JP7379930B2 - motor control device - Google Patents

Description

The technology disclosed in this specification relates to a vehicle control device.

For example, Patent Document 1 discloses a vehicle that includes two driving motors (a first motor and a second motor) and two microcomputers (a first microcomputer and a second microcomputer). Each of the two microcomputers is a dedicated microcomputer specialized for motor control, and includes various devices necessary for motor control, such as a resolver digital converter. The first microcomputer controls the first motor, and the second microcomputer controls the second motor.

JP2018-109551A

In Patent Document 1, each of a plurality of motors is provided with a microcomputer that controls the motor, so a plurality of microcomputers are required, which increases manufacturing costs. On the other hand, a configuration in which a plurality of motors are controlled by one microcomputer is also conceivable. According to such a configuration, manufacturing costs can be reduced, but if a malfunction occurs in the microcomputer, a plurality of motors become uncontrollable all at once. That is, there is a problem that fail-safe performance is degraded. This specification provides a technology that can both reduce manufacturing costs and ensure sufficient fail-safe performance.

A motor control device disclosed in this specification is a motor control device that controls a plurality of traveling motors mounted on a vehicle, including a first motor and a second motor. The motor control device includes a microcomputer and an application specific integrated circuit (ASIC). The microcomputer outputs control target values for the first motor and the second motor, respectively, based on command values input from the outside. The ASIC is provided in common to the first motor and the second motor. The ASIC obtains control target values from the microcomputer and performs feedback control on the first motor and the second motor, respectively. The ASIC includes a fail-safe control circuit that performs fail-safe control. In fail-safe control, a command value for fail-safe control is obtained from the outside in addition to or in place of the control target value by the microcomputer.

According to the above, even if a malfunction occurs in the microcomputer, the ASIC can perform fail-safe control. Therefore, sufficient fail-safe performance can be ensured without providing a microcomputer for each of the first motor and the second motor. As a result, it is possible to reduce manufacturing costs and ensure sufficient fail-safe performance.

In one embodiment of the present technology, the ASIC may include a first control circuit that performs feedback control on the first motor, and a second control circuit that performs feedback control on the second motor. In this case, the first control circuit includes a first control logic storage circuit that stores the control logic of the first motor, a first resolver digital converter circuit that calculates the motor angle of the first motor, and a first control logic storage circuit that stores the control logic of the first motor. The first analog-to-digital converter circuit may include at least one circuit that performs calculations. The second control circuit includes a second control logic storage circuit that stores control logic for the second motor, a second resolver digital converter circuit that calculates the motor angle of the second motor, and a second resolver digital converter circuit that calculates the current flowing through the second motor. 2 analog-to-digital converter circuits. In this way, if the various circuits required for motor control, such as resolver digital converter circuits, are provided in the ASIC, the microcomputer does not need those circuits, making it possible to use a more versatile microcomputer. Can be adopted. As a result, a cheaper microcomputer can be used, and manufacturing costs can be reduced.

In one embodiment of the present technology, the first control circuit and the second control circuit may be electrically separated in the ASIC. In this case, the fail-safe control circuit may include a first fail-safe control circuit provided in the first control circuit and a second fail-safe control circuit provided in the second control circuit. According to the above, when a malfunction occurs in either the first control circuit or the second control circuit, the corresponding motor can be controlled using the other control circuit. That is, sufficient fail-safe performance can be ensured. Further, since the ASIC including the electrically separated first control circuit and second control circuit can be implemented in one package, the motor control device does not need to include a plurality of ASICs. Therefore, it is possible to reduce manufacturing costs.

Details and further improvements of the technology disclosed in this specification will be explained in the following "Detailed Description of the Invention".

FIG. 1 is a block diagram of a motor control device according to an embodiment.

A motor control device 100 according to an embodiment will be described with reference to FIG. The motor control device 100 of this embodiment is mounted on a vehicle such as an electric vehicle or a hybrid vehicle that includes two driving motors 134 and 144 (a first motor 134 and a second motor 144). The first motor 134 is connected to a battery (not shown) via the first power converter 132. The first power converter 132 converts DC power output from a battery (not shown) into three-phase AC power, and supplies the three-phase AC power to the first motor 134. Similarly, the second motor 144 is connected to a battery (not shown) via a second power converter 142. The second power converter 142 converts DC power output from a battery (not shown) into three-phase AC power, and supplies the three-phase AC power to the second motor 144 .

A first current sensor 136 is provided between the first power converter 132 and the first motor 134. The first current sensor 136 measures the input current of the first motor 134. The measured input current of the first motor 134 is transmitted to a first analog-digital converter circuit 34 (hereinafter, "analog-digital converter circuit" is referred to as "ADC circuit"), which will be described later. Similarly, a second current sensor 146 is provided between the second power converter 142 and the second motor 144. The second current sensor 146 measures the input current of the second motor 144. The measured input current of the second motor 144 is transmitted to the second ADC circuit 44, which will be described later.

The first motor 134 is connected to a first angle sensor 138 that measures information regarding the rotation angle of the first motor 134. The first angle sensor 138 is a resolver. Information regarding the measured rotation angle of the first motor 134 is transmitted to a first resolver digital converter circuit 33 (hereinafter, "resolver digital converter circuit" is referred to as "RDC circuit"), which will be described later. Similarly, the second motor 144 is connected to a second angle sensor 148 that measures information regarding the rotation angle of the second motor 144. The second angle sensor 148 is a resolver. Information regarding the measured rotation angle of the second motor 144 is transmitted to a second RDC circuit 43, which will be described later.

The motor control device 100 includes a microcomputer 10 and an ASIC (Application Specific Integrated Circuit) 20. The microcomputer 10 outputs control target values for the first motor 134 and the second motor 144, respectively. The control target value is determined based on a command value input from the outside. The ASIC 20 is provided in common to the first motor 134 and the second motor 144. The ASIC 20 performs feedback control on the first motor 134 and the second motor 144, respectively, based on the control target values described above. Further, the ASIC 20 performs fail-safe control. Details of these will be described later.

The microcomputer 10 includes a CPU 12, a memory 14, and communication interfaces 16 and 18. The CPU 12 calculates a control target value based on an external command value. The memory 14 is composed of volatile and nonvolatile memory, and stores various information. The communication interface 16 is an interface for receiving command values from the outside. The communication interface 18 is an interface that performs communication between the microcomputer 10 and the ASIC 20. In particular, the microcomputer 10 transmits the above control target value to the ASIC 20 via the communication interface 18. Note that the communication interfaces 16 and 18 do not need to be provided separately, and may be a physically single communication interface.

The ASIC 20 includes communication interfaces 22 and 24, a first control circuit 30, and a second control circuit 40. The communication interface 22 is an interface for receiving command values from the outside. The communication interface 24 is an interface that executes communication between the microcomputer 10 and the ASIC 20. Note that the communication interfaces 22 and 24 do not need to be provided separately, and may be a physically single communication interface.

The first control circuit 30 performs feedback control on the first motor 134. That is, the first control circuit 30 compares the control target value transmitted from the microcomputer 10 with the calculated values of the first RDC circuit 33 and the first ADC circuit 34, which will be described later, and determines that the calculated value is the control target value. The first motor 134 is controlled so as to match. The second control circuit 40 performs feedback control on the second motor 144. That is, the second control circuit 40 compares the control target value transmitted from the microcomputer 10 with the calculation points of the second RDC circuit 43 and second ADC circuit 44, which will be described later, and determines that the calculated value is the control target value. The second motor 144 is controlled so as to match.

The first control circuit 30 and the second control circuit 40 are electrically separated on the substrate of the ASIC 20. In this embodiment, a power supply and a ground are provided for each of the first control circuit 30 and the second control circuit 40, so that the first control circuit 30 and the second control circuit 40 are electrically isolated. The first control circuit 30 and the second control circuit 40 may be electrically separated using SOI (Silicon on Insulator).

The first control circuit 30 includes a first integrated function section 31 , a first control logic storage circuit 32 , a first RDC circuit 33 , and a first ADC circuit 34 . The first integrated function section 31 stores the power supply and monitoring logic of the first control circuit 30. The first control logic storage circuit 32 stores control logic for the first motor 134. The first RDC circuit 33 calculates the angle of the first motor 134 from information regarding the rotation angle of the first motor 134 measured by the first angle sensor 138. The first ADC circuit 34 calculates the input current of the first motor 134 measured by the first current sensor 136.

The second control circuit 40 includes a second integrated function section 41 , a second control logic storage circuit 42 , a second RDC circuit 43 , and a second ADC circuit 44 . The second integrated function section 41 stores the power supply and monitoring logic of the second control circuit 40. The second control logic storage circuit 42 stores control logic for the second motor 144. The second RDC circuit 43 calculates the angle of the second motor 144 from information regarding the rotation angle of the second motor 144 measured by the second angle sensor 148. The second ADC circuit 44 calculates the input current of the second motor 144 measured by the second current sensor 146.

The first control circuit 30 further includes a first failsafe control circuit 36 . The second control circuit 40 further includes a second failsafe control circuit 46. The failsafe control circuits 36 and 46 perform failsafe control. In fail-safe control, in addition to or in place of the control target value transmitted from the microcomputer 10, a command value for fail-safe control is acquired from the outside, and the first motor 134 and the second motor are controlled based on the command value. 144. For example, if a malfunction occurs in the microcomputer 10, the microcomputer 10 may not be able to transmit the control target value to the ASIC 20. In such a case, fail-safe control is performed, and the first motor 134 and the second motor 144 are controlled based on a command value for fail-safe control from the outside instead of the control target value transmitted from the microcomputer 10. do. Note that in such a case, the failsafe control circuits 36 and 46 may be configured to notify the user that an abnormality has occurred in the microcomputer 10.

According to the above configuration in which the ASIC 20 includes the fail-safe control circuits 36 and 46, even if a malfunction occurs in the microcomputer 10, the ASIC 20 can perform fail-safe control. Therefore, sufficient fail-safe performance can be ensured without providing a microcomputer for each of the first motor 134 and the second motor 144. That is, the motor control device 100 only needs to include one microcomputer 10 to control the two motors 134 and 144, and can reduce manufacturing costs and ensure sufficient fail-safe performance.

Further, according to the configuration in which the ASIC 20 includes the first control circuit 30 and the second control circuit 40, the microcomputer 10 does not require various circuits required for motor control, such as an RDC circuit. Therefore, a more versatile microcomputer can be employed as the microcomputer 10 employed in the motor control device 100. As a result, a cheaper microcomputer can be used in the motor control device 100, and manufacturing costs can be reduced.

Furthermore, according to the configuration in which the first control circuit 30 and the second control circuit 40 are electrically separated on the substrate of the ASIC 20 and each of them has a fail-safe control circuit, the first control circuit 30 and the second control circuit If a malfunction occurs in one of the motors 40, the corresponding motor can be controlled using the other control circuit. In this case, the other control circuit may control the corresponding motor based on the command value for fail-safe control from the outside, or may control the corresponding motor based on the command value for fail-safe control and the control target value from the microcomputer 10. The corresponding motor may be controlled based on both of the following. Therefore, not only when a malfunction occurs in the microcomputer 10, but also when a malfunction occurs in either the first control circuit 30 or the second control circuit 40, the other normal control circuit performs fail-safe control. can be executed. Furthermore, with such a configuration, the ASIC 20 including the first control circuit 30 and the second control circuit 40 can be implemented in one package. Therefore, the motor control device 100 does not need to include multiple ASICs, and manufacturing costs can be reduced.

Although specific examples of the technology disclosed in this specification have been described above in detail, these are merely examples and do not limit the scope of the claims. The techniques described in the claims include various modifications and changes to the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims as filed. Furthermore, the techniques illustrated in this specification or the drawings can achieve multiple objectives simultaneously, and achieving one of the objectives has technical utility in itself.

10: Microcomputer 20: ASIC
30: First control circuit 32: First control logic storage circuit 33: First resolver digital converter circuit 34: First analog-to-digital converter circuit 36: First fail-safe control circuit 40: Second control circuit 42: First control logic Storage circuit 43: Second resolver digital converter circuit 44: Second analog-digital converter circuit 46: Second fail-safe control circuit 100: Motor control device 134: First motor 144: Second motor

Claims (3)

A motor control device that controls a plurality of traveling motors mounted on a vehicle, including a first motor and a second motor,
a microcomputer that outputs control target values for the first motor and the second motor, respectively, based on command values input from the outside;
A specific application integrated unit that is provided in common to the first motor and the second motor, acquires the control target value from the microcomputer, and performs feedback control of the first motor and the second motor, respectively. circuit (ASIC) and
Equipped with
The ASIC includes a fail-safe control circuit that performs fail-safe control, and in the fail-safe control, in addition to or in place of the control target value by the microcomputer, a command value for the fail-safe control is input from the outside. obtain,
Motor control device. The ASIC includes a first control circuit that performs feedback control on the first motor, and a second control circuit that performs feedback control on the second motor,
The first control circuit includes:
a first control logic storage circuit storing control logic for the first motor;
a first resolver digital converter circuit that calculates a motor angle of the first motor;
a first analog-to-digital converter circuit that calculates a current flowing through the first motor;
It has at least one circuit of either
The second control circuit includes:
a second control logic storage circuit storing control logic for the second motor;
a second resolver digital converter circuit that calculates a motor angle of the second motor;
a second analog-to-digital converter circuit that calculates a current flowing through the second motor;
The motor control device according to claim 1, comprising at least one circuit. In the ASIC , the fail-safe control circuit includes a first fail-safe control circuit provided in the first control circuit and a second fail-safe control circuit provided in the second control circuit. 2. The motor control device according to 2.

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