, 16 straddling the end portions. Therefore, the vane rotor 14 is integrated with the rotary shaft 4 and the outer peripheral rotor 5, and the annular housing 15 is integrated with the inner peripheral rotor 6.

In the vane rotor 14, a plurality of blade portions 18 projecting radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 17 that is spline-fitted to the rotary shaft 4. On the other hand, the annular housing 15 is provided with a plurality of concave portions 19 on the inner peripheral surface at equal intervals in the circumferential direction, and the corresponding blade portions 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 includes a bottom wall 20 having an arcuate surface that substantially matches the rotational trajectory of the tip of the blade portion 18 and a protrusion 21 having a substantially triangular cross-sectional shape that separates the adjacent recesses 19 and 19 from each other. Thus, when the vane rotor 14 and the annular housing 15 are rotated relative to each other, the blade portion 18 can be displaced between the adjacent one protruding portion 21 and the other protruding portion 21.
In this embodiment, the projecting portion 21 also functions as a regulating member that regulates the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the blade portion 18. A seal member 22 is provided along the axial direction at the tip of each blade 18 and the tip of the protrusion 21, and the blade 18 and the bottom wall 20 of the recess 19 protrude from these seal members 22. The space between the outer peripheral surface of the portion 21 and the boss portion 17 is liquid-tightly sealed.

  Further, the base portion 15a of the annular housing 15 fixed to the inner peripheral rotor 6 is formed in a cylindrical shape having a constant thickness, and for example, as shown in FIG. On the other hand, it protrudes outward in the axial direction. Each end projecting outward of the base portion 15a is slidably held in an annular guide groove 16a formed in the drive plate 16, and the annular housing 15 and the inner peripheral rotor 6 are connected to the outer peripheral rotor. 5 and the rotating shaft 4 are supported in a floating state.

The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part is the introduction space 23 into which a hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by corresponding vane portions 18 of the vane rotor 14, one chamber being an advance side working chamber 24 and the other chamber being a retard side working chamber 25. .
The advance side working chamber 24 rotates the inner circumferential side rotor 6 relative to the outer circumferential side rotor 5 in the advance direction by the pressure of the working fluid introduced inside, and the retard side working chamber 25 is The inner rotor 6 is rotated relative to the outer rotor 5 in the retard direction by the pressure of the working fluid introduced therein. In this case, “advance angle” means that the inner rotor 6 is advanced in the rotation direction of the motor 1 indicated by the arrow R in FIGS. 3 and 5 with respect to the outer rotor 5. The term “angle” refers to advancing the inner rotor 6 to the opposite side of the rotation direction R of the motor 1 with respect to the outer rotor 5.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 24 and the retard side working chambers 25 is performed through the rotating shaft 4. Specifically, the advance side working chamber 24 is connected to, for example, the advance side supply / discharge passage 26 of the hydraulic control device 13 shown in FIG. 7, and the retard side working chamber 25 is connected to the retard side of the hydraulic control device 13. It is connected to the supply / discharge passage 27. Furthermore, a part of the advance side supply / exhaust passage 26 and the retard side supply / exhaust passage 27 are constituted by passage holes 26a and 27a formed along the axial direction of the rotary shaft 4 as shown in FIG. Has been. The end portions of the passage holes 26a and 27a are respectively connected to an annular groove 26b and an annular groove 27b formed at two positions offset in the axial direction of the outer peripheral surface of the rotary shaft 4, and the respective annular grooves 26b and 27b. Are connected to a plurality of conduction holes 26c, ..., 26c, 27c, ..., 27c formed in the boss portion 17 of the vane rotor 14 along the substantially radial direction. Each conduction hole 26c of the advance side supply / discharge passage 26 connects the annular groove 26b and each advance side working chamber 24, and each conduction hole 27c of the retard side supply / exhaust passage 27 connects to the annular groove 27b and each retard side. The working chamber 25 is connected.

In the motor 1 of this embodiment, when the inner rotor 6 is at the most retarded position with respect to the outer rotor 5, the permanent magnets 9 of the outer rotor 5 and the inner rotor 6 are When the different poles face each other and are in a strong field state (see, for example, FIG. 3 and FIG. 6A) and the inner circumferential rotor 6 is at the most advanced angle position with respect to the outer circumferential rotor 5 In addition, the permanent magnets 9 of the outer circumferential rotor 5 and the inner circumferential rotor 6 are set so as to face each other with the same poles and to have a field weakening state (see, for example, FIGS. 5 and 6B). ing.
The motor 1 can arbitrarily change the state of the strong field and the state of the weak field by controlling the supply and discharge of the hydraulic fluid to the advance side working chamber 24 and the retard side working chamber 25. When the strength of the magnetic field is changed in this way, the induced voltage constant Ke changes accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant Ke increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases, and conversely, the induced voltage constant Ke decreases due to the weak field. Then, although the maximum torque that can be output by the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

For example, as shown in FIG. 7, the hydraulic control device 13 includes an electric oil pump (EOP) 32 that sucks up hydraulic fluid from an oil tank (not shown) and discharges the hydraulic fluid into a passage, and the hydraulic fluid discharged from the oil pump 32. Is adjusted and introduced into the high-pressure line passage 33, and the surplus hydraulic fluid is discharged to the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid introduced into the line passage 33 Is switched to the advance-angle side supply / discharge passage 26 and the retard-angle side supply / discharge passage 27, and the flow path is switched to discharge unnecessary hydraulic fluid to the drain passage 36 through the advance-angle supply / discharge passage 26 and the retard-side supply / discharge passage 27. And a valve 37.
The regulator valve 35 receives the pressure of the line passage 33 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 38.
Further, the flow path switching valve 37 has an electromagnetic solenoid 37b for moving the control spool 37a forward and backward, and the electromagnetic solenoid 37b is controlled by the control device 100a.

  As shown in FIG. 1, for example, the control device 100 a includes a motor control unit 40, a PDU (power drive unit) 41, and a battery 42.

The PDU 41 includes, for example, a PWM inverter that performs pulse width modulation (PWM) using a bridge circuit in which transistor switching elements are bridge-connected, and is connected to a high-voltage battery 42 that exchanges electric energy with the motor 1. .
The PWM inverter forms a pair for each phase in the PWM inverter based on a gate signal (that is, a pulse width modulation signal) that is a switching command input from the motor control unit 40 when the motor 1 is driven, for example. By switching the on / off (cutoff) state of each transistor, the DC power supplied from the battery 42 is converted into three-phase AC power, and the energization to the stator winding 2a of the motor 1 is sequentially commutated. As a result, AC U-phase current Iu, V-phase current Iv and W-phase current Iw are applied to the stator winding 2a of each phase.

  For example, as shown in FIG. 1, the motor control unit 40 performs feedback control of current on the dq coordinates forming the rotation orthogonal coordinates. For example, an accelerator pedal opening that detects the accelerator opening degree related to the accelerator operation of the driver is performed. The d-axis target current Idc and the q-axis target current Iqc are calculated based on the torque command value Tq calculated based on the detection result of the degree sensor, and each phase output voltage is calculated based on the d-axis target current Idc and the q-axis target current Iqc. Vu, Vv, and Vw are calculated, and a PWM signal that is a gate signal is input to the PDU 41 according to each phase output voltage Vu, Vv, and Vw, and each phase current Iu, Iv that is actually supplied from the PDU 41 to the motor 1 , Iw, the d-axis current Id and the q-axis current Iq obtained by converting the two phase currents into currents on the dq coordinate, the d-axis target current Idc, and the q-axis target current Iqc. Each deviation is controlled to be zero.

  The motor control unit 40 includes, for example, a target current setting unit 51, a current deviation calculation unit 52, a field control unit 53, a power control unit 54, a current control unit 55, a dq-3 phase conversion unit 56, and a PWM. Signal generator 57, filter processor 58, three-phase-dq converter 59, rotation speed calculator 60, induced voltage constant calculator 62, induced voltage constant command output unit 63, and induced voltage constant difference calculation A unit 64, a phase control unit 65, and a phase lock failure control unit 66 are provided.

  The motor control unit 40 includes current sensors that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. 81, 81, the detection signals Ius, Iws output from the voltage sensor 82 for detecting the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor of the motor 1 (that is, From a rotation sensor 83 that detects the rotation angle of the magnetic poles of the rotor unit 3 from a predetermined reference rotation position, for example, the rotation angle of the outer rotor 5 that rotates integrally with the rotation shaft 4 detected by a resolver or the like. Calculation based on the output detection signal and the phase position θ related to the relative phase between the inner rotor 6 and the outer rotor 5 (for example, the rotation angle of the inner rotor 6 detected by a resolver or the like) Detection signals output from a phase position sensor 84 that detects the relative phase of the inner rotor 6 relative to the outer rotor 5 and the rotation speed (wheel speed) of each wheel of the vehicle 100. The detection signal output from the wheel speed sensor NW and the detection signal output from the liquid temperature sensor To that detects the temperature (for example, oil temperature) of the hydraulic fluid of the rotation mechanism 11 are input.

  The target current setting unit 51 is required according to the output of an accelerator pedal opening sensor that detects, for example, a torque command Tq (for example, a depression operation amount of the accelerator pedal AP by the driver) input from an external control device (not shown). Each phase current Iu, Iv supplied from the PDU 41 to the motor 1 on the basis of the command value for causing the motor 1 to generate torque to be generated) and the rotation speed NM of the motor 1 input from the rotation speed calculation unit 60. , Iw is calculated, and the current command is output to the current deviation calculation unit 52 as the d-axis target current Idc and the q-axis target current Iqc on the rotating orthogonal coordinates.

  The dq coordinate forming the rotation orthogonal coordinate is, for example, a field magnetic flux direction by the permanent magnet 9 of the outer rotor 5 of the rotor unit 3 as a d axis (field axis), and a direction orthogonal to the d axis is q. The shaft (torque shaft) is rotated in synchronization with the rotational phase of the rotor unit 3 of the motor 1. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 controls the current phase so that the field amount of the rotor unit 3 is equivalently weakened in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 1, for example. The target value for the field weakening current of the field control is output to the d-axis current deviation calculation unit 52a as the d-axis correction current.
The power control unit 54 also outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52b according to appropriate power control according to the remaining capacity of the battery 42, for example. .

  The current control unit 55 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotation speed NM of the motor 1, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 56 uses the rotation angle θM of the rotor unit 3 input from the rotation speed calculation unit 60 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate, The voltage is converted into a U-phase output voltage Vu, a V-phase output voltage Vv, and a W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates that are stationary coordinates.

  The PWM signal generator 57 turns on each switching element of the PWM inverter of the PDU 41 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 58 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the respective phase currents detected by the respective current sensors 81 and 81 to obtain the respective phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq conversion unit 59 uses the phase currents Iu and Iw extracted by the filter processing unit 58 and the rotation angle θM of the rotor unit 3 input from the rotation number calculation unit 60 to rotate the rotation phase of the motor 1. The d-axis current Id and the q-axis current Iq on the rotation coordinates by dq, that is, the dq coordinates are calculated.

The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the motor 1 from the detection signal output from the rotation sensor 83, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.
The induced voltage constant calculator 62 calculates an induced voltage constant Ke corresponding to the relative phase between the inner circumferential rotor 6 and the outer circumferential rotor 5 based on the phase position θ output from the phase position sensor 84.

  The induced voltage constant command output unit 63 outputs a command value (induced voltage constant command) Kec for the induced voltage constant Ke of the motor 1 based on, for example, the torque command Tq, the rotation speed NM of the motor 1, and the power supply voltage VB. .

  The induced voltage constant difference calculation unit 64 subtracts the induced voltage constant Ke output from the induced voltage constant calculation unit 62 from the induced voltage constant command value Kec output from the induced voltage constant command output unit 63. A constant difference ΔKe is output.

For example, the phase control unit 65 controls the relative phase in accordance with the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64 so that the induced voltage constant difference ΔKe is zero. θc is output.
Further, the phase control unit 65 stops the output of the control command θc according to the induced voltage constant difference ΔKe when the control signal at the time of lock failure is input from the phase lock failure control unit 66 described later, and at this time As the phase command for maintaining the phase position θ at the angle, the ADV phase command on the advance side and the RTD phase command on the retard side, for example, for the advance side working chamber 24 and the retard side working chamber 25 of the hydraulic control device 13 ADV hydraulic pressure command and RTD hydraulic pressure command for hydraulic fluid supply / discharge control are output.
Further, when a lock failure release trial command is input from a phase lock failure control unit 66 described later, the phase control unit 65 advances an ADV phase command on the advance side (for example, an ADV hydraulic command to the hydraulic control device 13). And the retarded-side RTD phase command (for example, the RTD hydraulic pressure command for the hydraulic pressure control device 13) are alternately output to cause the rotation mechanism 11 to reciprocate.

  The phase lock / fail control unit 66, for example, based on the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64, whether or not there is a phase lock failure in which the phase position θ is locked regardless of a change request for the relative phase. Determine. When a phase lock failure occurs, a lock failure time control command that instructs to hold the phase position θ at this time is output. Further, when a phase lock failure occurs, a lock failure release trial control command for instructing execution of lock state release control is output based on the speed of the vehicle 100, for example.

The motor control apparatus (that is, the control apparatus 100a) according to this embodiment has the above-described configuration. Next, the operation of the control apparatus 100a, particularly the control process when a phase lock failure occurs will be described.
The phase lock determination process will be described below.
First, for example, in step S01 shown in FIG. 8, it is determined whether or not the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64 is larger than a predetermined determination threshold value α.
If this determination is “YES”, the flow proceeds to step S 04 described later.
On the other hand, if the determination result is “NO”, that is, if the induced voltage constant difference ΔKe fluctuates below a predetermined determination threshold α according to the fluctuation of the phase position θ, the process proceeds to step S02.
In step S02, “0” is set to the flag value of the timer operation flag TFF.
Then, in step S03, “0” is set to the flag value of the lock fail flag indicating that the phase position θ is in the locked state regardless of the change request for the relative phase, and the series of processes is ended.

In step S04, it is determined whether or not the flag value of the timer operation flag TFF is “1”.
If this determination is “YES”, the flow proceeds to step S 07 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 05.
In step S05, a predetermined value (for example, 10 seconds) is set as the timer value of determination timer TF, which is a subtraction timer.
In step S06, the flag value of the timer operation flag TFF is set to “1”, and the series of processes is terminated.
In step S07, it is determined whether or not the timer value of the determination timer TF is zero.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination result is “YES”, the process proceeds to step S08, in which the flag value of the lock fail flag is set to “1”, and the series of processes ends.

In the following, a description will be given of the control process during phase lock failure when the phase position θ is in the locked state.
First, for example, in step S11 shown in FIG. 9, it is determined whether or not the lock fail flag is “1”.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S12.
Next, in step S12, the phase position θ at this point is set to the current phase NP.

In step S13, for example, as shown in FIG. 10, ADV is obtained by map search for a predetermined map indicating a predetermined correspondence between the current phase NP and the ADV balanced hydraulic pressure PADV with respect to the advance side working chamber 24 of the hydraulic control device 13. The balance hydraulic pressure PADV is calculated.
In step S14, for example, as shown in FIG. 10, RTD is performed by map search for a predetermined map indicating a predetermined correspondence relationship between the current phase NP and the RTD balancing hydraulic pressure PRTD for the retarded-side working chamber 25 of the hydraulic control device 13. The balance hydraulic pressure PRTD is calculated.
For example, in the predetermined map shown in FIG. 10, the current phase NP is set to a predetermined value corresponding to the change of the relative torque between the outer circumferential rotor 5 and the inner circumferential rotor 6 with the change of the current phase NP. Each balancing oil pressure is set to increase as the counter pressure fluctuates, and the balancing oil pressure is set to decrease as the current phase NP fluctuates away from a predetermined value. Further, due to the rotational torque of the motor 1, the ADV balancing hydraulic pressure PADV corresponding to the current phase NP is set to a value larger than the RTD balancing hydraulic pressure PRTD.

In step S15, as the phase command for maintaining the current phase NP, the ADV balanced hydraulic pressure PADV is set in the ADV phase command on the advance side, for example, the ADV hydraulic pressure command for the hydraulic control device 13.
In step S16, as the phase command for maintaining the current phase NP, the retarded RTD phase command, for example, the RTD hydraulic command for the hydraulic control device 13 is set to the RTD and the hydraulic pressure PRTD is set. finish.

  As a result, in the locked state of the phase position θ, the ADV hydraulic pressure command and the RTD hydraulic pressure command for holding the phase position θ corresponding to the locked state are output. Therefore, the induction according to the phase position θ corresponding to the locked state is output. The voltage constant Ke is input from the induced voltage constant calculation unit 62 to the target current setting unit 51. Then, current control according to the phase position θ corresponding to this locked state is executed.

Below, the process of lock failure cancellation trial control is demonstrated.
First, for example, in step S21 shown in FIG. 11, it is determined whether or not the lock fail flag is “1”.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S22.
In step S22, the vehicle speed (vehicle speed) VN at this time is acquired.
In step S23, it is determined whether or not the vehicle speed VP is greater than zero.
If this determination is “YES”, the flow proceeds to step S 24, and in this step S 24, the above-described control process at the time of lock failure is executed, and the series of processes is ended.
On the other hand, if this determination is “NO”, that is, if the motor 1 is stopped or the vehicle speed VP is zero, the routine proceeds to step S25.

In step S25, a predetermined value γ0 (for example, 6 seconds) is set as the timer value of the cancellation trial mode timer KMT that is a subtraction timer.
In step S26, "1" is set to the flag value of the release trial mode flag that instructs to release the locked state by reciprocating the rotation mechanism 11.
In step S27, it is determined whether or not the timer value of the cancellation trial mode timer KMT is zero.
If this determination is “NO”, the flow proceeds to step S 29 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S28.
In step S28, the flag value of the release trial mode flag is set to “0”, and the series of processing ends.

In step S29, it is determined whether or not the timer value of the cancellation trial mode timer KMT is equal to or smaller than a predetermined value γ1 (for example, 2 seconds) smaller than the predetermined value γ0.
If this determination is “NO”, the flow proceeds to step S 31 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S30.
In step S30, the most advanced angle pressure command ADVmax (that is, the maximum pressure on the advanced angle side) corresponding to the most advanced angle state is set in the control command θc (for example, the pressure command) for controlling the relative phase. Then, the process proceeds to step S34 described later.

In step S31, it is determined whether or not the timer value of the cancellation trial mode timer KMT is equal to or smaller than a predetermined value γ2 (for example, 4 seconds) that is smaller than the predetermined value γ0 and larger than the predetermined value γ1.
If this determination is “NO”, the flow proceeds to step S 33 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S32.
In step S32, the most retarded pressure command RTDmax (that is, the retarded-side maximum pressure) corresponding to the most retarded state is set in the control command θc (for example, the pressure command) for controlling the relative phase. Then, the process proceeds to step S34 described later.
In step S33, the most advanced angle pressure command ADVmax corresponding to the most advanced angle state is set in the control command θc (for example, pressure command) for controlling the relative phase, and the process proceeds to step S34.
In step S34, a value (KMT-1) obtained by subtracting 1 from the timer value KMT of the release trial mode timer KMT at this time is newly set as the timer value of the release trial mode timer KMT. It returns to step S27 mentioned above.

  Thereby, the locked state of the phase position θ can be released by alternately applying the maximum hydraulic pressure to the advance side working chamber 24 and the retard side working chamber 25 of the hydraulic control device 13.

As described above, according to the motor control device according to this embodiment, the phase position θ is in the locked state regardless of the change request for the relative phase due to, for example, mechanical engagement in the rotation mechanism 11 or the like. Even when this occurs, the ADV hydraulic pressure command and the RTD hydraulic pressure command that maintain the phase position θ corresponding to the locked state are output, so that when the locked state is released at an appropriate timing, the It is possible to prevent a phase change from occurring.
Moreover, in the locked state of the phase position θ, current control according to the phase position θ corresponding to this locked state is executed, so that it is possible to prevent the behavior of the motor 1 from changing rapidly.
Further, in the locked state of the phase position θ, the locked state can be released while preventing the traveling behavior of the vehicle from fluctuating by reciprocating the rotation mechanism 11 when the motor 1 is stopped.

  The present invention is not limited to the above-described embodiment, and may be applied to, for example, an electric vehicle other than a hybrid vehicle, and is not limited to being applied to a vehicle, but is mounted on an appropriate device. You may apply to a motor.

1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is principal part sectional drawing of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded angle position of the motor which concerns on embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most advanced angle position of the motor which concerns on embodiment of this invention. The figure (a) which shows typically the strong field state in which the permanent magnet of the inner peripheral side rotor and the permanent magnet of the outer peripheral side rotor of the motor which concern on embodiment of this invention are arrange | positioned with the same polarity, It is the figure which described collectively the figure (b) which shows typically the field-weakening state by which the permanent magnet of the side rotor and the permanent magnet of the outer peripheral side rotor were arrange | positioned differently. It is a block diagram of the hydraulic control apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process of the relative lock judgment which concerns on embodiment of this invention. It is a flowchart which shows the process of the phase lock failure time control which concerns on embodiment of this invention. It is a graph which shows an example of the correspondence of current phase NP and balance oil pressure concerning an embodiment of the invention. It is a flowchart which shows the process of the lock failure cancellation | release trial control which concerns on embodiment of this invention.

Explanation of symbols

1 Motor 5 Outer rotor (rotor)
6 Inner rotor (rotor)
11 Rotating mechanism (actuator)
12 Phase change means 13 Hydraulic control device (actuator)
40 Motor controller (current control means)
Step S01 to Step S08 Lock state detection means Step S21 to Step S34 Unlock control means

Claims (3)

A motor including a plurality of rotors capable of changing relative phases of each other;
A phase change means for changing the relative phase by the fluid pressure of the working fluid,
The phase change means includes an actuator that controls the fluid pressure in response to a change request for the relative phase,
Lock state detection means for detecting the lock state of the actuator;
Current control means for performing current control according to a phase position corresponding to the locked state in the locked state of the actuator;
A motor control device comprising: fluid pressure control means for performing fluid pressure control for maintaining a phase position corresponding to the locked state in the locked state of the actuator. The lock state detection means detects that the actuator is in a locked state when a deviation between a phase command value related to the relative phase and an actual phase value is a predetermined value or more. Motor control device. 3. The motor control device according to claim 1, further comprising: a lock release control unit configured to reciprocate the actuator when the motor is stopped in the locked state of the actuator.

Images