JP6712553B2 - Inverter verification device and verification method - Google Patents

Description

The present invention relates to an inverter verification device and a verification method.

Conventionally, an inverter for driving a motor has been known. For example, in Japanese Patent Laid-Open No. 2005-192358, "in an inverter device for driving a motor, a shunt resistor detects a current on a direct current side to detect a motor current. The technique of "accurately detecting" is disclosed.

JP, 2005-192358, A

Japanese Patent Laid-Open No. 2005-192358 describes a mechanism of accurately detecting a motor current by detecting a DC-side current with one shunt resistor in an inverter device that drives a motor.

In order to prove the functional safety stipulated by ISO26262 or IEC61508 regarding the inverter device utilizing this mechanism, it is necessary to perform performance evaluation and operation verification when a failure occurs in a circuit element or the like of the inverter device. When performing performance evaluation and operation verification using an actual inverter device (hereinafter referred to as the actual device), it is necessary to maintain the test equipment in addition to modifying the actual device, thus reducing the workload and development cost. Can increase. It may be difficult to reproduce the operation because a part of the actual machine is destroyed. Further, in a test using an actual machine, it is difficult to simulate or reproduce an intermediate value fault (also referred to as a drift fault) other than an open circuit fault (also referred to as an open fault) or a short circuit fault (also referred to as a short circuit fault). Therefore, it is difficult to carry out a test to evaluate the performance deterioration of the circuit element. Further, when the inverter device handles a high voltage or a large current, the actual test may be dangerous to the operator.

As a solution to these problems, we propose the use of simulation technology to perform performance evaluation and operation verification of an inverter device by simulation without using the actual inverter device. It should be noted that according to the ISO 26262 standard, it is possible to substitute the actual machine test by utilizing simulation technology. In order to realize the performance evaluation and operation verification of the inverter device by simulation, the simulation model should be installed in the software for exclusive use of simulation or the verification device (hereinafter referred to as the simulator) based on the specifications and specifications of the inverter device. Need to build. A model for performance evaluation and operation verification of an inverter device that drives a motor is composed of, for example, an inverter, a current sensor or a shunt resistor, a motor, a load connected to the motor (hereinafter referred to as a motor load), and the components thereof. Is to be integrated. It is also necessary to create individual models for each component. Each model is created based on the specifications and specifications of each component, and the degree of creation changes depending on the accuracy of the simulation result sought. For example, if the simulation result requires higher accuracy, a detailed model (hereinafter, referred to as a detailed model) that simulates the specifications and specifications in detail is created. On the contrary, if the simulation result is a precision model that omits or simplifies some of the specifications and specifications (hereinafter referred to as a simplified model), and the accuracy satisfies the intention of performance evaluation and operation verification, It is enough to build a simple model.

It is possible to use a plurality of simulators for the simulation of the inverter device. A model of different constituent elements is created inside each simulator, and the simulation of the inverter device is executed by the co-simulation by the simulation by each simulator and the mutual communication between the simulators. The reason for using a plurality of simulators is that the simulators have different functions, so that a simulator suitable for modeling individual components can be selected and used. Also, it is possible to use functions suitable for performance evaluation and operation verification.

As described above, when performing performance evaluation and operation verification of the inverter device by simulation, by creating or arranging the model of the inverter device inside one or more simulators and executing the simulation, the current sensor or Simulates detection of motor current by shunt resistance.

However, in the case of executing a co-simulation using a plurality of simulators in a simulation simulating an inverter device, in the conventional technology, the simulators in which detailed models of the inverter, the motor, and the motor load are arranged are cooperated to create one simulator. It was not possible to simulate the motor current flowing through the current sensor or shunt resistor. The reason is that there was no technology or mechanism that could achieve this.

Therefore, either the detailed model of the inverter, the motor, or the motor load can be simplified, or the simplified model can be used to create the inverter model and the motor model in the same simulator, or the load model for the two models. Add and place. Then, the simulation is executed to simulate the detection of the motor current.

By doing so, it is possible to simulate that the current flows through one current sensor or shunt resistor due to the shunting or merging of the motor output current due to the switching of the inverter element. However, since it is necessary to make any of the models of the components of the inverter device a simple model, the result or accuracy that satisfies the intention of performance evaluation or operation verification may not be obtained in the simulation result. In addition, there is a case where a dedicated simulator, which has strengths in modeling the constituent elements, cannot be used, which limits the functions for performance evaluation and operation verification. For example, in the case of simplifying the model of the inverter, it is not possible to simulate the parasitic vibration due to the switching of the FETs forming the inverter by simulation. When simplifying the motor model, the motor characteristics (torque, voltage, current, rotation speed, etc.) in consideration of the dynamic magnetic flux change between the stator and the rotor cannot be simulated. Further, in the case of simplifying the model of the motor load, it is impossible to simulate the dynamic behavior of the control target parts (spring, damper, ball screw, gear, etc.) other than the motor of the actuator and the external environment connected to the actuator. Further, simplification of any of the above-mentioned components may affect the simulation results of the non-simplified elements, which may hinder the performance evaluation and operation verification of the entire inverter device.

However, in the simulation, the motor current can be detected without passing through the current sensor or the shunt resistor, and therefore the current flowing in the current sensor or the shunt resistor may be obtained from the switching pattern of the inverter and the motor current. However, in this case, it is premised that the switching operation of the inverter element is simplified by turning it on and off. That is, since it corresponds to simplifying the model of the inverter, there is a problem as described above.

An object of the present invention relates to an inverter device that detects a motor current by a current sensor or a shunt resistance, and an inverter device that enables the operation and performance of the inverter device to be simulated with the same degree of accuracy as an actual machine by co-simulation by a plurality of simulators. To provide a verification device and a verification method.

In order to achieve the above-mentioned object, the present invention has a plurality of simulators having communication functions with each other, and a DC power supply model that is a model of a DC power supply is provided inside a first simulator of the plurality of simulators. And an inverter model that is a model of an inverter, and a current sensor model that is a model of a current sensor that is connected between the DC power supply model and the inverter model, or a voltage that is connected between the DC power supply model and the inverter model. A voltage sensor model that is a model of a sensor, and a motor equivalent circuit model that is a model that simulates a motor and that is connected to the inverter model and that is an equivalent circuit model of a motor represented by Y connection or Δ connection. However, inside the second simulator of the plurality of simulators, there is a motor model that is a model that simulates the specifications of the motor in more detail than the motor equivalent circuit model. and simulation, by the co-simulation for transmitting and receiving data between the plurality of simulators, by simulating the operation or performance of the said inverter motor, comprising a verification unit for verifying the inverter, the co-simulation , The first simulator transmits a supply voltage to the motor to the second simulator, and the second simulator causes a back electromotive force (also referred to as an induced voltage) of the motor and a current of the motor. A combination of the terminal voltage of the motor, and one of the two, the second simulator, the back electromotive force obtained by the second simulator, or the combination of the current and the terminal voltage, the When transmitted to a first simulator and the first simulator receives the back electromotive force, the first simulator simulates the received back electromotive force of the back electromotive force of the motor equivalent circuit model. When the first simulator receives the combination of the current and the terminal voltage, the first simulator receives the combination of the received current and the terminal voltage when the simulation is performed by reflecting on the model. The feature is that the simulation is performed by reflecting the current and the terminal voltage of the equivalent circuit model in the model .

According to the present invention, an inverter device for detecting a motor current by a current sensor or a shunt resistor is provided. The inverter device is capable of simulating the operation and performance of the inverter device with the same degree of accuracy as an actual machine by co-simulation by a plurality of simulators. It is possible to provide a verification device and a verification method.

Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a configuration diagram of an inverter verification device according to a first embodiment. The figure which expands and shows the compound domain physical simulator extracted from the inverter verification apparatus of FIG. (A), (b), (c) is a figure which shows the example which used the model of several resistance as a model of a current sensor in FIG. The figure which shows the example which added the model of an interruption|blocking circuit between the model of a DC power supply-the model of an inverter, and between the model of an inverter and the equivalent circuit model of a motor, respectively, around the model of the inverter of FIG. The figure which shows the example which represented the equivalent circuit model of a motor by the delta connection in the example of FIG. FIG. 3 is a diagram showing an example of an overview of an inverter verification device according to the first embodiment. FIG. 5 is a diagram showing an example of an overview of an inverter verification device according to a second embodiment. 6 is a configuration diagram of an inverter verification device according to a second embodiment. FIG. The figure which expands and shows a multi-domain physical simulator extracted from the inverter verification apparatus of FIG. The figure which shows the example which represented the equivalent circuit model of a motor by the delta connection in the example of FIG.

An inverter verification device and verification method according to the present invention will be described below with reference to the drawings.

In the first embodiment, regarding an inverter device that detects a motor current with a single current sensor, an inverter verification that allows the operation and performance of the device to be simulated with the same degree of accuracy as an actual device by co-simulation by a plurality of simulators. An example of the device will be described.

FIG. 1 is a configuration diagram of an inverter verification device according to the first embodiment. In this embodiment, the verification of the inverter of the electric power steering system is targeted. The electric power steering is hereinafter referred to as EPS (Electric Power Steering).

The inverter verification device 100 has a microcomputer simulator 200, a circuit simulator 300, a complex area physical simulator 400, interfaces 210, 310, 311, 410 between the simulators, and communication lines 510, 520 between the simulators. The composite area may be expressed as a multi-domain. The microcomputer simulator 200, the circuit simulator 300, and the composite area physical simulator 400 each have one housing. However, the three simulators, that is, the microcomputer simulator 200, the circuit simulator 300, and the complex area physics simulator 400 may each have a plurality of housings for the purpose of speeding up simulation and distributing execution processing.

FIG. 2 is a diagram showing a composite area physical simulator 400 extracted from the inverter verification apparatus 100 of FIG. 1 and enlarged. FIG. 2 shows details within the multi-disciplinary physics simulator 400.

The microcomputer simulator 200, the circuit simulator 300, and the complex area physics simulator 400 execute co-simulation while communicating with each other via the simulator interfaces 210, 310, 311 and 410 and the communication lines 510 and 520. .. Note that the simulators can also be connected by a LAN (Local Area Network). Further, when the communication between the simulators is performed wirelessly, the communication lines 510 and 520 between the simulators are not necessary.

The reason for using the three simulators, that is, the microcomputer simulator 200, the circuit simulator 300, and the multi-domain physics simulator 400, is that the simulators are different in the functions that the simulators have, and therefore the simulators suitable for modeling the individual constituent elements. It can be selected and used. Also, it is possible to use functions suitable for performance evaluation and operation verification.

The microcomputer simulator 200 has functions of modeling and simulating a microcomputer and peripheral functions of the microcomputer. Further, the control software of the microcomputer (hereinafter referred to as control software) can be loaded and executed in the same file format as that implemented in an electronic control unit called an ECU (Electronic Control Unit).

However, the microcomputer simulator 200 is an example, and the present invention is not limited to this. For example, an integrated environment simulator having these functions can be used instead of the microcomputer simulator 200.

A microcomputer model 230 describing the behavior of a microcomputer used in the ECU and a model 220 of the interface between the microcomputer simulator 200 and the circuit simulator 300 are incorporated in the microcomputer simulator 200. The microcomputer model 230 is, for example, a source code in which a behavior of the microcomputer is described in a high-level language such as C language, which is converted into a binary format executable by the microcomputer simulator 200.

The circuit simulator 300 has functions of modeling and simulating electric circuits and electronic circuits. However, the circuit simulator 300 is an example, and the present invention is not limited to this. For example, a composite area physics simulator having these functions can be used instead of the circuit simulator 300.

Inside the circuit simulator 300, a DC power supply model 340, an inverter model 360, a current sensor model 350, a smoothing capacitor model 341, and a Y connection (also referred to as a star connection or a star connection) are represented. The equivalent circuit model 370 of the motor, the model 320 of the interface between the circuit simulator 300 and the microcomputer simulator 200, the model 321 of the interface between the circuit simulator 300 and the composite area physical simulator 400, the model 330 of the driver circuit, and the model of the current monitor circuit. The model 335, a sensor circuit model (not shown), and the like are connected and incorporated. The driver circuit means a driving circuit. The entire model inside the circuit simulator 300 is hereinafter referred to as a circuit model. The circuit model is a model of a circuit forming the ECU of EPS.

The inverter model 360 is a model that simulates an inverter that converts a DC power supply into a three-phase AC, and includes a switching element model 361 such as a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), a feedback diode model 362, Have. In this embodiment, since the MOSFET model is used as the switching element model 361, these two models will be described in the same meaning below. The inverter model 360 has six switching element models 361 and six feedback diode models 362.

A shunt resistance model 355 was used as the current sensor model 350. The resistor used as the current sensor is called a shunt resistor. The current sensor model 350 is a model for detecting the motor current fed back to the inverter model 360 from the synchronous motor model 440 described later via the motor equivalent circuit model 370 represented by the Y connection. .. The model 350 of the current sensor is not limited to the model of one resistor as shown in FIG. 1, but a model 351 in which a plurality of resistors as shown in FIG. 3 are connected in series (see FIG. 3A). ), a model 352 connected in parallel (see FIG. 3B), or a model 353 connected in both series and parallel connection methods (see FIG. 3C). Further, since the current flowing through the resistor can be converted from the voltage applied to the resistor and the resistance value, the resistor model may be used as the voltage sensor model. Instead of the current sensor model 350 and the resistance model, an ammeter model or a voltmeter model can be used.

In addition, in the model around the inverter model 360, a model of the breaking circuit may be provided between the model 340 of the DC power supply and the model 360 of the inverter and between the model 360 of the inverter and the equivalent circuit model 370 of the motor. FIG. 4 is a diagram illustrating a circuit breaker circuit model 380 and a circuit breaker circuit model circuit 380 and a circuit breaker circuit model circuit 380, respectively, between the DC power supply model 340 and the inverter model 360 and between the inverter model 360 and the motor equivalent circuit model 370 in the vicinity of the inverter model of FIG. This is an example in which a model 385 is added. The cutoff circuit is for protection when an overcurrent occurs in the circuit element of the inverter in the actual machine, and this is also simulated in the model. The cutoff circuit models 380 and 385 have a model 381 of a switching element such as a MOSFET and a model 382 of a feedback diode.

Returning to the explanation of FIG.

The equivalent circuit model 370 of the motor represented by the Y connection is a model simulating a motor driven by a three-phase alternating current, and is equivalent to one of the motors, a winding resistance model 371, an inductance model 372, and an inverse model. A circuit element model 373 simulating an electromotive force (also referred to as an induced voltage), and these are connected in a Y-shape in a total of three phases, one for each phase.

As an equivalent circuit model of the motor, a Δ (read as delta) connection (also referred to as a ring connection) may be used instead of the Y connection. FIG. 5 is an example in which the equivalent circuit model of the motor is represented by Δ connection. The equivalent circuit model 390 of the motor represented by Δ connection is a model simulating a motor driven by a three-phase AC, and the winding resistance, the inductance, and the counter electromotive force, which are equivalent to one of the motors, are represented by the respective lines. It has a winding resistance model 391, an inductance model 392, and a circuit element model 393 simulating a counter electromotive force, which are represented by inter-state values, and three of them are connected in a Δ shape. ..

Next, the composite area physics simulator 400 will be described with reference to FIG. 1 or FIG.

The multi-region physical simulator 400 has functions of modeling and simulation of multi-region such as control, motor, machine and circuit. However, the composite area physics simulator 400 is an example, and the present invention is not limited to this. For example, since the motor simulation function is an essential requirement in this embodiment, a motor-dedicated simulator can be used instead of the multi-region physical simulator 400.

Inside the multi-discipline physical simulator 400, there are a driver model 430, a synchronous motor model 440, a mechanism model 450, a vehicle model 460, and a multi-region physical simulator 400-circuit simulator 300 interface model 420. , Are connected and incorporated. The driver means a driver, and is different from the driver circuit.

The driver model 430 is a model of each of the driver's steering, accelerator, and brake operation patterns.

The synchronous motor model 440 is a model in which the design specifications of the permanent magnet type synchronous motor are modeled in more detail than the equivalent circuit model 370 (or the model 390 in FIG. 5). Specifically, the model 440 of the synchronous motor considers the motor dimensions, winding resistance, inductance, magnetic pole position of the permanent magnet of the rotor, the number of pole pairs, the magnitude of the magnetic flux, and the like, and the change in the magnetic flux. The rotational motion of the motor is modeled. Further, a motor load, which will be described later, in consideration of the mechanism of EPS and the operation of the vehicle equipped with the EPS can be simulated by simulation. Therefore, it is possible to execute a motor simulation that reflects complicated magnetic flux changes and load changes. This makes it possible to obtain motor characteristics (torque, rotation speed, rotation angle, current, back electromotive force, etc.) close to the accuracy of the actual machine.

The equivalent circuit model 370 of the motor and the model 440 of the synchronous motor mean two types of models, but they are models simulating the same motor to be simulated, and do not mean different motors. The synchronous motor model 440 is a model for obtaining a motor characteristic close to the accuracy of an actual machine, and an equivalent circuit model 370 of the motor is a motor current and a motor back electromotive force among the motor characteristics obtained by the synchronous motor model 440. This is a model for reflecting electric power on the circuit simulator 300 side. This is the reason why there are two motor models, the equivalent circuit model 370 of the motor and the model 440 of the synchronous motor, inside the inverter verification device 100.

Although the model of the synchronous motor is used in the present embodiment, if the motor to be simulated is a different type of motor, the model of that type of motor is used. The other type of motor is, for example, a brushless DC motor, an induction motor (also referred to as an induction motor), a stepping motor, a switched reluctance motor, or the like. In addition, a generator model may be used instead of the synchronous motor model. This is because in a simulator, models of a motor (also referred to as an electric motor) and a generator (also referred to as a generator) are often handled without distinguishing them as models of the same rotating machine. Similarly, an equivalent circuit model of a generator may be used instead of the equivalent circuit model of a motor.

The mechanism model 450 is a model of the mechanical part of the EPS and its mechanical operation. Since the model 450 of the mechanism has a structure in which EPS components (spring, damper, ball screw, gear, etc.) are connected to each other, the mechanical operation of the EPS can be simulated with high accuracy.

The vehicle model 460 is a model of the vehicle and the vehicle motion of the vehicle equipped with EPS. As a result, the vehicle motion can be simulated without assembling the EPS actual machine to the actual vehicle.

Next, the model of the inter-simulator interface inside the three simulators will be described. Model 220 of interface between microcomputer simulator 200 and circuit simulator 300, model 320 of interface between circuit simulator 300 and microcomputer simulator 200, model 321 of interface between circuit simulator 300 and composite area physical simulator 400, composite area physical simulator 400-circuit simulator 300 The inter-interface model 420 is a model in which data transmitted/received by communication between the respective simulators is set. The data to be transmitted/received will be described in detail later in Process 3, Process 4, Process 5, Process 6, Process 7, Process 8, Process 9, Process 10, Process 14.

In the above, the configuration of the inverter verification device 100 of this embodiment and each part thereof has been described with reference to FIGS. 1 and 2. In addition to the microcomputer simulator 200, the circuit simulator 300, and the complex area physical simulator 400 that form the inverter verification device 100, one display device and one input device are provided. The display device can display the model inside each simulator, the settings of the simulator and the model, and the simulation result. The input device receives an input for operating the simulator from a user. The input device is, for example, a keyboard, a mouse, or an operation button. 1 and 2, the monitor 470 is illustrated in the multi-disciplinary physics simulator 400, but the monitor 470 will be described in detail in Process 1 described later.

FIG. 6 is a diagram illustrating an example of an overview of the inverter verification device 100 according to the first embodiment. The inverter verification device 100 includes a microcomputer simulator 200, a circuit simulator 300, a complex area physical simulator 400, and communication lines 510 and 520 between the simulators. The microcomputer simulator 200 includes a display device 6205 and an input device 6207 in addition to the main body 6200. FIG. 6 is an example in which the display device 6205 is a part of the housing 6200 that is the main body. The input device 6207 is an example of a keyboard. Similarly, the circuit simulator 300 has a display device 6305 and an input device 6307 in addition to the main body 6300, and the multi-region physical simulator 400 has a display device 6405 in addition to the main body 6400. There is an input device 6407. In addition, the display devices 6305 and 6405 are examples in which they are part of the housings 6300 and 6400 that are the main bodies, respectively. As for the operation buttons such as the execute button, the keys of the keyboard, which is an input device, are used as the operation buttons in any simulator.

Next, with reference to FIG. 1, FIG. 2, and FIG. 6, the process of executing the simulation of the inverter verification device 100 will be described below in Process 1 to Process 16.

Process 1.
The user (not shown) displays inside the respective simulators of the microcomputer simulator 200, the circuit simulator 300, and the complex area physical simulator 400 constituting the inverter verification device 100, which are displayed by the respective display devices 6205, 6305, 6405. While looking at the model and the setting of that model, the input devices 6207, 6307, and 6407 are operated to set the input/output characteristics to be acquired by the simulation. The three simulators 200, 300, 400 receive the setting. In the present embodiment, the six vehicle motion characteristics, that is, vehicle speed, vehicle displacement, yaw rate, yaw angle, slip angle, and actual steering angle of the front wheels are set to be displayed by the monitor 470.

As a supplementary explanation, when the user operates the monitor 470 by operating the input device 6407 of the composite area physics simulator 400 during or after the simulation, the six vehicle motion characteristics are displayed on the display device of the composite area physics simulator 400. 6405 can be displayed. However, the monitor 470 explicitly sets the six vehicle motion characteristics in order to display them on one screen of the display device 6405, and does not necessarily have to be set. Further, the characteristic that can be confirmed during or after the simulation is not limited to the vehicle motion characteristic, but the input/output characteristic of the model of each part constituting the EPS can be confirmed. During or after the simulation is executed, the user looks at the display devices 6205, 6305, 6405 and, through the input devices 6207, 6307, 6407, models, control lines, signal lines existing inside the three simulators 200, 300, 400, By operating the connection line, you can check the input/output characteristics of each part obtained by simulation.

Process 2.
When the inverter verification device 100 receives an input from the user by pressing the execution buttons of the input devices 6207, 6307, and 6407, the inverter verification device 100 starts the co-simulation by the inverter verification device 100. This execution button starts the co-simulation with any of the execution buttons of the input devices 6207, 6307, and 6407 of the microcomputer simulator 200, the circuit simulator 300, and the complex area physical simulator 400. The specific processing contents of the co-simulation are processing 3 to processing 15 described below.

Processing 3.
The microcomputer simulator 200, the circuit simulator 300, and the complex area physical simulator 400 synchronize with each other and execute the simulation. Then, the model 220 of the interface between the microcomputer simulator 200 and the circuit simulator 300, the model 320 of the interface between the circuit simulator 300 and the microcomputer simulator 200, the model 321 of the interface between the circuit simulator 300 and the complex area physical simulator 400, and the complex area physical simulator. Data is transmitted and received to and from the model 420 of the interface between the 400 and the circuit simulator 300 at the time intervals set for each. Each individual simulator 200, 300, 400 executes a simulation with the received data and an internal model. Then, the transmission data, which is the output of the model, is transmitted to another simulator at the set time intervals. The processing contents described in the processing 3 are the basic operations of the co-simulation. During the processing described in processing 4 to processing 15 below, the microcomputer simulator 200, the circuit simulator 300, and the complex area physical simulator 400 constantly execute this basic operation.

Process 4.
The complex area physics simulator 400 outputs the steering angle and the steering torque by the driver, which are the outputs of the driver model 430, the motor rotation angle, which is the output of the synchronous motor model 440, and the motor counter electromotive force corresponding to three phases of UVW. Is transmitted to the circuit simulator 300 via the model 420 of the interface between the composite area physics simulator 400 and the circuit simulator 300, the interface 410 between the simulators, the communication line 520 between the simulators, and the interface 311 between the simulators. .. The steering torque output from the driver model 430 is input to the mechanism model 450, and the accelerator operation and the brake operation output from the driver model 430 are input to the vehicle model 460.

Process 5.
The circuit simulator 300 receives the steering angle and the steering torque, which are the outputs of the driver model 430, and the motor rotation angle, which is the output of the synchronous motor model 440, from the multi-region physical simulator 400. The steering angle and the steering torque of the driver model 430 and the motor rotation angle that is the output of the synchronous motor model 440 are stored in the circuit simulator 300 via the model 321 of the interface between the circuit simulator 300 and the complex area physical simulator 400. Are converted to digital values by various sensor circuit models that are part of the circuit model of FIG. Then, the circuit simulator 300 calculates the digital values of the steering angle and the steering torque of the driver model 430 and the motor rotation angle of the synchronous motor model 440 between the model 320 of the interface between the circuit simulator 300 and the microcomputer simulator 200 and the simulator. To the microcomputer simulator 200 via the interface 310, the communication line 510 between the simulators, and the interface 210 between the simulators.

Process 6.
The current value detected by the current sensor model 350 which is part of the circuit model in the circuit simulator 300 is digitally converted by the current monitor circuit model 335 which is also part of the circuit model. The circuit simulator 300 is connected to the microcomputer simulator 200 via the model 320 of the interface between the circuit simulator 300 and the microcomputer simulator 200, the interface 310 between the simulators, the communication line 510 between the simulators, and the interface 210 between the simulators. Send. The current value detected by the model 350 of the current sensor will be referred to as a shunt current hereinafter.

Processing 7.
The microcomputer simulator 200 receives, from the circuit simulator 300, the steering angle and the steering torque of the driver model 430, the motor rotation angle of the synchronous motor model 440, and the digital value of the shunt current. The microcomputer model 230 is a digital value of the steering angle and steering torque of the driver model 430, the rotation angle of the motor of the synchronous motor model 440, and the shunt current via the model 220 of the interface between the microcomputer simulator 200 and the circuit simulator 300. Is received, and a PWM signal for generating a motor torque that assists the driver in steering is generated from the digital values. The microcomputer simulator 200 passes the generated PWM signal through the model 220 of the interface between the microcomputer simulator 200 and the circuit simulator 300, the interface 210 between the simulators, the communication line 510 between the simulators, and the interface 310 between the simulators. And transmits it to the circuit simulator 300.

Process 8.
The circuit simulator 300 receives the PWM signal from the microcomputer simulator 200. The driver circuit model 330, which is a part of the circuit model, receives the PWM signal via the model 320 of the interface between the circuit simulator 300 and the microcomputer simulator 200, and then receives the PWM signal from the MOSFET that is the switching element of the inverter. The voltage is converted into a voltage (hereinafter, referred to as a gate voltage) input to the gate element of the model 361. The MOSFET model 361 performs switching operation based on the gate voltage. The other five MOSFET models in the inverter model 360 operate in a similar manner. The circuit simulator 300 and the inverter model 360 include a switching operation based on six MOSFET models, a voltage supplied from the DC power supply model 340, and a UVW3 phase voltage of a motor equivalent circuit model 370 represented by a Y connection. The voltage for three UVW phases to be supplied to the equivalent circuit model 370 of the motor is determined and supplied by the circuit line between the inverter model 360 and the equivalent circuit model 370 of the motor.

Process 9.
The circuit simulator 300 supplies the same UVW three-phase voltage (hereinafter, referred to as a motor supply voltage) supplied to the equivalent circuit model 370 of the motor between the model 321 of the interface between the circuit simulator 300 and the composite area physical simulator 400 and between the simulators. Via the interface 311, the communication line 520 between the simulators, and the interface 410 between the simulators.

Process 10.
The multi-disciplinary physics simulator 400 receives the motor supply voltage from the circuit simulator 300. The synchronous motor model 440 receives the motor supply voltage via the model 420 of the multi-region physical simulator 400-circuit simulator 300 interface, and outputs the motor supply voltage and the motor angular velocity fed back from the mechanism model 450. , The process inside the model calculates the motor characteristics with accuracy close to that of the actual machine. The process inside the model is the process based on the model of the motor and the rotational motion model described above in the description of the model 440 of the synchronous motor. In the case other than the synchronous motor model 440, if it is described as the process inside the model, refer to the description of the corresponding model described above. The motor characteristics are time characteristics of the motor current, back electromotive force, torque, rotation angle, and rotation speed, and the current and back electromotive force are the characteristics of the UVW3 phase.

Process 11.
The mechanism model 450 includes a steering torque that is the output of the driver model 430, a motor torque that is the output of the synchronous motor model 440, a vehicle reaction force fed back by the output of the vehicle model 460, and processing inside the model. With, the actual steering angle of the front wheels and the angular velocity of the motor are calculated. The angular velocity of the motor is calculated by the motor torque and the resultant force of the motor load.

Process 12.
The vehicle model 460 determines the vehicle speed, the vehicle displacement, and the yaw rate by the accelerator operation and the brake operation that are the outputs of the driver model 430, the actual steering angle of the front wheels that is the output of the mechanism model 450, and the processing inside the model. , Yaw angle, tire slip angle, and vehicle reaction force are calculated.

Process 13.
As described in Process 4, the multi-disciplinary area physical simulator 400 transmits to the circuit simulator 300 the motor back electromotive force for the three phases of UVW, which is the output of the model 440 of the synchronous motor.

Process 14.
The circuit simulator 300 receives the motor back electromotive force from the multi-discipline physical simulator 400. In the equivalent circuit model 370 of the motor, the model 373 of the circuit element simulating the back electromotive force (there are three in total, one for each phase of UVW) is the model 321 of the interface between the circuit simulator 300 and the complex area physical simulator 400. The received motor back electromotive force is output to the equivalent circuit model 370 of the motor via the.

Here, in FIG. 1, the motor supply voltage input to the model 321 of the interface between the circuit simulator 300 and the composite area physical simulator 400, and the motor output from the model 321 of the interface between the circuit simulator 300 and the composite area physical simulator 400. Although there is a signal line for back electromotive force, the signal line may be omitted in some cases by using the function for passing variable values of the circuit simulator 300.

When the equivalent circuit model 390 of the motor represented by the Δ connection in FIG. 5 is used, the process of converting the received motor back electromotive force of each phase of UVW into a line value is performed between the circuit simulator 300 and the complex area physical simulator 400. It may be added to the model 322 of the interface and output to the equivalent circuit model 390 of the motor.

Although only the motor back electromotive force is transmitted to the circuit simulator 300 in the process 13 and the process 14 in FIG. 1, variations in the winding resistance and the inductance of the motor may be simulated by simulation. In this case, with respect to these two values as well, the values set in the model 440 of the synchronous motor are transmitted from the complex area physical simulator 400 to the circuit simulator 300, and the winding resistance model 371 in the equivalent circuit model 370 of the motor is transmitted. The setting values may be reflected in the and inductance model 372, respectively. In that case, the signal line between the winding resistance model 371, the inductance model 372, the synchronous motor model 440 and the composite area physical simulator 400-circuit simulator 300 interface model 420, and the composite area physical simulator 400-circuit. A model 420 of the interface between the simulators 300, a model 321 of the interface between the circuit simulator 300 and the complex area physical simulator 400, and a signal line between the model 321 of the interface-a model 371 of winding resistance and a model 372 of inductance, It may be changed in the same manner as the method of transmitting and receiving the back electromotive force. When the equivalent circuit model 390 of the motor represented by Δ connection is used, the winding resistance, the inductance, and the back electromotive force are all converted into line values, and then reflected in the set value of the equivalent circuit model 390 of the motor. Good.

Process 15.
Switching by the circuit simulator 300, six MOSFET models in an inverter model 360 including a MOSFET model 361, six feedback diode models in the same inverter model 360 including a feedback diode model 362, and a motor UVW three-phase motor output currents are calculated by the equivalent circuit model 370 and the circuit line connecting between the inverter model 360 and the motor equivalent circuit model 370. Next, the current for three phases of the UVW of the motor is shunted or merged into the current sensor model 350 and detected by them and the inverter model 360 which is turned on by the switching of the six models of the MOSFET. .. That is, the output current of the motor can be detected by the shunt resistance model 355.

Process 16.
The user operates the monitor 470 via the input device 6407 while observing the display device 6405 of the multi-discipline physical simulator 400 during or after the simulation, and displays the simulation results of the six vehicle motion characteristics set in the process 1, It is displayed on the display device 6405 for confirmation. Further, if necessary, the microcomputer simulator 200, the circuit simulator 300, and the composite area physical simulator 400 can be viewed by looking at the display devices 6205, 6305, and 6405 of the microcomputer simulator 200, the circuit simulator 300, and the composite area physical simulator 400, respectively. The model, the control line, the signal line, and the connection line existing inside the three simulators are operated via the respective input devices 6207, 6307, 6407, and the input/output characteristics of the respective parts obtained by the simulation are compared with each other by the microcomputer simulator 200. , The circuit simulator 300 and the composite area physics simulator 400 are displayed on the display devices 6205, 6305, 6405 of the three simulators, respectively, for confirmation. Regarding the simulation result of the inverter device, for example, the input/output characteristics of the MOSFET model 361, the feedback diode model 362, and the current sensor model 350 (or the shunt resistance model 355) are confirmed.

Through the above processing 1 to processing 16, the simulation of the inverter verification device 100 is executed.

Next, the effect of this embodiment will be described.

Regarding the inverter device of the method of detecting the motor current with one current sensor, this embodiment simulates the operation of the inverter device for driving the motor in consideration of the overall behavior of the EPS-equipped vehicle with the same accuracy as the actual machine, Made verifiable. In particular, this is realized by the present embodiment, by which the shunting and merging of the motor output current due to the switching of the inverter element, and the phenomenon in which the current flows to one current sensor can be simulated and verified by the co-simulation. .. The effects of this embodiment will be described in more detail below (1) to (5).

(1) The actual dynamics of the circuit elements of the inverter (voltage, current, power loss, etc.) in consideration of the entire EPS such as the microcomputer, the ECU, the mechanism, the motor, and the mounted vehicle are simulated without using the actual machinery. Can be simulated with the same accuracy as. The minute dynamic characteristic of the circuit element is, for example, parasitic vibration due to switching of the MOSFET. Also, the dynamic characteristics of all circuit elements other than the inverter circuit can be simulated with the same accuracy as the actual machine.

(2) The motor characteristics in consideration of the dynamic magnetic flux change between the stator and the rotor can be simulated with the same accuracy as the actual machine by simulation. For example, the cogging torque can be simulated.

(3) The dynamic behavior of mechanical parts (springs, dampers, ball screws, gears, etc.) other than the EPS motor can be simulated with the same accuracy as the actual machine by simulation.

(4) The vehicle motion characteristics (the actual steering angle of the front wheels, the vehicle speed, the vehicle displacement, the yaw rate, the yaw angle, the tire slip angle, etc.) of the vehicle equipped with EPS can be simulated with the same accuracy as the actual machine.

(5) The functional safety of the EPS, which is an important safety component, can be verified by simulation before manufacturing the actual machine. Alternatively, it is possible to simulate and detect a safety violation of EPS components or control software when a defect or a failure occurs, and take countermeasures at the product design stage. This will improve the quality of EPS products.

This is the end of the explanation of the effect.

Unlike the present embodiment, in a simulation simulating an inverter device in which a motor current is detected by a single current sensor, the motor current can be detected without using a model of the current sensor. In some cases, the current flowing in the model of the current sensor can be calculated from the motor current and the motor current. However, in this case, it is premised that the switching operation of the inverter element is simplified by turning it on and off. Therefore, the effects of the above (1) and (5) cannot be obtained. The present embodiment is characterized in that minute behavior and dynamic characteristics can be simulated with the same degree of accuracy as the actual machine by simulation, both in the circuit element unit and in the EPS-equipped vehicle as a whole.

In the second embodiment, regarding an inverter device that detects a motor current with one current sensor, the operation and performance at the time of failure of the device can be simulated with the same degree of accuracy as the actual machine by co-simulation by a plurality of simulators. An example of the inverter verification device will be described.

FIG. 7 is a diagram showing an example of the appearance of the inverter verification device 105 of the second embodiment, and FIG. 8 is a configuration diagram of the inverter verification device of the second embodiment. In this embodiment, the verification is performed when a circuit failure occurs in the inverter of the EPS system.

The inverter verification device 105 includes a microcomputer simulator 205, a circuit simulator 305, a complex area physical simulator 405, and interfaces 215, 315, 316, and 415 between the simulators, which are configured by software in a memory (not shown) of the device. With. The microcomputer simulator 205, the circuit simulator 305, and the composite area physical simulator 405 share one housing 7105. Similarly, the three simulators of the microcomputer simulator 205, the circuit simulator 305, and the complex area physical simulator 405 also share one display device 7106 and one input device 7107.

FIG. 9 is a diagram showing the composite area physical simulator 405 extracted and enlarged from the inverter verification device 105 of FIG. FIG. 9 shows the details within the multi-discipline physical simulator 405.

The microcomputer simulator 205, the circuit simulator 305, and the complex area physics simulator 405 execute co-simulation while communicating with each other via the simulator interfaces 215, 315, 316, and 415.

In some cases, the three simulators, that is, the microcomputer simulator 205, the circuit simulator 305, and the complex area physical simulator 405, may be constructed on a cloud environment and arranged on a virtual machine. Further, the memory of the inverter verification device 105 may be arranged outside the housing 7105 of the device, a part of the memory may be externally attached to the housing 7105, or physically separated via a network. It may be placed in a different place. However, such a memory is also a part of the inverter verification device 105.

In the inverter verification device 105 of FIG. 8, in the inverter verification device 100 of FIG. 1, the microcomputer simulator 200, the circuit simulator 300, the composite area physical simulator 400, and the simulator interfaces 210, 310, 311 and 410 are changed to software. However, the microcomputer simulator 205, the circuit simulator 305, the complex area physical simulator 405, and the interfaces 215, 315, 316, and 415 between the simulators are arranged on the memory of the inverter verification device 105. Therefore, the communication line between the simulators uses the communication line inside the inverter verification device 105. That is, the co-simulation can be executed by one inverter verification device 105 of the housing 7105.

It should be noted that the roles of the three simulators of the microcomputer simulator 205, the circuit simulator 305, and the composite area physical simulator 405 are not significantly changed from the roles of the three simulators of the microcomputer simulator 200, the circuit simulator 300, and the composite area physical simulator 400 of FIG. , The processing of each part is slightly different. In FIG. 8, there is no change in the parts given the same numbers as in FIG. The same applies to FIG. 9.

A modification of FIG. 8 from FIG. 1 is a modification of the equivalent circuit model 370 of the motor. In FIG. 8, an equivalent circuit model 375 of a motor represented by a Y connection is a model simulating a motor driven by a three-phase alternating current, and one current and terminal voltage equivalent to one of the motor is one model. It has a model 376 of circuit elements to be simulated, and is connected in a Y-shape for each phase for a total of three phases. Here, both the current and the terminal voltage are simulated by the model of one circuit element, but a plurality of circuit element models may be used. Further, if the process described in the subsequent process 14' is the same, the circuit element model may not be used.

The equivalent circuit model 375 of the motor is a model for reflecting the motor current and the motor terminal voltage on the circuit simulator 305 side from the motor characteristics obtained by the model 440 of the synchronous motor.

The equivalent circuit model of the motor may be represented by Δ connection instead of Y connection. FIG. 10 is an example in which the equivalent circuit model of the motor is represented by Δ connection. The equivalent circuit model 395 of the motor represented by Δ connection is a model simulating a motor driven by a three-phase alternating current. The current and the terminal voltage corresponding to one of the motor are represented by line values, respectively, and the current and the terminal. It has a circuit element model 396 that simulates both the line values of the voltage with one model, and three of them are connected in a Δ-shape in total. Here, both the current and the line value of the terminal voltage are simulated by the model of one circuit element, but a plurality of circuit element models may be used. Further, if the process described in the subsequent process 14' is the same, the circuit element model may not be used.

Corresponding to the simulation execution processing described in the processing 1 to processing 16 in the first embodiment, the changes from the first embodiment in the second embodiment will be described below.

First, in the second embodiment, as described above, the microcomputer simulator 205, the circuit simulator 305, and the composite area physics simulator 405 are provided with only one display device 7106, and the model inside the simulator, the simulator and the model Display settings and simulation results. In addition, the input device 7107, which is only one, receives an input for operating the simulator from the user. Therefore, regarding the display device and the input device, the contents of the processing of the first embodiment are read as they are.

Secondly, in the second embodiment, since the communication line between the simulators uses the communication line existing inside the inverter verification device 105 as described above, the simulators configured by software are physically connected to each other. Not necessarily. Therefore, it is deleted from the processing contents of the first embodiment.

Thirdly, in order to simulate the operation and the performance when the circuit failure of the inverter of the EPS system occurs, among the processing 1 to processing 16 which is the processing for executing the simulation described in the first embodiment, the processing 2 is the following processing 2'. To the following process 8′, the process 13 to the following process 13′, the process 14 to the following process 14′, and the process 15 to the following process 15′. To do.

Process 2'.
The user operates the input device 7107 while observing the circuit model and the setting of the model inside the circuit simulator 305 displayed by the display device 7106 of the inverter verification device 105, and makes settings for simulating a circuit failure. To do. The circuit simulator 305 receives the setting. The circuit failure is, for example, an open failure (also called an open failure), a short-circuit failure (also called a short-circuit failure), or an intermediate value failure (also called a drift failure). In the present embodiment, as an example, the open circuit fault is set to be simulated for each of the MOSFET model 361 and the feedback diode model 362 in the model of the circuit element that constitutes the inverter model 365. The open failure of the MOSFET model 361 is an open gate element.

After that, when the inverter verification device 105 receives an input from the user by pressing the execution button of the input device 7107, the inverter verification device 105 starts the co-simulation by the inverter verification device 105.

Process 8'.
The circuit simulator 305 receives the PWM signal from the microcomputer simulator 205. The driver circuit model 330, which is a part of the circuit model, receives the PWM signal via the model 320 of the interface between the circuit simulator 305 and the microcomputer simulator 205, and then the PWM signal is in the inverter model 365. , Converted to the gate voltage of 6 models of MOSFET. The 6 models of the MOSFET perform switching operation based on the gate voltage. However, since the open failure is set in the process 2'for the gate element in the model 361 of one MOSFET, the malfunction occurs instead of the normal operation. The circuit simulator 305 and the inverter model 365 include switching operations based on six MOSFET models, the voltage supplied from the DC power supply model 340, and the UVW3 phase voltage of the equivalent circuit model 375 of the motor represented by the Y connection. The voltage of three UVW phases to be supplied to the equivalent circuit model 375 of the motor is determined and supplied by the circuit line between the inverter model 365 and the equivalent circuit model 375 of the motor.

Process 13'.
The composite area physics simulator 405 and the model 485 for calculating the motor terminal voltage inside the composite area physics simulator 405 are the winding resistance and the inductance, and the output value UVW3 phase of the set value UVW3 phase of the synchronous motor model 440. The terminal voltage of the motor is calculated from the minute current and the counter electromotive force. Then, the motor current and the terminal voltage are transmitted to the circuit simulator 305 via the model 425 of the interface between the composite area physical simulator 405 and the circuit simulator 305 and the interfaces 415 and 316 between the simulators.

Process 14'.
The circuit simulator 305 receives a current and a terminal voltage corresponding to one of the motors from the complex area physics simulator 405. In the equivalent circuit model 375 of the motor, a model 376 of circuit elements (one for each UVW phase) that simulates both current and terminal voltage with one model is provided between the circuit simulator 305 and the composite area physical simulator 405. The received motor current and terminal voltage are output to the motor equivalent circuit model 375 via the interface model 325.

Here, in FIG. 8, the motor supply voltage input to the model 325 of the interface between the circuit simulator 305 and the composite area physical simulator 405, and the motor output from the model 325 of the interface between the circuit simulator 305 and the composite area physical simulator 405. Although there are signal lines for current and motor terminal voltage, there are cases where the signal lines can be omitted by using the variable value passing function of the circuit simulator 305.

When the equivalent circuit model 395 of the motor represented by the Δ connection in FIG. 10 is used, the process of converting both the received motor current and the terminal voltage into the line value is performed between the circuit simulator 305 and the complex area physical simulator 405. It may be added to the interface model 326 and output to the equivalent circuit model 395.

Process 15'.
Switching by the circuit simulator 305, 6 models of the feedback diode in the inverter model 365 including the feedback diode model 362, and 6 models of the MOSFET in the inverter model 365 including the MOSFET model 361, and The current for the three phases of the UVW of the motor is shunted by the circuit line connecting between the inverter model 365 that conducts, the equivalent circuit model 375 of the motor, and the inverter model 365-the equivalent circuit model 375 of the motor. Alternatively, they are merged and flow to the model 350 of the current sensor to be detected. That is, the output current of the motor can be detected by the shunt resistance model 355. However, since the open failure is set in the feedback diode model 362 and the gate element in the MOSFET model 361 in the process 2′, the malfunction occurs instead of the normal operation.

In the above, the contents of changes from the first embodiment regarding the simulation execution processing in the second embodiment have been described.

The second embodiment is a simulation of a failure event of an inverter circuit element by the inverter verification device 105. From the simulation result by the inverter verification device 105, the stop of the motor drive due to the influence of the failure can be observed. This is an example in which the EPS system avoids a dangerous operation due to a failure and a fail safe is activated. While the motor drive is stopped, the driver's steering may observe the power generation operation of the motor. If the generated electricity is stored in the model of the DC power supply, the regenerative operation is performed. Therefore, the inverter verification device 105 of the present embodiment simulates not only the driving operation of the motor but also the regenerative operation of the motor in which the motor operates as the generator. , Can also be applied to verification.

Since other configurations and processings have the same functions as the configurations denoted by the same reference numerals shown in FIGS. 1 and 2 which have already been described, the description thereof will be omitted.

Next, the effect of this embodiment will be described.

In addition to the effects (1) to (5) described in the first embodiment, the effects of the present embodiment are the following effects (6) to (9) as the effects of performing the co-simulation simulating the circuit failure of the inverter. There is).

(6) An inverter device for driving a motor that detects a current of a motor with one current sensor, and a circuit failure constitutes an EPS when a circuit failure occurs in the ECU of the EPS that incorporates the device. It is possible to simulate the part and the influence on the vehicle motion of the EPS-equipped vehicle with the same accuracy as the actual machine by simulation. If it can be confirmed from the result of this simulation that there is no infringement on safety, the proof of functional safety defined by ISO26262 can be obtained without using an actual machine. The fact that there is no violation of safety means that, for example, failsafe is activated.

(7) Since the actual EPS machine is not used, it is not necessary to modify the actual machine for the test or maintain the test equipment. Therefore, it is possible to reduce the work load and the development cost due to the test.

(8) Unlike the test using the actual machine, it is not necessary to destroy a part of the actual machine, and therefore, it excels in reproducing the operation due to a failure. Further, since it is easy to simulate and reproduce the intermediate value failure (drift failure) of the circuit element, it is possible to verify and evaluate the performance deterioration of the circuit element.

(9) Even when handling a high voltage or a large current with the inverter device, unlike the test of the actual machine, there is no danger to the operator.

In the above description of the first and second embodiments, the configuration of the model for verifying the inverter device that detects the motor current with one current sensor and the data transmitted/received between the simulators and between the models have also been described in detail. .. Therefore, it is also useful as an inverter verification method or a simulation technique.

Further, in the first and second embodiments, the EPS has been described as an example, but the present invention can be applied to verification of a vehicle or a device in which an inverter that detects a motor current with a single current sensor is incorporated. For example, it is also applicable to electric vehicles, hybrid vehicles, railways, electronically controlled brakes, elevators, robots, machine tools, refrigerators, air conditioners, electric vacuum cleaners, electric tools, copying machines, and the like.

It should be noted that the present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. For example, of the three simulators, that is, a microcomputer simulator, a circuit simulator, and a complex area physics simulator, two simulators share one casing as in the second embodiment, and another simulator has one casing. The case where the inverter verification device as in the first embodiment is configured by the two housings. Further, it is possible to add/delete/replace other configurations with respect to a part of the configurations of the respective embodiments.

Further, each of the above-mentioned configurations, functions, processing units, processing means, devices, etc. may be realized by hardware by designing a part or all of them with an integrated circuit, for example. Further, the above-described respective configurations, functions and the like may be realized by software by the processor interpreting and executing a program for realizing each function. Information such as a program, a table, and a file that realizes each function can be placed in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, and a DVD.

Further, control lines and information lines are shown as being considered necessary for explanation, and not all control lines and information lines are shown in the drawings. In practice, it may be considered that almost all configurations are connected to each other.

<Appendix 1>
The present invention described above,
1.
A plurality of simulators having mutual communication functions (for example, a microcomputer simulator 200, a circuit simulator 300, a composite area physical simulator 400, a microcomputer simulator 205, a circuit simulator 305, a composite area physical simulator 405),
Inside a first simulator (for example, circuit simulators 300 and 305) of the plurality of simulators, a DC power supply model (for example, model 340) that is a model of a DC power supply, and an inverter model (for model that is an inverter) ( Model 360, 365) and a current sensor model (for example, model 350, 351, 352, 353, 355) which is a model of a current sensor connected between the DC power supply model and the inverter model, or the DC power supply. A voltage sensor model (for example, models 350, 351, 352, 353, 355) that is a model of a voltage sensor connected between the model and the inverter model, and a Y connection or a Δ connection connected to the inverter model. A motor equivalent circuit model (for example, models 370, 390, 375, 395) that is an equivalent circuit model of the motor,
Inside the second simulator (for example, the complex area physics simulator 400, 405) of the plurality of simulators, a motor model (for example, a model that simulates the specification of the motor in more detail than the motor equivalent circuit model) (for example, , Model 440),
A verification unit (for example, a verification device) that verifies the inverter by simulating the operation or performance of the inverter and the motor by a simulation by each of the plurality of simulators and a co-simulation between the plurality of simulators. Same as 100 or same as 105),
Since it is an inverter verification device (for example, verification devices 100 and 105) characterized by
-For an inverter device that detects a motor current with a current sensor or shunt resistance, the current is converted into one current sensor or shunt resistance by shunting or merging the motor output current by switching the inverter elements by co-simulation with multiple simulators. You can simulate flowing. As a result, it is possible to provide an inverter verification device capable of simulating the operation and performance of the inverter device with the same degree of accuracy as an actual machine.

Further, the present invention is
2.
1. In the inverter verification device described in,
The current sensor model or the voltage sensor model is a model of one or more shunt resistors,
Since it was an inverter verification device characterized by that,
-A current sensor or voltage sensor model can be realized with a simple configuration of a shunt resistance model.

Further, the present invention is
3.
1. In the inverter verification device described in,
The inverter model is a model that simulates the inverter that converts a DC power supply into a three-phase AC,
The motor model is a model simulating the motor driven by three-phase alternating current,
Since it was an inverter verification device characterized by that,
-It is possible to provide an inverter verification device for controlling a motor driven by a three-phase AC.

Further, the present invention is
4.
1. In the inverter verification device described in,
The motor equivalent circuit model is a model including any one or a plurality of models that simulate resistance, inductance, current, voltage, and back electromotive force (also referred to as induced voltage) of the motor. Connection or Δ connection,
Since it was an inverter verification device characterized by that,
-For an inverter device that detects a motor current with a current sensor or a shunt resistor, the specifications of the motor (for example, resistance and inductance) and the motor characteristics (for example, current, voltage, and back electromotive force) calculated by individual simulations of the second simulator. The motor model for reflecting the electric power) on the first simulator can be realized by an equivalent circuit model represented by Y connection or Δ connection.

Further, the present invention is
5.
1. In the inverter verification device described in,
Inside the second simulator, a load model (for example, models 450 and 460) that is a model of the load of the motor is further included.
Since it was an inverter verification device characterized by that,
A load model of the motor, which is a combination of a model of the controlled object connected to the motor (for example, model 450) and a model of the external environment connected to the controlled object (for example, model 460), and the second simulator, It is possible to realize a motor simulation in consideration of the dynamic behavior of the entire motor load. As a result, the accuracy of simulation, which simulates the operation and performance of the inverter device, can be improved.

Further, the present invention is
6.
1. In the inverter verification device described in,
The inverter model and the motor model are models that simulate the driving operation or regenerative operation of the motor,
Since it was an inverter verification device characterized by that,
-A simulation that simulates the operation and performance of an inverter device that supports not only the drive operation of the motor but also the regenerative operation of the motor that operates as a generator can be realized.

Further, the present invention is
7.
1. In the inverter verification device described in,
Having a generator equivalent circuit model instead of the motor equivalent circuit model,
Having a generator model instead of the motor model,
Since it was an inverter verification device characterized by that,
-It is possible to realize a simulation that simulates the operation and performance of an inverter device, even when the motor (electric motor) is a generator (generator). That is, the present invention can realize the same simulation corresponding to a rotating machine. Also, the same simulation can be realized when the motor equivalent circuit model is replaced by the generator equivalent circuit model and the motor model is replaced by the generator model.

Further, the present invention is
8.
1. In the inverter verification device described in,
The plurality of simulators are composed of software,
Further comprising a storage unit that stores the plurality of simulators,
Since it was an inverter verification device characterized by that,
-Required hardware resources can be reduced by configuring the simulator with software. In addition, when the specifications of the simulator are changed (for example, addition of a new function, change of calculation processing, version upgrade, elimination of trouble, etc.), it can be easily handled.

Further, the present invention is
9.
Using multiple simulators that have mutual communication functions,
Inside the first simulator of the plurality of simulators, a DC power supply model that is a model of a DC power supply, an inverter model that is a model of an inverter, and a connection between the DC power supply model and the inverter model. A current sensor model that is a model of a current sensor, or a voltage sensor model that is a model of a voltage sensor connected between the DC power supply model and the inverter model, and a Y connection or a Δ connection that is connected to the inverter model. And a motor equivalent circuit model that is an equivalent circuit model of a motor,
Inside the second simulator of the plurality of simulators, has a motor model that is a model that simulates the specifications of the motor in more detail than the motor equivalent circuit model,
The inverter is verified by simulating the operation or performance of the inverter and the motor by a simulation by each of the plurality of simulators and a co-simulation between the plurality of simulators.
Since it was the inverter verification method characterized by
-For an inverter device that detects a motor current with a current sensor or shunt resistance, the current is converted into one current sensor or shunt resistance by shunting or merging the motor output current by switching the inverter elements by co-simulation with multiple simulators. You can simulate flowing. As a result, it is possible to provide an inverter verification method that enables the operation and performance of the inverter device to be simulated with the same degree of accuracy as an actual machine.

Further, the present invention is
10.
9. In the inverter verification method described in
The current sensor model or the voltage sensor model is a model of one or more shunt resistors,
Since it was the inverter verification method characterized by
-A current sensor or voltage sensor model can be realized with a simple configuration of a shunt resistance model.

Further, the present invention is
11.
9. In the inverter verification method described in
The inverter model is a model that simulates the inverter that converts a DC power supply into a three-phase AC,
The motor model is a model simulating the motor driven by three-phase alternating current,
Since it was the inverter verification method characterized by
It is possible to provide a verification method for an inverter that controls a motor driven by a three-phase AC.

Further, the present invention is
12.
9. In the inverter verification method described in
The motor equivalent circuit model is a model including any one or a plurality of models that simulate resistance, inductance, current, voltage, and back electromotive force (also referred to as induced voltage) of the motor. Connection or Δ connection,
Since it was the inverter verification method characterized by
-For an inverter device that detects a motor current with a current sensor or a shunt resistor, the specifications of the motor (for example, resistance and inductance) and the motor characteristics (for example, current, voltage, and back electromotive force) calculated by individual simulations of the second simulator. The motor model for reflecting the electric power) on the first simulator can be realized by an equivalent circuit model represented by Y connection or Δ connection.

Further, the present invention is
13.
9. In the inverter verification method described in
Inside the second simulator, further has a load model that is a model of the load of the motor,
Since it was the inverter verification method characterized by
A load model of the motor, which is a combination of a model of the controlled object connected to the motor (for example, model 450) and a model of the external environment connected to the controlled object (for example, model 460), and the second simulator, It is possible to realize a motor simulation in consideration of the dynamic behavior of the entire motor load. As a result, the accuracy of simulation, which simulates the operation and performance of the inverter device, can be improved.

Further, the present invention is
14.
9. In the inverter verification method described in
The inverter model and the motor model are models that simulate the driving operation or regenerative operation of the motor,
Since it was the inverter verification method characterized by
-A simulation that simulates the operation and performance of an inverter device that can be used not only for motor drive operation but also for motor regenerative operation can be realized.

Further, the present invention is
15.
9. In the inverter verification method described in
Having a generator equivalent circuit model instead of the motor equivalent circuit model,
Having a generator model instead of the motor model,
Since it was the inverter verification method characterized by
-It is possible to realize a simulation that simulates the operation and performance of an inverter device, even when the motor (electric motor) is a generator (generator). That is, the present invention can realize the same simulation corresponding to a rotating machine. Also, the same simulation can be realized when the motor equivalent circuit model is replaced by the generator equivalent circuit model and the motor model is replaced by the generator model.

100... Inverter verification device, 200... Microcomputer simulator, 300... Circuit simulator, 350... Current sensor model, 355... Shunt resistance model, 360... Inverter model, 370... Y-connection equivalent circuit model of motor, 371 …Model of winding resistance equivalent to 1 of motor, 372 …Model of inductance equivalent to 1 of motor, 373 …Model of circuit element simulating counter electromotive force equivalent to 1 of motor, 400 …Complex domain physics simulator 440... Synchronous motor model.

Claims (10)

Having a plurality of simulators having communication functions with each other,
Inside the first simulator of the plurality of simulators, a DC power supply model that is a model of a DC power supply, an inverter model that is a model of an inverter, and a connection between the DC power supply model and the inverter model. A current sensor model that is a model of a current sensor or a voltage sensor model that is a model of a voltage sensor that is connected between the DC power supply model and the inverter model, and a model that simulates a motor that is connected to the inverter model. , A motor equivalent circuit model that is an equivalent circuit model of a motor represented by Y connection or Δ connection,
Inside the second simulator of the plurality of simulators, has a motor model that is a model that simulates the specifications of the motor in more detail than the motor equivalent circuit model,
A verification unit that verifies the inverter by simulating the operation or performance of the inverter and the motor by a simulation by each of the plurality of simulators and a co-simulation that transmits and receives data between the plurality of simulators. Equipped with
In the co-simulation, the first simulator transmits the voltage supplied to the motor to the second simulator,
The second simulator determines one of a back electromotive force of the motor (also referred to as an induced voltage), a combination of the motor current and a terminal voltage of the motor,
The second simulator, determined by the second simulator, the back electromotive force, or a combination of the current and the terminal voltage, and transmits to the first simulator,
When the first simulator receives the back electromotive force, the first simulator reflects the received back electromotive force in a model that simulates the back electromotive force of the motor equivalent circuit model, and performs the simulation. Done,
When the first simulator receives the combination of the current and the terminal voltage, the first simulator simulates the received combination of the current and the terminal voltage by the current and the terminal voltage of the motor equivalent circuit model. Perform a simulation by reflecting in the model
An inverter verification device characterized in that In the inverter verification device according to claim 1,
The current sensor model or the voltage sensor model is a model of one or more shunt resistors,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
The inverter model is a model that simulates the inverter that converts a DC power supply into a three-phase AC,
The motor model is a model simulating the motor driven by three-phase alternating current,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
The motor equivalent circuit model is a Y-connection or a Δ-connection configured by a model including any one or a plurality of models that simulate resistance, inductance, current, voltage, and back electromotive force of the motor. ,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
Inside the second simulator, further has a load model that is a model of the load of the motor,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
The inverter model and the motor model are models that simulate the driving operation or regenerative operation of the motor,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
Having a generator equivalent circuit model instead of the motor equivalent circuit model,
Having a generator model instead of the motor model,
An inverter verification device characterized in that In the inverter verification device according to claim 1,
The plurality of simulators are composed of software,
Further comprising a storage unit that stores the plurality of simulators,
An inverter verification device characterized in that Use multiple simulators that have mutual communication functions,
Inside the first simulator of the plurality of simulators, a DC power supply model that is a model of a DC power supply, an inverter model that is a model of an inverter, and a connection between the DC power supply model and the inverter model. A current sensor model that is a model of a current sensor or a voltage sensor model that is a model of a voltage sensor that is connected between the DC power supply model and the inverter model, and a model that simulates a motor that is connected to the inverter model. , A motor equivalent circuit model that is an equivalent circuit model of a motor represented by Y connection or Δ connection,
Inside the second simulator of the plurality of simulators, has a motor model that is a model that simulates the specifications of the motor in more detail than the motor equivalent circuit model,
A simulation by each of the plurality of simulators, and a co-simulation for transmitting and receiving data between the plurality of simulators, by simulating the operation or performance of the inverter and the motor, to verify the inverter,
In the co-simulation, the first simulator transmits the voltage supplied to the motor to the second simulator,
The second simulator determines one of a back electromotive force of the motor (also referred to as an induced voltage), a combination of the motor current and a terminal voltage of the motor,
The second simulator, determined by the second simulator, the back electromotive force, or a combination of the current and the terminal voltage, and transmits to the first simulator,
When the first simulator receives the back electromotive force, the first simulator reflects the received back electromotive force in a model that simulates the back electromotive force of the motor equivalent circuit model, and performs the simulation. Done,
When the first simulator receives the combination of the current and the terminal voltage, the first simulator simulates the received combination of the current and the terminal voltage by the current and the terminal voltage of the motor equivalent circuit model. Perform a simulation by reflecting in the model
An inverter verification method characterized by the above. The inverter verification method according to claim 9,
The motor equivalent circuit model is a Y-connection or a Δ-connection configured by a model including any one or a plurality of models that simulate resistance, inductance, current, voltage, and back electromotive force of the motor. ,
An inverter verification method characterized by the above.

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