JP5739708B2 - Temperature estimation apparatus and temperature estimation method - Google Patents

Description

  The present invention relates to a temperature estimation device and a temperature estimation method for estimating the temperature of a component member of an electronic device including a motor.

  Conventionally, as an electronic device including a motor, for example, an electric power steering device described in Patent Document 1 has been proposed. This Patent Document 1 discloses a method for calculating an estimated value of the temperature rise of a motor without using a sensor for detecting the temperature of the motor. Specifically, an estimated value (Δθ) of the temperature rise amount of the motor is calculated based on the following relational expression (Expression 1). Then, the estimated temperature value of the motor is obtained by adding the estimated value (Δθ) of the temperature increase calculated in this way to the temperature before the start of driving of the motor.

ただし、Δθ…温度上昇量の推定値、ＨＴＡ…モータの駆動時における損失電力、ＴＲＳ…モータの熱抵抗、ｔ…モータの駆動時間、Ｔ…モータの熱時定数

However, Δθ: Estimated value of temperature rise amount, HTA: Loss power when driving the motor, TRS: Thermal resistance of the motor, t: Motor driving time, T: Thermal time constant of the motor

JP 2002-34283 A

  Generally, when estimating the temperature of a motor, the temperature of the brush provided in the motor is estimated. This is because if the brush is overheated, it will lead to motor failure due to brush failure.

  By the way, when the motor is driven, the estimated value of the temperature rise amount of the target member represented by the brush is calculated using the relational expression (Formula 1). However, after the motor is stopped, the power loss (HTA) is “0 (zero)” in the calculation using the relational expression (formula 1). That is, Patent Document 1 does not disclose a method for estimating the temperature change amount after the motor is stopped.

  Therefore, in recent years, a method has been considered in which the amount of heat generated by the target member and the amount of heat released from the target member are estimated, and the temperature change amount of the target member is estimated based on the difference between the amount of heat generated and the amount of heat released. In this method, it is possible to estimate the temperature change amount of the target member even when the driving of the motor is stopped. Generally, the amount of heat released from the target member is estimated in consideration of the ambient temperature of the motor installation environment.

  However, the amount of heat released from the target member varies depending not only on the ambient temperature around the target member but also on the temperature of a peripheral member (for example, a yoke) positioned around the target member. Therefore, if the amount of heat released from the target member is not estimated while taking into account the temperature of the peripheral member located around the target member, the temperature of the target member may not be accurately estimated after the motor stops driving.

  The present invention has been made in view of such circumstances. An object of the present invention is to provide a temperature estimation device and a temperature estimation method that can improve the estimation accuracy of the temperature of the device constituent members constituting the electronic device including the motor after the motor is stopped.

  In order to achieve the above object, the present invention provides a device component member (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30) constituting an electronic device (12) including a motor (20). Is a temperature estimation device that estimates the temperature of the target member (28) for each preset period, and provisional value estimation means for estimating the temperature temporary value (TZb (n)) of the target member (28) (60, S17) and other device component members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30) other than the target member (28). 30) temperature acquisition means (70, 80, S19) for acquiring the temperature (Ty (n), Th (n)), and estimation for setting the temperature estimated value (Tb (n)) of the target member (28). Value setting means (90, S22, S23); The estimated value setting means (90, S22, S23) includes the current temperature of the target member (28) estimated by the provisional value estimating means (60, S17) when the motor (20) is driven. The provisional value (TZb (n)) is set as the current temperature estimated value (Tb (n)) of the target member (28), and after the motor (20) is stopped, the motor (20) is being driven. The current temperature (Ty (n), Th (n)) of the specific device component member (21, 30) that was lower than the provisional temperature value (TZb (n)) of the target member (28), and The gist is to set the current temperature estimated value (Tb (n)) of the target member (28) based on the highest temperature among the current temperature provisional value (TZb (n)) of the target member. .

  When the driving of the motor is stopped, the temperature of each device constituent member including the target member is lowered. At this time, the amount of heat released from the target member is an amount corresponding to the temperature of other device constituent members located around the target member. That is, when the target member has a higher temperature than the specific device component member, the amount of heat released from the target member decreases as the temperature difference decreases. When the temperature of the target member becomes approximately the same as the temperature of the specific device component member, the temperature of the target member that is higher than the specific device component member when the motor is driven is higher than the temperature of the specific device component member. Not below.

  Therefore, in the present invention, the temperature provisional value of the target member is estimated regardless of the temperature of other device constituent members located around the target member. Then, after the motor is stopped, the current estimated temperature value of the target member is set based on the highest temperature value among the provisional temperature value of the target member and the temperature of the specific device component member. In other words, after the motor stops driving, the estimated temperature value of the target member is acquired by taking into account the temperatures of other device constituent members located around the target member. Therefore, it is possible to improve the estimation accuracy of the temperature of the device constituent members that constitute the electronic device including the motor after the motor is stopped.

  In the temperature estimation apparatus of the present invention, the provisional value estimation means (60, S13, S15, S16, S17) includes an input energy equivalent value (Pin) corresponding to input energy input to the motor (20) and the motor. A calorific value calculating means (63, S13) for calculating a calorific value (Ein) of the motor (20) based on a difference from an output energy equivalent value (Pout) corresponding to the output energy output from (20); The difference between the previous temperature provisional value (TZb (n-1)) of the target member (28) and the ambient temperature (Tf) of the installation environment of the electronic device (12) and the thermal characteristics of the target member (28). The heat dissipation amount calculating means (65, S15) for calculating the heat dissipation amount (Eout_B) from the target member (28) based on the heat coefficient (A) indicating the above, and each of the calculating means (63, 65, S13, S) Based on the difference between the heat generation amount (Ein) and the heat dissipation amount (Eout_B) calculated by 5), the temperature increase amount (ΔTb (n)) of the target member (28) is acquired, and the temperature increase amount (ΔTb ( n)) and the previous temperature provisional value (TZb (n)) of the target member, provisional value calculation means (67, S16, S17) for calculating the current temperature provisional value (TZb (n)) of the target member. ).

  According to the above configuration, the heat generation amount of the motor is calculated using the input energy equivalent value corresponding to the input energy input to the motor and the output energy equivalent value corresponding to the output energy output from the motor. The amount of heat released from the target member is acquired by dividing the difference between the previous temperature provisional value of the target member and the ambient temperature by the thermal coefficient indicating the thermal characteristics of the target member. By preliminarily setting this thermal coefficient through experiments, simulations, etc., it is possible to improve the estimation accuracy of the heat dissipation amount. Then, based on the difference between the calorific value of the motor calculated in this way and the heat dissipation amount from the target member, the temperature rise amount of the target member between the previous timing and the current timing is acquired. Therefore, when the motor is driven, it is possible to improve the estimation accuracy of the temperature of the target member by using an accurate temperature rise amount.

  In the temperature estimation device of the present invention, the motor (20) is a motor with a brush, and the provisional value estimation means (60, S17) is a provisional temperature value (TZb) of the brush (28) of the motor (20). (N)) is estimated as the temperature provisional value of the target member, and the estimated value setting means (90, S22, S23), after the driving of the motor (20) is stopped, the temperature acquisition means (70, 80). , The current temperature (Ty (n), Th (n)) of the specific device component (21, 30) acquired by S19) and the provisional value estimating means (60, S17). It is preferable to set the current temperature estimated value (Tb (n)) of the brush (28) based on the highest temperature among the current temperature provisional value (TZb (n)) of the brush (28).

  In a motor with a brush, since the brush slides, the brush is likely to become high temperature. If such a brush breaks down due to a rise in temperature, it will also lead to a failure of the motor. Therefore, it is necessary to accurately estimate the temperature of the brush. In this regard, in the present invention, the temperature of the brush is accurately estimated. Therefore, before the brush becomes too hot, limit control that limits the drive of the motor can be started at an appropriate timing.

  In the temperature estimation device according to the present invention, the temperature acquisition means (70, 80, S19) is configured such that the temperature (Ty (n), It is preferable to obtain Th (n)).

  When the motor is driven, a member having a larger heat capacity is less likely to increase in temperature, and after the motor is stopped, a member having a larger heat capacity is less likely to decrease in temperature. Therefore, at the time of driving the motor, the target member is likely to be hotter than a specific device component having a larger heat capacity than the target member. In addition, after the motor is stopped, the temperature change rate of the target member tends to be faster than the temperature change rate of a specific device component having a larger heat capacity than the target member. However, when the temperature of the target member approaches the temperature of the specific device constituent member, the temperature of the target member shows the same change as the temperature of the specific device constituent member.

  Therefore, in the present invention, after the motor stops driving, when the temperature provisional value of the target member becomes less than the temperature estimated value of the specific device component member, the temperature estimate value of the target member is the specific device component member. Is set to a value based on the estimated temperature value. Thus, the estimation accuracy can be improved by estimating the temperature of the target member in consideration of the temperature of the other device constituent members.

  In the temperature estimation device of the present invention, the temperature acquisition means (70, 80, S13, S15, S16, S19) includes an input energy equivalent value (Pin) corresponding to input energy input to the motor (20) and the A calorific value calculation means (73, 83, S13) that calculates the calorific value (Ein) of the motor (20) based on the difference from the output energy equivalent value (Pout) corresponding to the output energy output from the motor (20). ), The previous temperature estimated values (Ty (n−1), Th (n−1)) of the other device constituent members (21, 30) and the ambient temperature (Tf) of the installation environment of the electronic device (12). ) And the heat coefficient (A) based on the thermal characteristics of the other device constituent members (21, 30), the heat dissipation amount (Eout_Y, Eout_H) from the other device constituent members (21, 30). ) The heat radiation amount calculation means (75, 85, S15) to be calculated, the heat generation amount (Ein) and the heat dissipation amount (Eout_Y, Eout_H) calculated by the calculation means (73, 75, 83, 85, S13, S15) The temperature rise amount (ΔTy (n), ΔTh (n)) of the other device constituent members (21, 30) is obtained based on the difference between the temperature rise amount (ΔTy (n), ΔTh (n)). And the previous temperature estimated value (Ty (n−1), Th (n−1)) of the other device constituent member (21, 30) and the current time of the other device constituent member (21, 30). It is preferable to have estimated value calculation means (77, 87, S16, S19) for calculating temperature estimated values (Ty (n), Th (n)).

According to the said structure, the temperature of apparatus component members other than a target member can be estimated, without using a dedicated temperature sensor.
The present invention relates to the target member (28) among the device constituent members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30) constituting the electronic device (12) including the motor (20). Temporary value estimation step (S17) for estimating a temperature provisional value (TZb (n)) of the target member (28), which is a temperature estimation method for estimating a temperature for each preset period; Of the device constituent members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30), the temperature (Ty (n) of the other device constituent members (21, 30) other than the target member (28) ), Th (n)), and the temperature provisional value (TZb) of the target member (28) estimated in the provisional value estimation step (S17) when the motor (20) is driven. (N)) The motor driving estimated value setting step (S22) for setting the current temperature estimated value (Tb (n)) of the target member (28) and the driving of the motor (20) after the driving of the motor (20) is stopped. Among these, the current temperature (Ty (n), Th (n)) of the specific device constituent member (21, 30) that was lower than the provisional temperature value (TZb (n)) of the target member, Motor stop for setting the current temperature estimated value (Tb (n)) of the target member (28) based on the highest temperature among the current temperature provisional value (TZb (n)) of the target member (28). And a time estimated value setting step (S23).

According to the said structure, the effect | action and effect equivalent to the said temperature estimation apparatus can be acquired.
In order to explain the present invention in an easy-to-understand manner, it has been described in association with the reference numerals of the drawings showing the embodiments, but it goes without saying that the present invention is not limited to the embodiments.

Sectional drawing explaining the brake hydro unit which is one Embodiment of an electronic device provided with the temperature estimation apparatus of this invention. The block diagram explaining schematic structure of a brake hydro unit. The block diagram explaining the function of a temperature estimation part in detail. The graph which shows the relationship between the heat_generation | fever energy rate of an apparatus structural member, and the temperature rise amount. The graph which shows the change of the temporary temperature value of a brush, the estimated temperature value of a yoke, and the estimated temperature value of a housing. (A) is a graph showing a comparison between the estimated temperature value and the measured temperature value when the provisional temperature value is the estimated temperature value of the brush even after the motor is stopped, and (b) is the estimated temperature of the brush after the motor is stopped. The graph which shows the comparison with the temperature estimated value when the value is set in consideration of the temperature estimated value of the yoke and the housing, and the measured value of the temperature. (A) is a graph showing a comparison between the estimated temperature value and the measured temperature value when the provisional temperature value is the estimated temperature value of the brush even after the motor is stopped, and (b) is the estimated temperature of the brush after the motor is stopped. The graph which shows the comparison with the temperature estimated value when the value is set in consideration of the temperature estimated value of the yoke and the housing, and the measured value of the temperature. The flowchart explaining the temperature estimation process routine in this embodiment.

Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
As shown in FIG.1 and FIG.2, the electronic device of this embodiment is the brake hydro unit 12 which drives to adjust the braking force with respect to the wheel 11 mounted in a vehicle. The brake hydro unit 12 includes a motor 20, a substantially rectangular parallelepiped housing (equipment constituent member) 30 to which the motor 20 is mounted, and a position different from the mounting position of the motor 20 in the housing 30 (in this embodiment, opposite) And a storage case 40 that is fixed at a position on the side.

  The motor 20 of this embodiment is a DC motor with a brush. Such a motor 20 includes a bottomed substantially cylindrical yoke (equipment component) 21 that opens to the housing 30 side, a plate-shaped end plate (equipment component) 22 that closes the opening of the yoke 21, the yoke 21, And a rotor 24 disposed in an internal space 23 formed by the end plate 22. The yoke 21 is made of a metal that suppresses the leakage of magnetism generated in the internal space 23 to the outside. A plurality of magnets (device constituent members) 25 are fixed to the inner peripheral surface of the yoke 21 at equal intervals along the circumferential direction. In addition, a bearing holding portion 210 in which a bearing (equipment constituent member) 26 is accommodated is formed integrally in the substantially center of the bottom portion of the yoke 21. Such a yoke 21 is fixed to the housing 30 by a plurality of bolts 27 (only two are shown in FIG. 1). That is, the motor 20 is attached to the housing 30 via the yoke 21.

  The end plate 22 is made of a synthetic resin. A through hole 220 penetrating in the thickness direction is formed at the center of the end plate 22. The end plate 22 is integrally formed with a brush holder 29 that holds a plurality of brushes (device constituent members) 28 that are in sliding contact with the rotor 24. The brush holder 29 holds a brush 28 as an example of a target member via an urging member (apparatus component member) 29 </ b> A disposed on the radially outer side of the brush 28. That is, the brush 28 is urged radially inward by the urging member 29A.

  The armature 240 of the rotor 24 is disposed to face the magnet 25 fixed to the yoke 21. Such an armature 240 has a core (equipment constituent member) 240a and a plurality of armature coils (apparatus constituent members) 240b wound around the core 240a. An output shaft (device constituent member) 241 of the rotor 24 is supported by the yoke 21 in a rotatable state via a bearing 26 housed in the bearing holding portion 210. The armature 240 is fixed to the output shaft 241. Further, the output shaft 241 protrudes into the housing 30 through a through hole 220 formed in the end plate 22. A commutator (equipment component) 242 of the rotor 24 is fixed to a portion of the output shaft 241 closer to the housing 30 than the armature 240. On the outer periphery of the commutator 242, a plurality of commutator pieces 242a electrically connected to the armature coil 240b are arranged at equal intervals along the circumferential direction.

  Each brush 28 is disposed on the radially outer side of the commutator 242. Each brush 28 is in sliding contact with the commutator piece 242a of the commutator 242. A current is supplied from the brush 28 to the armature coil 240b through the commutator piece 242a.

  The housing 30 is made of a material excellent in weight and rigidity (for example, a metal such as aluminum). In such a housing 30, various electromagnetic valves 31 for adjusting the braking force to the wheels 11 and a pump 32 as an example of a drive unit using the motor 20 as a drive source are accommodated. And the hydraulic pressure in the wheel cylinder 33 provided in the wheel 11 of the vehicle is adjusted by the operation of the various solenoid valves 31 and the pump 32. As a result, a braking force corresponding to the hydraulic pressure of the wheel cylinder 33 is applied to the wheel 11.

  A circuit board 41 is accommodated in the accommodation case 40. As shown in FIG. 2, the circuit board 41 includes a control device 50 including a CPU, a ROM, a RAM, and the like, a temperature sensor SE <b> 1 for detecting the temperature of the circuit board 41, the electromagnetic valve 31, and the motor 20. Various driver circuits (not shown) and the like are provided.

Next, the control apparatus 50 of this embodiment is demonstrated with reference to FIG.2, FIG3 and FIG.4.
As shown in FIG. 2, the control device 50 includes a motor control unit 51 that controls the motor 20, a solenoid valve control unit 52 that controls various electromagnetic valves 31, and a temperature estimation device as functional units constructed by software. As an example, a temperature estimation unit 53 is provided.

  The motor control unit 51 is electrically provided with a current sensor (not shown) for detecting a current value flowing through the motor 20 and a voltage sensor (not shown) for detecting a voltage value applied to the motor 20. It is connected. Then, the motor control unit 51 acquires a current value Im flowing through the motor 20 and a voltage value Vm applied to the motor 20 based on detection signals from the sensors. The motor control unit 51 then outputs input information for specifying the acquired current value Im and voltage value Vm to the temperature estimation unit 53.

  In addition, temperature information for specifying the estimated temperature value Tb (n) of the brush 28 of the motor 20 calculated by the temperature estimation unit 53 is input to the motor control unit 51. And the motor control part 51 is more than the temperature threshold value preset in order to judge whether the temperature estimation value Tb (n) specified by the input temperature information is the motor 20 being overheated. It is determined whether or not. The motor control unit 51 continues the control of the motor 20 when the estimated temperature value Tb (n) is less than the temperature threshold value, and on the other hand, when the estimated temperature value Tb (n) is greater than or equal to the temperature threshold value, Limit control is performed to limit driving. Examples of the limit control include control for prohibiting the drive of the motor 20 for a certain period, control for restricting the drive of the motor 20 at a specified speed or more, and the like.

  Temperature information for specifying the estimated temperature value Th (n) of the housing 30 calculated by the temperature estimation unit 53 is input to the solenoid valve control unit 52. And the solenoid valve control part 52 sets the electric current value sent through the solenoid valve 31 based on the temperature estimated value Th (n) of the housing 30 specified by the input temperature information. That is, the value of the current flowing through the electromagnetic valve 31 is corrected by the estimated temperature value Th (n) of the housing 30.

  The temperature estimation unit 53 estimates the temperatures of a plurality of device constituent members constituting the brake hydro unit 12. Specifically, the temperature estimator 53 includes the brush (target member) 28 of the motor 20 and the temperatures of the yoke 21 and the housing 30 as an example of other device constituent members other than the brush 28 among the members constituting the motor 20. Is estimated. The temperature estimation unit 53 includes, as function units, a brush temperature provisional value calculation unit 60 as an example of a provisional value estimation unit, a yoke temperature estimation value calculation unit 70 as an example of a temperature acquisition unit, and an example of a temperature acquisition unit. Housing temperature estimated value calculating section 80 and brush temperature estimated value specifying section 90 as an example of an estimated value setting means. Note that the heat capacity of the yoke 21 and the housing 30 is larger than the heat capacity of the brush 28. That is, in the present embodiment, the yoke 21 and the housing 30 correspond to specific device components.

First, the brush temperature provisional value calculation unit 60 will be described.
The brush temperature provisional value calculation unit 60 calculates the temperature provisional value TZb (n) of the brush 28 in consideration of the amount of heat generated by the motor 20 and the amount of heat released from the brush 28. As shown in FIG. 3, the brush temperature provisional value calculation unit 60 includes, as function units, an input power calculation unit 61, an output power calculation unit 62, a heat generation energy calculation unit 63, an ambient temperature calculation unit 64, and a heat dissipation energy calculation unit 65. , A temperature rise amount calculation unit 66, a temperature provisional value calculation unit 67, and a temperature provisional value storage unit 68.

  The input power calculation unit 61 calculates an input power Pin input to the motor 20 as an example of an input energy equivalent value corresponding to the input energy input to the motor 20. Specifically, the input power calculation unit 61 substitutes the current value Im and the voltage value Vm specified by the input information from the motor control unit 51 into the following relational expression (Formula 2), thereby obtaining the input power Pin. Calculate. Then, the input power calculation unit 61 outputs the calculated input power Pin to the heat generation energy calculation unit 63.

出力電力演算部６２は、モータ２０から出力される出力エネルギに相当する出力エネルギ相当値の一例として、モータ２０から出力される出力電力Ｐｏｕｔを演算する。具体的には、出力電力演算部６２は、モータ制御部５１からの入力情報で特定される電流値Ｉｍに含まれるリップル（即ち、周期的な変動）の周期等に基づき、モータ２０の回転数Ｎ及び駆動トルクＴを推定する。続いて、出力電力演算部６２は、モータ２０の出力軸２４１の回転数Ｎ及びモータ２０の駆動トルクＴを下記の関係式（式３）に代入することにより、出力電力Ｐｏｕｔを演算する。そして、出力電力演算部６２は、演算した出力電力Ｐｏｕｔを発熱エネルギ演算部６３に出力する。

The output power calculation unit 62 calculates the output power Pout output from the motor 20 as an example of an output energy equivalent value corresponding to the output energy output from the motor 20. Specifically, the output power calculation unit 62 determines the rotation speed of the motor 20 based on the period of ripple (that is, periodic fluctuation) included in the current value Im specified by the input information from the motor control unit 51. N and driving torque T are estimated. Subsequently, the output power calculation unit 62 calculates the output power Pout by substituting the rotational speed N of the output shaft 241 of the motor 20 and the drive torque T of the motor 20 into the following relational expression (Formula 3). Then, the output power calculation unit 62 outputs the calculated output power Pout to the heat generation energy calculation unit 63.

発熱エネルギ演算部６３は、モータ２０の単位時間あたりの発熱量である発熱エネルギ速度Ｅｉｎを演算する。この発熱エネルギ速度Ｅｉｎの単位は、「Ｊ／ｓ（ジュール／秒）」である。具体的には、発熱エネルギ演算部６３は、入力電力演算部６１で演算された入力電力Ｐｉｎから出力電力演算部６２で演算された出力電力Ｐｏｕｔを減算し、該減算結果（＝Ｐｉｎ−Ｐｏｕｔ）をモータ２０の発熱エネルギ速度Ｅｉｎとする。本実施形態では、モータ２０の単位時間あたりの発熱量のことを、単位が「Ｊ（ジュール）」を「時間（秒）」で除算した値であることを明確にするために「発熱エネルギ速度」と称する。そして、発熱エネルギ演算部６３は、演算した発熱エネルギ速度Ｅｉｎを温度上昇量演算部６６に出力する。したがって、本実施形態では、発熱エネルギ演算部６３が、入力電力Ｐｉｎと出力電力Ｐｏｕｔとの差分（＝Ｐｉｎ−Ｐｏｕｔ）に基づき、モータ２０の発熱エネルギ速度Ｅｉｎを演算する発熱量演算手段として機能する。

The heat generation energy calculation unit 63 calculates a heat generation energy speed Ein that is a heat generation amount per unit time of the motor 20. The unit of the heat generation energy rate Ein is “J / s (joule / second)”. Specifically, the heat generation energy calculation unit 63 subtracts the output power Pout calculated by the output power calculation unit 62 from the input power Pin calculated by the input power calculation unit 61, and the subtraction result (= Pin−Pout). Is the heat generation energy rate Ein of the motor 20. In the present embodiment, the amount of heat generated per unit time of the motor 20 is expressed as “heat generation energy rate” in order to clarify that the unit is a value obtained by dividing “J (joule)” by “time (second)”. ". Then, the heat generation energy calculation unit 63 outputs the calculated heat generation energy speed Ein to the temperature increase amount calculation unit 66. Accordingly, in the present embodiment, the heat generation energy calculation unit 63 functions as a heat generation amount calculation unit that calculates the heat generation energy speed Ein of the motor 20 based on the difference (= Pin−Pout) between the input power Pin and the output power Pout. .

  The ambient temperature calculation unit 64 detects the temperature in the housing case 40 based on the detection signal from the temperature sensor SE1 provided on the circuit board 41, and determines the installation environment of the motor 20 based on the temperature in the housing case 40. The ambient temperature Tf is estimated. For example, the ambient temperature calculation unit 64 adds a preset offset value to the detected temperature in the housing case 40, and sets this value as the ambient temperature Tf. The offset value is a value corresponding to a temperature difference between the inside of the housing case 40 and the periphery of the motor 20, and is set by experiment, simulation, or the like. Then, the ambient temperature calculation unit 64 outputs the calculated ambient temperature Tf to the heat dissipation energy calculation unit 65.

  The heat dissipation energy calculation unit 65 calculates a heat dissipation energy rate Eout (Eout_B) that is a heat dissipation amount per unit time released from the motor 20. The unit of the heat dissipation energy speed Eout is “J / s (joule / second)”. Specifically, the heat radiation energy calculation unit 65 reads the temperature temporary value TZb (n−1) of the brush 28 calculated at the previous timing from the temperature temporary value storage unit 68. The heat dissipation energy calculation unit 65 calculates the previous temperature provisional value TZb (n-1) of the brush 28, the ambient temperature Tf calculated by the ambient temperature calculation unit 64, and the thermal coefficient A indicating the thermal characteristics of the brush 28 as follows. By substituting into the relational expression (formula 3), the heat radiation energy rate Eout_B from the motor 20 is calculated. Subsequently, the heat dissipation energy calculation unit 65 outputs the calculated heat dissipation energy rate Eout_B from the brush 28 to the temperature increase amount calculation unit 66. Therefore, in this embodiment, the heat dissipation energy calculation unit 65 is based on the difference between the previous temperature provisional value TZb (n−1) of the brush 28 and the ambient temperature Tf and the thermal coefficient A indicating the thermal characteristics of the brush 28. , Functions as a heat radiation amount calculating means for calculating the heat radiation energy rate Eout_B from the brush 28. In the present embodiment, the amount of heat released per unit time emitted from the target member is expressed in order to clarify that the unit is a value obtained by dividing “J (joule)” by “time (second)”. This is referred to as “heat dissipation energy rate”.

ここで、ブラシ２８、ヨーク２１及びハウジング３０などの機器構成部材の熱特性を示す熱係数Ａについて、図４を参照して説明する。熱係数Ａとは、図４に示す対象部材に伝達された発熱エネルギ速度と、対象部材の温度上昇量の増加量との関係（図４における各直線の傾き）を示す係数である。

Here, the thermal coefficient A which shows the thermal characteristic of apparatus structural members, such as the brush 28, the yoke 21, and the housing 30, is demonstrated with reference to FIG. The thermal coefficient A is a coefficient indicating the relationship (inclination of each straight line in FIG. 4) between the heat generation energy rate transmitted to the target member shown in FIG. 4 and the increase amount of the temperature rise amount of the target member.

The graph shown in FIG. 4 is created as described below.
First, a temperature sensor is attached to the equipment component under a specified temperature atmosphere (for example, 30 ° C.), and the motor 20 is driven in a state where the rotation speed N and the drive torque T of the motor 20 can be measured. . At this time, the motor 20 is given a predetermined current value Im and a voltage value Vm. By driving the motor 20 as described above, the temperature of the device constituent member rises while the heat generation energy speed is higher than the heat dissipation energy speed. However, when the temperature of the device constituent member increases, the heat dissipation energy rate gradually increases, and the temperature increase rate of the device component member decreases. When the heat generation energy rate and the heat dissipation energy rate are balanced, the temperature of the device constituent member is not changed. Thereafter, by substituting the current value Im and the voltage value Vm given to the motor 20 into the relational expression (expression 2), the input power Pin to the motor 20 is calculated, and based on the relational expression (expression 3), the motor 20 Output power Pout is calculated, and the temperature of the equipment component is detected based on the detection signal from the temperature sensor.

  Then, the heat generation energy rate Ein of the motor 20 is calculated by subtracting the output power Pout from the input power Pin calculated after the temperature of the device component does not change. The heat generation energy rate Ein of the motor 20 calculated in this way and the temperature rise amount of the device constituent member after the driving of the motor 20 is started are acquired as measurement results. A plurality of such measurement results are obtained by changing the input power Pin to the motor 20. And the graph shown in FIG. 4 is produced by plotting the acquired some measurement result.

  The state in which the temperature of the device component does not change is a state in which the heat generation energy rate Ein of the motor 20 and the heat dissipation energy rate Eout from the device component are balanced. Therefore, the heat generation energy rate Ein of the motor 20 based on the input power Pin and the output power Pout calculated in a state in which the temperature of the device component does not change, in other words, the heat dissipation energy rate Eout from the device component at this time. Also good. That is, the graph shown in FIG. 4 is also a graph for explaining the relationship between the heat radiation energy rate Eout from the device constituent member and the temperature rise amount of the device constituent member.

  As is clear from FIG. 4, the amount of temperature increase of the brush 28, which is an example of a device constituent member, increases as the value of the heat generation energy rate Ein of the motor 20 increases. In addition, there is a proportional relationship between the temperature rise amount of the brush 28 and the heat generation energy rate Ein. That is, the relationship between the temperature rise amount of the brush 28 and the heat generation energy rate Ein can be expressed by a linear function. In FIG. 4, the linear function indicating the relationship between the temperature rise amount and the heat generation energy rate Ein is indicated by the first straight line S1. The slope of the equation representing the first straight line S1 corresponds to the thermal coefficient A of the brush 28.

  Similarly, there is a proportional relationship between the temperature rise amount of the yoke 21 which is an example of the device constituent member and the heat generation energy speed Ein of the motor 20. That is, the relationship between the temperature rise amount of the yoke 21 and the heat generation energy rate Ein is represented by a linear function. In FIG. 4, the linear function indicating the relationship between the temperature rise amount of the yoke 21 and the heat generation energy rate Ein is indicated by the second straight line S2. The slope of the equation representing the second straight line S2 corresponds to the heat coefficient A of the yoke 21.

  Similarly, there is a proportional relationship between the temperature rise amount of the housing 30 which is an example of the device constituent member and the heat generation energy speed Ein of the motor 20. That is, the relationship between the temperature rise amount of the housing 30 and the heat generation energy rate Ein is represented by a linear function. In FIG. 4, the linear function indicating the relationship between the temperature rise amount of the housing 30 and the heat generation energy rate Ein is indicated by a third straight line S3. The inclination of the equation representing the third straight line S3 corresponds to the heat coefficient A of the housing 30.

  In the present embodiment, among the brush 28, the yoke 21, and the housing 30, the thermal coefficient A of the brush 28 is the largest, the thermal coefficient A of the yoke 21 is the second largest, and the thermal coefficient A of the housing 30 is the smallest. This is determined by the material constituting the device constituent member, the volume of the device constituent member, the distance between the motor 20 and the device constituent member, etc. (see FIG. 1). And the thermal coefficient A of each member acquired in this way is prepared beforehand.

  As shown in FIG. 3, the temperature increase calculation unit 66 calculates a temperature increase rate ΔTb (n) that is an estimated value of the temperature increase per unit time of the brush 28. Specifically, the temperature rise amount calculation unit 66 calculates the heat generation energy speed Ein calculated by the heat generation energy calculation unit 63 and the heat dissipation energy speed Eout (Eout_B) calculated by the heat dissipation energy calculation unit 65 by the following relational expression. By substituting into (Equation 5), the temperature rise rate ΔTb (n) of the brush 28 is calculated. Then, the temperature increase amount calculation unit 66 outputs the calculated temperature increase rate ΔTb (n) to the temperature temporary value calculation unit 67. The coefficient K for the brush 28 is a constant indicating the amount of temperature increase per “1 J (joule)”, and indicates how the temperature of the brush 28 changes due to the energy entering and exiting the brush 28. Proportional constant.

温度暫定値演算部６７は、ブラシの今回の温度暫定値ＴＺｂ（ｎ）を演算する。具体的には、温度暫定値演算部６７は、温度上昇量演算部６６で演算された温度上昇速度ΔＴｂ（ｎ）と、温度暫定値記憶部６８に記憶されるブラシ２８の前回の温度暫定値ＴＺｂ（ｎ−１）とを下記の関係式（式６）に代入することにより、ブラシ２８の今回の温度暫定値ＴＺｂ（ｎ）を演算する。関係式（式６）における時間ｔｓは、温度暫定値ＴＺｂの演算間隔に相当する時間である。つまり、関係式（式６）における「ΔＴｂ（ｎ）・ｔｓ」は、所定周期に相当する時間でのブラシ２８の温度上昇量の推定値に相当する。したがって、本実施形態では、温度上昇量演算部６６及び温度暫定値演算部６７により、ブラシ２８の今回の温度暫定値ＴＺｂ（ｎ）を演算する暫定値演算手段が構成される。そして、温度暫定値演算部６７は、演算したブラシ２８の今回の温度暫定値ＴＺｂ（ｎ）を、温度暫定値記憶部６８に記憶すると共に、ブラシ温度推定値特定部９０に出力する。

The temporary temperature value calculation unit 67 calculates the current temporary temperature value TZb (n) of the brush. Specifically, the temperature provisional value calculation unit 67 calculates the temperature increase rate ΔTb (n) calculated by the temperature increase amount calculation unit 66 and the previous temperature provisional value of the brush 28 stored in the temperature provisional value storage unit 68. By substituting TZb (n−1) into the following relational expression (formula 6), the current temperature provisional value TZb (n) of the brush 28 is calculated. The time ts in the relational expression (Formula 6) is a time corresponding to the calculation interval of the temperature provisional value TZb. That is, “ΔTb (n) · ts” in the relational expression (Expression 6) corresponds to an estimated value of the temperature increase amount of the brush 28 in a time corresponding to a predetermined period. Therefore, in the present embodiment, the temperature rise amount calculation unit 66 and the temperature provisional value calculation unit 67 constitute provisional value calculation means for calculating the current temperature provisional value TZb (n) of the brush 28. Then, the temperature temporary value calculation unit 67 stores the calculated temperature temporary value TZb (n) of the brush 28 in the temperature temporary value storage unit 68 and outputs it to the brush temperature estimated value specifying unit 90.

次に、ヨーク温度推定値演算部７０について説明する。

Next, the yoke temperature estimated value calculation unit 70 will be described.

  The yoke temperature estimated value calculation unit 70 calculates the estimated temperature value Ty (n) of the yoke 21 in consideration of the amount of heat generated by the motor 20 and the amount of heat released from the yoke 21. The yoke temperature estimated value calculation unit 70 includes, as function units, an input power acquisition unit 71, an output power acquisition unit 72, a heat generation energy calculation unit 73, an ambient temperature acquisition unit 74, a heat radiation energy calculation unit 75, and a temperature increase calculation unit 76. The temperature estimated value calculation unit 77 and the temperature estimated value storage unit 78 are provided.

The input power acquisition unit 71 acquires the input power Pin calculated by the input power calculation unit 61 of the brush temperature provisional value calculation unit 60 and outputs the input power Pin to the heat generation energy calculation unit 73.
The output power acquisition unit 72 acquires the output power Pout calculated by the output power calculation unit 62 of the brush temperature provisional value calculation unit 60 and outputs the output power Pout to the heat generation energy calculation unit 73.

  The heat generation energy calculation unit 73 calculates a heat generation energy rate Ein that is a heat generation amount per unit time of the motor 20 by the same method as the heat generation energy calculation unit 63 of the brush temperature provisional value calculation unit 60, and calculates the heat generation energy rate Ein. It outputs to the temperature rise calculation part 76. Therefore, in the present embodiment, the heat generation energy calculation unit 73 functions as a heat generation amount calculation unit that calculates the heat generation energy speed Ein of the motor 20 based on the difference (= Pin−Pout) between the input power Pin and the output power Pout. .

  The ambient temperature acquisition unit 74 acquires the ambient temperature Tf calculated by the ambient temperature calculation unit 64 of the brush temperature provisional value calculation unit 60 and outputs the ambient temperature Tf to the heat dissipation energy calculation unit 75.

  The heat dissipation energy calculation unit 75 calculates a heat dissipation energy rate Eout that is a heat dissipation amount per unit time released from the yoke 21. Specifically, the heat radiation energy calculation unit 75 reads the estimated temperature value Ty (n−1) of the yoke 21 calculated at the previous timing from the estimated temperature value storage unit 78. Then, the heat dissipation energy calculation unit 75 calculates the heat dissipation energy speed Eout (Eout_Y) from the yoke 21 using the relational expression (Expression 4). At this time, the heat radiation energy calculation unit 75 substitutes the previous temperature estimated value Ty (n−1) of the yoke 21 in place of the previous temperature provisional value TZb (n−1) of the brush 28 to thereby change the yoke 21. The heat radiation energy rate Eout_Y from the is calculated. Therefore, in the present embodiment, the heat radiation energy calculation unit 75 calculates the difference between the previous estimated temperature value Ty (n−1) of the yoke (other equipment component member) 21 and the ambient temperature Tf and the thermal characteristics of the yoke 21. Based on the thermal coefficient A shown, it functions as a heat dissipation amount calculating means for calculating the heat dissipation energy rate Eout_Y from the yoke 21.

  The temperature increase calculation unit 76 calculates a temperature increase rate ΔTy (n), which is an estimated value of the temperature increase per unit time of the yoke 21. Specifically, the temperature increase amount calculation unit 76 calculates the heat generation energy speed Ein calculated by the heat generation energy calculation unit 73 and the heat dissipation energy speed Eout (Eout_Y) calculated by the heat dissipation energy calculation unit 75 by the above relational expression ( By substituting into equation (5), the temperature rise rate ΔTy (n) of the yoke 21 is calculated. In this case, the coefficient K for the yoke 21 is set to the inverse of the heat capacity of the yoke 21. Then, the temperature increase amount calculation unit 76 outputs the calculated temperature increase rate ΔTy (n) to the temperature estimated value calculation unit 77.

  The estimated temperature value calculation unit 77 calculates the current estimated temperature value Ty (n) of the yoke 21 using the relational expression (Expression 6). At this time, the temperature estimated value calculation unit 77 substitutes the previous temperature estimated value Ty (n−1) of the yoke 21 instead of the previous temperature provisional value TZb (n−1) of the brush 28, and Instead of the temperature rise rate ΔTb (n), the temperature rise rate ΔTy (n) of the yoke 21 is substituted. Therefore, in the present embodiment, the estimated temperature calculation means for estimating the current estimated temperature value Ty (n) of the yoke (other equipment component member) 21 is configured by the temperature increase calculation unit 76 and the estimated temperature calculation unit 77. Is done. Then, the temperature estimated value calculation unit 77 stores the calculated current temperature estimated value Ty (n) of the yoke 21 in the temperature estimated value storage unit 78 and outputs it to the brush temperature estimated value specifying unit 90.

Next, the housing temperature estimated value calculation unit 80 will be described.
The housing temperature estimated value calculation unit 80 calculates the estimated temperature value Th (n) of the housing 30 in consideration of the amount of heat generated by the motor 20 and the amount of heat released from the housing 30. The housing temperature estimated value calculation unit 80 includes, as function units, an input power acquisition unit 81, an output power acquisition unit 82, a heat generation energy calculation unit 83, an ambient temperature acquisition unit 84, a heat radiation energy calculation unit 85, and a temperature increase calculation unit 86. The temperature estimated value calculation unit 87 and the temperature estimated value storage unit 88 are provided.

The input power acquisition unit 81 acquires the input power Pin calculated by the input power calculation unit 61 of the brush temperature provisional value calculation unit 60 and outputs the input power Pin to the heat generation energy calculation unit 83.
The output power acquisition unit 82 acquires the output power Pout calculated by the output power calculation unit 62 of the brush temperature provisional value calculation unit 60, and outputs the output power Pout to the heat generation energy calculation unit 83.

  The heat generation energy calculation unit 83 calculates a heat generation energy rate Ein that is a heat generation amount per unit time of the motor 20 by the same method as the heat generation energy calculation unit 63 of the brush temperature provisional value calculation unit 60, and calculates the heat generation energy rate Ein. It outputs to the temperature rise amount calculation part 86. Therefore, in the present embodiment, the heat generation energy calculation unit 83 functions as a heat generation amount calculation unit that calculates the heat generation energy speed Ein of the motor 20 based on the difference (= Pin−Pout) between the input power Pin and the output power Pout. .

  The ambient temperature acquisition unit 84 acquires the ambient temperature Tf calculated by the ambient temperature calculation unit 64 of the brush temperature provisional value calculation unit 60 and outputs the ambient temperature Tf to the heat dissipation energy calculation unit 85.

  The heat dissipation energy calculation unit 85 calculates a heat dissipation energy rate Eout (Eout_H) that is a heat dissipation amount per unit time released from the housing 30. Specifically, the heat radiation energy calculation unit 85 reads the estimated temperature value Th (n−1) of the housing 30 calculated at the previous timing from the estimated temperature value storage unit 88. Then, the heat dissipation energy calculation unit 85 calculates the heat dissipation energy rate Eout_H from the housing 30 using the above relational expression (formula 4). At this time, the heat radiation energy calculation unit 85 substitutes the previous temperature estimated value Th (n−1) of the housing 30 in place of the previous temperature provisional value TZb (n−1) of the brush 28, so that the housing 30. The heat radiation energy rate Eout_H from the is calculated. Therefore, in the present embodiment, the heat dissipation energy calculation unit 85 determines the difference between the previous temperature estimated value Th (n−1) of the housing (other equipment component) 30 and the ambient temperature Tf and the thermal characteristics of the housing 30. Based on the thermal coefficient A shown, it functions as a heat dissipation amount calculating means for calculating the heat dissipation energy rate Eout_H from the housing 30.

  The temperature increase calculation unit 86 calculates a temperature increase rate ΔTh (n) that is an estimated value of the temperature increase per unit time of the housing 30. Specifically, the temperature rise amount calculation unit 86 calculates the heat generation energy speed Ein calculated by the heat generation energy calculation unit 83 and the heat dissipation energy speed Eout (Eout_H) calculated by the heat dissipation energy calculation unit 85 by the above relational expression ( By substituting into equation (5), the temperature rise rate ΔTh (n) of the housing 30 is calculated. In this case, the coefficient K for the housing 30 is set to the inverse of the heat capacity of the housing 30. Then, the temperature increase amount calculation unit 86 outputs the calculated temperature increase rate ΔTh (n) to the temperature estimated value calculation unit 87.

  The estimated temperature value calculation unit 87 calculates the current estimated temperature value Th (n) of the housing 30 using the relational expression (Expression 6). At this time, the temperature estimated value calculation unit 87 substitutes the previous temperature estimated value Th (n−1) of the housing 30 in place of the previous temperature temporary value TZb (n−1) of the brush 28, and Instead of the temperature increase rate ΔTb (n), the temperature increase rate ΔTh (n) of the housing 30 is substituted. Therefore, in this embodiment, the estimated value calculation means for estimating the current estimated temperature value Th (n) of the housing (other equipment component member) 30 is configured by the temperature increase calculation unit 86 and the estimated temperature calculation unit 87. Is done. Then, the temperature estimated value calculation unit 87 stores the calculated temperature estimated value Th (n) of the housing 30 in the temperature estimated value storage unit 88 and outputs it to the brush temperature estimated value specifying unit 90.

Next, the brush temperature estimated value specifying unit 90 will be described.
Based on the current temperature provisional value TZb (n) of the brush 28, the current temperature estimated value Tb (n) of the yoke 21, and the current temperature estimated value Th (n) of the housing 30, the brush temperature estimated value specifying unit 90 The current estimated temperature value Tb (n) of the brush 28 is specified (set). Specifically, the brush temperature estimated value specifying unit 90 sets the current temperature provisional value TZb (n) of the brush 28 as the current temperature estimated value Tb (n) of the brush 28 when the motor 20 is driven. On the other hand, when the motor 20 is stopped after being driven, the estimated brush temperature value specifying unit 90 determines the current temporary temperature value TZb (n) of the brush 28, the current estimated temperature value Tb (n) of the yoke 21, and the current temperature of the housing 30. The largest value of the estimated temperature value Th (n) is the current estimated temperature value Tb (n) of the brush 28.

Here, the reason for estimating the temperature of the brush 28 by the above method will be described with reference to FIGS.
In the graph shown in FIG. 5, the temporary temperature value TZb of the brush 28, the estimated temperature value Ty of the yoke 21, and the estimated temperature value Th of the housing 30 are plotted. As shown in FIG. 5, during the driving of the motor 20, the temporary temperature value TZb of the brush 28, which itself is a heat generation source and has the smallest heat capacity, is compared with the estimated temperature values Ty and Th of the yoke 21 and the housing 30. Great value. Further, the estimated temperature value Ty of the yoke 21 having the second smallest heat capacity is larger than the estimated temperature value Th of the housing 30.

  On the other hand, after the first timing t11 when the driving of the motor 20 stops, the temperature temporary value TZb of the brush 28, the temperature estimation values Ty and Th of the yoke 21 and the housing 30 become small. In particular, the temperature provisional value TZb of the brush 28 having the smallest heat capacity decreases rapidly. The temporary temperature value TZb of the brush 28 becomes smaller than the estimated temperature value Ty of the yoke 21 at the time when the second timing t12 has elapsed, and at the time when the third timing t13 thereafter has passed, It becomes smaller than the temperature estimated value Th.

  However, after the driving of the motor 20 is stopped, the temperature of the brush 28 does not change as the temperature temporary value TZb in FIG. That is, the actual heat dissipation energy rate from the brush 28 is not limited to the temperature around the brush 28, that is, the ambient temperature Tf, particularly when the motor 20 is stopped, but to other members (in this case, the yoke 28) located around the brush 28. 21 and the temperature of the housing 30). Since the heat capacity of the yoke 21 and the housing 30 is larger than that of the brush 28, the temperatures of the yoke 21 and the housing 30 do not decrease as rapidly as the brush 28.

  In other words, after the motor 20 is stopped, while the temperature of the brush 28 is higher than that of the yoke 21, heat moves from the brush 28 to the yoke 21 and the housing 30, so the temperature of the brush 28 changes abruptly. However, when the brush 28 and the yoke 21 reach substantially the same temperature, there is almost no heat transfer between the brush 28 and the yoke 21, and the temperature of the brush 28 does not greatly drop below the temperature of the yoke 21. That is, the temperature of the brush 28 decreases at substantially the same speed as the temperature of the yoke 21.

  When the second timing t <b> 12 elapses, the heat of the brush 28 and the yoke 21 moves to the side of the housing 30 that is hotter than the brush 28 and the yoke 21. However, when the temperature of the brush 28 and the yoke 21 becomes substantially the same as the temperature of the housing 30, there is almost no heat transfer between the brush 28 and the yoke 21 and the housing 30. The temperature is not much lower than 30. That is, the temperature of the brush 28 and the yoke 21 decreases at substantially the same speed as the temperature of the housing 30.

  On the other hand, the temporary temperature value TZb is calculated based on the heat generation energy rate Ein in the motor 20 and the heat radiation energy rate Eout_B calculated using the ambient temperature Tf. That is, the temperature provisional value TZb is a value calculated without taking into account the temperature of other device components located around the brush 28. Therefore, as shown in FIG. 6A, the temporary temperature value TZb may greatly deviate from the actual temperature of the brush 28 after the driving of the motor 20 is stopped.

  Therefore, in the present embodiment, the temperature provisional value TZb is higher than the estimated temperature values Ty and Th of the yoke 21 and the housing 30 during the driving of the motor 20 and after the stop of the driving until the second timing t12. The provisional value TZb is set as the estimated temperature value Tb of the brush 28. In addition, after the second timing t12 and before the estimated temperature value Ty of the yoke 21 becomes less than the estimated temperature value Th of the housing 30, the temporary temperature value TZb is lower than the estimated temperature value Ty of the yoke 21, and therefore the yoke 21 Is the temperature estimated value Tb of the brush 28. When the estimated temperature value Ty of the yoke 21 is less than the estimated temperature value Th of the housing 30, the estimated temperature value Th of the housing 30 is set as the estimated temperature value Tb of the brush 28. As a result, as shown in FIGS. 6A and 6B, the estimated temperature value Tb of the brush 28 is closer to the actually measured value of the temperature of the brush 28 than the temporary temperature value TZb after the driving of the motor 20 is stopped. Value.

  7A and 7B show how the temporary temperature value TZb of the brush 28 and the estimated temperature value Tb of the brush 28 fluctuate when the driving and stopping of the motor 20 are continuously repeated. . As shown in FIGS. 7A and 7B, even when the driving and stopping of the motor 20 are repeated continuously, the temperature estimation value Tb of the brush 28 set by the estimation method of the present embodiment is the brush It becomes a value closer to the actual measurement value of the temperature of the brush 28 than the temporary temperature value TZb 28 (see FIG. 7A).

  Next, a temperature estimation processing routine for estimating the temperatures of the brush 28, the yoke 21 and the housing 30 of the motor 20 will be described with reference to the flowchart shown in FIG. This temperature estimation processing routine is a processing routine that is executed at predetermined intervals set in advance. The predetermined period coincides with the time ts.

  In the temperature estimation processing routine, the temperature estimation unit 53 increments the number n by “1” (step S10). Subsequently, the temperature estimation unit 53 calculates the input power Pin to the motor 20 using the relational expression (Expression 2) (step S11), and the output power from the motor 20 using the relational expression (Expression 3). Pout is calculated (step S12). That is, in step S11, the input power Pin is derived by multiplying the current value Im flowing through the motor 20 by the voltage value Vm applied to the motor 20. In step S12, the output power Pout is derived by multiplying the rotation speed N of the motor 20, the drive torque T, and a constant (= 0.14796).

  Then, the temperature estimation unit 53 calculates the heat generation energy speed Ein (= Pin−Pout) from the motor 20 by subtracting the output power Pout calculated in step S12 from the input power Pin calculated in step S11 (step S13). . Subsequently, the temperature estimation unit 53 acquires the ambient temperature Tf of the installation environment of the motor 20 (step S14).

  Then, the temperature estimation unit 53 calculates the heat radiation energy speed Eout_B from the brush 28, the heat radiation energy speed Eout_Y from the yoke 21, and the heat radiation energy speed Eout_H from the housing 30 using the relational expression (Formula 4) (step S15). ). That is, the ambient temperature Tf is subtracted from the previous temperature provisional value TZb (n−1) of the brush 28, and the subtracted value (= (TZb (n−1) −Tf)) is the thermal coefficient indicating the thermal characteristics of the brush 28. By dividing by A, the heat dissipation energy speed Eout_B of the brush 28 is derived. Further, the ambient temperature Tf is subtracted from the previous estimated temperature value Ty (n−1) of the yoke 21, and the subtracted value (= (Ty (n−1) −Tf)) is a thermal coefficient indicating the thermal characteristics of the yoke 21. By dividing by A, the heat radiation energy rate Eout_Y of the yoke 21 is derived. Further, the ambient temperature Tf is subtracted from the previous estimated temperature value Th (n−1) of the housing 30, and the subtracted value (= (Th (n−1) −Tf)) is a thermal coefficient indicating the thermal characteristics of the housing 30. By dividing by A, the heat radiation energy rate Eout_H of the housing 30 is derived.

  Subsequently, the temperature estimation unit 53 uses the above relational expression (Formula 5), the temperature increase rate ΔTb (n) of the brush 28, the temperature increase rate ΔTy (n) of the yoke 21, and the temperature increase rate ΔTh (n) of the housing 30. ) Is calculated (step S16). That is, by subtracting the heat dissipation energy speed Eout_B of the brush 28 from the heat generation energy speed Ein of the motor 20, and multiplying the subtraction value (= (Ein−Eout_B)) by the coefficient K for the brush 28, A temperature rise rate ΔTb (n) is derived. Further, by subtracting the heat dissipation energy speed Eout_Y of the yoke 21 from the heat generation energy speed Ein of the motor 20 and multiplying the subtraction value (= (Ein−Eout_Y)) by the coefficient K for the yoke 21, A temperature rise rate ΔTy (n) is derived. Further, by subtracting the heat dissipation energy speed Eout_H of the housing 30 from the heat generation energy speed Ein of the motor 20 and multiplying the subtracted value (= (Ein−Eout_H)) by the coefficient K for the housing 30, A temperature rise rate ΔTy (n) is derived.

Here, the reason for using the heat generation energy speed Ein of the motor 20 instead of the heat generation energy speed of the target member when calculating the temperature rise speed of the target member will be described.
The main heat source of the brake hydro unit 12 is the motor 20. When the motor 20 is driven, the heat generated based on the driving is transmitted to each component member constituting the brake hydro unit 12. As a result, the temperature of each device component increases. That is, the temperature increase of each device component is a temperature increase based on the driving of the motor 20. Therefore, the temperature rise speed of each component member is substantially proportional to the drive speed of the motor 20, that is, the heat generation energy speed Ein of the motor 20. Therefore, even if the heat generation energy speed of the target member is not acquired individually, the current temperature increase speed of each device component is derived by using the heat generation energy speed Ein of the motor 20.

  Returning to the description of the flowchart, the temperature estimation unit 53 calculates the current temperature provisional value TZb (n) of the brush 28 using the relational expression (Expression 6) (step S17). That is, the current temperature rise rate ΔTb (n) of the brush 28 is multiplied by the time ts, and the previous temperature provisional value of the brush 28 with respect to the temperature rise amount (= (ΔTb (n) · ts)) in a predetermined cycle. By adding TZb (n−1), the current temperature provisional value TZb (n) of the brush 28 is derived. Therefore, in this embodiment, step S17 corresponds to a provisional value estimation step.

  Subsequently, the temperature estimation unit 53 stores the current temperature provisional value TZb (n) of the brush 28 calculated in step S17 in the temperature provisional value storage unit 68 (step S18). The temperature estimating unit 53 calculates the current temperature estimated value Ty (n) of the yoke 21 and the current temperature estimated value Th (n) of the housing 30 using the relational expression (Expression 6) (step S19). . That is, the current temperature rise rate ΔTy (n) of the yoke 21 is multiplied by the time ts, and the previous temperature estimated value of the yoke 21 with respect to the temperature rise amount (= (ΔTy (n) · ts)) in a predetermined cycle. By adding Ty (n−1), the current estimated temperature value Ty (n) of the yoke 21 is derived. Similarly, the current temperature rise rate ΔTh (n) of the housing 30 is multiplied by the time ts to estimate the previous temperature of the housing 30 with respect to the temperature rise amount (= (ΔTh (n) · ts)) in a predetermined cycle. By adding the value Th (n−1), the current temperature estimated value Th (n) of the housing 30 is derived. Therefore, in this embodiment, step S19 corresponds to a temperature acquisition step.

  Subsequently, the temperature estimation unit 53 stores the current temperature estimated value Ty (n) of the yoke 21 calculated in step S19 in the temperature estimated value storage unit 78 and the current temperature estimated value Th (n) of the housing 30. Is stored in the temperature estimated value storage unit 88 (step S20). And the temperature estimation part 53 determines whether the motor 20 is driving (step S21). When the motor 20 is being driven (step S21: YES), the temperature estimation unit 53 uses the current temperature provisional value TZb (n) of the brush 28 calculated in step S17 as the current temperature estimated value Tb ( n) (step S22). Thereafter, the temperature estimation unit 53 once ends the temperature estimation processing routine. Therefore, in the present embodiment, step S22 corresponds to a motor driving estimated value setting step.

  On the other hand, when the motor 20 is stopped (step S21: NO), the temperature estimation unit 53 determines the current temperature temporary value TZb (n) of the brush 28 calculated in step S17 and the current value of the yoke 21 calculated in step S19. The highest temperature value among the estimated temperature value Ty (n) and the estimated temperature value Th (n) of the housing 30 is defined as the estimated temperature value Tb (n) of the brush 28 (step S23). Thereafter, the temperature estimation unit 53 once ends the temperature estimation processing routine. Therefore, in this embodiment, step S23 corresponds to a motor stop time estimated value setting step.

Therefore, in this embodiment, the following effects can be obtained.
(1) After the drive of the motor 20 is stopped, the temperature of the brush 28 is lower than the provisional temperature value TZb (n) of the brush 28 and the provisional temperature value TZb (n) of the brush 28 while the motor 20 is being driven. It is estimated based on the estimated temperature values Ty (n) and Th (n) of the yoke 21 and the housing 30. That is, the estimated temperature value Ty (n) of the brush 28 is the highest value among the temporary temperature value TZb (n) of the brush 28 and estimated temperature values Ty (n) and Th (n) of the yoke 21 and the housing 30. . This is because the brush 28 is less likely to become colder than the yoke 21 and the housing 30 having a larger heat capacity than the brush 28 after the driving of the motor 20 is stopped. Thus, after the drive of the motor 20 is stopped, the estimated temperature value Tb (n) of the brush 28 by taking into account the estimated temperature values of the other component parts (the yoke 21 and the housing 30) located around the brush 28. Is acquired. Accordingly, it is possible to improve the estimation accuracy of the temperature of the brush 28 which is one of the component members constituting the brake hydro unit 12 after the driving of the motor 20 is stopped.

  (2) The housing 30 is a member having the largest heat capacity among a plurality of device constituent members constituting the brake hydro unit 12. Therefore, the temperature of the brush 28 does not fall below the temperature of the housing 30 when the driving of the motor 20 is stopped. Therefore, in this embodiment, the estimated temperature value Th of the housing 30 having the largest heat capacity is acquired. When the driving of the motor 20 is stopped, the current estimated temperature value Tb (n) of the brush 28 is set while considering the current estimated temperature value Th (n) of the housing 30. Therefore, the estimation accuracy of the temperature of the brush 28 can be improved.

  (3) The heat generation energy speed Ein of the motor 20 is derived by subtracting the output power Pout from the motor 20 from the input power Pin to the motor 20. The heat dissipation energy rate Eout_B from the brush 28 is obtained by dividing the value obtained by subtracting the ambient temperature Tf from the previous temperature provisional value TZb (n-1) of the brush 28 by the thermal coefficient A indicating the thermal characteristics of the brush 28. Obtained by The reason for using the difference between the previous temperature provisional value TZb (n-1) of the brush 28 and the ambient temperature Tf when calculating the heat dissipation energy speed Eout_B is that the amount of heat released from the brush 28 per unit time depends on the difference. This is because of fluctuations. Therefore, by setting the heat coefficient A to an appropriate value, it is possible to improve the estimation accuracy of the heat radiation energy rate Eout_B from the brush 28.

  Based on the heat generation energy rate Ein of the motor 20 and the heat dissipation energy rate Eout_B calculated from the brush 28 in this way, the temperature increase rate ΔTb (n) of the brush 28 is acquired. As a result, the estimation accuracy of the current temperature provisional value TZb (n) of the brush 28 is improved. When the motor 20 is driven, the calculated temporary temperature value TZb (n) is used as the estimated temperature value Tb (n) of the brush 28. Therefore, the estimation accuracy of the temperature of the brush 28 when the motor 20 is driven can be improved.

  (4) If the estimated accuracy of the temperature of the brush 28 when the motor 20 is stopped is poor, even if the temperature rise rate ΔTb (n) of the brush 28 during driving of the motor 20 can be obtained with high accuracy, the motor 20 It is not possible to accurately estimate the temperature of the brush 28 that is being driven. This is because the estimated temperature value of the brush 28 immediately before the start of driving of the motor 20 deviates from the actual temperature. In this regard, in the present embodiment, the temperature of the brush 28 during driving of the motor 20 can be accurately estimated as much as the temperature of the brush 28 is accurately estimated even when the motor 20 is stopped.

  (5) As a method of calculating the heat generation energy speed Ein of the motor 20, a method of multiplying a value obtained by squaring the current value Im flowing through the motor 20 by a predetermined proportional constant may be considered. In this method, while the output from the motor 20 is not used, the heat energy rate Ein of the motor 20 is calculated using the input (that is, the current value) to the motor 20. In this case, in a situation where the driving torque of the motor 20 varies, there is a possibility that the estimation accuracy of the heat generation energy speed Ein varies. In this regard, in this embodiment, the heat generation energy speed Ein is calculated using the input power Pin to the motor 20 and the output power Pout from the motor 20. That is, in this embodiment, the heat generation energy speed Ein of the motor 20 is calculated using not only the input to the motor 20 but also the output from the motor 20. Therefore, even when the driving torque T of the motor 20 varies, the heat generation energy speed Ein of the motor 20 is estimated with high accuracy, so that the estimation accuracy of the temperature of the brush 28 can be improved.

  (6) Especially in a vehicle that can use the regenerative braking force during deceleration, the braking force required by the driver (hereinafter also referred to as “required braking force”) is less than or equal to the maximum value of the regenerative braking force that can be applied. In this case, the brake hydro unit 12 is not driven. On the other hand, when the required braking force exceeds the maximum value of the regenerative braking force, the brake hydro unit 12 is driven so as to compensate for the difference between the required braking force and the regenerative braking force. In addition, the driving torque T required for the motor 20 at this time varies depending on the difference between the required braking force and the regenerative braking force. The temperature of the brush 28 constituting the brake hydro unit 12 that is driven under such a use environment is estimated by the temperature estimation method of the present embodiment. In other words, in the temperature estimation method of the present embodiment, it is possible to improve the estimation accuracy of the temperature of the brush 28 of the brake hydro unit 12 in which the driving mode of the motor 20 varies from time to time.

  (7) In the motor 20 with a brush, since the brush 28 slides on the rotor 24, the brush 28 is likely to become high temperature. If such a brush 28 breaks down due to a rise in temperature, it also leads to a failure of the motor 20. In this regard, in the present embodiment, since the temperature of the brush 28 is accurately estimated, limit control for limiting the drive of the motor 20 is started at an appropriate timing before the brush 28 becomes too hot. Can do.

  (8) Further, since the temperature of the brush 28 is accurately estimated, the temperature threshold for specifying the start timing of the limit control can be set to a relatively high value. As a result, it is possible to suppress the start of the restriction control at a timing when the motor 20 may still be driven. That is, the allowable time for continuous driving of the motor 20 can be increased.

  (9) The estimated temperature values Ty (n) and Th (n) of the yoke 21 and the housing 30 are calculated by the same method as the calculation method of the temporary temperature value TZb (n) of the brush 28. That is, the estimated temperature values Ty (n) and Th (n) of the yoke 21 and the housing 30 can be estimated without using a dedicated temperature sensor.

  (10) Some solenoid valves 31 housed in the housing 30 have operating characteristics that change with temperature. The temperature of the electromagnetic valve 31 changes according to the temperature change of the housing 30. Therefore, if the temperature in the vicinity of the electromagnetic valve 31 in the housing 30 can be accurately estimated, the temperature of the electromagnetic valve 31 accommodated in the housing 30 can be estimated. In this regard, in the present embodiment, the temperature of the part near the electromagnetic valve 31 in the housing 30 is accurately estimated. Therefore, by adjusting the current value flowing through the solenoid valve 31 in accordance with the temperature of the portion in the vicinity of the solenoid valve 31 in the housing 30, variation in the operation mode of the solenoid valve 31 based on the temperature change of the solenoid valve 31 is suppressed. The Therefore, the braking force for the wheel 11 can be appropriately controlled.

  (11) The temperature sensor SE <b> 1 is a sensor for detecting the temperature of the control device 50 provided on the circuit board 41. In the present embodiment, the ambient temperature Tf is acquired using such a temperature sensor SE1. Therefore, the ambient temperature Tf can be set appropriately without providing a temperature sensor for detecting the temperature in the vicinity of the motor 20, and as a result, the estimated accuracy of the heat radiation energy rates Eout_B, Eout_Y, Eout_H of the brush 28, the yoke 21 and the housing 30. Can be improved.

The embodiment may be changed to another embodiment as described below.
-In embodiment, the arbitrary methods other than said method may be sufficient as the estimation method of the temperature of apparatus structural members other than the brush 28. FIG. For example, the heat generation energy speed Ein of the motor 20 is derived by multiplying a value obtained by squaring the current value Im flowing through the motor 20 by a predetermined proportional constant, and the temperature estimation values of the yoke 21 and the housing 30 are obtained using the heat generation energy speed Ein. Ty (n) and Th (n) may be calculated.

  -In embodiment, you may make it provide the temperature sensor for detecting the temperature of apparatus components other than the brush 28, and detect the temperature of another apparatus component based on the detection signal from this sensor. In this case, after the driving of the motor 20 is stopped, the temperature of the brush 28 may be estimated using the detected temperatures of the other device constituent members.

  In the embodiment, the estimated temperature value Ty (n) of the yoke 21 may not be acquired. In this case, after the driving of the motor 20 is stopped, the estimated temperature value Tb (n) of the brush 28 is based on the maximum value among the temporary temperature value TZb (n) of the brush 28 and the estimated temperature value Th (n) of the housing 30. Is set.

  -In embodiment, you may make it acquire the estimated temperature value of apparatus components other than the yoke 21 and the housing 30 (for example, end plate 22). However, it is preferable that the apparatus constituent member that acquires the temperature is a member having a larger heat capacity than the brush 28 that is the target member. After the driving of the motor 20 is stopped, the estimated temperature value Tb (n) of the brush 28 is set using the estimated temperature value of the end plate 22.

  In the embodiment, the target member may be a device constituent member other than the brush 28 (for example, the armature coil 240b). However, the target member is preferably a member other than the member having the largest heat capacity (in this case, the housing 30) among the component members constituting the brake hydro unit 12.

  After the driving of the motor 20 is stopped, the estimated temperature value Ty (n) of the yoke 21 may be the largest value of the estimated temperature value Ty (n) and the estimated temperature value Th (n) of the housing 30.

  In the embodiment, the method for estimating the temperature of the target member may be any method other than the above method. For example, a value obtained by squaring the current value Im flowing through the motor 20 is multiplied by a predetermined proportionality constant to derive the heat generation energy speed Ein of the motor 20, and the provisional temperature value of the target member is calculated using the heat generation energy speed Ein. May be.

  When the provisional temperature value TZb (n) becomes lower than the temperature of the other component parts after the driving of the motor 20 is stopped, a value obtained by multiplying the temperature by a predetermined coefficient is used as the estimated temperature value of the brush 28. It may be Tb (n).

  At this time, when the temporary temperature value TZb (n) becomes less than the estimated temperature value Ty (n) of the yoke 21, the estimated temperature value Ty (n) is set to a predetermined first coefficient (a value larger than 1). For example, a value obtained by multiplying “1.1”) may be used as the estimated temperature value Tb (n) of the brush 28. Thereafter, when the estimated temperature value Ty (n) of the yoke 21 becomes less than the estimated temperature value Th (n) of the housing 30, the estimated temperature value Th (n) is larger than a predetermined second coefficient (1). A value obtained by multiplying the value by, for example, “1.2”) may be used as the estimated temperature value Tb (n) of the brush 28. In this case, the second coefficient is preferably larger than the first coefficient.

  -In embodiment, when the temperature sensor for detecting the temperature in the engine room of a vehicle is installed in the engine room, the atmospheric temperature calculation part 64 is based on the detection signal from this temperature sensor. An ambient temperature Tf near 12 may be detected.

  Further, the atmospheric temperature Tf may be a temperature acquired immediately after the ignition switch of the vehicle is turned on. At this time, the ambient temperature Tf may be a preset temperature.

  In the embodiment, the temperature estimation processing routine may be continued even when the ignition switch of the vehicle is turned off. In this case, the temperature estimation processing routine may be terminated when the estimated temperature value Tb (n) of the brush 28 matches the ambient temperature Tf.

  In the embodiment, a sensor (for example, a rotary encoder) for detecting the rotational speed may be provided near the output shaft 241 of the motor 20 and the rotational speed N of the motor 20 may be detected based on a detection signal from the sensor. In this case, the driving torque T of the motor 20 may be detected using the output from the rotation speed detection sensor.

In the embodiment, a torque detection sensor may be provided in the motor 20 and the driving torque T of the motor 20 may be detected based on a detection signal from the sensor.
In the embodiment, the motor mounted on the electronic device may be a brushless motor. That is, the motor may be a stepping motor, a voice coil motor, or the like.

  -As long as the electronic device of this invention is a vehicle-mounted electronic device, you may materialize other devices other than a brake hydro unit. For example, the electronic device may be embodied in an electric power steering device or an electric parking brake device.

-You may embody the electronic device of this invention in household electronic devices, such as a washing machine and a dishwasher.
Next, the technical idea that can be grasped from the above embodiment and another embodiment will be added below.

  (A) The temperature acquisition means (70, S19) acquires the temperature (Ty (n)) of the yoke (21) of the motor (20) as the temperature of the other device constituent member. The temperature estimation apparatus described in 1.

(B) The electronic device (12) further includes a housing (30) in which a drive unit (32) using the motor (20) as a drive source is accommodated, and the motor (20) includes a yoke (21). Attached to the housing (30) attached via
The said temperature acquisition means (80, S19) acquires the temperature (Th (n)) of the said housing (30) as a temperature of said other apparatus structural member, The temperature estimation apparatus characterized by the above-mentioned.

  A control object such as an electromagnetic valve controlled by a control device or the like is accommodated in the housing. The operation characteristics of such a controlled object vary somewhat depending on its own temperature. Therefore, if the temperature of the controlled object can be accurately estimated, the controlled object can be controlled more appropriately. Therefore, if the temperature of the housing can be accurately estimated, the control target can be more appropriately operated by controlling the control target based on the estimation result. In this regard, in the present invention, the temperature of the housing is accurately estimated. As a result, the solenoid valve can be more appropriately operated by controlling the control object based on the estimated temperature value of the housing.

(C) The electronic device (12) adjusts the braking force applied to the wheels (11) mounted on the vehicle.
The temperature estimation device according to claim 1, wherein an electromagnetic valve (31) is provided in the housing (30) so as to adjust a braking force applied to the wheel (11).

  According to the above configuration, the solenoid valve can be more appropriately operated by accurately estimating the temperature of the housing and controlling the solenoid valve based on the estimation result. That is, the braking force on the wheels can be adjusted appropriately.

  11 ... wheel, 12 ... brake hydro unit as an example of electronic equipment. DESCRIPTION OF SYMBOLS 20 ... Motor, 21 ... Yoke as an example of apparatus constituent member and target member, 22 ... End plate as an example of apparatus constituent member and target member, 240a ... Core as an example of apparatus constituent member and target member, 240b ... Equipment An armature coil as an example of a constituent member and a target member, 241... An output shaft as an example of an equipment constituent member and a target member, 242... A commutator as an example of an equipment constituent member and a target member, 25. Magnet as an example of member, 26... Bearing as an example of equipment constituent member and target member, 28... Brush as an example of equipment constituent member and target member, 29 A. Energizing member as an example of equipment constituent member and target member. , 30... Housing as an example of the device constituent member and target member, 31... Solenoid valve, 32... Pump as an example of the drive unit, 53. A temperature estimation unit as an example of a temperature estimation device, 60... A brush temperature provisional value calculation unit as an example of a provisional value estimation unit, 63... A heat generation energy calculation unit as an example of a heat generation amount calculation unit, and 65. An example of the heat radiation energy calculating unit, 66... A temperature rise calculating unit constituting the provisional value calculating unit, 67... A temperature provisional value calculating unit constituting the provisional value calculating unit, and 70. Value calculation unit 73, 83 ... Heat generation energy calculation unit as an example of heat generation amount calculation means, 75, 85 ... Heat dissipation energy calculation unit as an example of heat release amount calculation means, 76, 86 ... Temperatures constituting estimated value calculation means Increase amount calculation unit, 77, 87 ... Temperature estimated value calculation unit constituting estimated value calculation unit, 80 ... Housing temperature estimated value calculation unit as an example of temperature acquisition unit, 90 ... Estimated value setting unit Brush temperature estimated value specifying unit as an example, A ... heat coefficient, Ein ... heat generation energy rate as an example of heat generation amount, Eout, Eout_B, Eout_Y, Eout_H ... heat dissipation energy rate as an example of heat release amount, Pin ... equivalent to input energy Input power as an example of value, Pout: Output power as an example of an output energy equivalent value, Tf: Atmospheric temperature, Tb (n): Current estimated temperature of target member, Tb (n-1): Target member Previous temperature estimated value, Ty (n), Th (n) ... Current temperature estimated value of other equipment component, Ty (n-1), Th (n-1) ... Previous equipment temperature Estimated temperature value, TZb (n): current temperature provisional value of the target member, TZb (n-1) ... previous temperature provisional value of the target member, ΔTb (n): temperature rise rate of the target member, ΔTy (n) , ΔTh (n) ... Temperature increase rate of other equipment components.

Claims (6)

The temperature of the target member (28) among the device constituent members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30) constituting the electronic device (12) including the motor (20) is set in advance. A temperature estimation device that estimates for each set cycle,
Provisional value estimation means (60, S17) for estimating a temperature provisional value (TZb (n)) of the target member (28);
Of the device component members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30), the temperature (Ty () of the other device component members (21, 30) other than the target member (28). n), Th (n)) temperature acquisition means (70, 80, S19);
Estimated value setting means (90, S22, S23) for setting a temperature estimated value (Tb (n)) of the target member (28),
The estimated value setting means (90, S22, S23)
When the motor (20) is driven, the current temperature provisional value (TZb (n)) of the target member (28) estimated by the provisional value estimating means (60, S17) is used as the target member (28). Let this temperature estimate (Tb (n))
After the drive of the motor (20) is stopped, the specific device component member (21, 21) that is lower in temperature than the provisional temperature value (TZb (n)) of the target member (28) during the drive of the motor (20). 30) the target member (28) based on the highest temperature among the current temperature (Ty (n), Th (n)) of 30) and the current temperature provisional value (TZb (n)) of the target member. The temperature estimation apparatus characterized by setting the current temperature estimated value (Tb (n)). The provisional value estimation means (60, S13, S15, S16, S17)
Based on the difference between the input energy equivalent value (Pin) corresponding to the input energy input to the motor (20) and the output energy equivalent value (Pout) corresponding to the output energy output from the motor (20), A calorific value calculating means (63, S13) for calculating the calorific value (Ein) of the motor (20);
The difference between the previous temperature provisional value (TZb (n)) of the target member (28) and the ambient temperature (Tf) of the installation environment of the electronic device (12) and the thermal characteristics of the target member (28) are shown. Based on the thermal coefficient (A), the heat radiation amount calculating means (65, S15) for calculating the heat radiation amount (Eout_B) from the target member (28),
Based on the difference between the heat generation amount (Ein) and the heat release amount (Eout_B) calculated by each of the calculation means (63, 65, S13, S15), the temperature increase amount (ΔTb (n)) of the target member (28) And the current temperature provisional value (TZb (n)) of the target member based on the temperature rise amount (ΔTb (n)) and the previous temperature provisional value (TZb (n-1)) of the target member. Temporary value calculation means (67, S16, S17) for calculating The motor (20) is a motor with a brush,
The provisional value estimation means (60, S17) estimates the temperature provisional value (TZb (n)) of the brush (28) of the motor (20) as the temperature provisional value of the target member,
The estimated value setting means (90, S22, S23)
After stopping the driving of the motor (20),
The current temperature (Ty (n), Th (n)) of the specific device component (21, 30) acquired by the temperature acquisition means (70, 80, S19) and the provisional value estimation means (60 , S17), and the current temperature estimated value (Tb (n)) of the brush (28) based on the highest temperature among the current temperature provisional value (TZb (n)) of the brush (28) estimated in S17). The temperature estimation apparatus according to claim 1 or 2, wherein:   The temperature acquisition means (70, 80, S19) acquires the temperature (Ty (n), Th (n)) of another device constituent member (21, 30) having a larger heat capacity than the target member (28). The temperature estimation apparatus according to claim 2 or claim 3, wherein The temperature acquisition means (70, 80, S13, S15, S16, S19)
Based on the difference between the input energy equivalent value (Pin) corresponding to the input energy input to the motor (20) and the output energy equivalent value (Pout) corresponding to the output energy output from the motor (20), A calorific value calculation means (73, 83, S13) for calculating the calorific value (Ein) of the motor (20);
The previous estimated temperature values (Ty (n−1), Th (n−1)) of the other device constituent members (21, 30) and the ambient temperature (Tf) of the installation environment of the electronic device (12). Based on the difference and the thermal coefficient (A) based on the thermal characteristics of the other device constituent members (21, 30), the heat radiation amount (Eout_Y, Eout_H) from the other device constituent members (21, 30) is calculated. Heat radiation amount calculating means (75, 85, S15),
Based on the difference between the heat generation amount (Ein) and the heat dissipation amount (Eout_Y, Eout_H) calculated by each of the calculation means (73, 75, 83, 85, S13, S15), the other device constituent members (21, 30 ) Temperature rise amounts (ΔTy (n), ΔTh (n)) are obtained, and the previous temperature rise amounts (ΔTy (n), ΔTh (n)) and the other device constituent members (21, 30) are obtained. Based on the estimated temperature values (Ty (n-1), Th (n-1)), the current estimated temperature values (Ty (n), Th (n)) of the other device constituent members (21, 30) are obtained. The temperature estimation device according to any one of claims 1 to 4, further comprising estimated value calculation means (77, 87, S16, S19) for calculating. The temperature of the target member (28) among the device constituent members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30) constituting the electronic device (12) including the motor (20) is set in advance. A temperature estimation method for estimating for each set cycle,
A provisional value estimation step (S17) for estimating a temperature provisional value (TZb (n)) of the target member (28);
Of the device component members (21, 22, 240, 241, 242, 25, 26, 28, 29A, 30), the temperature (Ty () of the other device component members (21, 30) other than the target member (28). n), Th (n)) for acquiring temperature (S19);
When the motor (20) is driven, the temporary temperature value (TZb (n)) of the target member (28) estimated in the temporary value estimation step (S17) is used as the current estimated temperature value of the target member (28). (Tb (n)) and a motor driving estimated value setting step (S22);
After the drive of the motor (20) is stopped, during the drive of the motor (20), the specific device component member (21, 30) that is at a lower temperature than the provisional temperature value (TZb (n)) of the target member. The target member (28) based on the highest temperature among the current temperature (Ty (n), Th (n)) and the current temperature provisional value (TZb (n)) of the target member (28). And a motor stop time estimated value setting step (S23) for setting the current temperature estimated value (Tb (n)).

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