JP5412095B2 - Electric motor control device and operation control method - Google Patents

Description

  The present invention relates to an electric motor control device for driving and controlling an electric motor having a plurality of multiphase connections, and an operation control method for the electric motor control device.

  Miniaturization of equipment is important in the limited space of automobiles, and miniaturization of equipment such as motors and inverters is important in addition to high output in hybrid vehicles that use engines and electric motors as power sources. . As a method of increasing the output, there is a method of increasing the operating voltage in the case of the same current, but there are problems such as withstand voltage and insulation of the components used. For this reason, there is known an electric motor that is provided with a plurality of connections inside the electric motor instead of increasing the voltage so as to increase the output while maintaining the same drive current per connection. By adopting such a configuration, it is possible to reduce the size and cost as compared with the case of using a plurality of motors.

  Conventionally, when driving a plurality of motors with two independent inverters, there is a known method of driving a plurality of individual motors while synchronizing a plurality of microcomputers by sharing a control clock signal. (For example, refer to Patent Document 1). By adopting such a configuration, in data sampling (winding current, torque output value, etc.) used for motor control, it is possible to prevent a decrease in sampling accuracy due to the influence of electromagnetic waves generated during switching of the other inverter. Yes.

JP 2004-248377 A

  However, in Patent Document 1, it is applied to two motors provided independently, and when applied to a motor having a plurality of connections such as a 2Y connection, it is referred to as torque pulsation due to a current phase shift. Unique problems arise.

The invention of claim 1 is an electric motor control device that drives and controls an electric motor having a plurality of multi-phase connections, and includes a plurality of inverters respectively connected to the plurality of multi-phase connections, wherein the inverters are motor drive control commands. And a driving circuit for driving the power switching element based on the drive control command, each of the plurality of arithmetic control devices independently generates a clock pulse, and each of the plurality of arithmetic control devices at least one, as the operation control timing of the drive control command is generated by the plurality of arithmetic and control unit are synchronized with each other, based on the synchronization command and rotated position and periodically generated in the electric motor rotor, the drive the processing timing correction unit that corrects the operation control timing of the control command provided, the correction of the arithmetic control timing is the product of the arithmetic and control unit clock pulse The number is performed upon reaching the reference number set in advance, the reference number of the deviation of the operation control timing between the plurality of arithmetic and control device, such that within the permissible value set in advance, the motor current control It is determined in advance so as to be within a time shorter than the time interval .
Na us, as in the invention of claim 2, one of the plurality of inverters is for outputting a synchronizing signal to the rest of the other inverter as the synchronization command, the remaining other inverter The processing timing correction unit may be provided to correct the calculation control timing of the drive control command so that the drive control command is generated in synchronization with the synchronization signal.
Further, as in the invention of claim 3 , the synchronization command is included as a process synchronization command in the communication data input to each inverter from the host controller via the communication means, and in each inverter that has received the communication data, The correction by the processing timing correction unit may be performed based on the synchronization command.
According to a fourth aspect of the present invention, in the motor control device according to the fourth aspect, the arithmetic and control unit generates and outputs a drive control command until it is determined to be asynchronous after receiving the communication data including the process synchronization command. An abnormal signal is output when it is determined as asynchronous.
According to a fifth aspect of the present invention, in the electric motor control device according to the fifth aspect, if the elapsed time after receiving the communication data including the process synchronization command exceeds the asynchronous determination time, it is determined as asynchronous. And
The invention of claim 6 controls the drive of an electric motor having a plurality of multi-phase connections, and includes a plurality of inverters respectively connected to the plurality of multi-phase connections, and the inverter has a drive control command for the motors at a predetermined arithmetic control timing. an arithmetic control device and operation control method in a motor control device Ru respectively provided a driving circuit for driving the power switching element based on the drive control command to generate a plurality of arithmetic control unit, independently The calculation control timing is determined based on the generated clock pulses, and the number of clock pulses integrated in the calculation control device is set in advance so that the calculation control timings of the drive control commands generated by the plurality of calculation control devices are synchronized with each other. The calculation control timing of the drive control command is based on the synchronization command output when the number reaches the number and the rotational position of the motor rotor. Correcting the grayed, reference number, the deviation of the operation control timing of the plurality of arithmetic and control device, so that within a shorter time than the time interval of the current control of the electric motor, the time interval is smaller than the arithmetic processing of the arithmetic and control unit It is preliminarily determined to be a value .

  ADVANTAGE OF THE INVENTION According to this invention, the torque pulsation resulting from the phase shift of a control current can be suppressed in an electric motor provided with a plurality of multiphase connections.

Hereinafter, the best mode for carrying out the invention will be described with reference to the drawings.
-First embodiment-
FIG. 1 is a diagram showing a first embodiment of an electric motor control device according to the present invention. The electric motor MG is a three-phase 2Y electric motor having two Y connections in one housing. One three-phase Y-connection MG100 includes a U-phase coil winding C110, a V-phase coil winding C120, and a W-phase coil winding C130, and the other three-phase Y-connection MG200 includes a U-phase coil winding C210 and a V-phase coil. A winding C220 and a W-phase coil winding C230 are included.

  The coil windings C110, C120 and C130 of the three-phase Y connection MG100 are connected at a common neutral point N10. Similarly, the coil windings C210, C220 and C230 of the three-phase Y connection MG200 are connected at a common neutral point N10. The Y connections are electrically insulated from each other. The electric motor MG is provided with a rotation angle sensor R400 that detects the rotation angle of the electric motor rotor.

  Three-phase Y-connection MG100 is supplied with drive current from inverter IN100 using battery 300 formed of a secondary battery such as a lithium ion battery or a nickel hydride battery as a power source. On the other hand, the three-phase Y connection MG200 is supplied with a drive current from another inverter IN200 using the common battery 300 as a power source. The inverter IN100 includes a power module IN130, a drive circuit IN120, and an arithmetic control device IN112. Similarly, the inverter IN200 includes a power module IN230, a drive circuit IN130, and an arithmetic control device IN212.

  As described above, in the present embodiment, the drive current is supplied to the two three-phase Y-connections MG100 and MG200 provided in the electric motor MG using two inverters. As described above, when the electric motor MG has a plurality of electrically insulated connections, the method of controlling with a plurality of microcomputers has the following advantages.

  As a feature of the three-phase AC motor, at the time of low speed rotation, the influence of cogging torque is large because the rotational moment is small. On the other hand, at the time of high-speed rotation, the influence of cogging torque is small because the rotational moment increases. In the case of a six-phase AC motor having two electrically insulated Y connections, there is a method of reducing the cogging torque by shifting the current phase between the respective connections.

  Specifically, at the time of low-speed rotation, cogging torque can be reduced by performing control by shifting the current phase between the two connections by 30 °. On the other hand, since the influence of the cogging torque is small during high-speed rotation, control is performed with the current phase synchronized.

  When an electric motor having a plurality of electrically isolated connections is controlled by a single microcomputer, the current phase between each connection cannot be individually controlled. However, when the control is performed by a plurality of microcomputers, it is possible to perform optimal control according to the driving situation, for example, optimal control during high speed operation as described above, and optimal control during low speed operation.

  The power module IN130 includes power semiconductor switching elements constituting a U-phase arm, a V-phase arm, and a W-phase arm, respectively. The power module IN130 has a function of supplying power from the two-phase power supply line to the three-phase line by controlling the on / off timing of the switching element. A smoothing capacitor 310 is connected in parallel between the battery 300 and the inverter IN100. The switching operation of the power module IN130, that is, the on / off operation of the power semiconductor switching element is performed based on the drive signal from the drive circuit IN120.

  The arithmetic control device IN110 generates a timing signal (operation command) for controlling the switching timing of the power semiconductor switching element based on input information from another control device (the host controller 330) or a sensor. The drive circuit IN120 outputs a drive signal to the power module IN130 based on this operation command. The arithmetic and control unit IN110 includes a microcomputer for performing arithmetic processing on switching timing. The input information to the microcomputer includes a required target torque value, a current value supplied to the three-phase Y-connection MG100, a rotation angle signal of the rotor, a temperature of the power module IN130, and the like.

  The target torque value is input from the host controller 330. As the host controller 330, for example, if the electric motor MG is a motor for driving a vehicle, a vehicle controller that controls the entire vehicle corresponds. The current value supplied to the three-phase Y connection MG100 is detected by the current sensor 340. The rotation angle of the rotor of the electric motor MG is detected by the rotation angle sensor R400 described above, and the detection signal (position information) is transmitted to the inverter IN100 and the inverter IN200. The temperature of the power module IN130 (the temperature in the vicinity of the power semiconductor switching element) is detected by the temperature sensor TS1.

  The microcomputer of the arithmetic control unit IN110 calculates the d and q axis current command values of the three-phase Y connection MG100 based on the target torque value, and the calculated d and q axis current command values and the detected d. , Q-axis voltage command value is calculated based on the difference from the q-axis current value, and the calculated d, q-axis voltage command value is calculated based on the detected rotation angle. Phase and W phase voltage command values are converted. Further, the microcomputer generates a pulse-like modulated wave based on a comparison between the fundamental wave (sine wave) and the carrier wave (triangular wave) based on the voltage command values of the U phase, V phase, and W phase, and this generated modulation wave The wave is output to the drive circuit IN120 as a PWM (pulse width modulation) signal. The drive circuit IN120 amplifies the PWM signal and outputs it as a drive signal to each power semiconductor switching element to perform a switching operation.

  In the present embodiment, the arithmetic control device IN110 includes a synchronization signal transmission unit IN112, and the synchronization signal transmission unit IN112 transmits the synchronization signal to the synchronization signal reception unit IN212 provided in the arithmetic control device IN210 of the inverter IN200. To do.

  The inverter IN200 provided corresponding to the three-phase Y connection MG200 also has the same configuration as the inverter IN100 of the three-phase Y connection MG100, and includes a power module IN230, a temperature sensor TS2, a smoothing capacitor 320, a drive circuit IN220, and An arithmetic control device IN210 is provided.

  As in the case of the arithmetic control device IN110, the arithmetic control device IN210 generates an operation command for controlling the switching timing of the power semiconductor switching element provided in the power module IN230, and also outputs the operation command from the synchronization signal transmission unit IN112. A synchronization signal receiving unit IN212 that receives the synchronization signal, and a processing timing correction unit IN213 that corrects the timing of the switching timing calculation process based on the received synchronization signal and the rotation angle detected by the rotation angle sensor R400 are provided.

  The drive circuit IN220 commands on / off of the switching element of the power module IN230 at the processing timing corrected by the processing timing correction unit IN213. The arithmetic control device IN210 receives the rotation angle signal detected by the rotation angle sensor R400, the temperature of the power module IN230 detected by the temperature sensor TS2, and the current value of the three-phase Y connection MG200 detected by the current sensor 350. The

  As shown in FIG. 1, when driving current is supplied from independent inverters IN100 and IN200 to three-phase Y-connections MG100 and MG200, there is a risk of deviation in calculation control timing in each inverter IN100 and IN200. .

  FIG. 2 is a diagram for explaining a processing interval of arithmetic control during motor control by a plurality of inverters and a shift in processing timing. FIG. 2A shows the timing of pulses generated by the clock (A clock) provided in the inverter IN100 and the timing of pulses generated by the clock (B clock) provided in the inverter IN200. FIG. 2B shows the processing timing of the microcomputer (A microcomputer) of the inverter IN100 and the processing timing of the microcomputer (B microcomputer) of the inverter IN200. FIG. 2C is a diagram showing a current (1-system current) supplied to the three-phase Y-connection MG100 and a current (2-system current) supplied to the 3-phase Y-connection MG200.

  In FIG. 2, Δt is an error due to the accuracy and variation of the oscillation frequency depending on the crystal oscillator of each microcomputer (A microcomputer and B microcomputer). In general, even when the same crystal oscillator or the like is used for the inverter IN100 and the inverter IN200, there is an error Δt due to the accuracy and variation of the oscillation frequency. This error Δt is accumulated over time, and the accumulated nΔt shifts at the time of n pulses.

  On the other hand, α is a shift in processing timing between a plurality of inverters. When the inverter IN100 and the inverter IN200 are asynchronous, each process is in a free-run state, and a shift of α occurs in the process timing. When the processing timing of the microcomputer is an n pulse interval, the processing timing shift between the asynchronous A microcomputer and the B microcomputer is initially α, but the next processing timing shift increases to α + nΔt.

  Thus, even if the inverters IN100 and IN200 are started at the same time, if the processing timing is shifted between the inverters IN100 and IN200, the current phase between the pair of three-phase Y-connections MG100 and MG200 during motor control is also shown in FIG. It shifts as shown in (c). When the shift α + nΔt of the processing timing exceeds a predetermined time in which the phase difference in current control becomes a problem, the state becomes the same as that in the asynchronous state, and the occurrence of torque pulsation becomes a problem.

  Therefore, in the present embodiment, as shown in FIG. 1, the synchronization signal transmitting unit IN112 provided in the arithmetic control device IN110 of the inverter IN100 is synchronized with the synchronous signal receiving unit IN212 provided in the arithmetic control device IN210 of the inverter IN200. A signal is transmitted, and a shift in processing timing is corrected by this synchronization signal.

  FIG. 3 is a diagram for explaining a correction process using a synchronization signal. Like FIG. 2, (a) shows the timing of pulses generated by the A clock and the B clock, and (b) shows an A microcomputer. 4A and 4B show processing timings of the B microcomputer, and FIG. 4C is a diagram showing currents of the three-phase Y-connection MG100 and MG200 (system 1 current and system 2 current).

  The synchronization signal is generated every m pulses with the number of pulses of the A clock, that is, at an interval of m pulses. That is, the synchronization signal transmission unit IN112 of the inverter IN100 includes a counter for measuring the generation timing of the synchronization signal. The counter counts the number of pulses of the A clock, and each time the count reaches m, the synchronization signal transmission unit IN112 outputs a synchronization signal. When the number of pulses n shown in FIG. 2 is used as a synchronous / asynchronous determination value, that is, when the deviation regarded as asynchronous is α + nΔt, m described above is set such that m <n. If the time interval of m pulses is set to an integral multiple (M times) of the A microcomputer arithmetic processing interval, a synchronization signal is output to the inverter IN200 simultaneously with the start of the arithmetic processing every time the arithmetic processing is performed M times. Will be.

  If the counter provided in the synchronization signal transmission unit IN112 counts the mth pulse counted from the pulse at the first processing timing, the inverter IN100, as shown in FIG. The arithmetic processing is started and a synchronization signal is output from the synchronization signal transmission unit IN112. When the inverter IN200 receives the synchronization signal from the inverter IN100, a processing start instruction is issued from the processing timing correction unit IN213 in accordance with the timing, and the B microcomputer starts the arithmetic processing. When the B microcomputer starts the arithmetic processing in response to the synchronization signal, the processing timing shift α + mΔt is corrected.

  FIG. 3C shows the currents after the correction process (system 1 current and system 2 current), and the current phases of the three-phase Y-connections MG100 and MG200 are aligned. If the A microcomputer and the B microcomputer perform arithmetic processing in synchronization with the synchronization signal, the next arithmetic processing is performed when the number of pulses after the arithmetic processing reaches a predetermined number of pulses corresponding to the arithmetic processing interval. Do each. Thereafter, such a synchronous operation is performed every m pulses, and the processing timing shift is corrected each time, so that the synchronous operation is maintained with respect to the three-phase Y connection MG100 and MG200.

  The period of the synchronization signal, that is, the time interval of the m pulses is set so that the shift α + mΔt between the processing timings of the A microcomputer and the B microcomputer is not asynchronous. For example, m is set so that the deviation α + mΔt does not become larger than the control resolution (control time interval = time interval of calculation processing) when controlling the motor current. The control resolution here means the time interval of current control, that is, the time interval of arithmetic processing in the A and B microcomputers.

  For example, the synchronization signal transmission cycle is set so as to be able to cope with the correction of the current phase during the high-speed control of the electric motor. Since the control resolution described above is smaller at a high speed than at a low speed, the phase correction during the low speed control can be handled by adjusting the transmission period of the synchronization signal to the high speed.

  In addition, if the cycle is not compatible with the correction of the current phase during high-speed control of the motor, the phase can be corrected by transmitting a synchronization signal at a cycle (timing) corresponding to the current phase during the speed control of the motor. . Specifically, assuming that the phase shift is α + mΔt and the current phase resolution time is β, phase synchronization is maintained as long as the relationship satisfies α + mΔt ≦ β. That is, if a synchronization signal is sent at a timing according to the rotation speed of the electric motor, synchronization can be maintained by correction according to the control of each rotation speed.

  When the phase shift is smaller than the resolution time β, the arithmetic and control units IN110 and IN210 perform processing as the same position information, so that synchronization can be achieved. On the other hand, when the phase shift is larger than the resolution time, the arithmetic and control units IN110 and IN210 are similar to processing as different position information, and are asynchronous.

  As described above, in the first embodiment, in the electric motor control device including the plurality of inverters IN100 and IN200 that respectively drive and control the electric motor MG having a plurality of three-phase connections, A processing timing correction unit is provided so that the arithmetic control timings of the arithmetic control devices provided in the inverters IN100 and IN200 are synchronized with each other based on the rotational position of the motor rotor and a periodically generated synchronization command (synchronization signal). A processing timing correction unit IN213 that corrects at least one of the calculation control timings is provided so as to correct it.

  Thus, since the inverters IN100 and IN200 perform current control at the same processing timing, the electric motor is driven with the same phase current. As a result, it is possible to eliminate the current phase shift in the electric motor having a plurality of three-phase connections, and to suppress the torque pulsation caused by the current phase shift. Furthermore, the processing timing is corrected and synchronized with the synchronization signal, and only the current phase is shifted, so that the control for reducing the cogging torque can be performed with higher accuracy.

-Second embodiment-
FIG. 4 is a diagram for explaining a second embodiment of the present invention, and shows a block diagram similar to FIG. In the first embodiment, the synchronization signal is transmitted from the inverter IN100 to the inverter IN200 to correct the processing timing shift α + mΔt. However, in the second embodiment described below, a process synchronization command is periodically transmitted from the host controller 330 to each of the inverters IN100 and IN200 by CAN (Controller Area Network) communication, and the process synchronization command is used. The deviation of the processing timing α + mΔt was corrected.

  4 is different from FIG. 1 in that the synchronization signal transmission unit IN112, the synchronization signal reception unit IN212, and the communication line between them are not provided, and the processing synchronization command from the host controller 330 is sent to the CAN communication path 360. It is a point which becomes the structure transmitted to each arithmetic and control unit IN110, IN210 via. Other configurations are the same as those in FIG. 1, and a description thereof will be omitted.

The arithmetic control devices IN110 and IN210 are provided with processing timing correction units IN113 and IN213 that correct the timing of arithmetic processing in accordance with the received processing synchronization command.
The upper controller 330 adds a processing synchronization command to the communication data when sending the communication data to the CAN communication path 360. Since the communication data is transmitted at a predetermined communication time interval, as in the case of the synchronization signal described above, the process data is synchronized with the communication data so that the time interval of the process synchronization command is the same as the time for counting m pulses described above. Add a command.

  When the arithmetic control devices IN110 and IN210 receive communication data including a processing synchronization command, the processing timing correction units IN113 and IN213 perform correction processing. This correction process is performed in the same manner as the correction process described in the first embodiment. Note that a process synchronization command may be added to communication data every time, and the process synchronization command may be transmitted at a CAN control timing period (for example, several ms to 10 ms).

  As described above, in the second embodiment, every time a processing synchronization command is received, the calculation processing timings of the A microcomputer and the B microcomputer are corrected to be the same, and the processing timing shift is asynchronized from the shift nΔt. Is kept small. As a result, inverters IN100 and IN200 perform current control of three-phase Y connection MG100 and MG200 at the same processing timing. Since the phases of the drive currents of the three-phase Y-connections MG100 and MG200 are synchronized, it is possible to suppress torque pulsation due to the current phase shift.

  In the second embodiment, since the processing synchronization command is transmitted using the CAN communication path 360 that has been conventionally provided, the inverter IN100 and the inverter IN200 are connected to each other as in the first embodiment described above. There is no need to additionally provide a dedicated wiring for the synchronization signal.

  On the other hand, since the processing synchronization command is transmitted using the CAN communication path 360, the inverter may be delayed due to a command delay in the case of a timing conflict with a higher priority communication or a communication interruption due to external noise. A case where the process synchronization command cannot be received on the IN100 and IN200 side is considered. In such a case, as a countermeasure, a processing operation that uses both the processing synchronization command processing described above and the free-run processing described below may be employed.

  FIG. 5 is a diagram illustrating a flowchart of processing operations in the motor control device according to the second embodiment. This processing operation program is programmed in each of the arithmetic and control units IN110 and IN210, and is repeatedly executed at predetermined time intervals that are sufficiently shorter than the processing synchronization command.

  In step S100, the arithmetic and control units IN110 and IN210 determine whether or not a process synchronization command has been received. If it is determined in step S100 that the signal has been received, the process proceeds to step S110 to correct the processing timing described above, and in step S120, a drive command is issued to the drive circuits IN120 and IN220.

  On the other hand, if it determines with not receiving in step S100, it will progress to step S130. That is, when the processing data is not included in the communication data, or as described above, the inverter IN100, IN200 is caused by a command delay in the case of a timing conflict with a high priority communication, communication interruption due to external noise, or the like. If the process synchronization command cannot be received on the side, the process proceeds from step S100 to step S130.

  In step S130, it is determined whether or not the number of processes in step S130 after receiving the process synchronization command is N. The determination value N times in step S130 is set as follows. As described above, the series of processing shown in FIG. 5 is executed at predetermined time intervals, and the shift in processing timing that occurs during the time intervals is γ. This deviation γ has a relationship of “(α + nΔt) / N ≦ γ <(α + nΔt) / (N−1)” with respect to the deviation α + nΔt in which the current phase between the pair of three-phase connections is asynchronous. In this case, the determination value is N times. For example, if (α + nΔt) / 3 ≦ γ <(α + nΔt) / 2, N = 3.

  If the number of continuous processes in step S130 after receiving the previous process synchronization command is less than N, since “γ (N−1) <(α + nΔt)”, the process between the A microcomputer and the B microcomputer Since the timing deviation is smaller than α + nΔt, the synchronization is maintained. On the other hand, if it is determined that the number of times is N or more, the difference in processing timing after receiving the previous processing synchronization command is equal to or greater than α + nΔt, and it is determined that the state is asynchronous.

  For example, even if there is a command delay as described above, communication interruption due to external noise, or the like, since the number of continuous processes in step S130 can be regarded as a synchronized state unless the number is N or more, the motor drive is continued. On the other hand, if the command delay or communication interruption is abnormally long, the number of continuous processes in step S130 is N or more, an error is displayed, and the drive is stopped, so that operation in an asynchronous state can be prevented. .

  In the present embodiment, the determination in step S130 is performed by counting the number of times the process of FIG. 5 has been performed since the reception of the previous process synchronization command, but the previous process synchronization command is received. The elapsed time t from the time t may be counted, and the deviation occurring within the elapsed time t may be compared with α + nΔt for determination.

  If it is determined in step S130 that the number of continuous processes in step S130 after receiving the previous process synchronization command is less than N, the process proceeds to step S120. That is, in this case, since the current phase between the three-phase Y-connections MG100 and MG200 is within a correctable range, the processing timing is not corrected, and a drive command is issued to the drive circuits IN120 and IN220 in step S120.

  On the other hand, when it is determined in step S130 that the number of consecutive times is N or more, the process proceeds to step SS140. In step S140, an error signal is transmitted from the inverters IN100 and IN200 to the host controller 330. The host controller 330 that has received the error signal outputs an operation stop command to each of the inverters IN100 and IN200. Receiving the operation stop command, inverters IN100 and IN200 stop supplying drive current to three-phase Y-connection MG100 and MG200, respectively (step S150).

  As described above, when the process synchronization command cannot be received for some reason, the free-run process is performed in the order of steps S100, S130, and S120 until the process timing shift becomes α + nΔt or more. Control is performed to stop the supply of drive current to the three-phase Y-connections MG100 and MG200 when the deviation is greater than α + nΔt, which is determined to be asynchronous. In this embodiment, by having such a free-run function, even if the process synchronization command cannot be received, if the current phase between the three-phase Y connection MG100 and MG200 is within a correctable range, the electric motor MG It is possible to continue the drive control.

  Thus, also in the second embodiment, as in the first embodiment, the current phase shift in the motor having a plurality of three-phase connections is eliminated, and the torque pulsation caused by the current phase shift Can be suppressed.

  Furthermore, in the second embodiment, a processing synchronization command is provided for communication data input from the host controller 330 to each of the inverters IN100 and IN200 via the CAN communication path 360 as a communication means, and based on the processing synchronization command. Correction by the processing timing correction unit is performed in each of the inverters IN100 and IN200. As a result, since the process synchronization command is input to the inverters IN100 and IN200 using the existing CAN communication path 360, synchronization is performed between the inverter IN100 and the inverter IN200 as in the first embodiment described above. There is no need to provide additional dedicated wiring for signals, and costs can be reduced.

  In addition, after receiving communication data including processing synchronization commands, an abnormal signal is output when it is determined to be asynchronous, so that torque pulsation caused by current phase shift due to communication data interruption etc. occurs Safety processing such as driving stop can be performed. Even when communication data is interrupted, if the time is shorter than a predetermined time, the driving of the electric motor can be continued. As an asynchronous determination method, an elapsed time after receiving communication data including a process synchronization command exceeds a preset asynchronous determination time, for example, a time for performing the above-described processing of FIG. 5 N times. Judge as asynchronous.

  In addition, the above description is an example to the last, and this invention is not limited to the said embodiment at all unless the characteristic of this invention is impaired. For example, in the above description, the motor MG provided with two three-phase connections has been described as an example, but the present invention can be similarly applied to the case where three or more motors are provided. In that case, in the configuration in which the synchronization signal is transmitted, the synchronization signal is transmitted from any one of the inverters to the other remaining inverters to achieve synchronization. In addition, the electric motor control device according to the present invention can be applied not only to a vehicle but also to an electric motor control device for other uses as long as the electric motor control device has a plurality of connections. Furthermore, in the above description, a three-phase connection motor has been described as an example, but the present invention is not limited to three phases and can be applied. Any combination of the above-described embodiments and modifications is possible.

1 is a block diagram showing a first embodiment of an electric motor control device according to the present invention. It is a figure explaining the processing interval of arithmetic control at the time of electric motor control by a plurality of inverters, and a shift of processing timing. It is a figure explaining the correction process by a synchronizing signal. It is a block diagram which shows 2nd Embodiment of the electric motor control apparatus which concerns on this invention. It is a figure which shows the flowchart of a processing operation.

Explanation of symbols

330: Host controller
360: CAN communication path,
C110 to C130, C210 to C230: coil winding,
IN100, IN200: Inverter
IN110, IN210: arithmetic control device,
IN112: synchronization signal transmission unit,
IN113, IN213: processing timing correction unit,
IN120, IN220: drive circuit,
IN130, IN230: Power module,
IN212: synchronization signal receiving unit,
MG: Electric motor,
MG100, MG200: 3-phase Y connection

Claims (6)

A motor control device that drives and controls an electric motor having a plurality of multi-phase connections, and includes a plurality of inverters respectively connected to the plurality of multi-phase connections,
The inverter includes an arithmetic control device that generates a drive control command for the electric motor, and a drive circuit that drives a power switching element based on the drive control command, respectively.
The plurality of arithmetic control devices each independently generate a clock pulse,
At least one of the plurality of arithmetic control devices includes a synchronization command periodically generated with the rotational position of the motor rotor so that the arithmetic control timings of the drive control commands generated by the plurality of arithmetic control devices are synchronized with each other. based on the bets, provided the process timing correction unit that corrects the operation control timing of the drive control command,
Correction before Symbol arithmetic control timing is made when the cumulative number of clock pulses of said arithmetic and control device has reached a reference number set in advance,
The reference number is set in advance so as to be within a time shorter than the current control time interval of the electric motor so that the deviation of the arithmetic control timing among the plurality of arithmetic control devices is within a preset allowable value. An electric motor control device characterized by being determined. In the electric motor control device according to claim 1 ,
One of the plurality of inverters outputs a synchronization signal as the synchronization command to the remaining other inverters,
The remaining other inverters are provided with the processing timing correction unit,
The motor control device, wherein the processing timing correction unit corrects the calculation control timing of the drive control command so that the drive control command is generated in synchronization with the synchronization signal. In the electric motor control device according to claim 1 or 2,
The synchronization command is included as a process synchronization command in communication data input from the host controller to the inverters via communication means.
In each of the inverters that have received the communication data, correction by the processing timing correction unit is performed based on the processing synchronization command. In the motor control device according to claim 3 ,
The arithmetic and control unit generates and outputs the drive control command until it is determined as asynchronous after receiving communication data including the processing synchronization command, and outputs an abnormal signal when it is determined as asynchronous. An electric motor control device. In the electric motor control device according to claim 4,
An electric motor control device, wherein an elapsed time after receiving communication data including the processing synchronization command is determined to be asynchronous if the elapsed time exceeds an asynchronous determination time. An operation for driving and controlling an electric motor having a plurality of multi-phase connections, and comprising a plurality of inverters respectively connected to the plurality of multi-phase connections , wherein the inverter generates a drive control command for the electric motor at a predetermined operation control timing. a control device, a driving control method for motor control device Ru respectively provided a driving circuit for driving the power switching element based on the driving control command,
The plurality of arithmetic control devices respectively determine arithmetic control timings by clock pulses generated independently,
A synchronization command output when the cumulative number of clock pulses of the calculation control device reaches a preset reference number so that the calculation control timings of the drive control commands generated by the plurality of calculation control devices are synchronized with each other; Correcting the calculation control timing of the drive control command based on the rotational position of the electric motor rotor,
The reference number is determined in advance so that a shift in calculation control timing among the plurality of calculation control devices is within a time shorter than a time interval of current control of the electric motor. Method.

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