JP7451260B2 - Drive device and method of controlling the drive device - Google Patents

Description

The present invention relates to a drive device and a method of controlling the drive device.

An electric vehicle such as an electric two-wheeled vehicle has a motor for driving wheels and a control unit (PDU) for controlling the drive of this motor (see, for example, Patent Documents 1 and 2).

In such an electric vehicle, for example, when starting up a hill on a slope, a high phase current flows while the motor is at a low angular velocity, so the temperature of the control section or the motor rises, and the temperature protection function causes the control section to stop the motor. may stop outputting.

In this case, there is a problem in that the motor torque is not output even though the user is operating the throttle.

Therefore, it is necessary to perform peak control based on temperature to provide an output that can be used even when the motor output is suppressed to the maximum.

If the motor is driven with a high phase current flowing through it, or if the motor is driven at a low angular velocity, the thermistor, which is the temperature detection part, has poor ability to follow the actual temperature of the heat source, and the temperature protection by the control part is not effective. do not.

For this reason, the temperature protection function is performed by estimating the temperature in accordance with a physical model that causes damage to heat sources such as transistors, taking into account the effects of heat conduction and ambient temperature, especially the temperature of the casing that houses the heat source. It is necessary to do so.

In particular, when measuring the saturation temperature at all temperatures of the casing and creating the data, it is necessary to store a large amount of data in the recording section, and the process of searching the large amount of data recorded during control operations is expensive. Processing ability is required.

Japanese Patent Application Publication No. 2017-123552 Japanese Patent Application Publication No. 2017-123628

Therefore, the present invention makes it possible to accurately estimate the temperature of the heat source by taking into account the influence of the temperature of the casing that houses the heat source, while reducing the load on the control unit, and to perform the temperature protection function. The purpose of the present invention is to provide a control device that is easy to use.

A drive device according to an embodiment of one aspect of the present invention includes:
A drive device for driving a motor,
a temperature detection unit for detecting the temperature of a heat source that generates heat when driving the motor;
For control, the temperature of the heat source is estimated based on the phase current value of the phase current of the motor, the rotation speed of the motor, the saturation temperature of the heat source, and/or the actual detected temperature detected by the temperature detection unit. a control unit that controls driving of the motor based on the estimated temperature,
The control unit includes:
A detection saturation temperature is acquired as the detection saturation temperature of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and the acquired detection saturation temperature is set as the detection saturation temperature of the motor. The correction is performed using the amount of change in temperature of the casing housing the heat source after the start of driving of the heat source.

In the drive device,
The control unit is characterized in that the control unit corrects the acquired saturation temperature at detection by adding the amount of change in the temperature of the housing to the acquired saturation temperature at detection.

In the drive device,
The control unit includes:
The method is characterized in that the amount of change in the temperature of the housing is estimated based on the temperature detected by the temperature detection section.

In the drive device,
The control unit includes:
By adding a temperature offset value, which is the difference between the temperature of the casing at the time of activation of the control unit and the temperature of the casing detected at the start of driving of the motor, to the acquired saturation temperature at the time of detection, The method is characterized in that the acquired saturation temperature at the time of detection is corrected.

In the drive device,
The control unit includes:
The present invention is characterized in that a correction value that increases in accordance with a rise in the temperature of the housing is added to the acquired saturation temperature at the time of detection.

In the drive device,
The electric power converter may further include a power conversion section that is controlled by the control section, generates a motor drive voltage for driving the motor from a DC voltage, and supplies the generated motor drive voltage to the motor.

In the drive device,
The apparatus is characterized in that it further includes a storage section that stores information used by the control section.

In the drive device,
The storage unit is
A combination of a phase current value of a phase current of the motor and the rotational speed of the motor when the motor is continuously driven at a predetermined rotational speed for a preset driving period, and the driving of the motor. A saturation temperature information table that associates a saturation temperature, which is a maximum temperature at which the heat of the heat source that generates heat is saturated when the heat source is heated, is stored.

In the drive device,
The control unit includes:
After restarting, detecting the phase current of the motor to obtain the phase current value, and obtaining the rotation speed of the motor,
With reference to the saturation temperature information table stored in the storage unit, the saturation at the time of detection is determined as the saturation temperature at the time of detection of the heat source corresponding to the combination of the acquired phase current value and the acquired rotation speed. Calculate the temperature,
By multiplying the saturation temperature at the time of detection by a first coefficient based on the first-order lag characteristic of the temporal change of the temperature of the heat source with respect to the saturation temperature, the estimated temperature at the time of detection is determined as the tentatively estimated temperature of the heat source. Calculate,
The tentatively estimated temperature is calculated by multiplying the estimated temperature at the time of detection by a second coefficient that is different from the first coefficient and is based on the first-order lag characteristic of the temporal change in heat conduction from the heat source to the temperature detection unit. Calculate the provisional estimated temperature, which is the temperature of the temperature detection part,
Obtaining the actual detected temperature detected by the temperature detection unit,
Calculating a temperature difference by subtracting the actual detected temperature from the provisional estimated temperature;
Calculating a temperature correction value for correcting the estimated temperature at the time of detection by multiplying the calculated temperature difference by a preset temperature correction coefficient,
The estimated temperature for control is calculated by adding the temperature correction value to the estimated temperature at the time of detection.

In the drive device,
The drive device is loaded on an electric two-wheeled vehicle,
The motor is characterized in that it is connected to a wheel of the electric two-wheeled vehicle and drives the wheel.

A method for controlling a drive device according to an embodiment of one aspect of the present invention includes:
A drive device for driving a motor, comprising: a temperature detection unit for detecting the temperature of a heat source that generates heat when driving the motor; a phase current value of a phase current of the motor; a rotation speed of the motor; a control unit that controls driving of the motor based on a control estimated temperature that is the temperature of the heat source estimated based on a saturation temperature of the heat source and/or an actual detected temperature detected by the temperature detection unit; A method of controlling a drive device comprising:
The control unit includes:
A detection saturation temperature is acquired as the detection saturation temperature of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and the acquired detection saturation temperature is set as the detection saturation temperature of the motor. The correction is performed using the amount of change in temperature of the casing housing the heat source after the start of driving of the heat source.

A drive device according to one aspect of the present invention is a drive device for driving a motor, and includes a temperature detection unit for detecting the temperature of a heat source that generates heat when driving the motor, and a phase detection unit for detecting the temperature of a heat source that generates heat when driving the motor; The drive of the motor is controlled based on the estimated control temperature, which is the temperature of the heat source, estimated based on the current value, the rotation speed of the motor, the saturation temperature of the heat source, and/or the actual temperature detected by the temperature detection unit. and a control unit.

Then, the control unit obtains a detection saturation temperature as the saturation temperature at the time of detection of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and sets the obtained detection saturation temperature to the detection saturation temperature. , the correction is made using the amount of change in the temperature of the casing that houses the heat source after the motor starts driving.

As a result, the drive device according to one aspect of the present invention can reduce the load on the control unit, take into account the influence of the temperature of the casing housing the heat source, estimate the temperature of the heat source with high accuracy, and increase the temperature. Able to perform protection functions.

FIG. 1 is a diagram illustrating an example of the configuration of an electric vehicle 100 according to a first embodiment. FIG. 2 is a diagram showing an example of a peripheral configuration of the power conversion section 30 according to the first embodiment shown in FIG. FIG. 3 is a diagram illustrating an example of the relationship between the temperature of the heat source and control of motor drive. FIG. 4 is a diagram showing an example of the characteristics of the target limit torque. FIG. 5 is a diagram showing an example of the relationship between the phase current of the motor 3 and the saturation temperature of the heat source Z when the motor 3 is driven at a predetermined rotation speed for a predetermined drive period. FIG. 6 shows the relationship among the phase current of the motor 3, the actual temperature detected by the thermistor S, the actual temperature of the heat source Z, and the saturation temperature of the heat source Z when the motor 3 is driven at a predetermined rotation speed. It is a figure showing an example. FIG. 7 shows switching between the actual detected temperature detected by the thermistor and the estimated control temperature estimated based on the phase current value of the motor phase current, the rotation speed of the motor, and the actual detected temperature detected by the thermistor. FIG. 3 is a diagram showing an example of the relationship between phase current and rotation speed of a motor. FIG. 8 is a diagram showing an example of the detected saturation temperature and the corrected saturation temperature in the electric vehicle 100 according to the first embodiment. FIG. 9 is a diagram showing another example of the detected saturation temperature and the corrected saturation temperature in the electric vehicle 100 according to the first embodiment.

Hereinafter, embodiments according to the present invention will be described based on the drawings. Note that although an electric vehicle control device that drives the wheels of an electric vehicle will be described below as an embodiment of the drive device, the drive device according to the present invention is not one that drives a load other than the wheels of the electric vehicle. It's okay.

First, with reference to FIG. 1, an electric vehicle 100 including a drive device (electric vehicle control device) 1 according to a first embodiment will be described.

The electric vehicle 100 is a vehicle that moves forward or backward by driving a motor 3 using electric power supplied from a battery 2 .

This electric vehicle 100 is, for example, an electric two-wheel vehicle such as an electric motorcycle, and more specifically, an electric two-wheel vehicle in which a motor and wheels are mechanically directly connected without a clutch. Note that the electric vehicle according to the present invention is not limited to a two-wheeled vehicle, and may be, for example, a three-wheeled or four-wheeled electric vehicle.

For example, as shown in FIG. 1, this electric vehicle 100 includes an electric vehicle control device (hereinafter referred to as a drive device) 1, a battery 2, a motor 3, an angle sensor 4, an accelerator position sensor 5, It includes an assist switch 6, a meter (display section) 7, wheels 8, and a charger 9.

Each component of electric vehicle 100 will be described in detail below.

[Drive device]
The drive device 1 is a device that controls the driving of the electric vehicle 100, and as described above, is mounted on, for example, an electric two-wheeled vehicle (an electric vehicle). In this case, the load is the wheel 8 of the electric two-wheeled vehicle. The motor 3 is connected to the wheels of the electric two-wheeled vehicle. The drive device 1 is configured to drive a motor 3 that drives a load (wheel) 8.

Note that the drive device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric vehicle 100.

The drive device 1 includes, for example, a control section 10, a storage section 20, and a power conversion section 30, as shown in FIG. In the first embodiment, the drive device 1 includes a thermistor S that is a temperature detection section for detecting the temperature of the heat source Z of the power conversion section 30 (FIG. 2). Note that as a substitute for the thermistor S, a diode made of polysilicon formed inside a semiconductor may be applied to the temperature detection section.

[Battery]
The battery 2 includes a first battery 2a and a second battery 2b. For example, the first battery 2a is a lithium ion battery, and the second battery 2b is a lead battery.

This battery 2 (first battery 2a) supplies electric power to the motor 3 that rotates the wheels 8 of the electric vehicle 100. More specifically, the battery 2 (first battery 2a) supplies DC power to the power converter 30. As mentioned above, the first battery 2a is, for example, a lithium ion battery, but may be another type of battery.

Further, the second battery 2b is, for example, a lead battery for supplying operating voltage to the control unit 10.

The battery 2 also includes a battery management unit (BMU). This battery management unit transmits battery information regarding the voltage of the battery 2 and the state of the battery 2 (charging rate, etc.) to the control unit 10. Note that the number of batteries 2 is not limited to one, and may be plural. That is, electric vehicle 100 may be provided with a plurality of batteries 2 connected in parallel or in series.

[motor]
Further, the motor 3 is a three-phase motor driven by AC power supplied from the power converter 30. This motor 3 is mechanically connected to the wheel 8 and rotates the wheel 8 in a desired direction. In this embodiment, the motor 3 is mechanically directly connected to the wheels 8 without a clutch (including a transmission mechanism). Note that the type of motor 3 is not particularly limited.

[Angle sensor]
Further, the angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor 3. N-pole and S-pole magnets (sensor magnets) are alternately attached to the circumferential surface of the rotor (not shown).

The angle sensor 4 is made up of, for example, a Hall element, and is designed to detect changes in the magnetic field as the motor 3 rotates.

[Accelerator position sensor]
Furthermore, the accelerator position sensor 5 detects the amount of operation of the accelerator of the electric vehicle 100 (hereinafter referred to as "accelerator operation amount"), and transmits it to the control unit 10 as an electric signal. The accelerator operation amount corresponds to the throttle opening degree of an engine vehicle. When the user wants to accelerate, the amount of accelerator operation becomes large, and when the user wants to decelerate, the amount of accelerator operation becomes small.

In particular, in the first embodiment, the accelerator position sensor 5 detects the amount of operation of the accelerator by the user of the electric vehicle (electric two-wheeled vehicle) 100, and transmits the detected amount to the control unit 10 as an electric signal.

Further, the assist switch 6 is a switch operated by the user when requesting assistance from the electric vehicle 100. The assist switch 6 transmits an assist request signal to the control unit 10 when operated by the user.

[Meter]
Further, the meter (display unit) 7 is a display (for example, a liquid crystal panel) provided in the electric vehicle 100, and displays various information. The meter 7 is provided, for example, on a handle (not shown) of the electric vehicle 100. Information such as the traveling speed of the electric vehicle 100, the remaining amount of the battery 2, the current time, the total traveling distance, and the remaining traveling distance is displayed on the meter 7. The remaining travel distance indicates how much further the electric vehicle 100 can travel.

[Charger]
The charger 9 also includes a power plug (not shown) and a converter circuit (not shown) that converts AC power supplied through the power plug into DC power. The battery 2 is charged by the DC power converted by the converter circuit. Charger 9 is communicably connected to electric vehicle control device 1 via a communication network (CAN, etc.) within electric vehicle 100, for example.

[Control unit]
Here, the control unit 10 of the electric vehicle control device 1 is configured to receive and output information from various devices connected to the electric vehicle control device 1.

Specifically, the control unit 10 receives various signals output from the battery 2, the angle sensor 4, the accelerator position sensor 5, the assist switch 6, and the charger 9. The control unit 10 outputs a signal to be displayed on the meter 7. Further, the control unit 10 controls the drive of the motor 3 via the power conversion unit 30. Details of the control unit 10 will be described later.

[Storage]
Furthermore, the storage unit 20 of the electric vehicle control device 1 stores information used by the control unit 10 (such as various maps described below) and programs for the control unit 10 to operate.

The storage unit 20 is, for example, a nonvolatile semiconductor memory, but is not limited thereto. Note that the storage unit 20 may be incorporated as a part of the control unit 10.

In particular, this storage section 20 is adapted to store a saturation temperature information table. This saturation temperature information table shows the combination of the phase current value of the phase current of the motor 3 and the rotation speed of the motor 3 when the motor 3 is continuously driven at a predetermined rotation speed for a preset drive period, This is a table that associates the saturation temperature, which is the maximum temperature at which the heat of the heat source Z that generates heat when driving the motor 3 is saturated.

Furthermore, as will be described later, the storage unit 20 stores a target limit torque table that associates the rotation speed of the motor 3 with a target limit torque when the heat source temperature is a limit threshold.

The above-mentioned saturation temperature is determined by the bridge circuit This is the temperature of the heat source Z that is saturated by controlling the drive (FIG. 3).

Furthermore, the storage unit 20 is configured to store data on the calculated estimated temperature for control, as will be described later.

[Power conversion section]
Further, the power conversion unit 30 of the electric vehicle control device 1 converts the DC power output from the battery 2 (more specifically, the first battery 2a) into AC power and supplies it to the motor 3 ( Figure 2).

The power conversion unit 30, which is an inverter device, has first to third half bridges that generate a motor drive voltage for driving the motor 3 from the DC voltage supplied from the battery 2 (first battery 2a). A bridge circuit X is provided.

Each of the first to third half bridges includes a high-side transistor (semiconductor switches Q1, Q3, Q5) and a low-side transistor (semiconductor switch Q2, Q4, Q6) connected in series.

Note that the control terminals of these semiconductor switches Q1 to Q6 are electrically connected to the control section 10. A smoothing capacitor C is provided between the power supply terminal 30a and the power supply terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.

The semiconductor switch Q1 is connected between a power terminal 30a connected to the positive electrode of the battery 2 and an input terminal 3a connected to the coil L1 of the motor 3, as shown in FIG.

Similarly, the semiconductor switch Q3 is connected between the power supply terminal 30a and the input terminal 3b connected to the coil L2 of the motor 3.

The semiconductor switch Q5 is connected between the power terminal 30a and the input terminal 3c connected to the coil L3 of the motor 3.

The semiconductor switch Q2 is connected between the input terminal 3a of the motor 3 and the power supply terminal 30b to which the negative electrode of the battery 2 is connected.

Similarly, semiconductor switch Q4 is connected between input terminal 3b of motor 3 and power supply terminal 30b.

The semiconductor switch Q6 is connected between the input terminal 3c of the motor 3 and the power supply terminal 30b.

Note that the input terminal 3a is a U-phase input terminal of the motor 3, the input terminal 3b is a V-phase input terminal of the motor 3, and the input terminal 3c is a W-phase input terminal of the motor 3.

Further, the control unit 10 is activated by the DC voltage supplied from the battery 2 (second battery 2b), and also performs power conversion so that the motor 3 outputs a command torque according to a command signal input from the outside. The motor 3 is driven by controlling the semiconductor switches Q1 to Q6 of the section 30 to turn on and off and supplying a motor drive voltage to the motor 3.

Here, as described above, the accelerator position sensor 5 detects the amount of operation of the accelerator by the user of the electric vehicle (electric two-wheeled vehicle) 100, and transmits it to the control unit 10 as an electric signal. In this case, the electrical signal output by the accelerator position sensor 5 corresponds to the command signal.

More specifically, the control section 10 controls on/off of the semiconductor switches Q1 to Q6 of the power conversion section 30 depending on the motor stage. Thereby, the DC power supplied from the battery 2 is converted into AC power.

Note that the control unit 10 is configured to stop supplying the DC voltage from the first battery 2a to the power conversion unit 30 in response to a user's operation input. On the other hand, the control unit 10 starts supplying DC voltage from the first battery 2a to the power conversion unit 30 in response to a user's operation input.

Here, as described above, the thermistor S is placed near the heat source Z that generates heat when the motor is driven, and is adapted to detect the temperature of the heat source Z (FIG. 2). The heat source Z is, for example, transistors Q1 to Q6 that constitute the bridge circuit X of the power conversion section 30, as shown in FIG.

In the first embodiment, this thermistor S is placed close to the transistors Q1 to Q6.

In particular, in the example shown in FIG. 2, the thermistor S includes three thermistors S1, S2, and S3. The thermistor S1 is placed near the high-side transistor Q1 of the first half-bridge. Furthermore, the thermistor S2 is placed near the high-side transistor Q3 of the second half bridge. Further, the thermistor S3 is placed near the high-side transistor Q5 of the third half-bridge.

In this way, the thermistors S (S1, S2, S3) are arranged near each of the first to third half-bridge high-side transistors Q1, Q3, and Q5, which are said to generate particularly large amounts of heat. That is, the thermistors S1 to S3, which are temperature detection sections, are adapted to detect the temperatures of the transistors Q1, Q3, and Q5 that constitute the bridge circuit X.

Thereby, the temperature of the heat source Z can be detected more reliably and the temperature protection function can be implemented.

Here, when turning off the power to the control unit 10, wait until the difference between the actual detected temperature detected by the thermistor S and the estimated temperature for control converges within a predetermined range, and then turn off the power to the control unit 10. An example of an operation for appropriately executing the temperature protection function when the control unit 10 is subsequently restarted will now be described.

For example, the control unit 10 cuts off the supply of DC current from the first battery 2a to the power conversion unit 30, thereby cutting off the supply of motor drive voltage from the power conversion unit 30 to the motor 3. After the drive control is stopped, when a preset convergence elapsed time has elapsed, the operation of the control unit 10 is stopped by cutting off the supply of DC voltage from the second battery 2b to the control unit 10.

Thereafter, when DC voltage is supplied from the second battery 2b and the controller 10 is restarted, the power converter 30 controls the drive of the motor 3 based on the actual detected temperature, which is the temperature detected by the thermistor S. do.

Thereby, upon restart, the control unit 10 can control the drive of the motor 3 based on the actual detected temperature in a state where the actual detected temperature is sufficiently close to the temperature of the heat source Z, and the temperature protection function can be appropriately performed. can be executed.

Note that the convergence elapsed time is calculated based on, for example, the phase current value of the phase current of the motor 3, the rotation speed of the motor 3, and the estimated temperature for control, which is the temperature of the heat source Z estimated based on the actual detected temperature, and the actual detected temperature. This is a preset time for the temperature difference to converge within a preset specified range.

Furthermore, after the control unit 10 stops controlling the drive of the motor 3, the temperature difference between the estimated control temperature and the actual detected temperature converges within the specified range before the elapsed convergence time described above has elapsed. In this case, the operation of the control unit 10 is stopped by cutting off the supply of DC voltage from the second battery 2b to the control unit 10, regardless of the elapse of the convergence elapsed time.

Note that if the temperature difference converges within a specified range in the previous driving cycle (before the control of driving the motor 3 is stopped), the control unit 10 causes the storage unit 20 to store information indicating that the temperature difference has converged. You can do it like this. In this case, at the time of restart, the control unit 10 refers to the information stored in the storage unit 20 to ensure that the temperature difference in the previous driving cycle (before the drive control of the motor 3 is stopped) is within the specified range. It is possible to judge whether or not it has converged.

Note that if the thermistor S or the current sensor that detects the phase current of the motor 3 is out of order, the control unit 10 controls the DC current from the second battery 2b to the control unit 10 when the convergence elapsed time has elapsed. The operation of the control unit 10 may be stopped by cutting off the voltage supply.

Further, the control unit 10 may be configured to reset the operation of the control unit 10 when the data in the storage unit 20 is corrupted or when the control unit 10 is out of control.

In addition, when the voltage of the second battery 2b falls below a preset lower limit voltage value, the control unit 10 converts the power from the first battery 2a to the power conversion unit (because the power source for the control unit 10 cannot be secured). After cutting off the supply of motor drive voltage from the power converter 30 to the motor 3 by cutting off the supply of DC voltage to the controller 30, the supply of DC voltage from the second battery 2b to the control unit 10 is cut off. You can also do this.

Further, after stopping control of the drive of the motor 3, the control unit 10 restarts the motor 3 if the temperature difference between the estimated temperature for control and the actual detected temperature has converged within the specified range. The drive of the motor 3 is controlled by the power converter 30 based on the actual temperature detected by the thermistor S after the restart.

Here, as described above, the storage unit 20 is configured to store data on the calculated estimated temperature for control.

Then, when the control unit 10 is restarted and the data of the estimated temperature for control stored in the storage unit 20 has disappeared, the control unit 10 uses the preset initial temperature as the estimated temperature for control. The drive of the motor 3 is controlled by the power converter 30 based on the initial temperature. Note that the initial temperature is, for example, a temperature that is greater than or equal to a limiting threshold value and less than an abnormality threshold value, which will be described later.

As a result, even if the estimated control temperature data stored in the storage unit 20 is lost, the motor 3 can be safely driven by starting operation from a state where the torque of the motor 3 is limited. .

Next, an example of implementing the temperature protection function in the method of controlling the drive device 1 having the above configuration will be described with reference to FIGS. 3 and 4.

For example, as shown in FIG. 3, the control unit 10 controls the heat source temperature obtained based on the detection result of the thermistor S (selected to drive the motor 3 from among the estimated control temperature or actual detected temperature described later). In a limiting state where the temperature (temperature) is above a preset limit threshold and less than a preset abnormality threshold higher than the limit threshold, a limit torque smaller than the command torque according to the previously described command signal is output. Then, the semiconductor switches Q1 to Q6 of the power conversion section 30 are controlled to be turned on and off to drive the motor 3.

Note that the heat source temperature corresponds to, for example, a temperature corresponding to an estimated temperature for control, which will be described later, or an actual detected temperature.

The control unit 10 also determines the magnitude of the target limit torque, which is the torque when driving the motor 3 at the rotation speed at the time of detection (i.e., at the time of current measurement) when the heat source temperature is at the limit threshold. Set it so that it is as above.

Further, the limit torque is set so that the heat source temperature described above does not exceed the abnormality threshold.

In this limit state, the control unit 10 operates to increase the torque of the motor 3 through the user's operation, causing a high phase current to flow while the motor 3 is at a low angular velocity, causing a heat source that generates heat when the motor 3 is driven. When the temperature of Z rises above the limit threshold for executing the temperature protection function, the temperature increase can be suppressed by limiting the output torque of the motor 3 regardless of the user's operation.

On the other hand, in an abnormal state in which the heat source temperature (the selected temperature) is equal to or higher than the above-mentioned abnormality threshold, the control unit 10 controls on/off the semiconductor switches Q1 to Q6 of the power conversion unit 30, regardless of the command signal. to stop the motor 3 (Fig. 3).

For example, the control unit 10 may determine that an abnormal state in which the heat source temperature is equal to or higher than an abnormality threshold is a state in which an abnormality has occurred in the system of the control unit 10.

Further, when the heat source temperature exceeds this abnormality threshold, the control unit 10 stops the motor 3 and then resumes controlling the drive of the motor 3 until the operation of the control unit 10 is reset. You may choose not to do so.

The operation of the control unit 10 in this abnormal state allows the motor 3 to be appropriately stopped when an abnormality occurs in the control unit 10, the power conversion unit 30, etc. and the heat source Z becomes extremely high in temperature. .

Note that the control unit 10 controls the semiconductor switch of the power conversion unit 30 to output the command torque according to the command signal in a normal state where the heat source temperature (the selected temperature) is less than the aforementioned limit threshold. The motor 3 is driven by controlling Q1 to Q6 on and off (FIG. 3).

The operation of the control unit 10 in this normal state allows the motor 3 to output a command torque according to a command signal based on a user's operation.

Here, an example of an operation in which the control unit 10 calculates a limit torque and drives the motor 3 with the limit torque in the aforementioned limit state will be described.

First, in the restriction state, the control unit 10 adjusts the heat source temperature and the restriction by integrating a positive adjustment coefficient with the value obtained by subtracting the restriction threshold from the heat source temperature described above, as shown in the following equation (a). A temperature difference value, which is a parameter of the temperature difference between the temperature difference and the threshold value, is calculated.

Moreover, the above-mentioned adjustment coefficient is set, for example, in a state where the torque output by the motor 3 is the limited torque, and the heat source temperature falls within the range from the limited threshold value to the abnormality threshold value.

Temperature difference value = positive adjustment coefficient × (heat source temperature - limit threshold) ... (a)

Next, the control unit 10 calculates the detection torque that the motor 3 is outputting at the time of detection (i.e., at the time of current measurement) from the preset target limit torque, as shown in equation (b) below. , and the already-described temperature difference value is integrated with the subtracted value to calculate a negative cut torque to be subtracted from the command torque.

Further, the target torque limit described above is a quadratic function of the rotation speed of the motor 3 (FIG. 4). That is, this target limit torque is set so that when the heat source temperature is at the limit threshold, the target torque increases as the rotation speed of the motor 3 increases, and decreases as the rotation speed of the motor 3 decreases.

Note that, as described above, the storage unit 20 is configured to store a target limit torque table that associates the rotation speed of the motor 3 with the target limit torque when the heat source temperature is the limit threshold value. Therefore, the control unit 10 can obtain the target torque limit associated with the rotation speed of the motor 3 by referring to the target torque limit table stored in the storage unit 20.

Cut torque = temperature difference value × (target limit torque - torque at detection)...(b)

Next, the control unit 10 sets the limit torque by adding a negative cut torque to the command torque (that is, subtracting the absolute value of the cut torque from the command torque), as shown in equation (c) below. calculate.

Limit torque = Command torque + Cut torque...(c)

Then, the control unit 10 drives the motor 3 by controlling the semiconductor switches Q1 to Q6 of the power conversion unit 30 on and off so as to output the limited torque.

As a result, when the output torque of the motor 3 is increased by the user's throttle operation and a high phase current flows when the motor 3 is at a low angular velocity and the temperature rises above the threshold for executing the temperature protection function, the user's throttle operation increases the output torque of the motor 3. By limiting the output torque of the motor 3 regardless of throttle operation, the electric vehicle 100 can continue to run while suppressing a rise in temperature.

Next, an example of a method for estimating the heat source temperature in implementing the temperature protection function of the drive device 1 will be described.

Here, we will consider a physical model based on the temperature rise due to the on-resistance of the transistor that is the heat source Z and the phase current of the motor 3, the heat capacity of the unit, and heat conduction with the ambient temperature of the unit. Then, the temperature of the transistor is estimated from the saturation temperature after a period of time has passed until the heat of the heat source Z is saturated. In order to prevent this estimated temperature from deviating from the actual temperature due to calculation errors, this method uses the actual temperature (FIG. 6).

First, in order to implement the temperature protection function, the control unit 10 detects the phase current of the motor 3 to obtain the phase current value at least at startup, during startup, or after restart, and also detects the phase current value of the motor 3. get.

Note that the control unit 10 acquires the rotation speed of the motor 3 based on, for example, a signal output by a Hall element (not shown) provided in the motor 3 in accordance with the rotation of the motor 3. .

In addition, when detecting the phase current of the motor 3, the control unit 10 detects six stages defined by the on/off combinations of the transistors Q1 to Q6 of the motor 3 in 120° energization and 180° energization. The phase current value may be obtained by obtaining the peak current of each phase current, removing switching noise, and averaging the peak current of each phase current.

As described above, the storage unit 20 stores the phase current value of the phase current of the motor 3 and the rotation speed of the motor 3 when the motor 3 is continuously driven at a predetermined rotation speed for a preset drive period. A saturation temperature information table is stored that associates combinations of and saturation temperatures that are the maximum temperatures at which the heat of the heat source Z that generates heat when driving the motor 3 is saturated (FIG. 5).

Therefore, the control unit 10 refers to the saturation temperature information table stored in the storage unit 20 and determines when the heat source Z is detected ( The saturation temperature at the time of detection is calculated as the saturation temperature (current).

In this way, the saturation temperature of the heat source Z at the time of detection is determined by referring to the saturation temperature information table set in advance based on the measured data of the phase current value and rotation speed at the time of detection (that is, the time of current measurement). Calculate.

Next, the control unit 10 calculates a first coefficient (time constant) based on the characteristics of the first-order lag of the temporal change in the temperature of the heat source Z with respect to the saturation temperature, as shown in the following equation (1). The estimated temperature at the time of detection is calculated as the tentatively estimated temperature of the heat source Z by multiplying by the saturated temperature at the time.

Estimated temperature at detection = saturation temperature at detection x first coefficient ... (1)

Note that this first coefficient is, for example, a value greater than 0 and less than 1.

In this way, the temperature of the transistor, which is the heat source Z, is tentatively estimated from the saturation temperature at the time of detection using the first coefficient obtained by counting the time constant.

Next, the control unit 10 calculates a second coefficient based on the first-order lag characteristic of the time change of heat conduction from the heat source Z to the thermistor S and which is different from the first coefficient described above, as shown in equation (2) below. By multiplying the estimated temperature at the time of detection by (time constant), a provisionally estimated temperature, which is the provisionally estimated temperature of the thermistor S, is calculated.

Temporary estimated temperature = Estimated temperature at time of detection x 2nd coefficient ... (2)

Note that this second coefficient is, for example, a value greater than 0 and less than 1.

In this way, the temperature of the thermistor S is estimated using the second coefficient obtained by converting the time constant into a number.

Next, the control unit 10 obtains the actual temperature detected by the thermistor S.

Next, the difference between the actual temperature detected by the thermistor S and the provisionally estimated temperature of the thermistor S is calculated.

Then, the control unit 10 calculates the temperature difference by subtracting the actual detected temperature from the provisional estimated temperature, as shown in equation (3) below.

Temperature difference = provisional estimated temperature - actual detected temperature ... (3)

Then, as shown in equation (4) below, the control unit 10 multiplies the calculated temperature difference by a preset temperature correction coefficient to calculate a temperature correction value for correcting the estimated temperature at the time of detection. It is designed to be calculated.

Temperature correction value = temperature difference x temperature correction coefficient ... (4)

Then, the control unit 10 calculates the estimated temperature for control by adding the temperature correction value to the estimated temperature at the time of detection, as shown in Equation (5) below.

Estimated temperature for control = Estimated temperature at detection + Temperature correction value ... (5)

In this way, the final estimated temperature of the heat source Z at the time of detection is obtained by adding the value obtained by multiplying the calculated temperature difference by a predetermined correction coefficient to the estimated temperature of the heat source Z.

Next, the control unit 10 sets the calculated estimated temperature for control as the heat source temperature described above, and controls the driving of the motor 3 by the power conversion unit 30 based on the calculated estimated temperature for control (i.e., the temperature perform protection functions).

Here, for example, if the estimated temperature for control is higher than a preset limit threshold, the control unit 10 controls the semiconductor switches Q1 to Q6 of the power conversion unit 30 to turn on and off, so that the motor 3 is under load. The motor 3 is driven to reduce the torque output to the motor 8.

This prevents the transistors Q1 to Q6, which are the heat source Z, from rising in temperature and being damaged, and allows the electric vehicle 100 to continue running while reducing the torque of the motor 3.

Further, for example, when the estimated control temperature is equal to or higher than a preset abnormality threshold that is higher than the limit threshold described above, the control unit 10 controls the semiconductor switches Q1 to Q6 of the power conversion unit 30 to be turned on and off. Then, the motor 3 is stopped.

Thereby, for example, when an abnormality occurs in transistors Q1 to Q6, running of electric vehicle 100 can be appropriately stopped.

On the other hand, if the estimated temperature for control is lower than the aforementioned limit threshold, the control unit 10 controls the semiconductor switches Q1 to Q6 of the power conversion unit 30 to turn on and off, so that the motor 3 outputs the output to the load 8. The motor 3 is driven to maintain the torque.

Thereby, when the temperature of transistors Q1 to Q6, which are heat source Z, is within a predetermined range, electric vehicle 100 can continue to run.

As described above, the temperature protection function is executed based on the obtained temperature of the heat source Z by the control method of the drive device 1.

As a result, the temperature of the heat source (transistor in the driver circuit) Z is estimated based on the temperature detected by the thermistor S, the phase current and rotation speed of the motor 3, taking into account the effects of heat conduction and ambient temperature, and the temperature is protected. As mentioned above, the estimated temperature for control is estimated based on the saturation temperature of the heat source Z, taking into account the first-order lag characteristics. The temperature protection function can be executed more reliably before the temperature reaches a point where the temperature will fail.

Here, the control unit 10 may select the temperature of the heat source Z as a reference for executing the temperature protection function by switching between the estimated control temperature described above and the temperature detected by the thermistor S.

Therefore, the control unit 10 selects the temperature of the heat source Z as a reference for executing the temperature protection function by switching between the estimated control temperature described above and the temperature detected by the thermistor S, and controls the drive of the motor 3. An example of the operation will be described with reference to FIG.

For example, the control unit 10 controls a first motor in which the phase current value of the motor 3 is equal to or greater than a preset switching threshold current STHI, and the rotation speed of the motor 3 is less than a preset switching threshold rotation speed STHR. In this case, the power conversion unit 30 The drive of the motor 3 is controlled by (FIG. 7).

As a result, for example, when the temperature detected by the thermistor S does not sufficiently follow the actual temperature of the heat source Z, or when the motor 3 is driven at a high phase current and low rotation speed, the estimated control temperature Based on the temperature protection function can be performed.

On the other hand, in the second case where the phase current value of the phase current of the motor 3 is less than the switching threshold current STHI, or the rotation speed of the motor 3 is the switching threshold rotation speed STHR or more, the thermistor S detects The drive of the motor 3 is controlled by the power converter 30 based on the actual detected temperature (FIG. 7).

As a result, when the temperature detected by the thermistor S sufficiently follows the actual temperature of the heat source Z, or when the motor 3 is driven at a low phase current or high rotation speed, the actual temperature detected by the thermistor S is Based on the detected temperature, a temperature protection function can be performed.

Here, as shown in FIG. 7, the control estimated temperature described above and the actual detected temperature detected by the thermistor S may be switched so as to have a hysteresis characteristic.

For example, the control unit 10 presets the rotation speed of the motor 3 to be less than the switching threshold rotation speed STHR, and the phase current value of the phase current of the motor 3 to be smaller than the switching threshold current STHI. When transitioning from the first case to the second case described above, the power converter 30 continuously controls the motor 3 based on the estimated temperature for control so that the hysteresis switching threshold current HTHI decreases to the hysteresis switching threshold current HTHI. (Figure 7).

That is, since it takes time for the temperature to converge, it is assumed that the temperature detected by the thermistor S does not sufficiently follow the temperature of the heat source Z, and the estimated temperature for control is used.

On the other hand, the control unit 10 controls the rotation speed of the motor 3 to be less than the switching threshold rotation speed STHR, and the phase current value of the phase current of the motor 3 to increase from less than the hysteresis switching threshold current HTHI to the switching threshold current STHI. When transitioning from the second case described above to the first case, the drive of the motor 3 is continuously controlled by the power converter 30 based on the actual detected temperature (FIG. 7).

That is, since the temperature rises quickly, the actual detected temperature is used assuming that the temperature detected by the thermistor S sufficiently follows the temperature of the heat source Z.

The control unit 10 also controls the control unit 10 so that the phase current value of the motor 3 is equal to or higher than the switching threshold current STHI, and the rotation speed of the motor 3 ranges from less than the switching threshold rotation speed STHR to higher than the switching threshold rotation speed STHR. When transitioning from the first case to the second case described above, the power converter 30 continues to perform the following steps based on the estimated temperature for control so that the rotation speed increases to the set hysteresis switching threshold rotation speed HTHR. Controls the drive of the motor 3 (Fig. 7).

That is, since it takes time for the temperature to converge, the estimated temperature for control is used, assuming that the temperature detected by the thermistor S does not sufficiently follow the temperature of the heat source Z.

On the other hand, the control unit 10 controls the motor 3 so that the phase current value of the phase current is equal to or higher than the switching threshold current STHI, and the rotational speed of the motor 3 decreases from the hysteresis switching threshold rotational speed HTHR or higher to the switching threshold rotational speed STHR. When the temperature changes to , the drive of the motor 3 is continuously controlled by the power converter 30 based on the actual detected temperature (FIG. 7).

That is, since the temperature rises quickly, the actual detected temperature is used assuming that the temperature detected by the thermistor S sufficiently follows the temperature of the heat source Z.

Note that in the second case described above, the control unit 10 determines that the phase current value of the phase current of the motor 3 is less than the hysteresis switching threshold current HTHI, or the rotation speed of the motor 3 is equal to or higher than the hysteresis switching threshold rotation speed HTHR. In this case, the drive of the motor 3 is controlled by the power converter 30 based on the actual detected temperature detected by the thermistor S.

That is, assuming that the temperature detected by the thermistor S sufficiently follows the temperature of the heat source Z, the actual detected temperature is used.

Further, in the second case described above, the control unit 10 controls when the phase current value of the phase current of the motor 3 is less than the switching threshold current STHI and the rotation speed of the motor 3 is equal to or higher than the switching threshold rotation speed STHR. Also, the drive of the motor 3 is controlled by the power converter 30 based on the actual temperature detected by the thermistor S.

That is, assuming that the temperature detected by the thermistor S sufficiently follows the temperature of the heat source Z, the actual detected temperature is used.

Note that the control unit 10 may select the temperature to be switched in accordance with the rotational acceleration of the motor 3, regardless of the temperature switching relationship shown in FIG.

For example, when the acceleration of the motor 3 is larger than a preset reference threshold, the control unit 10 forcibly controls the power conversion unit based on the estimated temperature for control (regardless of the relationship shown in FIG. 7). 30 may be used to control the drive of the motor 3.

As a result, regardless of the relationship shown in FIG. 7, it is assumed that the temperature detected by the thermistor S does not sufficiently follow the temperature of the heat source Z when the temperature rises sharply when the rotational acceleration of the motor 3 is large. The estimated temperature for control can be used.

Further, when the acceleration of the motor 3 is smaller than the reference threshold value, the control unit 10 controls the phase current value of the phase current of the motor 3, the rotation speed of the motor 3, and the thermistor S in the first case. The drive of the motor 3 is controlled by the power converter 30 based on the estimated control temperature estimated based on the detected actual temperature (based on the relationship shown in FIG. 7).

Then, when the acceleration of the motor 3 is smaller than the reference threshold value, the control unit 10, in the second case, based on the actual detected temperature detected by the thermistor S (based on the relationship shown in FIG. 7) , the power converter 30 controls the drive of the motor 3.

As described above, the temperature detected by the thermistor S and the estimated temperature are determined as the temperature of the heat source Z to be applied when executing the temperature protection function, depending on the phase current value of the motor 3 and the rotation speed of the motor 3. By switching, the temperature protection function can be executed appropriately.

Here, correction of the detection saturation temperature for reducing the influence of the temperature of the casing housing the heat source Z on the detection saturation temperature and improving the accuracy of estimating the temperature of the heat source Z will be described.

FIG. 8 is a diagram showing an example of the detected saturation temperature and the corrected saturation temperature in the electric vehicle 100 according to the first embodiment.

As shown in FIG. 8, in order to improve the temperature estimation accuracy of the heat source Z, the saturation temperature of the heat source Z may be corrected as shown in equation (6) below. In Equation (6), C indicates the saturated temperature of the heat source Z after correction (the saturated temperature at the time of detection after correction), and B indicates the saturated temperature at the time of detection before correction. Further, A indicates the temperature change of the casing.

C=B+A...(6)

As shown in equation (6), the control unit 10 determines the saturation temperature at the time of detection as the saturation temperature at the time of detection of the heat source Z, which corresponds to the combination of the phase current value of the phase current of the motor 3 and the rotation speed of the motor 3. B is obtained, and the obtained saturation temperature B at the time of detection is corrected using the amount of change (heat rise or heat fall) A in the temperature of the casing that houses the heat source Z after starting the drive of the motor 3. You can do it like this.

More specifically, the control unit 10 corrects the detected saturation temperature of the heat source Z by adding the amount of change (heat rise) A in the temperature of the casing to the acquired detected saturation temperature B. Good too.

In the first embodiment, the control unit 10 controls the phase current value of the motor 3, the rotation speed of the motor 3, the saturation temperature of the heat source Z (the saturation temperature at the time of detection after the above-mentioned correction), and the temperature detection. The drive of the motor 3 is controlled based on the estimated temperature for control, which is the temperature of the heat source Z, estimated based on the actual temperature detected by the thermistor S, which is the part.

Note that the control unit 10 estimates the amount of change in the temperature of the casing based on the temperature detected by the thermistor S.

Note that the control unit 10 corrects the acquired saturation temperature at detection B by adding a correction value that increases according to the rise in temperature of the casing to the acquired saturation temperature at detection B, as necessary. You may also do so.

Therefore, by correcting the saturation temperature at the time of detection shown in equation (6), the temperature of the heat source Z can be increased while reducing the load on the control unit 10 while taking into account the influence of the temperature of the casing that houses the heat source Z. With accurate estimation, the temperature protection function described above can be performed.

Further, FIG. 9 is a diagram showing another example of the detected saturation temperature and the corrected saturation temperature in the electric vehicle 100 according to the first embodiment.

As shown in FIG. 9, in order to improve the temperature estimation accuracy of the heat source Z, the saturation temperature of the heat source Z may be corrected as shown in equation (7) below. In Equation (7), C indicates the saturated temperature of the heat source Z after correction (the saturated temperature at the time of detection after correction), and B indicates the saturated temperature at the time of detection before correction. Further, A indicates the temperature change of the casing. Further, F indicates a temperature offset value, which is the difference between the saturation temperature of the heat source Z and the temperature of the casing at the time of starting the control unit 10 and the temperature of the casing detected at the start of driving the motor 3. There is.

C=B+A+F...(7)

As shown in this equation (7), the control unit 10 adds the acquired saturation temperature B at the time of detection, the amount of change in the temperature of the casing (heat rise or heat drop) A, and the amount of change in the temperature of the casing at the time of starting the control unit 10. The acquired saturation temperature B at the time of detection may be corrected by adding a temperature offset value F, which is the difference between the temperature and the temperature of the casing detected at the start of driving the motor 3.

By correcting the saturation temperature at the time of detection shown in equation (7), the temperature of the heat source Z can be adjusted with high precision while reducing the load on the control unit 10 and taking into account the influence of the temperature of the casing that houses the heat source Z. It is possible to perform the temperature protection function described above by estimating the temperature.

As described above, a drive device according to one aspect of the present invention is a drive device for driving a motor, and includes a temperature detection section for detecting the temperature of a heat source that generates heat when driving the motor, and a temperature detection section for detecting the temperature of a heat source that generates heat when driving the motor. Based on the estimated temperature for control, which is the temperature of the heat source, estimated based on the phase current value of the phase current, the rotation speed of the motor, the saturation temperature of the heat source, and/or the actual detected temperature detected by the temperature detection section, and a control unit that controls driving of the controller.

Then, the control unit obtains a detection saturation temperature as the saturation temperature at the time of detection of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and sets the obtained detection saturation temperature to the detection saturation temperature. , the correction is made using the amount of change in the temperature of the casing that houses the heat source after the motor starts driving.

As a result, according to the present invention, while reducing the load on the control unit, the temperature of the heat source is estimated with high accuracy in consideration of the influence of the temperature of the casing housing the heat source, and the temperature protection function is executed. be able to.

Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention as well as within the scope of the invention described in the claims and its equivalents.

100 Electric vehicle 1 Electric vehicle control device (drive device)
2 Battery 2a First battery 2b Second battery 3 Motors 3a, 3b, 3c Input terminal 4 Angle sensor 5 Accelerator position sensor 6 Assist switch 7 Meter (display section)
8 Wheels (load)
9 Charger 10 Control unit 20 Storage unit 30 Power conversion units 30a, 30b Power terminals Q1, Q2, Q3, Q4, Q5, Q6 Semiconductor switch (transistor)
S (S1 to S3) Thermistor Z Heat source L1, L2, L3 Coil

Claims (11)

A drive device for driving a motor,
a temperature detection unit for detecting the temperature of a heat source that generates heat when driving the motor;
For control, the temperature of the heat source is estimated based on the phase current value of the phase current of the motor, the rotation speed of the motor, the saturation temperature of the heat source, and/or the actual detected temperature detected by the temperature detection unit. a control unit that controls driving of the motor based on the estimated temperature,
The control unit includes:
A detection saturation temperature is acquired as the detection saturation temperature of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and the acquired detection saturation temperature is set as the detection saturation temperature of the motor. A drive device, characterized in that the correction is made using an amount of change in temperature of a casing housing the heat source after starting the drive of the heat source. The control unit corrects the acquired saturation temperature at detection by adding the amount of change in the temperature of the housing to the acquired saturation temperature at detection. Drive device. The control unit includes:
The drive device according to claim 1 or 2, wherein the amount of change in the temperature of the housing is estimated based on the temperature detected by the temperature detection section. The control unit includes:
By adding a temperature offset value, which is the difference between the temperature of the casing at the time of activation of the control unit and the temperature of the casing detected at the start of driving of the motor, to the acquired saturation temperature at the time of detection, The drive device according to any one of claims 1 to 3, wherein the acquired saturation temperature at the time of detection is corrected. The control unit includes:
The drive device according to any one of claims 1 to 4, wherein a correction value that increases in accordance with a rise in temperature of the housing is added to the acquired saturation temperature at the time of detection. Any one of claims 1 to 5, further comprising a power conversion unit that is controlled by the control unit and generates a motor drive voltage for driving the motor from a DC voltage and supplies the generated motor drive voltage to the motor. The drive device described in . The drive device according to any one of claims 1 to 6, further comprising a storage unit that stores information used by the control unit. The storage unit includes:
A combination of the phase current value of the phase current of the motor and the rotation speed of the motor when the motor is continuously driven at a predetermined rotation speed for a preset drive period, and when the motor is driven. The drive device according to claim 7, further comprising: a saturation temperature information table that stores a saturation temperature that is a maximum temperature at which the heat of the heat source that generates heat is saturated. The control unit includes:
After restarting, detecting the phase current of the motor to obtain the phase current value, and obtaining the rotation speed of the motor,
With reference to the saturation temperature information table stored in the storage unit, the saturation at the time of detection is determined as the saturation temperature at the time of detection of the heat source corresponding to the combination of the acquired phase current value and the acquired rotation speed. Calculate the temperature,
By multiplying the saturation temperature at the time of detection by a first coefficient based on the first-order lag characteristic of the temporal change of the temperature of the heat source with respect to the saturation temperature, the estimated temperature at the time of detection is determined as the tentatively estimated temperature of the heat source. Calculate,
The tentatively estimated temperature is calculated by multiplying the estimated temperature at the time of detection by a second coefficient that is different from the first coefficient and is based on the first-order lag characteristic of the temporal change in heat conduction from the heat source to the temperature detection unit. Calculate the provisional estimated temperature, which is the temperature of the temperature detection part,
Obtaining the actual detected temperature detected by the temperature detection unit,
Calculating a temperature difference by subtracting the actual detected temperature from the provisional estimated temperature;
Calculating a temperature correction value for correcting the estimated temperature at the time of detection by multiplying the calculated temperature difference by a preset temperature correction coefficient,
The drive device according to claim 8, wherein the estimated temperature for control is calculated by adding the temperature correction value to the estimated temperature at the time of detection. The drive device is loaded on an electric two-wheeled vehicle,
The drive device according to any one of claims 1 to 9, wherein the motor is connected to a wheel of the electric two-wheeled vehicle to drive the wheel. A drive device for driving a motor, comprising: a temperature detection unit for detecting the temperature of a heat source that generates heat when driving the motor; a phase current value of a phase current of the motor; a rotation speed of the motor; a control unit that controls driving of the motor based on a control estimated temperature that is the temperature of the heat source estimated based on a saturation temperature of the heat source and/or an actual detected temperature detected by the temperature detection unit; A method of controlling a drive device comprising:
The control unit includes:
A detection saturation temperature is acquired as the detection saturation temperature of the heat source corresponding to the combination of the phase current value of the motor phase current and the rotation speed of the motor, and the acquired detection saturation temperature is set as the detection saturation temperature of the motor. A method for controlling a drive device, characterized in that the correction is made using an amount of change in temperature of a casing housing the heat source after starting the drive of the drive device.

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