JP6381723B1 - Control device and control method for rotating electrical machine - Google Patents

Abstract

A control device for a rotating electrical machine capable of maintaining a power generation function and reducing the influence on the behavior of a vehicle even if communication abnormality occurs between a motor / generator device and a vehicle control device.
Bidirectional torque transmission is performed with an engine drive shaft, torque generation is performed according to a torque target value received from a vehicle control device, and power generation operation is performed according to a power generation target value received from the vehicle control device. The motor / generator device 2 for performing the monitoring, the monitoring means 6 for observing the communication state for receiving the torque target value and the power generation target value from the vehicle control device, and the rotation for detecting the motor speed of the motor unit 21 of the motor / generator device. The motor / generator device controls the power generation amount in the power generation operation according to the change in the motor rotation speed detected by the rotation speed sensor when the monitoring means detects a communication abnormality.
[Selection] Figure 2

Description

  The present invention relates to a control device and a control method for a rotating electrical machine having a motor / generator device mounted on a hybrid vehicle or the like.

  In a hybrid vehicle equipped with a motor / generator device, as shown in Patent Document 1, for example, when a communication abnormality is detected that information transmission from the integrated controller to each controller becomes impossible, each controller instead of a command from the integrated controller There is known a technique for generating a power generation torque that can maintain system operation by a motor / generator apparatus using independent commands.

  Patent Document 2 discloses that a motor / generator connected to an engine, a charge / discharge controller for setting a power generation target value of the motor / generator, and a charge / discharge controller communicatively connected to each other based on the power generation target value. An ISG controller that controls the generator, and when an abnormality in communication with the charge / discharge controller is detected, the ISG controller controls the generated current of the motor / generator to be equal to or lower than the current upper limit value stored in the memory unit. Thus, a vehicle power supply device that performs autonomous power generation control is shown.

JP 2007-168564 A JP, 2006-193631, A

The hybrid vehicle presented in Patent Document 1 includes a clutch device between the motor / generator device and the engine drive system, and controls the transmission of torque generated by the motor / generator device, so that the torque transmission mechanism becomes expensive. There is a problem.
Moreover, in the vehicle power supply device presented in Patent Document 2, only the generated current and the generated voltage for battery charging are controlled and the braking torque generated during power generation is not taken into consideration. There is a problem that unintended braking torque is transmitted.

  The present invention has been made to solve the above-described problems. When a communication abnormality is detected, the motor / generator device continues a predetermined power generation operation necessary for continuing the operation of the vehicle, and generates power. It is an object of the present invention to provide a control device and a control method for a rotating electrical machine that reduce the influence of torque fluctuation generated by operation on the behavior of a vehicle.

A control device for a rotating electrical machine according to the present invention performs bidirectional torque transmission with an engine drive shaft and generates torque according to a torque target value received from a vehicle control device to generate torque on the engine drive shaft. A motor / generator device that performs a power generation operation according to a power generation target value received from the vehicle control device, a monitoring means for observing a communication state that receives the torque target value and the power generation target value from the vehicle control device, Provided with a rotation speed sensor that detects the motor rotation speed of the motor section of the generator device. When the monitoring means detects a communication error, the motor / generator device stops power generation while the motor rotation speed detected by the rotation speed sensor is increasing. The motor is controlled to a predetermined power generation amount set in advance while the motor rotation speed is decreasing or traveling at a constant speed .

The method for controlling a rotating electrical machine according to the present invention performs bidirectional torque transmission with an engine drive shaft and generates torque according to a torque target value received from a vehicle control device to generate torque on the engine drive shaft. In a rotating electrical machine equipped with an assist operation that conveys power and a motor / generator device that performs a power generation operation in accordance with the power generation target value received from the vehicle control device, the communication state for receiving the torque target value or the power generation target value from the vehicle control device is observed. When a communication state abnormality is detected, the motor / generator device stops power generation while the motor rotation speed is increasing, and controls to a predetermined power generation amount that is set in advance while the motor rotation speed is decreasing or during constant speed traveling. It is a thing.

  According to the present invention, when an abnormality is detected in the communication state that receives a command for controlling the motor / generator device from the vehicle control device, the motor / generator device continues the power generation operation necessary to continue the operation of the vehicle. As described above, since the amount of power generation is controlled according to the change in the motor rotation speed, there is an effect that the power generation torque (braking force) generated when the motor / generator device generates power does not affect the acceleration operation of the vehicle.

It is a schematic block diagram which shows one of the preferable forms of the hybrid vehicle carrying a motor generator apparatus as a control apparatus of the rotary electric machine concerning Embodiment 1 of this invention. It is a schematic block diagram which shows the control apparatus of the rotary electric machine concerning Embodiment 1 of this invention.

Embodiment 1 FIG.
Hereinafter, a control device and a control method for a rotating electrical machine according to Embodiment 1 of the present invention will be described with reference to FIGS. 1 and 2. In the drawings, the same or corresponding parts will be described with the same reference numerals.

FIG. 1 is a schematic configuration diagram illustrating one of modes in which a motor / generator device is mounted on a hybrid vehicle in a control apparatus for a rotating electrical machine described in an embodiment.
In FIG. 1, the drive system includes a battery 1, a motor / generator device 2, an engine 3 and a brake device 4 of a hybrid vehicle, and a control system includes a battery control ECU 5, a motor control unit 6, an engine control ECU 7, a brake control ECU 8, and The vehicle control ECU 9 is a vehicle control device that performs integrated control of the ECU and the like.

The motor / generator device 2 includes a motor unit 21 and an inverter unit 22, and the motor unit 21 can perform bidirectional torque transmission with the drive shaft of the engine 3.
Specifically, the motor unit 21 is composed of a field type three-phase motor, and a torque transmission between the drive shaft of the motor unit 21 and the drive system of the engine 3 can be bidirectionally transmitted by a belt (not shown). The driving torque and braking torque generated by the motor unit 21 are transmitted to the driving system of the engine 3, and the rotational torque from the engine 3 is transmitted to the motor unit 21.

The battery control ECU 5, the motor control unit 6, the engine control ECU 7, the brake control ECU 8, and the vehicle control ECU (vehicle control device) 9 are connected via a CAN communication line 10 that is an in-vehicle network that can exchange information with each other. It is connected.
A signal from the brake pedal 11 is input to the brake control ECU 8, and a signal from the accelerator pedal 12 is input to the vehicle control ECU (vehicle control device) 9.

FIG. 2 is a block diagram showing the configuration of the motor / generator device 2 and the motor control unit 6.
In FIG. 2, the motor unit 21 is provided with an angle sensor 23 for measuring the motor rotation speed of the motor unit 21. Therefore, the angle sensor 23 may be referred to as a rotation speed sensor.
The inverter unit 22 includes a bridge circuit for a three-phase alternating current and a field current, and generates a three-phase alternating current and a field current according to a control signal from the motor control unit 6. Therefore, the inverter unit 22 is provided with a current sensor 24 that measures a three-phase alternating current value and a field current value, and further includes a voltage sensor 25 that measures an input voltage from the battery 1.

The motor control unit 6 includes a CAN controller 61 connected to the CAN communication line 10 that is an in-vehicle network, a signal input unit 62 that inputs signals from the angle sensor 23, the current sensor 24, and the voltage sensor 25, a timer 63, The memory 64, the microcomputer 65, and the PWM controller 66 that controls the inverter unit 22 by the PWM signal are configured.
The microcomputer 65 acquires the current value, the voltage value, and the motor rotation speed via the signal input unit 62.

Next, the operation of the motor / generator device 2 and the motor control unit 6 that is a control device thereof will be described.
The vehicle control ECU 9 commands the target torque (torque target value) and the target generated voltage (power generation target value) in the motor / generator device 2 to the motor control unit 6 via the CAN communication line 10 of the in-vehicle network. The operation of the motor / generator device 2 is controlled.

  The vehicle control ECU 9 sets the target acceleration force or braking force of the entire vehicle from the amount of operation of the brake pedal 11 and the accelerator pedal 12 by the vehicle control ECU 9, and sets the drive torque target value when driving the vehicle, and the braking torque target when braking the vehicle. Each value is assigned as a torque target value. The vehicle control ECU 9 determines whether or not the battery 1 needs to be charged through communication with the battery control ECU 5 as the target power generation voltage, and determines the power generation target value when the battery 1 is charged (determination and notification of the target value).

  The motor control unit 6 receives the torque target value and the power generation target value transmitted from the vehicle control ECU 9 via the CAN controller 61. The microcomputer 65 converts the received target value (torque, voltage) into a control target value (torque, voltage), and obtains the three-phase AC current and field current necessary for generating the control target value (torque, voltage). , Feedback control of three-phase current and field current (drive power generation control).

  The angle sensor 23 of the motor unit 21 measures the rotation angle of the motor and is input to the signal input unit 62 of the motor control unit 6 in the same manner as the three-phase current value and field current value measured by the current sensor 24. The microcomputer 65 acquires the motor rotation angle, the three-phase current value, and the field current value from the signal input unit 62, obtains the three-phase AC current to be generated, and the duty of the PWM signal that controls the field current, and sends it to the PWM controller 66. Set. The PWM controller 66 controls the inverter unit 22 by the PWM signal, and outputs a three-phase alternating current and a field current from the inverter unit 22 to the motor unit 21 (control of the current value).

  The battery 1 supplies power to the motor / generator device 2 and electric devices mounted on the vehicle. The battery 1 is charged with electric power generated by the motor / generator device 2. In this embodiment, the battery 1 is constituted by a lead battery, but may be constituted by a combination of other secondary batteries or a plurality of secondary batteries (battery charging).

The microcomputer 65 and the CAN controller 61 detect a communication abnormality depending on the state of the communication signal and the state of data transmitted / received via the CAN communication line 10 which is an in-vehicle network. In the present embodiment, when a CAN bus signal power supply fault, ground fault, short circuit abnormality is detected, and when the normal data reception interval from the vehicle control ECU 9 is interrupted after exceeding a specified time, it is determined as a communication abnormality (detection of communication abnormality). ).
Therefore, the microcomputer 65 and the CAN controller 61 function as monitoring means for observing the communication state for receiving the torque target value and the power generation target value from the vehicle control ECU (vehicle control device) 9.

When a communication abnormality is detected, the motor / generator device 2 is configured to shift to an operation mode in which the following operation is performed.
(1) In the memory 64, a voltage value necessary for maintaining power supply from the battery 1 to the electric device mounted on the vehicle is recorded in advance as a target voltage value at the time of communication abnormality.
(2) When the motor / generator device 2 is in the operation of generating the drive torque, the drive operation is stopped, and the state shifts to a state where the power generation operation is possible and waits.
(3) The microcomputer 65 acquires the motor rotation angle from the angle sensor 23, obtains the amount of change (motor rotation number) of the acquired motor rotation angle, and “acceleration” and “deceleration” of the vehicle from the amount of motor rotation change. "During constant speed running".
(4) The microcomputer 65 performs a power generation operation in which the target voltage value at the time of communication abnormality is set as the control target voltage value from the memory 64 only when the vehicle is decelerating (motor rotation speed is decreasing) or traveling at a constant speed. When the vehicle is accelerating (motor rotation speed is increasing), the power generation operation is stopped (operation when communication is abnormal).

  Considering the influence of the change in torque generated by the motor / generator device 2 on the behavior of the vehicle when the drive operation is stopped, when the power generation operation is stopped, and when the target voltage value is changed, the rate of change of torque is less than the pre-specified rate. (Control target value setting).

  As described above, in the first embodiment, the motor / generator device 2 detects the motor rotation number from the output of the angle sensor 23 even if the communication state between the motor / generator device 2 and the vehicle control device 9 becomes abnormal. And, when it is determined that the vehicle is decelerating or running at a constant speed from the motor rotation speed, power generation is performed to prevent battery power depletion, and when it is determined that the vehicle is accelerating, power generation is stopped. There is an effect that the power generation torque (braking force) generated when the motor / generator device 2 generates power does not affect the acceleration operation of the vehicle.

Embodiment 2. FIG.
Next, a control device for a rotating electrical machine according to Embodiment 2 of the present invention will be described.
In the first embodiment, when the motor control unit 6 detects an abnormality in communication with the vehicle control ECU 9, it is determined from the motor rotation speed whether the vehicle is accelerating, decelerating, or traveling at a constant speed, and it is determined that the vehicle is accelerating. In this case, the power generation is stopped, but the invention of the second embodiment is such that the power generation operation is performed even while the vehicle is accelerating.

In the second embodiment, when the motor control unit 6 detects an abnormality in communication with the vehicle control ECU 9, the operation of the vehicle is determined from three types of acceleration, deceleration, and constant speed driving based on the motor rotation speed, and the memory Based on the target power generation voltage at the time of communication abnormality recorded in 64, the target power generation voltage is set during acceleration, deceleration, and constant speed traveling, and the power generation operation is performed. In this case, when the vehicle is accelerating (the motor rotation speed is increasing), the target power generation voltage is set to a power generation voltage lower than the power generation voltage set during deceleration (motor rotation speed is decreasing) or constant speed traveling. Configure as follows.
Even if the operation of the vehicle is further classified according to the acceleration and deceleration of the vehicle and the target power generation voltage is set, the same effect can be obtained.

As described above, in the second embodiment, when a communication abnormality is detected, a power generation operation is performed even while the vehicle is accelerating, but the target power generation voltage is higher than the power generation voltage set during deceleration or constant speed travel. By configuring so as to set a low power generation voltage, the effect of reducing the influence on the vehicle caused by fluctuations in the power generation torque (braking force) generated by the motor / generator device 2 when the acceleration / deceleration operation of the vehicle is changed. There is.

Embodiment 3 FIG.
Next, a description will be given of a rotating electrical machine control apparatus according to Embodiment 3 of the present invention.
In the memory 64 of the motor control unit 6 in the third embodiment, the torque generated by the motor unit 21 from the three-phase current value and the field current value or the motor parameters necessary for obtaining the torque are measured and recorded in advance. doing. The microcomputer 65 is configured to obtain a torque (estimated torque) generated by the motor unit 21 based on the phase current value and the field current value measured by the current sensor 24. Therefore, the microcomputer 65 also functions as a torque estimation unit that estimates the braking torque during power generation.
The memory 64 records the target generated voltage and the allowable maximum value of braking torque during power generation when the target generated voltage at the time of communication abnormality is accelerating, decelerating, and traveling at a constant speed.

As in the other embodiments, when the motor control unit 6 detects an abnormality in communication with the vehicle control ECU 9, the operation of the vehicle is determined from the three types of acceleration, deceleration, and constant speed travel based on the motor speed. The target power generation voltage is read from the memory 64 during acceleration, deceleration, and constant speed running, and power generation is performed as a control target value.
The microcomputer 65 estimates the torque generated by the motor unit 21 during the power generation operation, and updates the control target value so that the estimated torque does not exceed the allowable maximum value of the braking torque during power generation recorded in the memory 64.

  As described above, the third embodiment of the present invention estimates the power generation torque based on the current value flowing in the power generation operation, and sets the control target value so that the estimated power generation torque does not exceed the predetermined allowable maximum value. Due to the updated configuration, even if torque generated by the motor is generated by the power generation operation, the torque transmitted to the drive shaft of the vehicle does not affect the behavior of the vehicle, and the braking torque during the power generation operation is given to the vehicle. There is an effect that the influence can be reduced.

Embodiment 4 FIG.
Next, a description will be given of a rotating electrical machine control apparatus according to Embodiment 4 of the present invention.
Based on the allowable maximum value (upper limit value) of the braking torque during power generation recorded in the memory 64 of the motor control unit 6 in the fourth embodiment, the influence of the braking torque during the power generation operation on the vehicle based on the overall inertia of the vehicle in advance. It is set to measure. Other configurations are the same as those of the third embodiment.

  As described above, the fourth embodiment of the present invention estimates the power generation torque based on the current value flowing in the power generation operation, so that the estimated power generation torque falls within a range that can be evaluated as having little influence on the inertia of the vehicle. Since the control target value is updated, the effect of reducing the influence of the braking torque on the vehicle during the power generation operation can be optimized for each vehicle.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments, and various design changes can be made. Within the scope of the present invention, each embodiment is described. These embodiments can be freely combined, and each embodiment can be modified or omitted as appropriate.

1: battery, 2: motor / generator device, 3: engine, 4: brake device,
5: battery control ECU, 6: motor control unit, 7: engine control ECU,
8: Brake control ECU, 9: Vehicle control ECU, 10: CAN communication line,
11: Brake pedal, 12: Accelerator pedal, 21: Motor unit, 22: Inverter unit, 23: Angle sensor (rotational speed sensor), 24: Current sensor, 25: Voltage sensor,
61: CAN controller, 62: signal input unit, 63: timer, 64: memory,
65: Microcomputer (monitoring means, torque estimation unit), 66: PWM controller

Claims (6)

An assist operation for performing bidirectional torque transmission with the drive shaft of the engine, generating torque according to a torque target value received from the vehicle control device, and transmitting the generated torque to the drive shaft of the engine; and the vehicle control device A motor / generator device that performs a power generation operation according to a power generation target value received from
Monitoring means for observing a communication state for receiving a torque target value and a power generation target value from the vehicle control device;
A rotation speed sensor for detecting the motor rotation speed of the motor section of the motor / generator device;
When the monitoring unit detects a communication abnormality, the motor / generator device stops power generation while the motor rotation speed detected by the rotation speed sensor is increasing, and in advance when the motor rotation speed is decreasing or during constant speed traveling. A control device for a rotating electrical machine, wherein the control is performed to a predetermined power generation amount set . An assist operation for performing bidirectional torque transmission with the drive shaft of the engine, generating torque according to a torque target value received from the vehicle control device, and transmitting the generated torque to the drive shaft of the engine; and the vehicle control device A motor / generator device that performs a power generation operation according to a power generation target value received from
Monitoring means for observing a communication state for receiving a torque target value and a power generation target value from the vehicle control device;
A rotation speed sensor for detecting the motor rotation speed of the motor section of the motor / generator device;
When the monitoring means detects a communication abnormality, the motor / generator device controls a predetermined power generation amount set in advance while the motor rotational speed is decreasing or traveling at a constant speed, and the motor rotational speed is increased while the motor rotational speed is increasing. A control device for a rotating electrical machine, wherein the power generation amount is controlled to be lower than the power generation amount in which the motor rotation speed is decreasing. A motor controller according to claim 1 or claim 2, wherein the power generation amount is generated voltage. Includes a torque estimator for estimating a braking torque during power generation from the power generation amount, any of claims 1 to 3, characterized by controlling the braking torque in accordance with the amount of change in the motor speed 1 A control device for a rotating electrical machine according to the item. 5. The control device for a rotating electrical machine according to claim 4 , wherein an upper limit value of the braking torque is determined according to inertia of the vehicle. An assist operation for performing bidirectional torque transmission with the drive shaft of the engine, generating torque according to a torque target value received from the vehicle control device, and transmitting the generated torque to the drive shaft of the engine; and the vehicle control device In a rotating electrical machine equipped with a motor / generator device that performs a power generation operation according to a power generation target value received from the vehicle, the communication state for receiving the torque target value or the power generation target value from the vehicle control device is observed, and the communication state is abnormal The motor / generator device stops power generation when the motor rotational speed is increasing, and controls to a predetermined power generation amount set in advance while the motor rotational speed is decreasing or during constant speed traveling. Electric machine control method.

Images