JP7205415B2 - Rotating electric machine controller - Google Patents

Description

The present invention relates to a rotary electric machine control device.

2. Description of the Related Art Conventionally, a rotary electric machine control device is known that controls driving of a motor with a plurality of control units. For example, in Patent Literature 1, two control units are provided, and two systems are cooperatively operated by transmitting a command value calculated by one master control unit to a slave control unit.

Japanese Patent Application Laid-Open No. 2018-130007

In Patent Literature 1, when an inter-microcomputer communication abnormality occurs, the system shifts to independent drive control. Here, the communication abnormality between the control units can occur not only when the control unit fails inside the control unit, but also when the control unit is not started due to a failure of the external power supply. Therefore, there is a possibility that the non-activation of the control unit due to the failure of the external power supply may be erroneously detected as communication abnormality inside the control device. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide a rotary electric machine control device capable of appropriately monitoring an abnormal state.

A rotary electric machine control device of the present invention controls driving of a rotary electric machine (80) having motor windings (180, 280), and comprises a plurality of inverter units (120, 220) and a plurality of control units ( 150, 250). The inverter section switches energization of the motor windings. The control unit has a drive control unit (151, 251) that controls the corresponding inverter unit and an abnormality monitoring unit (155, 255) that monitors an abnormality, and can communicate with each other. Here, the combination of the correspondingly provided inverter section and control section is defined as a system.

The abnormality monitoring unit monitors the states of its own system and other systems. In the first aspect, if the control unit of the other system is not activated when the control unit of the own system is activated, the abnormality monitoring unit disables the abnormality monitoring that may erroneously recognize an external power supply abnormality as an internal abnormality. , monitoring is performed without disabling the abnormality monitoring related to the state of the own system, which eliminates the possibility of erroneously recognizing an external power supply abnormality and an internal abnormality.
In the second aspect, the control section has a storage section (156, 256) that stores the abnormality monitoring result. If the control unit of the other system is not activated when the control unit of the own system is activated, the abnormality monitoring unit disables part of the processing related to the abnormality monitoring. When the standby time elapses after the start of the control unit while the control unit of the other system is not started, the control unit transmits other-system non-start information indicating that the control unit of the other system is not started. Store in the control unit. As a result, even if the control unit of the other system is not activated, it is possible to appropriately monitor the abnormal state.

1 is a schematic configuration diagram of a steering system according to a first embodiment; FIG. 1 is a cross-sectional view of a drive device according to a first embodiment; FIG. FIG. 3 is a cross-sectional view taken along line III-III of FIG. 2; 1 is a block diagram showing an ECU according to a first embodiment; FIG. It is a circuit diagram explaining a power supply relay by a 1st embodiment. FIG. 4 is an explanatory diagram illustrating the relationship between steering torque and assist torque during two-system drive according to the first embodiment; FIG. 4 is an explanatory diagram illustrating the relationship between steering torque and assist torque in a single-system drive mode according to the first embodiment; 4 is a flowchart for explaining abnormality monitoring processing according to the first embodiment; 5 is a time chart for explaining the microcomputer startup process according to the first embodiment; 5 is a time chart for explaining the microcomputer startup process according to the first embodiment; 5 is a time chart for explaining the microcomputer startup process according to the first embodiment; 9 is a flowchart for explaining abnormality monitoring processing according to the second embodiment; FIG. 11 is a time chart for explaining microcomputer start-up processing according to the second embodiment; FIG. FIG. 11 is a flowchart for explaining abnormality monitoring processing according to the third embodiment; FIG. FIG. 11 is a time chart for explaining a microcomputer start-up process according to the third embodiment; FIG. FIG. 5 is an explanatory diagram illustrating the relationship between steering torque and assist torque when overpowering occurs;

A rotary electric machine control device according to the present invention will be described below with reference to the drawings. Hereinafter, in a plurality of embodiments, substantially the same configurations are denoted by the same reference numerals, and descriptions thereof are omitted.

(First embodiment)
A first embodiment is shown in FIGS. 1 to 11. FIG. As shown in FIG. 1, an ECU 10 as a rotating electrical machine control device controls driving of a motor 80, which is a rotating electrical machine. It is applied to the electric power steering device 8.

FIG. 1 shows the configuration of a steering system 90 including an electric power steering device 8. As shown in FIG. The steering system 90 includes a steering wheel 91 that is a steering member, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, an electric power steering device 8, and the like.

A steering wheel 91 is connected to a steering shaft 92 . The steering shaft 92 is provided with a torque sensor 94 that detects steering torque. The torque sensor 94 has a first sensor section 194 and a second sensor section 294, each of which has a dual sensor capable of detecting its own failure. A pinion gear 96 is provided at the tip of the steering shaft 92 . The pinion gear 96 meshes with the rack shaft 97 . A pair of wheels 98 are connected to both ends of the rack shaft 97 via tie rods or the like.

When the driver rotates the steering wheel 91, the steering shaft 92 connected to the steering wheel 91 rotates. Rotational motion of the steering shaft 92 is converted into linear motion of the rack shaft 97 by the pinion gear 96 . A pair of wheels 98 are steered to an angle corresponding to the amount of displacement of the rack shaft 97 .

The electric power steering device 8 includes a motor 80, a reduction gear 89 as a power transmission unit for decelerating the rotation of the motor 80 and transmitting it to the steering shaft 92, the ECU 10, and the like. In other words, the electric power steering device 8 of this embodiment is of a so-called "column assist type", and the steering shaft 92 can be said to be driven. A so-called “rack assist type” that transmits the rotation of the motor 80 to the rack shaft 97 may be used.

As shown in FIGS. 1 to 4, the motor 80 outputs part or all of the torque required for steering, and is driven by electric power supplied from batteries 101 and 201 as power sources to reduce speed. The gear 89 is rotated forward and backward. Motor 80 is a three-phase brushless motor and has rotor 860 and stator 840 .

Motor 80 has a first motor winding 180 and a second motor winding 280 . The motor windings 180 and 280 have the same electrical characteristics, and are cancel-wound on a common stator 840 with an electrical angle of 30 [deg] shifted from each other. Accordingly, the motor windings 180 and 280 are controlled so that phase currents with phases φ shifted by 30 [deg] are applied. By optimizing the energization phase difference, the output torque is improved. Also, the sixth-order torque ripple can be reduced, and noise and vibration can be reduced. In addition, since heat generation is distributed and leveled by distributing the current, it is possible to reduce errors between systems that depend on temperature, such as the detection value and torque of each sensor, and increase the amount of current that can be passed. can. Note that the motor windings 180 and 280 may not be cancel-wound and may have different electrical characteristics.

Hereinafter, the combination of the first inverter unit 120 and the first control unit 150 related to the energization control of the first motor winding 180 is the first system L1, the second inverter unit 220 related to the energization control of the second motor winding 280 and A combination of the second control unit 250 and the like is referred to as a second system L2. In addition, the configuration related to the first system L1 is mainly numbered in the 100s, and the configuration related to the second system L2 is mainly numbered in the 200s. In addition, in the first system L1 and the second system L2, similar or similar configurations are numbered so that the last two digits are the same. Hereinafter, "first" will be described as a subscript "1" and "second" will be described as a subscript "2".

The driving device 40 has the ECU 10 integrally provided on one side of the motor 80 in the axial direction, and is a so-called "machine-electrically integrated type", but the motor 80 and the ECU 10 may be provided separately. The ECU 10 is arranged coaxially with the axis Ax of the shaft 870 on the side opposite to the output shaft of the motor 80 . The ECU 10 may be provided on the output shaft side of the motor 80 . By adopting the integrated electromechanical type, the ECU 10 and the motor 80 can be efficiently arranged in a vehicle with limited installation space.

The motor 80 includes a stator 840, a rotor 860, a housing 830 that accommodates them, and the like. A stator 840 is fixed to the housing 830 and has the motor windings 180, 280 wound thereon. Rotor 860 is provided radially inside stator 840 and is provided rotatably relative to stator 840 .

Shaft 870 is fitted into rotor 860 and rotates integrally with rotor 860 . Shaft 870 is rotatably supported in housing 830 by bearings 835 and 836 . An end portion of the shaft 870 on the side of the ECU 10 protrudes from the housing 830 toward the side of the ECU 10 . A magnet 875 is provided at the end of the shaft 870 on the side of the ECU 10 .

The housing 830 has a bottomed tubular case 834 including a rear frame end 837 and a front frame end 838 provided on the opening side of the case 834 . The case 834 and the front frame end 838 are fastened together with bolts or the like. A lead wire insertion hole 839 is formed in the rear frame end 837 . Lead wires 185 , 285 connected to respective phases of the motor windings 180 , 280 are inserted through the lead wire insertion holes 839 . The lead wires 185 and 285 are led out from the lead wire insertion hole 839 to the ECU 10 side and connected to the board 470 .

The ECU 10 includes a cover 460, a heat sink 465 fixed to the cover 460, a substrate 470 fixed to the heat sink 465, various electronic components mounted on the substrate 470, and the like. The cover 460 protects the electronic components from external shocks and prevents dust, water, and the like from entering the interior of the ECU 10 . The cover 460 is integrally formed with the cover body 461 and the connector portions 103 and 203 . The connector portions 103 and 203 may be separate from the cover main body 461 . The terminals 463 of the connector portions 103 and 203 are connected to the board 470 via wiring or the like (not shown). The number of connectors and the number of terminals can be appropriately changed according to the number of signals and the like. The connector portions 103 and 203 are provided at axial ends of the driving device 40 and open on the side opposite to the motor 80 .

The board 470 is, for example, a printed board, and is provided facing the rear frame end 837 . Electronic components for two systems are independently mounted on the board 470 for each system to form a complete redundant configuration. In this embodiment, electronic components are mounted on one board 470, but electronic components may be mounted on a plurality of boards.

Of the two main surfaces of the substrate 470 , the surface on the motor 80 side is a motor surface 471 and the surface on the opposite side of the motor 80 is a cover surface 472 . As shown in FIG. 3, on the motor surface 471, the switching element 121 forming the inverter section 120, the switching element 221 forming the inverter section 220, the angle sensors 126 and 226, the custom ICs 135 and 235, and the like are mounted. The angle sensors 126 and 226 are mounted at locations facing the magnet 875 so as to be able to detect changes in the magnetic field caused by the rotation of the magnet 875 .

On the cover surface 472, capacitors 128, 228, inductors 129, 229, a microcomputer constituting control units 150, 250, and the like are mounted. In FIG. 3, the microcomputers constituting the control units 150 and 250 are numbered "150" and "250", respectively. Capacitors 128 and 228 smooth the power input from batteries 101 and 201 . Capacitors 128 and 228 also assist the power supply to motor 80 by storing charges. Capacitors 128, 228 and inductors 129, 229 form a filter circuit to reduce noise transmitted from other devices sharing the battery, and to reduce noise transmitted from drive device 40 to other devices sharing the battery. do. Although not shown in FIG. 3, the power relays 122, 222, the motor relays 125, 225, the current sensors 127, 227, etc. are also mounted on the motor surface 471 or the cover surface 472.

As shown in FIG. 4, the ECU 10 includes inverter units 120 and 220, control units 150 and 250, and the like. The ECU 10 is provided with connector portions 103 and 203 . First connector portion 103 is provided with first power terminal 105 , first ground terminal 106 , first IG terminal 107 , first communication terminal 108 , and first torque terminal 109 .

The first power terminal 105 is connected to the first battery 101 via a fuse (not shown). Electric power supplied from the positive electrode of first battery 101 via first power supply terminal 105 is supplied to first motor winding 180 via power supply relay 122, inverter section 120, and motor relay 125. . The first ground terminal 106 is connected to a first ground GND<b>1 that is a first system ground inside the ECU 10 and a first external ground GB<b>1 that is a first system ground outside the ECU 10 . In a vehicle system, the metal body serves as a common GND plane, the first external ground GB1 indicates one connection point on the GND plane, and the negative electrode of the second battery 201 is also connected to this GND plane. Connected.

The first IG terminal 107 is connected to the positive electrode of the first battery 101 via a first switch that is on/off controlled in conjunction with a vehicle starter switch such as an ignition switch. Power supplied from first battery 101 via first IG terminal 107 is supplied to first custom IC 135 . The first custom IC 135 includes a first driver circuit 136, a first circuit power supply 137, a microcomputer monitor (not shown), a current monitor amplifier (not shown), and the like.

First communication terminal 108 is connected to first vehicle communication circuit 111 and first vehicle communication network 195 . First vehicle communication network 195 and first control unit 150 are connected via first vehicle communication circuit 111 so that transmission and reception are possible. Further, the first vehicle communication network 195 and the second control unit 250 are connected so that information can be received. Even if the second control unit 250 fails, the first vehicle communication network 195 including the first control unit 150 configured to have no impact.

The first torque terminal 109 is connected to the first sensor section 194 of the torque sensor 94 . A detection value of the first sensor section 194 is input to the first control section 150 via the first torque terminal 109 and the first torque sensor input circuit 112 . Here, first sensor section 194 and first control section 150 are configured to detect a failure of this torque sensor input circuit system.

A second power terminal 205 , a second ground terminal 206 , a second IG terminal 207 , a second communication terminal 208 , and a second torque terminal 209 are provided on the second connector portion 203 . The second power terminal 205 is connected to the positive electrode of the second battery 201 via a fuse (not shown). Electric power supplied from second battery 201 via second power terminal 205 is supplied to second motor winding 280 via power relay 222 , inverter section 220 , and motor relay 225 . The second ground terminal 206 is connected to a second ground GND2 that is a second system ground inside the ECU 10 and a second external ground GB2 that is a second system ground outside the ECU 10 . In a car system, the metal body is a common GND plane, the second external ground GB2 represents one connection point on the GND plane, and the negative electrode of the second battery 201 is also connected on this GND plane. connected to a point. Here, at least different systems are configured not to connect to the same connection point on the GND plane.

Second IG terminal 207 is connected to the positive electrode of second battery 201 via a second switch that is on/off controlled in conjunction with the starter switch of the vehicle. Electric power supplied from the second battery 201 via the second IG terminal 207 is supplied to the second custom IC 235 . The second custom IC 235 includes a second driver circuit 236, a second circuit power supply 237, a microcomputer monitor (not shown), a current monitor amplifier (not shown), and the like.

Second communication terminal 208 is connected to second vehicle communication circuit 211 and second vehicle communication network 295 . Second vehicle communication network 295 and second control unit 250 are connected via second vehicle communication circuit 211 so that transmission and reception are possible. Second vehicle communication network 295 and first control unit 150 are connected so that information can be received, and even if first control unit 150 fails, second vehicle communication network 295 including second control unit 250 is affected. configured so that there is no

The second torque terminal 209 is connected to the second sensor section 294 of the torque sensor 94 . A detected value of the second sensor section 294 is input to the second control section 250 via the second torque terminal 209 and the second torque sensor input circuit 212 . Here, the second sensor section 294 and the second control section 250 are configured to detect a failure of this torque sensor input circuit system.

Although communication terminals 108 and 208 are connected to separate vehicle communication networks 195 and 295 in FIG. 4, they may be connected to the same vehicle communication network. In addition, although CAN (Controller Area Network) is illustrated as the vehicle communication networks 195 and 295 in FIG. good too.

The first inverter section 120 is a three-phase inverter having a switching element 121 and converts the power of the first motor winding 180 . The second inverter section 220 is a three-phase inverter having switching elements 221 and converts the power of the second motor windings 280 .

The first power relay 122 is provided between the first power terminal 105 and the first inverter section 120 . A first motor relay 125 is provided for each phase between the first inverter section 120 and the first motor winding 180 . A second power relay 222 is provided for each phase between the second power terminal 205 and the second inverter section 220 . Second motor relay 225 is provided between second inverter section 220 and second motor winding 280 .

In this embodiment, the switching elements 121, 221, the power relays 122, 222, and the motor relays 125, 225 are all MOSFETs, but other elements such as IGBTs may be used. As shown in FIG. 5, when the first power relay 122 is composed of an element having a parasitic diode such as a MOSFET, the two elements 123 and 124 should be connected in series so that the direction of the parasitic diode is opposite. is desirable. Since the second power supply relay 222 is also the same, illustration is omitted. Thereby, it is possible to prevent the current from flowing in the opposite direction when the batteries 101 and 201 are connected in the opposite direction by mistake. The power relays 122, 222 may be mechanical relays.

As shown in FIG. 4 , the first switching element 121 , the first power relay 122 and the first motor relay 125 are controlled to be turned on and off by the first controller 150 . The on/off operations of the second switching element 221 , the second power relay 222 and the second motor relay 225 are controlled by the second controller 250 .

The first angle sensor 126 detects the rotation angle of the motor 80 and outputs the detected value to the first controller 150 . A second angle sensor 226 detects the rotation angle of the motor 80 and outputs the detected value to the second control unit 250 . Here, the first angle sensor 126 and the first controller 150, and the second angle sensor 226 and the second controller 250 are configured to detect a failure of each angle sensor input circuit system.

The first current sensor 127 detects the current flowing through each phase of the first motor winding 180 . A detection value of the first current sensor 127 is amplified by an amplifier circuit in the custom IC 135 and output to the first control unit 150 . A second current sensor 227 detects the current flowing through each phase of the second motor winding 280 . A detection value of the second current sensor 227 is amplified by an amplifier circuit in the custom IC 235 and output to the second control section 250 .

The first driver circuit 136 outputs a drive signal for driving the first switching element 121, the first power relay 122 and the first motor relay 125 to each element based on the control signal from the first control section 150. FIG. The second driver circuit 236 outputs a drive signal for driving the second switching element 221, the second power relay 222 and the second motor relay 225 to each element based on the control signal from the second control section 250. FIG.

Circuit power supply 137 is connected to power supply terminal 105 and IG terminal 107 and supplies power to first control section 150 . Circuit power supply 237 is connected to power supply terminal 205 and IG terminal 207 and supplies power to second control section 250 .

The control units 150 and 250 are mainly composed of a microcomputer or the like, and are internally equipped with a CPU, ROM, RAM, and I/O (not shown) and bus lines connecting these components. Each processing in the control units 150 and 250 may be software processing by executing a program stored in advance in a substantial memory device such as a ROM (that is, a readable non-temporary tangible recording medium) by the CPU. However, it may be hardware processing by a dedicated electronic circuit. Here, the first control unit 150 and the second control unit 250 use, for example, a locked-step dual microcomputer or the like, and are configured to detect their own failures.

The first control unit 150 has a drive control unit 151 , a mode selection unit 152 , an abnormality monitoring unit 155 and a storage unit 156 . The drive control unit 151 controls energization of the first motor winding 180 by controlling the ON/OFF operation of the first switching element 121 . Further, the drive control unit 151 controls on/off operations of the first power relay 122 and the first motor relay 125 .

The second control section 250 has a drive control section 251 , a mode selection section 152 , an abnormality monitoring section 255 and a storage section 256 . The drive control unit 251 controls energization of the second motor winding 280 by controlling the on/off operation of the second switching element 221 . Further, the drive control unit 251 controls on/off operations of the second power relay 222 and the second motor relay 225 . The drive control units 151 and 251 control the driving of the motor 80 by, for example, current feedback control, but the details of the motor control method may be other than the current feedback control.

The mode selection units 152 and 252 select a drive mode related to drive control of the motor 80 . The drive modes of this embodiment include a cooperative drive mode, an independent drive mode, and a one-system drive mode, and the drive of the motor 80 is normally controlled in the cooperative drive mode. Here, the normal state is assumed to be when the systems L1 and L2 are normal and the communication between the microcomputers is normal.

In the cooperative drive mode, when both the control units 150 and 250 are normal and the communication between the microcomputers is normal, at least one value is shared between the systems, and the systems are coordinated to drive the motor 80. Control. In this embodiment, a current command value, a current detection value, and a current limit value are shared as control information. Further, in the present embodiment, the first control unit 150 is a master control unit, the second control unit 250 is a slave control unit, the first control unit 150 transmits the current command value to the second control unit 250, , 250 share a current command value by using the same current command value. The shared current command value may be the value after the current limitation or the value before the current limitation. In the present embodiment, in the cooperative drive mode, current control is performed by so-called "sum and difference control" that controls the current sum and current difference of two systems.

In the independent drive mode, each system independently controls the driving of the motor 80 by two systems without using the control information of other systems. In the single-system drive mode, one system is stopped and the drive of the motor 80 is controlled by one system without using the control information of the other system. Here, even if there are three or more systems, the drive mode in which the motor 80 is driven by one system is referred to as "single system drive mode".

Output characteristics in each drive mode will be described with reference to FIGS. 6 and 7. FIG. In this embodiment, the assist torque Ta, which is the output torque output from the motor 80, is set according to the steering torque Ts. In FIG. 6, the horizontal axis is the steering torque Ts, the vertical axis is the assist torque Ta, the solid line indicates the total output of the two systems, and the broken line indicates the output of the first system L1 in the cooperative drive mode and the independent drive mode.

As shown in FIG. 6, the assist torque Ta increases as the steering torque Ts increases in the range of the steering torque Ts up to the upper limit reached value Ts2. The value is Ta_max2. As indicated by the dashed line, if the first system L1 and the second system L2 have the same performance, each of the first system L1 and the second system L2 bears 1/2 of the output of the motor 80 . That is, the output upper limit value Ta_max1 for the first system is half the output upper limit value Ta_max2 for the second system. In addition, the rate of increase of the assist torque Ta with respect to the steering torque Ts in the single system is 1/2 that of the dual system drive. Here, when single-system drive is performed in the independent drive mode, the assist torque Ta is 1/2 that of dual-system drive, as indicated by the dashed line. In FIG. 6, the assist torque Ta increases linearly as the steering torque Ts increases within the range up to the output upper limit value Ta_max2, but may increase non-linearly.

Fig. 7 shows the output characteristics in the single-system drive mode. In FIG. 7, the solid line indicates the output of the first system L1 when one system is driven, and the broken line indicates the total output of the two systems during normal operation. In the single-system drive mode, by doubling the rate of increase of the assist torque Ta with respect to the steering torque Ts within the range of the steering torque Ts up to the upper limit reached value Ts1, the assist torque Ta with respect to the steering torque Ts can be adjusted to the value of the two-system drive. same as Further, in the range where the steering torque Ts is greater than the upper limit reach value Ts1, the assist torque Ta becomes the output upper limit value Ta_max1 in single-system drive regardless of the steering torque Ts, and the assist torque Ta becomes smaller than in the two-system drive. Note that if there is a margin in the rated current or the like, the output upper limit value Ta_max1 in the single-system drive mode may be raised within a range equal to or lower than the output upper limit value Ta_max2 in the two-system drive mode.

As shown in FIG. 4, the abnormality monitoring unit 155 monitors abnormality in the first system L1, which is the own system. Further, when an abnormality that should stop the own system occurs in the own system, the first control unit 150 turns off at least one of the first inverter unit 120, the first power relay 122, and the first motor relay 125. .

In addition, the abnormality monitoring unit 155 monitors the state of communication with the second control unit 250 and the operating state of the second system L2. A circuit (for example, the second inverter unit 220, the second power relay 222, and the second motor relay 225) that stops the own system when an abnormality is detected in the second system L2 as a method for monitoring the operating state of the second system L2. Alternatively, the state of at least one of the communication lines for inter-microcomputer communication is monitored to determine whether an emergency stop has occurred. In this embodiment, a different-system relay monitoring circuit 139 is provided to acquire the second relay gate signal Vrg2 output from the second driver circuit 236 to the second power supply relay 222, and the second relay monitor circuit 139 is provided based on the second relay gate signal Vrg2. The state of power relay 222 is monitored.

The abnormality monitoring unit 255 monitors abnormality of the second system L2, which is the own system. Further, when an abnormality that should stop the own system occurs in the own system, the second control unit 250 turns off at least one of the second inverter unit 220, the second power relay 222, and the second motor relay 225. .

Abnormality monitoring unit 255 monitors the state of communication with first control unit 150 and the operating state of first system L1. A circuit (for example, first inverter unit 120, first power relay 122, and first motor relay 125) that stops its own system when an abnormality is detected in first system L1 as a method for monitoring the operating state of first system L1 Alternatively, the state of at least one of the communication lines for inter-microcomputer communication is monitored to determine whether an emergency stop has occurred. In this embodiment, a different-system relay monitoring circuit 239 is provided to acquire the first relay gate signal Vrg1 output from the first driver circuit 136 to the first power supply relay 122, and the first relay monitor circuit 239 is provided based on the first relay gate signal Vrg1. Monitor the state of the power relay 122 .

In the monitoring of the first system L1 in the second control unit 250, the intermediate voltage of the two elements 123 and 124 that constitute the power supply relay 122, the intermediate voltage of the two elements 123 and 124 that constitute the power supply relay 122, and the output from the control unit 150, instead of the relay gate signal Vrg1, A relay drive signal or a post-relay voltage between the power relay 122 and the inverter section 120 may be used. The same applies to the monitoring of the second system L2 in the first control unit 150.

Hereinafter, the information acquired from the other system relay monitoring circuit is referred to as "other system relay information", the monitoring of the operating state of the other system based on the other system relay information is referred to as "other system relay monitoring", and the relay to be monitored is referred to as " It is called "other system relay". Moreover, when the information to the effect that the other system relay is OFF is acquired, it will be set as "the other system relay information is abnormal."

If there is an abnormality in the communication between the microcomputers and the other system relay information is abnormal, the abnormality monitoring units 155 and 255 determine that the other system is abnormal, shift to one system drive in the normal system, Drive control of the motor 80 is continued. Further, when the abnormality monitoring unit 155, 255 detects that the communication abnormality between the microcomputers has occurred and the relay information of the other system is normal, the control unit of the other system is normal and the communication abnormality between the microcomputers has occurred. I judge. That is, in the present embodiment, by monitoring the inter-microcomputer communication state and the other-system relay, it is determined whether the abnormality is an abnormality in the control unit of the other system or an inter-microcomputer communication abnormality.

The storage unit 156 is a non-volatile memory, and stores abnormality information related to the abnormality detected by the abnormality monitoring unit 155 . The storage unit 256 is a non-volatile memory, and stores abnormality information related to the abnormality detected by the abnormality monitoring unit 255 . The abnormality information stored in the storage units 156 and 256 includes information related to other system control unit abnormality, information related to inter-microcomputer communication abnormality, information related to other system non-startup, and the like. The abnormality information stored in the storage units 156 and 256 is used for abnormality analysis. Abnormal information will hereinafter be referred to as "diagnosis" as appropriate.

In addition to an internal failure in the ECU 10, an inter-microcomputer communication failure can also occur when other systems are not activated due to an abnormality in the power supply device outside the ECU 10, such as an abnormality in the batteries 101 and 201 or disconnection of a harness. Here, if a communication abnormality due to an external factor of the ECU 10 is stored in the storage units 156 and 256 as an inter-microcomputer communication abnormality, it is possible that the inter-microcomputer communication abnormality was caused by an internal abnormality of the ECU 10, or an external abnormality caused an inter-microcomputer communication abnormality. It becomes difficult to distinguish whether the fault has occurred or not, and there is a risk of erroneous replacement of the ECU 10 .

Therefore, in the present embodiment, when the control units 150 and 250 are activated, the activated state of the other system is monitored, and if the other system is not activated, the abnormal monitoring of the communication abnormality between the microcomputers inside the ECU 10 is masked.

The abnormality monitoring process of this embodiment will be described based on the flowchart of FIG. This processing is performed in common by the control units 150 and 250 . In practice, monitoring processing related to other abnormalities is also performed, but here, a brief description will be given focusing on other system abnormalities and inter-microcomputer communication abnormalities. Each determination may be determined by continuation for a predetermined period of time, or accumulation of a predetermined number of times within a predetermined period of time, instead of a one-time determination. Hereinafter, the “step” of step S101 will be omitted and simply denoted as “S”. Other steps are similar.

In S101, the control units 150 and 250 determine whether communication between microcomputers is abnormal. If communication between microcomputers is normal (S101: NO), the process proceeds to S109. If it is determined that the communication between microcomputers is abnormal (S101: YES), the process proceeds to S102.

In S102, control units 150 and 250 determine whether or not the other-system relay information is abnormal. In this embodiment, when the voltages of the relay gate signals Vrg2 and Vrg1 are lower than the determination threshold value, it is determined that the other system relay information is abnormal. If it is determined that the other system relay information is normal (S102: NO), the process proceeds to S103, sets the drive mode to the independent drive mode, and causes the storage units 156 and 256 to store communication abnormality between microcomputers as abnormality information. If it is determined that the other system relay information is abnormal (S102: YES), the process proceeds to S104.

In S104, the control units 150 and 250 determine whether or not communication between the microcomputers has been established normally once after startup. If it is determined that communication between the microcomputers has been established normally once (S104: YES), the process proceeds to S105, and the drive mode is set to the one-system drive mode. In addition, other system microcomputer anomaly is stored in the storage units 156 and 256 as anomaly information, and the inter-microcomputer communication anomaly monitoring is masked. If it is determined that communication between microcomputers has not been established normally after startup (S104: NO), the process proceeds to S106.

In S106, the control units 150 and 250 determine whether or not the waiting time Tw has elapsed since the microcomputer was activated. Here, when the count value Cs of the non-activation counter becomes larger than the standby determination value Cth, it is assumed that the standby time Tw has elapsed. The waiting time Tw is set to an arbitrary time that can be tolerated as normal startup delay. If it is determined that the standby time Tw has not elapsed since the microcomputer started (S106: NO), the drive mode is set to the independent drive mode, and the inter-microcomputer communication abnormality monitoring and the other system microcomputer abnormality monitoring are masked. At this time, since the other system is not activated, the assist torque Ta becomes 1/2 of that when the two systems are driven. Also, the non-activation counter is incremented, and the process returns to S101. If it is determined that the waiting time Tw has passed since the microcomputer started (S106: YES), the process proceeds to S108.

In S108, the control units 150 and 250 set the drive mode to the single-system drive mode. In addition, non-activation of the other system is stored in the storage units 156 and 256 as abnormality information, and the communication abnormality monitoring between the microcomputers and the abnormality monitoring of the other system microcomputer are masked.

In S109, which is shifted when the inter-microcomputer communication is normal, the control units 150 and 250 determine whether or not the drive mode of the other system is the single system drive mode. If it is determined that the drive mode of the other system is the one-system drive mode (S109: YES), that is, after the other system is started, the standby time Tw has passed, and the other system has already shifted to the one-system drive mode. If so, the process proceeds to S110 and stops the assist in its own system. In addition, since the microcomputer is normally activated, monitoring of other systems may be performed. When it is determined that the drive mode of the other system is not the single system drive (S109: NO), the process proceeds to S111, the drive mode is set to the cooperative drive mode, and the other system is monitored.

The microcomputer start-up processing of this embodiment will be described with reference to the time charts of FIGS. 9 to 11. FIG. In FIG. 9, the horizontal axis is the common time axis, and the microcomputers that have started up first are shown in the upper row, and the microcomputers that have not started up are shown in the lower row. For the microcomputer that started earlier, from the top, the microcomputer power supply, inter-microcomputer communication, other system voltage, abnormality monitoring invalid flag, unactivated counter, drive mode, and diagnosis are shown. The other system voltage is a voltage based on the other system relay information, and the voltage when the other system is normally driven is defined as a normal voltage Vx. The normal voltage Vx is set according to the voltage at the monitored point. Also, for the microcomputer that does not start, the microcomputer power supply, inter-microcomputer communication, and drive mode are shown from the top. In FIGS. 10 and 11, the microcomputer that is not activated is read as the microcomputer that was activated later. In the following description, it is assumed that the microcomputer of the first control unit 150 is activated first and the microcomputer of the second control unit 250 is not activated or activated later. The same applies to FIGS. 13 and 15 of an embodiment described later.

As shown in FIG. 9, at time x10, the power to the microcomputer of the first control unit 150 is turned on, and the power to the microcomputer of the second control unit 250 is off. Hereinafter, when the microcomputer power supply of the control units 250 and 250 is turned on, it is referred to as "control unit activated", and when the microcomputer power supply is turned off, it is referred to as "control unit not activated". If the second control unit 250 has not been activated, the first control unit 150 cannot perform inter-microcomputer communication with the second control unit 250, resulting in an inter-microcomputer communication abnormal state. Also, the other system voltage is substantially zero. At this time, since it is not possible to distinguish between the start delay of the second control unit 250 and the abnormality of the second control unit 250, the abnormality monitoring invalid flag is set to disable the abnormality monitoring, and the non-starting time is counted by the non-starting counter. to start. Also, the drive of the motor 80 is started in the independent drive mode. Here, since the first system L1 is driven independently and the second system L2 is not driven, the output of the motor 80 is 1/2 of that when the two systems are driven (see FIG. 6).

Here, when the abnormality monitoring invalid flag is set, the monitoring is disabled because there is a risk of erroneously recognizing an abnormality in the external power supply of the ECU 10 as an internal abnormality in the ECU 10 . An abnormality that may be misrecognized is an abnormality related to the state of another system. In this embodiment, when the abnormality monitoring invalid flag is set, the monitoring of the communication between the microcomputers and the monitoring of the relay of the other system Disables monitoring of other system microcomputers.

Abnormalities that do not misidentify external power supply abnormalities and internal abnormalities, that is, abnormalities related to the state of the own system, are monitored without being invalidated even if the abnormality monitoring invalidation flag is set. In the first system L1, the monitoring items that are not disabled even if the abnormality monitoring disabling flag is set include an abnormality in the motor drive section including the first inverter section 120 and the first motor winding 180, and an abnormality in the torque sensor 94. An abnormality of the first sensor unit 194, an abnormality of the angle sensor 126, and the like are included. In addition, in the second system L2, the monitoring items that are not disabled even if the abnormality monitoring disabling flag is set include the abnormality of the motor drive section including the second inverter section 220 and the second motor winding 280, and the torque sensor 94. , an abnormality of the second sensor unit 294, an abnormality of the angle sensor 226, and the like.

At the time x11 when the standby time Tw has passed since the activation of the first control unit 150, the non-activation state of the second control unit 250 continues. Therefore, the first control unit 150 changes the drive mode to the one-system drive mode, and causes the storage unit 156 to store the non-activation of the other system as a diagnostic.

In FIG. 10, the processing up to time x11 is the same as in FIG. As shown in FIG. 10, when the second control unit 250 is activated at time x12 after the time x11 when the drive mode of the first system L1 shifts to the single system drive mode, the second control unit 250 that has been activated with a delay The assist stop state is set, and the second system L2 does not assist.

As a reference example, when one-system drive is already being performed in the first system L1, and the output by independently driving the second system L2 is added, the steering torque Ts is reduced within the range up to the upper limit reach value Ts2. , resulting in overpower (see FIG. 16). In the present embodiment, when one-system drive is already being performed in the first system L1, the assist is stopped in the second system L2, so it is possible to prevent such overpowering. In FIG. 16, the output of the two systems in the cooperative drive mode is indicated by a dashed line, the output of the first system L1 in the one-system drive mode is indicated by a one-dot chain line, and the output of the second system L2 in the independent drive mode is indicated by a two-dot chain line. , the solid line indicates the output of the two systems in which the output of the first system L1 and the output of the second system L2 are added in the one-system drive mode.

In FIG. 11, the process at time x20 is the same as x10 in FIG. In the example of FIG. 11, at time x21 before the standby time Tw elapses, the second control unit 250 is activated, and communication between microcomputers and other system voltages are normal. In this case, the control units 150 and 250 set the drive mode to the cooperative drive mode, reset the abnormality monitoring invalid flag, and enable the other system monitoring. Also, although not shown, the non-activation counter is also reset as appropriate.

As described above, the ECU 10 controls driving of the motor 80 having the motor windings 180 and 280, and includes a plurality of inverter units 120 and 220 and a plurality of control units 150 and 250. Inverter units 120 and 220 switch energization of motor windings 180 and 280 . The control units 150 and 250 have drive control units 150 and 250 that control the corresponding inverter units 120 and 220 and abnormality monitoring units 155 and 255 that perform abnormality monitoring, and can communicate with each other. The combination of the corresponding inverter units 120 and 220 and the control units 150 and 250 is regarded as a system.

The abnormality monitoring units 155 and 255 monitor the states of the own system and the other system, and when the control units 150 and 250 of the own system are activated, if the control units of the other system are not activated, the abnormality monitoring units 155 and 255 Disable processing of parts. Here, "processing related to abnormality monitoring" is not limited to abnormality monitoring itself, but includes storage of abnormality monitoring results. Monitoring may be disabled, or storage of some monitoring results may be disabled without disabling abnormality monitoring itself.

In the present embodiment, the abnormality monitoring units 155 and 255 disable the abnormality monitoring process regarding the communication abnormality between the microcomputers when the control unit of the other system is not activated. In this case, the monitoring of the inter-microcomputer communication abnormality itself may be invalidated, or after the inter-microcomputer communication abnormality is monitored, the storage of the monitoring result may be invalidated. As a result, it is possible to appropriately monitor an abnormal state, avoid erroneously detecting failure of another system due to an external factor of the ECU 10 as an abnormality inside the ECU 10, and avoid erroneous replacement of the ECU 10. - 特許庁

Each system includes power relays 122, 222, which are cutoff units that cut off the energization of the motor windings when an abnormality occurs in its own system, and other system relays, which are power relays 222, 122 of other systems. Other system relay monitoring circuits 139 and 239 are provided for monitoring the state. The control units 150 and 250 determine the activation state of the control unit of the other system based on the communication state between the microcomputers and the state of the relay of the other system. Specifically, when the communication between the microcomputers is interrupted and the voltages of the relay gate signals Vrg1 and Vrg2, which are other system relay information, are lower than the determination threshold value, it is determined that the other system control units are not activated. As a result, it is possible to appropriately determine the activation state of the other system.

The control units 150 and 250 have storage units 156 and 256 that store abnormality monitoring results. When the waiting time Tw has passed after the start of the own system while the control unit of the other system has not started, the control units 150 and 250 set the other system not started indicating that the control unit of the other system has not started. The information is stored in the storage units 156 and 256 of the own system. As a result, it is possible to prevent erroneous replacement of the ECU 10 due to erroneously storing a state in which inter-microcomputer communication is not possible due to non-activation of another system as inter-microcomputer communication due to an internal factor of the ECU 10 .

When the control units 150 and 250 themselves are activated, if the control units of the other system are not activated, the control units 150 and 250 start driving the motor 80 in their own systems without waiting for the control units of the other system to be activated. As a result, the driving of the motor 80 can be started promptly.

When the motor 80 is driven by its own system after the standby time Tw has elapsed, the control units 150 and 250 control the output of its own system to the normal state. raise more. Here, "to increase the output" means, when the output (assist torque Ta in this embodiment) is set with respect to the input parameter (steering torque Ts in this embodiment), the slope of the output with respect to the input parameter, and At least one of the upper limits of output shall be increased. In the present embodiment, increasing the slope of the assist torque Ta with respect to the steering torque Ts in the region below the upper limit reach value Ts1 corresponds to "increasing the output". This makes it possible to compensate for at least a portion of the output for which the other system is stopped.

When the control units 150 and 250 themselves are activated, if the waiting time Tw has passed since the control unit of the other system was activated and the motor 80 has started to be driven in the other system, the motor in the own system 80 is not driven, and the motor 80 continues to be driven in another system. As a result, for example, even when the output is increased in another system, it is possible to prevent excessive output.

(Second embodiment)
A second embodiment is shown in FIGS. The abnormality monitoring process of this embodiment will be described based on the flowchart of FIG. The processing of S201-S207 is the same as the processing of S101-S107 in FIG. In S208 to which the transition is made when the inter-microcomputer communication abnormality and the other-system relay information abnormality continue over the standby time Tw after startup, the control units 150 and 250 set the drive mode to assist stop. In addition, non-activation of the other system is stored in the storage units 156 and 256 to mask communication abnormality monitoring between microcomputers and other system microcomputer abnormality monitoring.

In S209, which is shifted when the inter-microcomputer communication is normal, the control units 150 and 250 determine whether or not the drive mode of the other system is the assist stop. When it is determined that the drive mode of the other system is the assist stop (S209: YES), the process proceeds to S210, and the drive mode is set to the single system drive mode. The processing of S211 is the same as that of S111 in FIG.

The microcomputer start-up processing of this embodiment will be described based on the time chart of FIG. 13 . The processing at time x30 is the same as the processing at time x10 in FIGS. At time x31, the second control unit 250 continues to be off even after the standby time Tw has elapsed, so the drive mode is changed to assist stop, and other systems are stored as a diagnostic.

When the second control unit 250 is activated at time x32 after the time x31 when the driving mode of the first system L1 shifts to assist stop, the second control unit 250 detects that the first system L1 is assist stop. When receiving the signal from the control unit 150 through inter-microcomputer communication, the motor 80 is driven in the single-system drive mode. That is, in this embodiment, when the starting time deviates by the waiting time Tw or more, the system that stores the non-starting of the other system is stopped, and the motor 80 is driven by the one-system drive in the system that started later.

When the control unit of the other system is not activated, the control units 150 and 250 start driving the motor 80 in the own system without waiting for the control unit of the other system to be activated, and the control unit of the other system is activated when the control unit of the other system is not activated. When the standby time Tw has elapsed in this state, the drive of the motor 80 in its own system is stopped. When the controllers 150 and 250 are activated, the standby time Tw has elapsed since the controller of the other system was activated, and the driving of the motor 80 in the other system is stopped. , starts driving the motor 80 in its own system. Even with this configuration, the same effects as those of the above-described embodiment can be obtained.

(Third Embodiment)
A third embodiment is shown in FIGS. 14 and 15. FIG. The abnormality monitoring processing of this embodiment will be described based on the flowchart of FIG. 14 . The processing of S301-S306 is the same as the processing of S101-S106 in FIG. If it is determined that the standby time Tw has not elapsed since the start of the own microcomputer (S306: NO), in S307, the drive mode is stopped to assist, and the inter-microcomputer communication abnormality monitoring and the other system microcomputer abnormality monitoring are performed. to mask. Also, the inactive counter is incremented, and the process returns to S301. The processing of S308-S311 is the same as the processing of S108-S111 in FIG.

The microcomputer start-up processing of this embodiment will be described based on the time chart of FIG. 15 . When the first control unit 150 is activated at time x40, the second control unit 250 is not yet activated. Therefore, as at time x10 in FIG. Start counting the unactivated time by the counter. Further, in the present embodiment, at time x40, the first control unit 150 sets the drive mode to assist stop, and does not start driving the motor 80 until the other system is not activated and the waiting time Tw has elapsed.

At time x41, when the standby time Tw has elapsed since the activation of the first control unit 150, the second control unit 250 continues to be in an unactivated state. The single-system drive mode is set, and the motor 80 is started to be driven. In addition, storage unit 156 is caused to store the non-activation of the other system as a diagnostic. Note that when the second control unit 250 is activated within the standby time Tw, control is performed in two systems as in the above-described embodiment.

In this embodiment, when the other system is not started, the motor 80 is not started until the standby time Tw elapses, and the motor 80 starts to be driven in the one-system drive mode after the standby time Tw elapses. In this case, the torque fluctuation that occurs when switching from the independent drive mode to the one-system drive mode does not occur.

When the control units 150 and 250 themselves are started, if the control unit of the other system is not started, the control units 150 and 250 do not start driving the motor 80, and the standby time Tw has passed while the control unit of the other system is not started. If so, it starts driving the motor 80 in its own system. As a result, compared to the case where the drive mode is switched before and after the standby time Tw elapses, for example, it is possible to suppress the torque fluctuation accompanying the switching to the drive mode. Moreover, the same effects as those of the above-described embodiment can be obtained.

In the above embodiment, the motor 80 is the "rotating electric machine", the ECU 10 is the "rotating electric machine control device", the power relays 122 and 222 are the "breakers", and the other system relay monitoring circuits 139 and 239 are the "other system breaker monitoring circuits". , the other-system relay information corresponds to the "other-system breaker information". Communication between microcomputers corresponds to "communication between control units".

(Other embodiments)
In the above embodiment, for example, in FIG. 11, both systems are set to the cooperative drive mode at time x21. In another embodiment, the second control unit 250, which is activated later, may also be set to the independent driving mode immediately after activation, and transition to cooperative driving when the cooperative transition condition is satisfied. For example, when the steering angular velocity is less than the steering speed threshold and the steering torque Ts is less than the non-steering determination threshold, it is assumed that the steering is in the non-steering state and the cooperative transition condition is satisfied, and the cooperative driving mode is entered. You may make it Also, instead of the steering torque, the steering state may be determined based on the steering wheel speed, motor speed, or rack speed.

Furthermore, in another embodiment, the steering state may be determined based on the current command value and the current detection value. If the value of the current command value is large, there is a high probability that the vehicle is being steered. Therefore, if the current command value is greater than the determination threshold, if the current command value is smaller than the determination threshold, the steering is determined to be in the non-steering state. The same applies to current detection values. Further, the steering state may be determined using two or more of the steering torque, steering wheel speed, motor speed, rack speed, current command value, and current detection value.

In another embodiment, the driving mode may be switched during the non-steering state. In another embodiment, the drive mode may be switched when the vehicle speed is smaller than the vehicle speed determination threshold in addition to the non-steering state. Furthermore, as an item related to the behavior state of the vehicle, the drive mode may be switched when the lateral G or yaw rate of the vehicle is smaller than the determination threshold.

In the above embodiment, the current command value, the current detection value, and the current limit value are shared among the systems in the cooperative drive mode. In other embodiments, the current limits may not be shared in cooperative drive mode. In the above embodiment, the first control unit 150 is the master control unit, the second control unit 250 is the slave control unit, and the current command value is used by the control units 150 and 250 in the cooperative drive mode. In another embodiment, the current command value of the own system may be used even in the cooperative drive mode without sharing the current command value. Also, values other than the current command value, the current detection value, and the current limit value may be shared.

In the above embodiment, two motor windings, two inverter units, and two control units are provided. In other embodiments, there may be one or more motor windings. Also, the number of inverter units and control units may be three or more. Further, for example, one control section is provided for a plurality of motor windings and inverter sections, or a plurality of inverter sections and motor windings are provided for one control section. The number of units and controls may be different. In the above embodiment, a power supply is provided for each system and the ground is separated. In other embodiments, one power supply may be shared by multiple systems. Also, a plurality of systems may be connected to a common ground.

In the above embodiments, the rotating electric machine is a three-phase brushless motor. In other embodiments, the rotating electric machine is not limited to a brushless motor. Also, it may be a so-called motor generator that also has the function of a generator. In the above embodiments, the rotary electric machine control device is applied to an electric power steering device. In other embodiments, the rotary electric machine control device may be applied to a steering device other than an electric power steering device that controls steering, such as a steer-by-wire device. Also, the present invention may be applied to an in-vehicle device other than the steering device, or to a device other than the in-vehicle device.

The controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by the computer program. may be Alternatively, the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible storage medium. As described above, the present invention is by no means limited to the above embodiments, and can be embodied in various forms without departing from the gist of the invention.

8...Electric power steering device 10...ECU (rotating electric machine control device)
80 motor (rotating electric machine)
120, 220... Inverter section 122, 222... Power supply relay (interruption section)
139, 239... Other system relay monitoring circuit (other system breaker monitoring circuit)
150, 250... Control section 151, 251... Drive control section 155, 255... Abnormality monitoring section 156, 256... Storage section 180, 280... Motor winding

Claims (10)

A rotary electric machine control device for controlling driving of a rotary electric machine (80) having motor windings (180, 280),
a plurality of inverter units (120, 220) for switching energization of the motor windings;
A plurality of control units (150, 251) having drive control units (151, 251) for controlling the inverter units provided correspondingly, and abnormality monitoring units (155, 255) for performing abnormality monitoring, and capable of communicating with each other. 250) and
with
If the combination of the inverter section and the control section provided correspondingly is taken as a system,
The abnormality monitoring unit
It monitors the status of its own system and other systems,
If the control unit of the other system is not started when the control unit of the own system is started, the abnormality monitoring that may misidentify the external power supply abnormality as the internal abnormality is disabled, and the external power supply abnormality and the internal abnormality are disabled. A rotary electric machine control device that performs monitoring without invalidating abnormality monitoring related to the state of its own system without the possibility of erroneous recognition . The control unit
Having a storage unit (156, 256) for storing anomaly monitoring results,
When the standby time has passed while the control unit of the other system has not been started since the start of the own system, the other system non-start information indicating that the control unit of the other system is not started is transmitted to the control unit of the own system. 2. The rotary electric machine control device according to claim 1, wherein the controller stores the information. A rotary electric machine control device for controlling driving of a rotary electric machine (80) having motor windings (180, 280),
a plurality of inverter units (120, 220) for switching energization of the motor windings;
A drive control section (151 , 251) for controlling the inverter section provided correspondingly, an abnormality monitoring section (155, 255) for performing abnormality monitoring , and a storage section (156, 256) for storing abnormality monitoring results. a plurality of control units (150, 250) having and capable of communicating with each other;
with
If the combination of the inverter unit and the control unit provided correspondingly is taken as a system,
The abnormality monitoring unit
It monitors the status of its own system and other systems,
If the control unit of the other system is not started when the control unit of the own system is started, invalidating a part of processing related to abnormality monitoring ,
When the standby time elapses with the control unit of the other system in an unactivated state after the control unit itself is activated, the control unit outputs other-system inactivation information indicating that the control unit of the other system is inactivated. A rotary electric machine control device that is stored in the control unit of its own system . 3. If the control unit of the other system is not started when the control unit itself is started, the control unit starts driving the rotating electrical machine in its own system without waiting for the control unit of the other system to be started. 4. The rotary electric machine control device according to 3 . The control unit does not start driving the rotating electric machine if the control unit of the other system is not started when the control unit itself is started, and the standby time elapses while the control unit of the other system is not started. 4. The rotary electric machine control device according to claim 2 , wherein when the electric rotary machine is driven, the rotary electric machine is started to be driven in its own system. When the control unit itself is activated, if the standby time has passed since the control unit of another system was activated and the driving of the rotating electric machine is started in the other system, the 6. The rotary electric machine control device according to claim 4 , wherein the rotary electric machine is not driven and the rotary electric machine is continued to be driven in another system. The control unit
if the control unit of the other system has not yet started, without waiting for the control unit of the other system to start, starting to drive the rotating electric machine in its own system;
when the standby time has elapsed while the control unit of the other system has not yet started, stopping the driving of the rotating electrical machine in its own system;
If the standby time has passed since the control unit of the other system was started and the driving of the rotating electric machine in the other system is stopped when the self system is started, the rotation in the own system 4. The rotary electric machine control device according to claim 2 or 3 , which starts driving the electric machine. When the rotating electric machine is driven in its own system in a state where the rotating electric machine is not driven in another system after the waiting time has elapsed, the control unit reduces the output in its own system. The rotary electric machine control device according to any one of claims 2 to 7 , which is higher than normal. Each system has a breaker (122, 222) that cuts off the energization of the motor windings when an abnormality occurs in its own system, and a state of the other system breaker that is the breaker of the other system. a monitoring circuit (139, 239) for outputting the other system disconnection unit information to the control unit is provided,
The control unit determines the activation state of the control unit of the other system based on the communication state between the control units and the state of the other system cutoff unit. Rotating electric machine control device. 10. The abnormality monitoring unit disables abnormality monitoring processing relating to a communication abnormality between the control units if the control unit of another system is not activated when the control unit of the own system is activated. 1. The rotary electric machine control device according to claim 1 .

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