JPH06247324A - Motor controller - Google Patents
Motor controllerInfo
- Publication number
- JPH06247324A JPH06247324A JP5038475A JP3847593A JPH06247324A JP H06247324 A JPH06247324 A JP H06247324A JP 5038475 A JP5038475 A JP 5038475A JP 3847593 A JP3847593 A JP 3847593A JP H06247324 A JPH06247324 A JP H06247324A
- Authority
- JP
- Japan
- Prior art keywords
- electric motor
- power supply
- motor
- power
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば、電動パワー
・ステアリング装置に使用される電動機の上昇温度を監
視しながら電動機を制御する電動機制御装置に関するも
のである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric motor control device for controlling an electric motor while monitoring a rising temperature of the electric motor used in an electric power steering device.
【０００２】[0002]
【従来の技術】従来、自己の上昇温度を検出する手段を
持たない電動機を使用した電動式パワー・ステアリング
装置において、電動機に流れる電流、即ち電機子電流よ
り電動機の上昇温度を推定する方法が例えば特開平４ー
７１３７９号公報等に開示されていた。また、このよう
な電動機の過負荷保護を行う方法としては、例えば特開
平１ー１８６４６８号公報に開示されているように、電
動機の負荷によって決まる電機子電流の平均値とその電
機子電流の流れた経過時間に応じて、電機子電流の最大
電流を制限し、電動機が過負荷状態によって故障するこ
とを防止する方法がある。 更に、特開平３ー１７６２
７２号公報には電機子電流および電機子電圧等に基づい
て電動機の回転数を推定する方法が開示されている。2. Description of the Related Art Conventionally, in an electric power steering apparatus using an electric motor having no means for detecting its own temperature rise, a method of estimating the temperature rise of the motor from the current flowing through the motor, that is, the armature current, is known. It was disclosed in Japanese Patent Laid-Open No. 4-71379. As a method of overload protection of such an electric motor, for example, as disclosed in JP-A-1-186468, the average value of the armature current determined by the load of the electric motor and the flow of the armature current. There is a method of limiting the maximum current of the armature current according to the elapsed time to prevent the motor from failing due to an overload condition. Furthermore, JP-A-3-1762
Japanese Patent Laid-Open No. 72-72 discloses a method of estimating the rotation speed of an electric motor based on the armature current, the armature voltage and the like.
【０００３】[0003]
【発明が解決しようとする課題】従来の電動パワーステ
アリング装置に使用された電動機制御装置は、通常、電
動機への電源供給を遮断する際に、バッテリ電圧の低下
を防止するために装置の電源をも遮断してしまうため、
制御動作時に設定した電動機の各制御情報、例えば電子
機電流の制限値をクリアしてしまうことになる。そし
て、再度、装置の電源を投入する際には、電機子電流の
制限値を電動機の始動特性に合わせて広い範囲で初期設
定していた。The electric motor control device used in the conventional electric power steering device normally turns on the power supply of the device in order to prevent the battery voltage from decreasing when the power supply to the electric motor is cut off. Will also shut off,
Each control information of the electric motor set at the time of the control operation, for example, the limit value of the electric current of the electronic device is cleared. Then, when the power of the apparatus is turned on again, the limit value of the armature current is initially set in a wide range according to the starting characteristics of the electric motor.
【０００４】そのために、上昇温度が高い内に電動機の
電源を遮断し、短時間内に再度装置の電源を投入して電
動機を駆動すると、初期化された制限値の範囲で大きな
電機子電流が電動機に流れて温度上昇を促進して電動機
を焼損に至らしめるという問題点があった。Therefore, when the electric power of the electric motor is cut off while the temperature rises high and the electric power of the device is turned on again within a short time to drive the electric motor, a large armature current is generated within the range of the initialized limit value. There is a problem that the temperature of the electric motor flows to the electric motor to accelerate the temperature rise and burn the electric motor.
【０００５】或いは、電動機を所定時間駆動した後に駆
動を停止し、その時点における電機子電流の制限値を、
電動機の上昇温度が許容値以下に下がっても保持し続け
ると、電動機の再起動時には、保持していた制限値に基
づく電流指令の基に電機子電流を流すようになるために
電動機は始動特性が制限されて効率よく駆動されないと
いう問題点があった。Alternatively, after driving the electric motor for a predetermined time, the driving is stopped, and the limit value of the armature current at that time is
If the temperature rise of the motor falls below the allowable value and continues to be held, when the motor restarts, the armature current will flow based on the current command based on the held limit value. However, there was a problem in that it was not driven efficiently because it was limited.
【０００６】この発明は上記のような問題点を解決する
ためになされたもので、電動機の電源遮断後に、電動機
の上昇温度が許容値以下に低下するまで装置の電源を保
持し、装置に設定された制御情報を維持することができ
る電動機制御装置を得ることを目的とする。The present invention has been made in order to solve the above problems, and after the power supply to the motor is cut off, the power supply to the device is maintained until the temperature rise of the motor falls below an allowable value, and the device is set. An object of the present invention is to obtain an electric motor control device that can maintain the controlled information.
【０００７】[0007]
【課題を解決するための手段】請求項１の発明に係る電
動機制御装置は、外部よりの電源投入動作に従って電動
機へ電源を供給すると共に前記電動機に対する各種制御
情報を設定する制御部を備え、この制御部に自己に供給
される電源を自己保持する電源自己保持手段と、前記電
動機に流れる電流の値より前記電動機の上昇温度を推定
する温度推定手段と、前記電動機への電源供給遮断後、
前記推定された上昇温度に基づき、自己保持している電
源を遮断するまでの時間を演算する遮断時間演算手段
と、前記演算された遮断時間経過後に前記電源自己保持
手段に電源遮断指令を出力する電源遮断手段とを有した
ものである。According to a first aspect of the present invention, there is provided an electric motor control device including a control unit for supplying electric power to the electric motor according to an external power-on operation and setting various control information for the electric motor. A power supply self-holding unit that self-holds power supplied to itself to the control unit, a temperature estimating unit that estimates a rising temperature of the electric motor from a value of a current flowing through the electric motor, and a power supply to the electric motor is cut off.
Based on the estimated temperature rise, a cutoff time calculating means for calculating the time until the self-held power supply is cut off, and a power cutoff command is output to the power supply self-holding means after the calculated cutoff time has elapsed. And a power cutoff means.
【０００８】請求項２の発明に係る電動機制御装置は、
外部よりの電源投入動作に従って電動機へ電源を供給す
ると共に前記電動機に対する各種制御情報を設定する制
御部を備え、この制御部に自己に供給される電源を自己
保持する電源自己保持手段と、前記電動機に流れる電流
の値より前記電動機の負荷状態を推定する負荷状態推定
手段と、前記電動機への電源供給遮断後、前記推定され
た負荷状態に基づき、自己保持されている電源を遮断す
るまでの時間を演算する遮断時間演算手段と、前記演算
された遮断時間経過後に前記電源自己保持手段に電源遮
断指令を出力する電源遮断手段とを有したものである。An electric motor control device according to a second aspect of the present invention is
A power supply self-holding means for supplying power to the electric motor according to an external power-on operation and setting various control information for the electric motor, and for self-holding the power supplied to the control unit. Load state estimation means for estimating the load state of the electric motor from the value of the current flowing through the electric power source, and time after the power supply to the electric motor is cut off, based on the estimated load state, until the self-maintained power supply is cut off. And a power cutoff unit for outputting a power cutoff command to the power self-holding unit after the calculated cutoff time has elapsed.
【０００９】[0009]
【作用】請求項１の発明における電動機制御装置は、電
動機の上昇温度が許容温度以下に下がるまで設定した制
御情報を確保できるため、短時間内に再度電動機を制御
する場合でも設定された制御情報によって決まる電流制
限範囲内で電機子電流を流すことができる。従って、電
動機始動時に大電流が電動機に流れて温度上昇を促進し
て電動機を焼損させるといった事態を防止できる。In the electric motor control device according to the present invention, the set control information can be secured until the temperature rise of the electric motor falls below the allowable temperature. Therefore, even when the electric motor is controlled again within a short time, the set control information is set. The armature current can flow within the current limit range determined by Therefore, it is possible to prevent a situation in which a large current flows into the electric motor at the time of starting the electric motor to accelerate the temperature rise and burn the electric motor.
【００１０】請求項２の発明における電動機制御装置
は、電動機の過大負荷状態によって上昇した温度が許容
温度以下に下がるまで設定した制御情報を確保できるた
め、過大負荷状態が解消されていない短時間内に再度電
動機を制御する場合でも設定された制御情報によって決
まる電流制限範囲内で電機子電流を流すことがでる。従
って、電動機始動時に大電流が電動機に流れて過大負荷
状態を促進して電動機を故障させるといった事態を防止
できる。In the electric motor control device according to the second aspect of the present invention, since the set control information can be secured until the temperature raised by the overload state of the electric motor falls below the allowable temperature, the overload state is not eliminated within a short time. Even when the motor is controlled again, the armature current can flow within the current limit range determined by the set control information. Therefore, it is possible to prevent a situation in which a large current flows into the electric motor at the time of starting the electric motor to promote an excessive load state and cause the electric motor to malfunction.
【００１１】[0011]
実施例１．以下、この発明の一実施例を図について説明
する。図１は本実施例における電動機制御装置を示す構
成図である。尚、本実施例における電動機制御装置は特
に電動パワー・ステアリング装置に使用される。図にお
いて、１は制御部としてのコントロールユニットであ
り、このコントロールユニット１は電源ラインＬ１を通
して外部のバッテリ２より電源供給を受けると共に、こ
のバッテリ２による電源電圧を動力ラインＬ２，Ｌ３を
通し、外部に接続された電動機４に供給する。３はバッ
テリ２よりコントロールユニット１へ電源を供給或いは
停止するイグニッションスイッチである。Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing an electric motor control device in the present embodiment. The electric motor control device according to this embodiment is particularly used for an electric power steering device. In the figure, reference numeral 1 is a control unit as a control unit. The control unit 1 is supplied with power from an external battery 2 through a power supply line L1, and the power supply voltage by the battery 2 is supplied through power lines L2 and L3 to the outside. Is supplied to the electric motor 4 connected to. Reference numeral 3 is an ignition switch for supplying or stopping the power supply from the battery 2 to the control unit 1.
【００１２】コントロールユニット１は、ユニット全体
の制御を行う中央処理装置（以下、ＣＰＵと記載する）
１１と、イグニッションスイッチ３のオン動作によりバ
ッテリ電圧が印加された時に、ハイレベルの制御起動信
号Ｓ１を出力し、イグニッションンスイッチ３がオフし
た時に、制御起動信号Ｓ１をローレベルにする制御起動
手段１２と、制御起動手段１２より出力されたハイレベ
ルの制御起動信号Ｓ１或いはこの制御起動信号Ｓ１の入
力に伴ってＣＰＵ１１から出力されたハイレベルの電源
起動信号Ｓ２を入力した時に電源保持信号Ｓ３を出力す
るＯＲゲート１３と、ＯＲゲート１３より電源保持信号
Ｓ３が入力された時にバッテリ２による電源電圧ＥをＣ
ＰＵ１１に自己保持させる電源自己保持手段１４と、Ｃ
ＰＵ１１より出力された電動機右駆動信号Ｓ４，電動機
左駆動信号Ｓ５に従って電動機４を制御する電動機制御
手段１５と、ＣＰＵ１１から出力された電源供給信号Ｓ
６に従って電動機制御手段１５を介して電動機４に電源
を供給する電動機電源供給手段１６と、電動機制御手段
１５を通して電動機４の電機子電流Ｉを検出してＣＰＵ
１１へ電流検出信号Ｓ７として出力する電動機電流検出
手段１７とを有している。The control unit 1 is a central processing unit (hereinafter referred to as CPU) that controls the entire unit.
11 and a control start means that outputs a high level control start signal S1 when a battery voltage is applied by the ON operation of the ignition switch 3 and sets the control start signal S1 to a low level when the ignition switch 3 is turned off. 12 and the high-level control activation signal S1 output from the control activation means 12 or the high-level power activation signal S2 output from the CPU 11 in response to the input of the control activation signal S1. The OR gate 13 for outputting and the power supply voltage E by the battery 2 when the power supply holding signal S3 is inputted from the OR gate 13 are C
A power supply self-holding means 14 for making the PU 11 self-hold, C
The electric motor control means 15 for controlling the electric motor 4 according to the electric motor right drive signal S4 and the electric motor left drive signal S5 output from the PU 11, and the power supply signal S output from the CPU 11.
6, the motor power supply means 16 for supplying power to the motor 4 via the motor control means 15 and the armature current I of the motor 4 through the motor control means 15 to detect the CPU
11 and a motor current detection means 17 for outputting as a current detection signal S7 to the control circuit 11.
【００１３】尚、ＣＰＵ１１は電源自己保持手段１４を
通して電源電圧Ｅの供給を受けると、電源起動信号Ｓ２
をＯＲゲート１３に出力して電源保持信号Ｓ３をＯＲゲ
ート１３より電源自己保持手段１４に出力させる。この
ため、ＣＰＵ１１は、電動機４の電源遮断を行うイグニ
ッションンスイッチ３のオフ動作に拘わりなく電源自己
保持手段１４を通して電源電圧の供給が保持される。更
に、ＣＰＵ１１は温度推定手段、遮断時間演算手段、及
び電源遮断手段を構成している。When the CPU 11 is supplied with the power supply voltage E through the power supply self-holding means 14, the power supply start signal S2.
Is output to the OR gate 13, and the power supply holding signal S3 is output from the OR gate 13 to the power supply self-holding means 14. Therefore, the CPU 11 maintains the supply of the power supply voltage through the power supply self-holding means 14 regardless of the off operation of the ignition switch 3 that shuts off the power supply of the electric motor 4. Further, the CPU 11 constitutes a temperature estimating means, a shutoff time calculating means, and a power shutoff means.
【００１４】次に、本実施例の動作について説明する。
先ず、イグニションスイッチ３がオンすると、バッテリ
２の電源電圧が制御起動手段１２に印加されるためハイ
レベルの制御起動信号Ｓ１がＯＲゲート１３の一方の入
力端子に入力される。その結果、ＯＲゲート１３より電
源保持信号Ｓ３が電源自己保持手段１４に入力されるの
で、ＣＰＵ１１は電源自己保持手段１４を通してバッテ
リ２より電源電圧Ｅが供給されて、その動作を開始す
る。Next, the operation of this embodiment will be described.
First, when the ignition switch 3 is turned on, the power supply voltage of the battery 2 is applied to the control starting means 12, so that the high-level control start signal S1 is input to one input terminal of the OR gate 13. As a result, the power supply holding signal S3 is input from the OR gate 13 to the power supply self-holding means 14, so that the CPU 11 is supplied with the power supply voltage E from the battery 2 through the power supply self-holding means 14 and starts its operation.
【００１５】また、イグニションスイッチ３がオンする
と制御起動手段１２を介してＣＰＵ１１にも制御起動信
号Ｓ１が入力されるために、ＣＰＵ１１からＯＲゲート
１３の他方の入力端子に電源起動信号Ｓ２が出力され
る。そして、ＣＰＵ１１は電動機電源供給手段１６に電
源供給信号Ｓ６を出力し、バッテリ２の電源電圧を電動
機制御手段１５に供給させる。この結果、電動機制御手
段１５はＣＰＵ１１からの電動機右駆動信号Ｓ４或は電
動機左駆動信号Ｓ５に基づいて電動機４を制御する。こ
の時、電動機４の電機子電流Ｉは、電動機制御手段１５
を通して電動機電流検出手段１７によって検出され、電
流検出信号Ｓ７としてＣＰＵ１１へ出力される。ＣＰＵ
１１は入力された電流検出信号Ｓ７と、電動機４の熱時
定数等により電動機４の上昇温度を推定し、この上昇温
度によって電動機４に流す最大電機子電流を制限する。When the ignition switch 3 is turned on, the control start signal S1 is also input to the CPU 11 via the control start means 12, so that the CPU 11 outputs the power supply start signal S2 to the other input terminal of the OR gate 13. It Then, the CPU 11 outputs a power supply signal S6 to the electric motor power supply means 16 to supply the electric power supply voltage of the battery 2 to the electric motor control means 15. As a result, the electric motor control means 15 controls the electric motor 4 based on the electric motor right drive signal S4 or the electric motor left drive signal S5 from the CPU 11. At this time, the armature current I of the electric motor 4 is the electric motor control means 15
Is detected by the electric motor current detection means 17 and is output to the CPU 11 as a current detection signal S7. CPU
Reference numeral 11 estimates the rising temperature of the electric motor 4 based on the input current detection signal S7 and the thermal time constant of the electric motor 4, and limits the maximum armature current flowing to the electric motor 4 by the rising temperature.
【００１６】更に、電動機４の駆動を停止するためにイ
グニションスイッチ３がオフされると、制御起動手段１
２より出力される制御起動信号Ｓ１はローレベルとなっ
てＣＰＵ１１に入力されると共にＯＲゲート１３の一方
の入力端子に入力される。その結果、ＣＰＵ１１は電動
機電源供給手段１６へ出力していた電源供給信号Ｓ６を
停止すると共に、電動機制御手段１５へ出力していた電
動機右駆動信号Ｓ４或いは電動機左駆動信号Ｓ５を停止
して電動機４の駆動を停止する。しかし、ＯＲゲート１
３の他方の入力端子にはＣＰＵ１１からの電源起動信号
Ｓ２が入力されているため、ＯＲゲート１３の出力端子
からは電源保持信号Ｓ３が電源自己保持手段１４に出力
され続けるのでＣＰＵ１１は電源を自己保持して動作を
継続している。Further, when the ignition switch 3 is turned off to stop the driving of the electric motor 4, the control starting means 1
The control start-up signal S1 output from 2 becomes low level and is input to the CPU 11 and is also input to one input terminal of the OR gate 13. As a result, the CPU 11 stops the power supply signal S6 output to the electric motor power supply means 16, and stops the electric motor right drive signal S4 or the electric motor left drive signal S5 output to the electric motor control means 15 to stop the electric motor 4. Stop driving. However, OR gate 1
Since the power supply start-up signal S2 from the CPU 11 is input to the other input terminal of 3, the power supply holding signal S3 continues to be output from the output terminal of the OR gate 13 to the power supply self-holding means 14, so that the CPU 11 powers itself. Hold and continue operation.
【００１７】ＣＰＵ１１は電流検出信号Ｓ７より推定し
た電動機４の上昇温度と電動機４の放熱係数から電動機
４が許容温度値以下に低下する時間を演算し、その時間
が経過するまでＯＲゲート１３の他方の入力端子に出力
している電源起動信号Ｓ２をローレベルに落とさない。
そして、演算した時間が経過した後、電源起動信号Ｓ２
をローレベルに落とす。その結果、ＯＲゲート１３の２
つの入力端子は、いづれもローレベルとなるために電源
自己保持手段１４に出力される電源保持信号Ｓ３はロー
レベルとなる。従って、電源自己保持手段１４は稼働を
停止してＣＰＵ１１への電源供給を停止する。The CPU 11 calculates the time required for the electric motor 4 to fall below the allowable temperature value from the temperature rise of the electric motor 4 estimated from the current detection signal S7 and the heat radiation coefficient of the electric motor 4, and the other side of the OR gate 13 until the time elapses. The power supply activation signal S2 output to the input terminal of is not dropped to the low level.
Then, after the calculated time has elapsed, the power supply activation signal S2
To a low level. As a result, 2 of OR gate 13
Since the two input terminals are both at the low level, the power supply holding signal S3 output to the power supply self-holding means 14 is at the low level. Therefore, the power supply self-holding means 14 stops the operation and stops the power supply to the CPU 11.
【００１８】また、ＣＰＵ１１は、イグニションスイッ
チ３がオフであり電動機４への電源供給を停止している
間は、電動機４の放熱係数から電動機４の低下温度を推
定し、最大電機子電流の制限値を更新しているため、再
度イグニションスイッチ３がオンして電動機４を駆動す
る際でも更新された制限値を超えない範囲の電機子電流
Ｉを流すことになる。従って、電動機４は現在の温度上
昇値以上に温度が上昇するとがないので巻線の絶縁劣化
を招く焼損を阻止することができる。While the ignition switch 3 is off and the power supply to the electric motor 4 is stopped, the CPU 11 estimates the temperature drop of the electric motor 4 from the heat dissipation coefficient of the electric motor 4 to limit the maximum armature current. Since the value is updated, when the ignition switch 3 is turned on again to drive the electric motor 4, the armature current I in a range that does not exceed the updated limit value will flow. Therefore, since the temperature of the electric motor 4 does not rise above the current temperature rise value, it is possible to prevent the burnout which causes the insulation deterioration of the winding.
【００１９】次に、本実施例におけるＣＰＵ１１の処理
動作を図２のフローチャートに従って説明する。先ず、
ＣＰＵ１１は制御起動手段１２からの制御起動信号Ｓ１
を入力して動作を開始すると（ステップＳＴ１）、電動
機電流検出手段１７より電機子電流Ｉに相当する電流検
出信号Ｓ７を入力すると共に、電流検出信号Ｓ７を二乗
した値の積分値に比例した電動機４の上昇温度を推定す
る（ステップＳＴ２，ＳＴ３）。Next, the processing operation of the CPU 11 in this embodiment will be described with reference to the flowchart of FIG. First,
The CPU 11 controls the control start signal S1 from the control start means 12.
When the input is started and the operation is started (step ST1), the current detection signal S7 corresponding to the armature current I is input from the motor current detection means 17, and the motor is proportional to the integral value of the squared value of the current detection signal S7. The temperature rise of No. 4 is estimated (steps ST2 and ST3).
【００２０】推定された電動機４の上昇温度から、電動
機４に流せる最大電機子電流の制限値をを決める（ステ
ップＳＴ４）。これは、即ち、電動機４が熱損失をおこ
す電動機温度は電機子電流Ｉの二乗に比例するため、電
動機４が焼損を起す可能性のある値の電機子電流Ｉを流
さないようにする目的を有する。From the estimated temperature rise of the electric motor 4, the limit value of the maximum armature current that can be passed through the electric motor 4 is determined (step ST4). This is because the motor temperature at which the electric motor 4 causes heat loss is proportional to the square of the armature current I, and therefore the purpose is to prevent the electric motor 4 from flowing the armature current I at a value that may cause burnout. Have.
【００２１】電機子電流Ｉの制限値を決め、電動機４を
制御している状態で制御起動手段１２より制御起動信号
Ｓ１を読み取り、信号レベルから電動機４の制御継続か
否かを判定する（ステップＳＴ５）。この時、制御継続
を判定したならば電源起動信号Ｓ２をハイレベルにして
再度ＯＲゲート１３に出力し、電源保持信号Ｓ３を電源
自己保持手段１４に出力させる（ステップＳＴ６）。The limit value of the armature current I is determined, the control starting signal S1 is read from the control starting means 12 while the electric motor 4 is being controlled, and it is judged from the signal level whether or not the control of the electric motor 4 is continued (step). ST5). At this time, if it is determined to continue the control, the power supply activation signal S2 is set to a high level and output to the OR gate 13 again, and the power supply holding signal S3 is output to the power supply self-holding means 14 (step ST6).
【００２２】ＣＰＵ１１は電源自己保持手段１４の稼働
により動作を継続して電源供給信号Ｓ６を電動機電源供
給手段１６へ出力する（ステップＳＴ７）。この結果、
電動機制御手段１５は電動機電源供給手段１６を通して
バッテリ２による電源電圧の供給を受けるため、ＣＰＵ
１１より入力された電動機右駆動信号Ｓ４或いは電動機
左駆動信号Ｓ５に従って電動機４を制御する。The CPU 11 continues the operation by the operation of the power supply self-holding means 14 and outputs the power supply signal S6 to the electric motor power supply means 16 (step ST7). As a result,
Since the electric motor control means 15 receives the supply of the power supply voltage from the battery 2 through the electric motor power supply means 16, the CPU
The electric motor 4 is controlled according to the electric motor right drive signal S4 or the electric motor left drive signal S5 input from the controller 11.
【００２３】しかし、ステップＳＴ５において電動機４
の制御停止を判定したならば電動機制御手段１５に対す
る電動機右駆動信号Ｓ４或いは電動機左駆動信号Ｓ５の
出力を停止する（ステップＳＴ９）。更に、ステップＳ
Ｔ３で推定された電動機４の温度情報を読み取り推定さ
れた上昇温度が高温か低温かを判定する（ステップＳＴ
１０）。ここで、推定された上昇温度が高温であると判
定されると電動機４の放熱定数等より電動機４の上昇温
度が許容温度値以下に低下するまでの時間を演算し、こ
の演算時間をもとにＣＰＵ１１が自己電源を保持する時
間を設定する（ステップＳＴ１１）。However, in step ST5, the electric motor 4
If it is determined that the control is stopped, the output of the motor right drive signal S4 or the motor left drive signal S5 to the motor control means 15 is stopped (step ST9). Furthermore, step S
The temperature information of the electric motor 4 estimated at T3 is read to determine whether the estimated temperature rise is high or low (step ST
10). If it is determined that the estimated temperature rise is high, the time until the temperature rise of the electric motor 4 falls below the allowable temperature value is calculated from the heat dissipation constant of the electric motor 4 and the calculated time is used as the basis. Then, the time for which the CPU 11 keeps its own power source is set (step ST11).
【００２４】ＣＰＵ１１は他の処理を行いながら設定さ
れた保持時間が経過したか否かを判定し（ステップＳＴ
１２）、経過していないと判断されたならば再度ステッ
プＳＴ１に戻って上述の処理を繰り返す。尚、この繰り
返し処理の過程でＣＰＵ１は電動機４の温度の時間的推
移より電機子電流Ｉの制限値を更新する。The CPU 11 determines whether or not the set holding time has elapsed while performing other processing (step ST
12) If it is determined that the time has not elapsed, the process returns to step ST1 again to repeat the above process. In the course of this iterative process, the CPU 1 updates the limit value of the armature current I from the time transition of the temperature of the electric motor 4.
【００２５】そしてステップＳＴ１２で自己電源の保持
時間の経過を判定したならば、ＣＰＵ１１は電動機電源
供給手段１６へ出力していた電源供給信号Ｓ６を停止し
て電動機４への電源供給を停止し（ステップＳＴ１
３）、 更に、ＯＲゲート１３へ出力していた電源起動
信号Ｓ２を停止して電源自己保持手段１４に対する電源
保持信号Ｓ３の出力を停止させる（ステップＳＴ１
４）。この結果、ＣＰＵ１１は電源自己保持手段１４に
よる電源の自己保持動作を解消し総ての制御動作を停止
する。When it is determined in step ST12 that the holding time of the self power supply has elapsed, the CPU 11 stops the power supply signal S6 output to the electric motor power supply means 16 to stop the electric power supply to the electric motor 4 ( Step ST1
3) Further, the power supply activation signal S2 output to the OR gate 13 is stopped to stop the output of the power supply holding signal S3 to the power supply self-holding means 14 (step ST1).
4). As a result, the CPU 11 cancels the self-holding operation of the power supply by the power self-holding means 14 and stops all control operations.
【００２６】更に、またＣＰＵ１１はステップＳＴ９に
おいて電動機４の上昇温度が低温であると判定した場合
は即座に電源供給信号Ｓ６を停止して電動機４への電源
供給を停止し（ステップＳＴ１３）、且つ、電源起動信
号Ｓ２を停止して電源自己保持手段１４に対する電源保
持信号Ｓ３の出力を停止させる（ステップＳＴ１４）。Further, when it is determined in step ST9 that the temperature rise of the electric motor 4 is low, the CPU 11 immediately stops the power supply signal S6 to stop the electric power supply to the electric motor 4 (step ST13), and The power supply start signal S2 is stopped to stop the output of the power supply hold signal S3 to the power supply self-holding means 14 (step ST14).
【００２７】実施例２．尚、上記実施例１では，ＣＰＵ
１１は入力した電機子電流Ｉより電動機４の上昇温度を
推定し、この推定された上昇温度を基に、電動機４の電
源遮断後にＣＰＵ１１の電源を保持しておく時間を設定
した。しかし、電機子電流Ｉより直接電動機４の負荷状
態を検出し、負荷状態により電動機４の電源遮断後にＣ
ＰＵ１１の電源を保持しておく時間を設定してもよい。
この結果、過負荷状態にある電動機４に過大電流が流れ
るのを阻止できる。Example 2. In the first embodiment, the CPU
Reference numeral 11 estimates the temperature rise of the electric motor 4 from the input armature current I, and based on the estimated temperature rise, the time for holding the power of the CPU 11 after the power supply to the motor 4 is cut off is set. However, the load state of the motor 4 is directly detected from the armature current I, and C is detected after the power of the motor 4 is cut off depending on the load state.
You may set up the time which keeps the power supply of PU11.
As a result, it is possible to prevent an excessive current from flowing through the electric motor 4 in the overloaded state.
【００２８】図３は本実施例の動作を説明するフローチ
ャートである。このフローチャート中、図２に示すフロ
ーチャート中のステップ番号と同一ステップ番号は同一
の処理を示す。従って本実施例はステップＳＴ２Ａにお
いて電機子電流Ｉより電動機４の負荷状態を検出した後
に、ステップＳＴ４ないしステップＳＴ９を処理し、ス
テップＳＴ９ＡではステップＳＴ２Ａで検出した負荷状
態を読みだして過負荷状態か否かを判定する。FIG. 3 is a flow chart for explaining the operation of this embodiment. In this flowchart, the same step number as the step number in the flowchart shown in FIG. 2 indicates the same process. Therefore, in this embodiment, after detecting the load state of the electric motor 4 from the armature current I in step ST2A, the steps ST4 to ST9 are processed, and in step ST9A, the load state detected in step ST2A is read to determine whether it is an overload state. Determine whether or not.
【００２９】ここで、過負荷状態であると判定されると
電動機４の放熱定数等より電動機４の上昇温度が許容温
度値以下に低下するまでの時間を演算し、この演算時間
をもとにＣＰＵ１１が自己電源を保持する時間を設定す
る（ステップＳＴ１１）。その後、ＣＰＵ１１は他の処
理を行いながら設定された保持時間が経過したか否かを
判定し（ステップＳＴ１２）、経過していないと判断さ
れたならば再度ステップＳＴ１〜ステップＳＴ５、ステ
ップＳＴ９〜ステップＳＴ１２を繰り返し処理する。Here, when it is determined that the motor is in an overload state, the time until the temperature rise of the electric motor 4 falls below the allowable temperature value is calculated based on the heat radiation constant of the electric motor 4, and based on this calculated time. The time for which the CPU 11 holds the self power supply is set (step ST11). Thereafter, the CPU 11 determines whether or not the set holding time has elapsed while performing other processing (step ST12), and if it is determined that the set holding time has not elapsed, steps ST1 to ST5 and steps ST9 to ST9 are performed again. ST12 is repeatedly processed.
【００３０】そしてステップＳＴ１２で自己電源の保持
時間の経過を判定したならば、ＣＰＵ１１は電動機電源
供給手段１６へ出力していた電源供給信号Ｓ６を停止し
て電動機４への電源供給を停止する（ステップＳＴ１
３）。 更に、ＣＰＵ１１はＯＲゲート１３へ出力して
いた電源起動信号Ｓ２を停止して電源自己保持手段１４
に対する電源保持信号Ｓ３の出力を停止させる（ステッ
プＳＴ１４）。この結果、ＣＰＵ１１は電源自己保持手
段１４による電源の自己保持動作を解消し総ての制御動
作を停止する。If it is determined in step ST12 that the holding time of the self-power source has elapsed, the CPU 11 stops the power supply signal S6 output to the electric motor power supply means 16 to stop the electric power supply to the electric motor 4 ( Step ST1
3). Further, the CPU 11 stops the power supply activation signal S2 output to the OR gate 13 to stop the power supply self-holding means 14.
The output of the power supply holding signal S3 to the is stopped (step ST14). As a result, the CPU 11 cancels the self-holding operation of the power supply by the power self-holding means 14 and stops all control operations.
【００３１】更に、またＣＰＵ１１はステップＳＴ９Ａ
において過負荷状態を判定しなかった場合は即座に電源
供給信号Ｓ６を停止して電動機４への電源供給を停止し
（ステップＳＴ１３）、且つ、電源起動信号Ｓ２を停止
して電源自己保持手段１４に対する電源保持信号Ｓ３の
出力を停止させる（ステップＳＴ１４）。Furthermore, the CPU 11 also executes step ST9A.
If the overload state is not determined in step S11, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and the power supply start signal S2 is stopped to stop the power supply self-holding means 14. The output of the power supply holding signal S3 to the is stopped (step ST14).
【００３２】実施例３．尚、上記実施例１では，ＣＰＵ
１１は入力した電機子電流Ｉより電動機４の上昇温度を
推定し、この推定温度を基に、電動機４の電源遮断後に
自己の電源を保持しておく時間を，設定した。しかしな
がら、電機子電流Ｉの目標値を予め設定し、この目標電
機子電流より電動機４の温度を推定しても良い。これに
より、電源自己保持時間を予め設定できる。Example 3. In the first embodiment, the CPU
Reference numeral 11 estimates the temperature rise of the electric motor 4 from the input armature current I, and based on this estimated temperature, the time for holding its own power supply after the power supply to the electric motor 4 was cut off was set. However, the target value of the armature current I may be set in advance and the temperature of the electric motor 4 may be estimated from this target armature current. This allows the power supply self-holding time to be set in advance.
【００３３】図４は本実施例の動作を説明するフローチ
ャートである。このフローチャート中、図２に示すフロ
ーチャート中のステップ番号と同一ステップ番号は同一
の処理を示す。従って本実施例はステップＳＴ１Ｂにお
いて電機子電流Ｉの目標値を設定した後に、ステップＳ
Ｔ３ないしステップＳＴ９を処理し、ステップＳＴ１０
にて推定された電動機４の上昇温度が高温か低温かを判
定する。推定された上昇温度が高温であると判定される
と電動機４の放熱定数等より電動機４の上昇温度が許容
温度値以下に低下するまでの時間を演算し、この演算時
間をもとにＣＰＵ１１が自己電源を保持する時間を設定
する（ステップＳＴ１１）。また低温であれば即座に電
源供給信号Ｓ６を停止して電動機４への電源供給を停止
し（ステップＳＴ１３）、且つ、電源起動信号Ｓ２を停
止して電源自己保持手段１４に対する電源保持信号Ｓ３
の出力を停止させる（ステップＳＴ１４）。FIG. 4 is a flow chart for explaining the operation of this embodiment. In this flowchart, the same step number as the step number in the flowchart shown in FIG. 2 indicates the same process. Therefore, in this embodiment, after setting the target value of the armature current I in step ST1B,
Process T3 to step ST9, and execute step ST10
It is determined whether the temperature rise of the electric motor 4 estimated in step 1 is high or low. When it is determined that the estimated rise temperature is high, the time until the rise temperature of the electric motor 4 falls below the allowable temperature value is calculated from the heat dissipation constant of the electric motor 4, etc., and the CPU 11 calculates the time based on this calculation time. The time to hold the self-power source is set (step ST11). If the temperature is low, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and the power start signal S2 is stopped to supply the power holding signal S3 to the power self-holding means 14.
Output is stopped (step ST14).
【００３４】実施例４．尚、上記実施例２では，ＣＰＵ
１１は検出した電機子電流Ｉの値より電動機４の過負荷
状態を検出し、この過負荷状態を基に、電動機４の電源
遮断後にＣＰＵ１の電源を保持しておく時間を設定し
た。しかしながら、電機子電流Ｉの目標値を予め設定
し、この目標電機子電流より電動機４が過負荷に至る仕
方で使用されているかを検出しても良い。これにより、
電動機の過負荷使用を予測することができる。Example 4. In the second embodiment, the CPU
Reference numeral 11 detects the overload state of the electric motor 4 from the detected value of the armature current I, and based on this overload state, the time for holding the power supply of the CPU 1 after the power supply of the electric motor 4 is cut off is set. However, the target value of the armature current I may be set in advance, and it may be detected from this target armature current whether or not the motor 4 is being used in a manner leading to overload. This allows
Motor overload usage can be predicted.
【００３５】図５は本実施例の動作を説明するフローチ
ャートである。このフローチャート中、図３及び図４に
示すフローチャート中のステップ番号と同一ステップ番
号は同一の処理を示す。従って本実施例はステップＳＴ
１Ｂにおいて電機子電流Ｉの目標値を設定した後に、ス
テップＳＴ２Ａで電動機４が過負荷状態に陥る仕方で使
用されているか検出する。FIG. 5 is a flow chart for explaining the operation of this embodiment. In this flowchart, the same step numbers as the step numbers in the flowcharts shown in FIGS. 3 and 4 indicate the same processing. Therefore, in this embodiment, step ST
After setting the target value of the armature current I in 1B, it is detected in step ST2A whether the electric motor 4 is used in a manner of falling into an overload state.
【００３６】その後にステップＳＴ４ないしステップＳ
Ｔ９を処理し、ステップＳＴ９Ａにおいて電動機４が推
定された過負荷状態かを判定する。そして過負荷状態で
あると判定されると電動機４の放熱定数等より電動機４
の上昇温度が許容温度値以下に低下するまでの時間を演
算し、この演算時間をもとにＣＰＵ１１が自己電源を保
持する時間を設定する（ステップＳＴ１１）。また一定
負荷であれば即座に電源供給信号Ｓ６を停止して電動機
４への電源供給を停止し（ステップＳＴ１３）、且つ、
電源起動信号Ｓ２を停止して電源自己保持手段１４に対
する電源保持信号Ｓ３の出力を停止させる（ステップＳ
Ｔ１４）。After that, steps ST4 to S
By processing T9, it is determined in step ST9A whether the electric motor 4 is in the estimated overload state. When it is determined that the electric motor 4 is in an overloaded state, the electric motor 4 is determined from the heat dissipation constant of the electric motor 4.
The time until the rise temperature of the device falls below the allowable temperature value is calculated, and the time during which the CPU 11 keeps its own power supply is set based on the calculated time (step ST11). If the load is constant, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and
The power supply start signal S2 is stopped to stop the output of the power supply hold signal S3 to the power supply self-holding means 14 (step S
T14).
【００３７】実施例５．上記実施例１では電動機電流検
出手段１７にて求めた電機子電流Ｉより電動機４の上昇
温度を推定したが、以下の式に示される関係から電機子
電流Ｉを演算し、この電機子電流Ｉの値より電動機４の
上昇温度を推定しても良い。Example 5. In the first embodiment, the rising temperature of the electric motor 4 was estimated from the armature current I obtained by the electric motor current detection means 17, but the armature current I is calculated from the relationship shown in the following equation, and the armature current I is calculated. The temperature rise of the electric motor 4 may be estimated from the value of.
【００３８】Ｉ＝（ＥT−Ｖ）／Ｒａ〔Ａ〕 Ｖ＝ＫφＮ〔Ａ〕 ここで、 Ｉは電機子電流〔Ａ〕 ＥTは電機子端子電圧〔Ｖ〕 Ｖは逆起電圧〔Ｖ〕 Ｒａは電機子抵抗〔Ω〕 Ｋは定数 Ｎは回転数〔ｒｐｍ〕 である。[0038] I = (E T -V) / Ra (A) V = KfaiN [A] where, I is the armature current [A] E T armature terminal voltage [V] V is counter electromotive voltage [V Ra is an armature resistance [Ω] K is a constant N is a rotation speed [rpm].
【００３９】図６は本実施例における電動機制御装置の
全体構成をしめす構成図である。尚、図において、図１
と同一符号は同一又は相当部分を示す。図において、４
Ａは電動機４の回転軸（図示せず）に結合された、例え
ばロータリエンコーダのような回転検出器であり、この
回転検出器４Ａは電動機４の回転数Ｎに応じた数のパル
ス信号Ｓ１０をコントロールユニット１Ａへ出力する。FIG. 6 is a configuration diagram showing the overall configuration of the electric motor control device in this embodiment. In addition, in FIG.
The same reference numerals as in FIG. In the figure, 4
A is a rotation detector such as a rotary encoder, which is coupled to a rotation shaft (not shown) of the electric motor 4, and this rotation detector 4A outputs a pulse signal S10 of a number corresponding to the rotation speed N of the electric motor 4. Output to control unit 1A.
【００４０】本実施例におけるコントロールユニット１
Ａは、実施例１のコントロールユニット１の構成に加え
て、電動機制御手段１５を通して電動機４の電機子の端
子間電圧ＥTを検出し、端子間電圧信号Ｓ８としてＣＰ
Ｕ１１Ａに出力する電動機端子間電圧検出手段１８と、
回転検出器４Ａより出力されてたパルス信号Ｓ１０に基
づいて電動機４の回転数Ｎを検出し、回転検出信号１１
ＡとしてＣＰＵ１１Ａに出力する電動機回転数検出手段
１９とを有している。Control unit 1 in this embodiment
A, in addition to the configuration of the control unit 1 Example 1, a terminal voltage E T of the armature of the motor 4 detected through the motor control unit 15, CP as a terminal voltage signal S8
A motor terminal voltage detecting means 18 for outputting to U11A,
The rotation speed N of the electric motor 4 is detected based on the pulse signal S10 output from the rotation detector 4A, and the rotation detection signal 11
As A, it has an electric motor rotation speed detection means 19 for outputting to the CPU 11A.
【００４１】図７は本実施例の動作を説明するフローチ
ャートである。このフローチャート中、図２に示すフロ
ーチャート中のステップ番号と同一ステップ番号は同一
の処理を示す。従って本実施例はステップＳＴ２Ｄにお
いて回転検出信号１１Ａより電動機４の回転数Ｎを検出
した後に、ステップＳＴ２Ｅで電動機端子間電圧検出手
段１８より電動機４の電機子の端子間電圧ＥTを入力す
る。FIG. 7 is a flow chart for explaining the operation of this embodiment. In this flowchart, the same step number as the step number in the flowchart shown in FIG. 2 indicates the same process. Therefore, in this embodiment, after the rotation speed N of the electric motor 4 is detected from the rotation detection signal 11A in step ST2D, the terminal voltage E T of the armature of the electric motor 4 is input from the motor terminal voltage detection means 18 in step ST2E.
【００４２】次に、ステップＳＴ２Ｆでは上式に従って
電機子電流Ｉを推定したならば、ステップＳＴ３で電動
機４の上昇温度を推定する。その後ステップＳＴ４ない
しステップＳＴ９を処理し、ステップＳＴ１０にて推定
された電動機４の上昇温度が高温か低温かを判定する。
推定された上昇温度が高温であると判定されると電動機
４の放熱定数等より電動機４の上昇温度が許容温度値以
下に低下するまでの時間を演算し、この演算時間をもと
にＣＰＵ１１Ａが自己電源を保持する時間を設定する
（ステップＳＴ１１）。また低温であれば即座に電源供
給信号Ｓ６を停止して電動機４への電源供給を停止し
（ステップＳＴ１３）、且つ、電源起動信号Ｓ２を停止
して電源自己保持手段１４に対する電源保持信号Ｓ３の
出力を停止させる（ステップＳＴ１４）。Next, in step ST2F, if the armature current I is estimated according to the above equation, the temperature rise of the electric motor 4 is estimated in step ST3. Then, steps ST4 to ST9 are processed to determine whether the temperature rise of the electric motor 4 estimated in step ST10 is high or low.
If it is determined that the estimated temperature rise is high, the time until the temperature rise of the electric motor 4 falls below the allowable temperature value is calculated from the heat radiation constant of the electric motor 4, etc., and the CPU 11A determines the time based on the calculated time. The time to hold the self-power source is set (step ST11). If the temperature is low, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and the power start signal S2 is stopped to supply the power hold signal S3 to the power self-holding means 14. The output is stopped (step ST14).
【００４３】実施例６．尚、上記実施例５では，ＣＰＵ
１１Ａは入力した電動機回転数と電機子の端子間電圧に
基ずいて推定した電機子電流Ｉより電動機４の上昇温度
を推定し、この推定温度を基に、電動機４の電源遮断後
にＣＰＵ１１Ａの電源を保持しておく時間を設定した。
しかしながら、上記の方法で推定した電機子電流Ｉより
電動機４の負荷状態を検出し、負荷状態により電動機４
の電源遮断後にＣＰＵ１１Ａの電源を保持しておく時間
を設定してもよい。Example 6. In the fifth embodiment, the CPU
11A estimates the temperature rise of the electric motor 4 from the armature current I estimated based on the input electric motor speed and the voltage between the terminals of the armature, and based on this estimated temperature, the power supply of the CPU 11A after the power supply to the electric motor 4 is cut off. Set the time to hold.
However, the load state of the electric motor 4 is detected from the armature current I estimated by the above method, and the electric motor 4 is detected according to the load state.
You may set the time which keeps the power supply of CPU11A after the power-off of.
【００４４】図８は本実施例の動作を説明するフローチ
ャートである。このフローチャート中、図７に示すフロ
ーチャート中のステップ番号と同一ステップ番号は同一
の処理を示す。従って本実施例はステップＳＴ３におい
て電機子電流Ｉより電動機４の負荷状態を検出した後
に、ステップＳＴ４ないしステップＳＴ９を処理し、ス
テップＳＴ９Ａにて過負荷状態か否かを判定する。FIG. 8 is a flow chart for explaining the operation of this embodiment. In this flowchart, the same step numbers as the step numbers in the flowchart shown in FIG. 7 indicate the same processing. Therefore, in this embodiment, after the load state of the electric motor 4 is detected from the armature current I in step ST3, steps ST4 to ST9 are processed, and in step ST9A it is determined whether or not it is in the overload state.
【００４５】そして過負荷状態であると判定されると電
動機４の放熱定数等より電動機４の上昇温度が許容温度
値以下に低下するまでの時間を演算し、この演算時間を
もとにＣＰＵ１１Ａが自己電源を保持する時間を設定す
る（ステップＳＴ１１）。また一定負荷であれば即座に
電源供給信号Ｓ６を停止して電動機４への電源供給を停
止し（ステップＳＴ１３）、且つ、電源起動信号Ｓ２を
停止して電源自己保持手段１４に対する電源保持信号Ｓ
３の出力を停止させる（ステップＳＴ１４）。When it is determined that the motor is in the overload state, the heat dissipation constant of the electric motor 4 is used to calculate the time until the temperature rise of the electric motor 4 falls below the allowable temperature value, and the CPU 11A calculates the time based on the calculated time. The time to hold the self-power source is set (step ST11). If the load is constant, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and the power start signal S2 is stopped to supply the power holding signal S to the power self-holding means 14.
The output of 3 is stopped (step ST14).
【００４６】実施例７．さらに、自動車等のバッテリを
電源供給源とする制御装置では、制御装置停止指令時に
電源を供給し続けるとバッテリの過放電が懸念されるの
で電源の保持時間に最大値を設けても良いし、例えば、
３分等の定時間としても良い。Example 7. Further, in a control device that uses a battery such as an automobile as a power supply source, there is a concern that the battery may be over-discharged if the power is continuously supplied at the time of the control device stop command, so a maximum value may be set for the holding time of the power supply, For example,
It may be a fixed time such as 3 minutes.
【００４７】[0047]
【発明の効果】請求項１の発明によれば、外部よりの電
源投入動作に従って電動機へ電源を供給すると共に前記
電動機に対する各種制御情報を設定する制御部を備え、
この制御部に自己に供給される電源を自己保持する電源
自己保持手段と、前記電動機に流れる電流の値より前記
電動機の上昇温度を推定する温度推定手段と、前記電動
機への電源供給遮断後、前記推定された上昇温度に基づ
いて自己保持している電源を遮断するまでの時間を演算
する遮断時間演算手段と、前記演算された遮断時間経過
後に前記電源自己保持手段に電源遮断指令を出力する電
源遮断手段とを有したので、制御部は電動機の上昇温度
が許容温度以下に下がるまで設定した制御情報を確保で
きるため、短時間内に再度電動機を制御する場合でも設
定された制御情報によって決まる電流制限範囲内で電機
子電流を流すことがでる。従って、電動機始動時の大電
流が電動機に流れて温度上昇を促進して電動機を焼損さ
せるといった事態を防止できるという効果がある。According to the first aspect of the present invention, there is provided a control section for supplying power to the electric motor according to an external power-on operation and setting various control information for the electric motor.
A power supply self-holding unit that self-holds power supplied to itself to this control unit, a temperature estimating unit that estimates a rising temperature of the electric motor from a value of a current flowing through the electric motor, and a power supply cutoff to the electric motor, A cutoff time calculating means for calculating the time until the self-held power supply is cut off based on the estimated temperature rise, and a power cutoff command is output to the power supply self-holding means after the calculated cutoff time has elapsed. Since the control unit can secure the set control information until the temperature rise of the electric motor falls below the allowable temperature because it has the power cutoff means, it is determined by the set control information even when the electric motor is controlled again within a short time. Armature current can flow within the current limit range. Therefore, there is an effect that it is possible to prevent a situation in which a large current at the time of starting the electric motor flows into the electric motor to accelerate the temperature rise and burn the electric motor.
【００４８】請求項２の発明によれば、外部よりの電源
投入動作に従って電動機へ電源を供給すると共に前記電
動機に対する各種制御情報を設定する制御部を備え、こ
の制御部に自己に供給される電源を自己保持する電源自
己保持手段と、前記電動機に流れる電流の値より前記電
動機の負荷状態を推定する負荷状態推定手段と、前記電
動機への電源供給遮断後、前記推定された負荷状態に基
づいて自己保持している電源を遮断するまでの時間を演
算する遮断時間演算手段と、前記演算された遮断時間経
過後に前記電源自己保持手段に電源遮断指令を出力する
電源遮断手段とを有したので、制御部は電動機の過大負
荷状態によって上昇した温度が許容温度以下に下がるま
で設定した制御情報を確保できるため、過大負荷状態が
解消されていない短時間内に再度電動機を制御する場合
でも設定された制御情報によって決まる電流制限範囲内
で電機子電流を流すことがでる。従って、電動機始動時
の大電流が電動機に流れて過大負荷状態を促進して電動
機を故障させるといった事態を防止できるという効果が
ある。According to the second aspect of the present invention, there is provided a control unit for supplying power to the electric motor and setting various control information for the electric motor according to the power-on operation from the outside, and the power supplied to the control unit itself. Self-holding power source self-holding means, load state estimating means for estimating the load state of the electric motor from the value of the current flowing in the electric motor, and after the power supply to the electric motor is cut off, based on the estimated load state Since it has a cutoff time calculation means for calculating the time until the power supply self-holding is cut off, and a power supply cutoff means for outputting a power cutoff command to the power supply self-holding means after the calculated cutoff time has elapsed, The control unit can secure the set control information until the temperature rises due to the overload state of the motor falls below the allowable temperature, so the overload state is not resolved. It comes out to flow the armature current in the current restriction range determined by the control information set even when controlling again the motor in time. Therefore, there is an effect that it is possible to prevent a situation in which a large current at the time of starting the electric motor flows into the electric motor to promote an overload state and cause the electric motor to malfunction.
【図１】この発明の一実施例による電動機制御装置の構
成を示す構成図である。FIG. 1 is a configuration diagram showing a configuration of an electric motor control device according to an embodiment of the present invention.
【図２】実施例１による電動機制御装置の動作を説明す
るフローチャートである。FIG. 2 is a flowchart illustrating an operation of the electric motor control device according to the first embodiment.
【図３】実施例２による電動機制御装置の動作を説明す
るフローチャートである。FIG. 3 is a flowchart illustrating an operation of the electric motor control device according to the second embodiment.
【図４】実施例３による電動機制御装置の動作を説明す
るフローチャートである。FIG. 4 is a flowchart illustrating an operation of a motor control device according to a third embodiment.
【図５】実施例４による電動機制御装置の動作を説明す
るフローチャートである。FIG. 5 is a flowchart illustrating an operation of the electric motor control device according to the fourth embodiment.
【図６】この発明の実施例５による電動機制御装置の構
成を示す構成図である。FIG. 6 is a configuration diagram showing a configuration of an electric motor control device according to a fifth embodiment of the present invention.
【図７】実施例５による電動機制御装置の動作を説明す
るフローチャートである。FIG. 7 is a flowchart illustrating an operation of the electric motor control device according to the fifth embodiment.
【図８】実施例６による電動機制御装置の動作を説明す
るフローチャートである。FIG. 8 is a flowchart illustrating an operation of the electric motor control device according to the sixth embodiment.
１ コントロールユニット ２ バッテリ ４ 電動機 １１ ＣＰＵ １２ 制御起動手段 １４ 電源自己保持手段 １７ 電動機電流検出手段 Ｉ 電機子電流 1 Control Unit 2 Battery 4 Electric Motor 11 CPU 12 Control Starting Means 14 Power Supply Self-Holding Means 17 Electric Motor Current Detecting Means I Armature Current
【手続補正書】[Procedure amendment]
【提出日】平成５年１０月２２日[Submission date] October 22, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００３[Name of item to be corrected] 0003
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００３】[0003]
【発明が解決しようとする課題】従来の電動パワーステ
アリング装置に使用された電動機制御装置は、通常、外
部から電源投入遮断動作がなされた際、バッテリ電圧の
低下を防止するために装置の電源も遮断してしまうた
め、制御動作時に設定した電動機の各制御情報、例えば
電子機電流の制限値をクリアしてしまうことになる。そ
して、再度、装置の電源を投入する際には、電機子電流
の制限値を電動機の始動特性に合わせて広い範囲で初期
設定していた。The electric motor control device used in the conventional electric power steering device is usually an external motor control device.
When the power-on and power-off operation is made from the parts, because that blocks also power the device in order to prevent a decrease in battery voltage, the control information of the motor set during control operation, for example, the limit value of the electronic motor current It will be cleared. Then, when the power of the apparatus is turned on again, the limit value of the armature current is initially set in a wide range according to the starting characteristics of the electric motor.
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００４[Correction target item name] 0004
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００４】そのために、電動機の温度が高い内に外部
から電源投入遮断動作がなされ電動機の電源を遮断後装
置の電源遮断し、短時間内に再度装置の電源を投入して
電動機を駆動すると、初期化された制限値の範囲で大き
な電機子電流が電動機に流れて温度上昇を促進して電動
機を焼損に至らしめるという問題点があった。Therefore, while the temperature of the electric motor is high, the external
The power is turned on and off from the
When the motor is driven by turning off the power to the equipment and turning on the power of the equipment again within a short time, a large armature current flows to the motor within the initialized limit value, promoting temperature rise and burning the motor. There was a problem that it led to.
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００５[Name of item to be corrected] 0005
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００５】或いは、電動機の温度が高い内に外部から
電源投入遮断動作がなされ電動機の電源を遮断後装置の
電源を遮断し、その時点における電機子電流の制限値を
保持する。電動機の温度が許容値以下に下がってから、
再度装置の電源を投入すると、保持していた制限値に基
づく電流指令の基に電機子電流を流すようになるために
電動機は始動特性が制限されて効率よく駆動されないと
いう問題点があった。Alternatively, while the temperature of the electric motor is high, a power-on / off operation is performed from the outside to cut off the electric power of the motor after cutting off the electric power of the electric motor, and hold the limit value of the armature current at that time. After the temperature of the motor drops below the allowable value,
When the power of the device is turned on again , the armature current is made to flow based on the current command based on the held limit value, so that the starting characteristic of the electric motor is limited and the electric motor cannot be efficiently driven.
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１０[Correction target item name] 0010
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１０】請求項２の発明における電動機制御装置
は、電動機の過大負荷状態によって上昇した温度が許容
温度以下に下がるまで設定した制御情報を確保できるた
め、過大負荷状態が解消されていない短時間内に再度電
動機を制御する場合でも設定された制御情報によって決
まる電流制限範囲内で電機子電流を流すことができる。
従って、電動機始動時に大電流が電動機に流れて過大負
荷状態を促進して電動機を故障させるといった事態を防
止できる。In the electric motor control device according to the second aspect of the present invention, since the set control information can be secured until the temperature raised by the overload state of the electric motor falls below the allowable temperature, the overload state is not eliminated within a short time. that Ki out passing a armature current within the current restriction range determined by the control information set even when controlling re electric motor.
Therefore, it is possible to prevent a situation in which a large current flows into the electric motor at the time of starting the electric motor to promote an excessive load state and cause the electric motor to malfunction.
【手続補正５】[Procedure Amendment 5]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１５[Name of item to be corrected] 0015
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１５】また、イグニションスイッチ３がオンする
と制御起動手段１２を介してＣＰＵ１１にも制御起動信
号Ｓ１が入力されるために、ＣＰＵ１１からＯＲゲート
１３の他方の入力端子に電源起動信号Ｓ２が出力され
る。そして、ＣＰＵ１１は電動機電源供給手段１６に電
源供給信号Ｓ６を出力し、バッテリ２の電源電圧を電動
機制御手段１５に供給させる。この結果、電動機制御手
段１５はＣＰＵ１１からの電動機右駆動信号Ｓ４或いは
電動機左駆動信号Ｓ５に基づいて電動機４を制御する。
この時、電動機４の電機子電流Ｉは、電動機制御手段１
５を通して電動機電流検出手段１７によって検出され、
電流検出信号Ｓ７としてＣＰＵ１１へ出力される。ＣＰ
Ｕ１１は入力された電流検出信号Ｓ７と、電動機４の熱
時定数等により電動機４の上昇温度を推定し、この上昇
温度によって電動機４に流す最大電機子電流を制限す
る。When the ignition switch 3 is turned on, the control start signal S1 is also input to the CPU 11 via the control start means 12, so that the CPU 11 outputs the power supply start signal S2 to the other input terminal of the OR gate 13. It Then, the CPU 11 outputs a power supply signal S6 to the electric motor power supply means 16 to supply the electric power supply voltage of the battery 2 to the electric motor control means 15. As a result, the motor controller 15 the motor right drive signal S4 some have from CPU11 controls the electric motor 4 based on the motor left drive signal S5.
At this time, the armature current I of the electric motor 4 is equal to the electric motor control means 1
5 is detected by the motor current detection means 17 through
The current detection signal S7 is output to the CPU 11. CP
U11 estimates the rising temperature of the electric motor 4 based on the input current detection signal S7 and the thermal time constant of the electric motor 4, and limits the maximum armature current flowing to the electric motor 4 by the rising temperature.
【手続補正６】[Procedure correction 6]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２６[Correction target item name] 0026
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００２６】更に、またＣＰＵ１１はステップＳＴ１０
において電動機４の上昇温度が低温であると判定した場
合は即座に電源供給信号Ｓ６を停止して電動機４への電
源供給を停止し（ステップＳＴ１３）、且つ、電源起動
信号Ｓ２を停止して電源自己保持手段１４に対する電源
保持信号Ｓ３の出力を停止させる（ステップＳＴ１
４）。Furthermore, the CPU 11 also causes the step ST 10
If it is determined that the temperature rise of the electric motor 4 is low, the power supply signal S6 is immediately stopped to stop the power supply to the electric motor 4 (step ST13), and the power supply start signal S2 is stopped to turn on the power supply. The output of the power supply holding signal S3 to the self holding means 14 is stopped (step ST1).
4).
【手続補正７】[Procedure Amendment 7]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００３２[Name of item to be corrected] 0032
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００３２】実施例３．尚、上記実施例１では、ＣＰＵ
１１は入力した電機子電流Ｉより電動機４の上昇温度を
推定し、この推定温度を基に、電動機４の電源遮断後に
自己の電源を保持しておく時間を設定した。しかしなが
ら、電機子電流Ｉの目標値を予め設定し、この目標電機
子電流より電動機４の温度を推定しても良い。これによ
り、電源自己保持時間を予め設定できる。Example 3. In the first embodiment, the CPU
11 estimates the temperature rise of the armature current I motor 4 based input, based on this estimated temperature, time to hold its own power supply was set boss after power-off of the electric motor 4. However, the target value of the armature current I may be set in advance and the temperature of the electric motor 4 may be estimated from this target armature current. This allows the power supply self-holding time to be set in advance.
【手続補正８】[Procedure Amendment 8]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図２[Name of item to be corrected] Figure 2
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図２】 [Fig. 2]
【手続補正９】[Procedure Amendment 9]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図３[Name of item to be corrected] Figure 3
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図３】 [Figure 3]
【手続補正１０】[Procedure Amendment 10]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図４[Name of item to be corrected] Fig. 4
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図４】 [Figure 4]
【手続補正１１】[Procedure Amendment 11]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図５[Name of item to be corrected] Figure 5
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図５】 [Figure 5]
【手続補正１２】[Procedure Amendment 12]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図７[Name of item to be corrected] Figure 7
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図７】 [Figure 7]
【手続補正１３】[Procedure Amendment 13]
【補正対象書類名】図面[Document name to be corrected] Drawing
【補正対象項目名】図８[Correction target item name] Figure 8
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図８】 [Figure 8]
Claims (2)
へ電源を供給すると共に前記電動機に対する各種制御情
報を設定する制御部を備え、この制御部に自己に供給さ
れる電源を自己保持する電源自己保持手段と、前記電動
機に流れる電流の値より前記電動機の上昇温度を推定す
る温度推定手段と、前記電動機への電源供給遮断後、前
記推定された上昇温度に基づき、自己保持している電源
を遮断するまでの時間を演算する遮断時間演算手段と、
前記演算された遮断時間経過後に前記電源自己保持手段
に電源遮断指令を出力する電源遮断手段とを有したこと
を特徴とする電動機制御装置。1. A power supply self-holding system, comprising: a control unit for supplying power to an electric motor according to an external power-on operation and setting various control information for the electric motor, and self-holding power supplied to the control unit. Means, temperature estimating means for estimating the temperature rise of the electric motor from the value of the current flowing through the electric motor, and after shutting off the power supply to the electric motor, shutting off the self-maintained power source based on the estimated temperature rise. Cutoff time calculating means for calculating the time until
A motor control device comprising: a power cutoff unit that outputs a power cutoff command to the power self-holding unit after the calculated cutoff time has elapsed.
へ電源を供給すると共に前記電動機に対する各種制御情
報を設定する制御部を備え、この制御部に自己に供給さ
れる電源を自己保持する電源自己保持手段と、前記電動
機に流れる電流の値より前記電動機の負荷状態を推定す
る負荷状態推定手段と、前記電動機への電源供給遮断
後、前記推定された負荷状態に基づき、自己保持してい
る電源を遮断するまでの時間を演算する遮断時間演算手
段と、前記演算された遮断時間経過後に前記電源自己保
持手段に電源遮断指令を出力する電源遮断手段とを有し
たことを特徴とする電動機制御装置。2. A power supply self-holding device that includes a control unit that supplies power to an electric motor according to an external power-on operation and sets various control information for the electric motor, and that self-holds power supplied to itself to the control unit. Means, load state estimating means for estimating the load state of the electric motor from the value of the current flowing through the electric motor, and after shutting off the power supply to the electric motor, based on the estimated load state, a self-maintaining power supply An electric motor control device comprising: a cutoff time calculating means for calculating a time until cutoff; and a power cutoff means for outputting a power cutoff command to the power supply self-holding means after the calculated cutoff time has elapsed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5038475A JP2892899B2 (en) | 1993-02-26 | 1993-02-26 | Motor control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5038475A JP2892899B2 (en) | 1993-02-26 | 1993-02-26 | Motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06247324A true JPH06247324A (en) | 1994-09-06 |
| JP2892899B2 JP2892899B2 (en) | 1999-05-17 |
Family
ID=12526282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5038475A Expired - Lifetime JP2892899B2 (en) | 1993-02-26 | 1993-02-26 | Motor control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2892899B2 (en) |
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| JP2002370659A (en) * | 2001-06-13 | 2002-12-24 | Koyo Seiko Co Ltd | Electric power steering device |
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|---|---|---|---|---|
| JP2001328551A (en) * | 2000-05-19 | 2001-11-27 | Toyota Motor Corp | Electric power steering device for vehicle |
| JP2002370659A (en) * | 2001-06-13 | 2002-12-24 | Koyo Seiko Co Ltd | Electric power steering device |
| WO2003047950A1 (en) * | 2001-12-07 | 2003-06-12 | Nsk Ltd. | Control device for electric power steering device |
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| US7203583B2 (en) | 2004-06-02 | 2007-04-10 | Mitsubishi Denki Kabushiki Kaisha | Electric power steering unit |
| FR2879551A1 (en) * | 2004-12-21 | 2006-06-23 | Mitsubishi Electric Corp | Electrical steering system for vehicle, has initial value fixation unit driving electrically erasable programmable ROM to store state of electronic control unit when an ignition switch is changed from ON to OFF state |
| JP2006224690A (en) * | 2005-02-15 | 2006-08-31 | Nsk Ltd | Control device for electric power steering device |
| JP4534784B2 (en) * | 2005-02-15 | 2010-09-01 | 日本精工株式会社 | Control device for electric power steering device |
| JP2007053894A (en) * | 2005-07-20 | 2007-03-01 | Asmo Co Ltd | Motor control device |
| JP2012055161A (en) * | 2005-07-20 | 2012-03-15 | Asmo Co Ltd | Motor controller |
| JP2007151380A (en) * | 2005-11-07 | 2007-06-14 | Asmo Co Ltd | Motor control unit |
| JP2007253735A (en) * | 2006-03-22 | 2007-10-04 | Honda Motor Co Ltd | Motor protection device |
| US7878512B2 (en) | 2007-02-27 | 2011-02-01 | Honda Motor Co., Ltd. | Alignment changing control device |
| EP1964754A1 (en) | 2007-02-27 | 2008-09-03 | Honda Motor Co., Ltd | Alignment changing control device |
| JP2008220025A (en) * | 2007-03-02 | 2008-09-18 | Seiko Epson Corp | Electronic equipment and control method for motor installed in electronic equipment |
| WO2008153162A1 (en) * | 2007-06-13 | 2008-12-18 | Nsk Ltd. | Electric power steering apparatus |
| JP5402631B2 (en) * | 2007-06-13 | 2014-01-29 | 日本精工株式会社 | Electric power steering apparatus and vehicle |
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| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |