JPH09172703A - Device for controlling motor for driving electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the i/o currents of an AC motor optimally even when abnormality occurs in the current detection value, by monitoring the phase voltage command value to the motor so as to detect the abnormality of the currents, when severally feeding back the current of each phase of the three phases of the three-phase AC motor for traveling. SOLUTION: An abnormality decision part 45 detects the abnormality of current detection sensors 51, 52, and 53, based on the motor voltage command of a motor voltage command processing part 43. The part 45 decides that the detection sensitiveness of the current detection sensor of W phases has risen, in case the phase voltage command value becomes small only in the W phase, and judges that the detection sensitiveness of other current detection sensor of W phase has dropped, in case the phase voltage command value of the W phase has become larger than other two phases, out of the phase voltage command value of three phases. A corrector 4, if the part 45 decides the abnormality, corrects the motor voltage command value operated by the motor voltage command processing part 43 to the value to be outputted when the current detection sensors 51, 52, and 53 have made all normal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle traction motor control device in which the traction motor is an AC motor.

[0002]

2. Description of the Related Art In controlling an AC motor in an electric vehicle, the torque or the rotational speed of the motor is controlled. Therefore, the phase current of the motor that determines the torque and the rotation speed of the motor needs to be accurately controlled according to the vehicle operating state. For example, in Japanese Patent Laid-Open No. 145806/1992, acceleration and vibration of the vehicle are detected to ensure smooth acceleration of the vehicle, and the input / output current of the AC motor is optimally controlled to suppress the vibration of the vehicle. Is being done.

[0003]

By the way, the control device described in the above publication is provided with a current detection sensor for detecting the phase current of the AC motor in order to optimally control the input / output current of the AC motor. Feedback control is performed so that the deviation between the detected value of the sensor and the predetermined current command value becomes zero.

In such feedback control, even if a detection error occurs due to an abnormality or variation in the current detection sensor, feedback control is performed including this detection error. Two
If only current detection is performed, the current actually flowing in the motor will be doubled by the feedback control.
In this way, if an abnormality occurs in the current detection of the current detection sensor, the input / output current of the AC motor cannot be optimally controlled.

The present invention solves such a problem and is capable of promptly detecting the occurrence of an abnormality in the current detection value of the current detection sensor, and even when such an abnormality occurs. An object of the present invention is to provide an electric vehicle traveling motor control device capable of optimally controlling the input / output current of an AC motor.

[0006]

In order to achieve the above object, the present invention provides, according to the invention of claim 1, three-phase currents of three phases of a three-phase AC motor (3) for traveling of an electric vehicle. In the motor control device that performs feedback control respectively,
As a method of detecting an abnormality of the current detecting means (51, 52, 53), the phase voltage command value to the motor is monitored.

As a result, when the current detecting means for detecting the phase current of the motor is abnormal, the phase voltage command of the abnormal phase also becomes abnormal. Therefore, by monitoring this phase voltage command, the current detection is also performed in the feedback control. The effect that the abnormality of the means can be detected is obtained. According to the invention of claim 2, the phase current detection value of the phase of the abnormal current detection means is
The abnormal current detecting means is corrected to the phase current detection value detected at the normal time.

As a result, even if an abnormality occurs in the current detection means, the phase voltage command to the motor of the phase in which the current detection means is abnormal can be made normal, and the current detection means becomes abnormal in the feedback control. Even when the motor is controlled, it is possible to obtain the effect that the motor control can be performed in the same manner as in the normal time. According to the third aspect of the present invention, as a method for determining an abnormality in the current detecting means, when only two phases of the phase voltage command amplitudes of the three phases match, the remaining current detecting means of the non-matching phases are made abnormal. Is characterized by.

As a result, the deviation between the phase current command value and the phase current detection value is large due to the overshoot of the phase current at the time of transition in the feedback control, and the normal phase voltage command amplitude predicted based on this deviation is predicted. Even when it is difficult, the effect of this deviation is neglected, so that it is possible to detect an abnormality of the current detection means in the feedback control even in the motor control during the transition.

According to a fourth aspect of the present invention, as a method for detecting an abnormality in the current detecting means, if the phase voltage command amplitude of each phase is not within a predetermined upper and lower limit value, the upper and lower limit values are set. It is characterized in that the current detection means of the non-existing phase is made abnormal. This makes it possible to identify the abnormality of the current detection means in each phase, and thus it is possible to detect the abnormality even if the current detection means of two or more of the three phases are abnormal in the feedback control at the same time. can get.

In a fifth aspect of the present invention, when the current detecting means is abnormal, as a correcting means, when only two phases of the phase voltage command amplitudes of the three phases match, the phase voltages of the remaining non-matching phases. It is characterized in that the command is matched with the other two phase voltage commands that match. This causes a large deviation between the phase current command value and the phase current detection value due to an overshoot of the phase current at the time of transition in feedback control, and it is difficult to predict a normal phase voltage command amplitude calculated based on this deviation. In this case, the current detection means can estimate the phase voltage command value of the abnormal phase by ignoring the effect of this deviation. The effect that it can be performed in the same manner as the time is obtained.

According to the sixth aspect of the present invention, as a correction when the current detecting means is abnormal, the phase current detection value of the phase in which the phase current detecting means is abnormal is detected as the other normal phase current of two phases. It is characterized by taking the sum of the values and reversing with the neutral point as the reference. As a result, even if one of the phase current detecting means is abnormal without input such as disconnection, if the other two phases are normal, the abnormal phase is not corrected without offset correction of the abnormal current detecting means. Since the phase current detection signal can be restored, it is possible to obtain the effect that the motor control can be normally performed even if one of the phase current detection means is not input.

In a seventh aspect of the present invention, as a correction when the current detecting means is abnormal, the phase voltage command of the phase in which the phase current detecting means is abnormal is changed to another normal phase voltage command of two phases. It is characterized by taking the sum and inverting with the neutral point as the reference. As a result, even if one of the phase current detecting means causes an input-less abnormality such as disconnection, if the other two phases are normal,
Since the phase current detection signal of the abnormal phase is not restored, the effect of the abnormal phase current detection signal is ignored, and the effect of enabling normal motor control is obtained.

According to the eighth aspect of the invention, as a correction when the current detecting means is abnormal, the normal value of the phase voltage command of the phase in which the phase current detecting means is abnormal is changed to the other normal two-phase phase. It is characterized by being created by calculation based on the amplitude and phase of the voltage command. As a result, even if the common-mode noise is superimposed on the normal phase current detection means, the common-mode noise superimposed on the two-phase phase current detection value is the phase voltage when the phase in which the phase current detection means is abnormal is normal. It is also superimposed on the command value. for that reason,
By canceling this common-mode noise and creating a phase current detection value for an abnormal phase, it is possible to perform motor control in the same way as in normal times, without the influence of common-mode noise on the abnormal phase current detection means. The effect is obtained.

According to a ninth aspect of the invention, the phase voltage command for the phase in which the phase current detecting means is abnormal is used as a correction when the traveling three-phase AC motor is DC brushless and the current detecting means is abnormal. Is created based on the absolute position information of the rotor of the DC brushless motor with respect to the stator and the amplitude of another normal phase voltage command of at least one phase.

As a result, if at least one phase of the normal phase current detecting means is normal, the phase current signal of the abnormal phase is restored, and it is possible to perform the motor control normally. In a tenth aspect of the invention, in a motor control device that performs feedback control based on a two-phase current of a three-phase AC motor for running an electric vehicle, a phase current of a phase used to calculate a phase voltage command value to the motor. As a method for detecting an abnormality in the main current detecting means for detecting the current, a feature is to monitor the signal amplitude and the phase difference between the signals of the main current detecting means and the sub current detecting means for detecting the phase current of the phase not used for the calculation. .

As a result, when the main current detecting means for detecting the phase current used for calculating the phase voltage command of the motor is abnormal, the signal amplitude of the phase currents of the three phases and the phase difference between the signals become abnormal. By monitoring the detected value of the phase current, it is possible to obtain the effect that the abnormality of the main current detecting means can be detected even in the feedback control. In the invention according to claim 11, as correction when the current detection means is abnormal,
The phase current detection value of the abnormal main current detection means is corrected to the phase current detection value detected by the abnormal main current detection means at the normal time.

Thus, even if one of the main current detecting means is abnormal, the phase voltage command to the motor can be made normal, and even when the current detecting means is abnormal in the feedback control, the motor control is performed in the same manner as in the normal case. The effect that it is possible to do is obtained. Further, by providing the sub-current detection means in a phase different from the phase current used for calculating the phase voltage command of the motor, it is possible to identify which of the three phases is abnormal. To be

According to the twelfth aspect of the present invention, as correction when the current detecting means is abnormal, the amplitude of the phase voltage command value is corrected so that the phase difference of the phase current detection values of the three phases becomes equal among the three phases. It is characterized by As a result, even if the detection sensitivity of one of the main current detection means is abnormal, the abnormal current detection value of the abnormal main current detection means is not estimated, and the phase voltage command to the motor is normally corrected. In the above, the effect that the motor control can be performed in the same manner as in the normal time even when the current detection means is abnormal is obtained.

According to a thirteenth aspect of the present invention, as correction when the current detecting means is abnormal, when any one of the main current detecting means is abnormal, the auxiliary current detecting means is replaced by the abnormal main current detecting means. It is characterized in that a phase voltage command to the motor is calculated based on the detected phase current value. As a result, even if one of the main current detection means is abnormal, the sub-current detection means is used instead of the abnormal main current detection means to calculate the three-phase phase voltage command to the motor, and the phase voltage to the motor is calculated. It is possible to obtain the effect that the command can be output in the same manner as in the normal time without the influence of the offset error of the individual current detection means.

According to a fourteenth aspect of the present invention, in the motor control device for performing feedback control based on the two-phase current of the three-phase AC motor for running an electric vehicle, the current detection is performed as an abnormality detection method of the current detection means. The amplitude and the phase difference of the phase voltage command value calculated based on the phase current detection value of the means are monitored.

As a result, when the current detecting means for detecting the phase current used for calculating the phase voltage command of the motor is abnormal,
The signal amplitude of the three-phase phase voltage command and the phase difference between the signals become abnormal.Therefore, by monitoring this phase voltage command value, it is possible to detect abnormalities in the main current detection means even in feedback control. can get. According to the fifteenth aspect of the present invention, as a correction when the current detection means is abnormal, the phase voltage command value of the abnormal current detection means is changed to a normal phase voltage command value based on the normal phase voltage command value. It is characterized by correction.

As a result, even if one of the current detecting means has an abnormal sensitivity, the phase voltage command to the motor is made normal. Therefore, even if one of the current detecting means is abnormal in the feedback control, the motor control is performed in the same manner as in the normal case. The effect that it is possible to do is obtained. According to the sixteenth aspect of the present invention, as the abnormality detecting method of the current detecting means, the abnormal current detecting means is specified based on the signal amplitude of the three-phase phase voltage command and the phase difference between the signals. .

Accordingly, even in the feedback control with two current detecting means, it is possible to identify the abnormal current detecting means when one of the current detecting means is abnormal. According to the invention of claim 17,
As an abnormality detecting method for the current detecting means, when the phase voltage command amplitude of at least one phase is not within the predetermined upper and lower limit values defined in advance, the current of at least one phase of the current detecting means of the phase which is not within the upper and lower limit values It is characterized in that the abnormality of the detection means is specified.

As a result, whether or not the current detecting means of the phase of the phase voltage command that is outside the predetermined upper and lower limit values is abnormal, or the phase voltage command value is under the predetermined upper and lower limits due to the effect of the abnormality of the current detecting means of the other phase. It is possible to obtain an effect that it is possible to identify an abnormal current detection means without determining the phase difference information between the three-phase current detection signals by determining whether the current value is out of the value. According to the eighteenth aspect of the present invention, as a correction when the current detection means is abnormal, the phase voltage command value of the phase of the abnormal current detection means is set so that the phase difference between the three phase current detection signals becomes equal. It is characterized in that the phase voltage command value is corrected.

Thus, even if one of the two current detecting means has abnormal sensitivity, the three-phase phase voltage command to the motor is made to be normal so that the motor control can be performed even if one of the current detecting means is abnormal in the feedback control. The effect that it can be performed in the same manner as in the normal state is obtained. In a nineteenth aspect of the present invention, as a correction when the traveling three-phase AC motor is DC brushless and the current detection means is abnormal, the phase voltage command for the phase in which the phase current detection means is abnormal is The current detection means corrects the abnormal phase based on the absolute position information of the rotor of the DC brushless motor with respect to the stator and the amplitude of another normal phase voltage command for one phase.

As a result, if one phase of the phase current detecting means is normal, the phase current signal of this abnormal phase of the current detecting means is normally corrected even if there is no input to the phase current detecting means of the other phase. The effect that the motor control can be performed in the same manner as in the normal state is obtained. In the invention according to claim 20, in the motor control device that performs feedback control based on the phase current of at least one phase of the three-phase AC motor for traveling of the electric vehicle, as an abnormality detection method of the current detection means,
This feedback control is set as an open loop for a predetermined time, and the phase current command value calculated by the motor current command calculation means in this open loop is compared with the phase current detection value detected by the current detection means. It is characterized in that the current detection means of the phase not within the value is abnormal.

Thus, even if all the current detecting means used for calculating the phase voltage command value of the motor are abnormal, it is possible to detect the abnormality of the current detecting means in the feedback control. According to the twenty-first aspect of the present invention, as the correction when the current detection means is abnormal, the detected phase current value detected when the abnormal current detection means is normal is based on the phase current command value in the open loop. It is characterized by correction.

As a result, even if all of the current detecting means have sensitivity and offset abnormality, the phase current command to the motor becomes normal by estimating the normal phase current detection value of the abnormal current detecting means. In the feedback control, even when the current detection means is abnormal, the effect that the motor control can be performed in the same manner as in the normal time can be obtained. According to the invention described in claim 22, as the correction when the current detecting means is abnormal, the phase voltage command value when the abnormal current detecting means is normal is corrected based on the phase voltage command value in the open loop. It is characterized by doing.

As a result, even if all of the current detecting means are abnormal, the abnormal current detecting means is arranged so that the abnormal phase current command value matches the normal phase voltage command value. By correcting the phase current detection value of the detection means, the phase voltage command to the motor becomes normal, and even if the current detection means is abnormal in feedback control, it is possible to perform motor control in the same manner as in normal operation. Is obtained.

According to a twenty-third aspect of the invention, the traveling three-phase AC motor is an induction motor, and the current detecting means corrects the phase current detected value of the abnormal phase as a correction when the current detecting means is abnormal. An exciting current is supplied to the motor while the motor is stopped, and the exciting current is corrected so that the phase current command value and the phase current detection value match. This corrects the phase current command value and the phase current detection value with the exciting current, which is a direct current, so that the phase current command value and the phase current detection value match when the motor is stopped. The effect that it is possible to correct the detected phase current value at the normal time is obtained.

According to the twenty-fourth aspect of the present invention, the phase current detection value of at least one phase of the three-phase AC motor for traveling of the electric vehicle and the phase voltage command value of the motor are feedback-controlled based on the rotation speed of the motor. In the motor control device, as a method of detecting an abnormality of the current detection means,
It is characterized in that the abnormal current detecting means is specified based on the fluctuation of the rotation speed during rotation.

As a result, the abnormal current detecting means is specified based on the fluctuation in the number of revolutions of the motor during one revolution synchronized with the abnormal current detecting means which occurs when the current detecting means of at least one phase is abnormal. There is an effect that it is possible to detect an abnormality of the current detecting means in the feedback control regardless of the phase voltage command to the. In the invention described in claim 25, as a correction when the current detection means is abnormal, the phase current detection value or the phase current detection value detected by the abnormal current detection means is set so that the rotation speed fluctuation during one rotation of the motor becomes zero. It is characterized in that the phase voltage command value is corrected.

As a result, even if at least one phase current detecting means is abnormal, by correcting the phase current detection value to the normal phase current detection value, the rotation speed fluctuation during one revolution of the motor becomes zero, and the abnormality is detected. Even if the current detection means is abnormal in the feedback control because the normal phase voltage command becomes normal, the motor control can be performed in the same manner as in the normal time.

In the twenty-sixth aspect of the present invention, the current detecting means detects the phase current with an analog signal proportional to the detected current value, and the phase current command value to the motor is calculated by the CPU as a digital value. In the circuit that performs feedback control by analog signal processing so that the analog phase current command value and the analog phase current detection value match when the value is D / A converted to the analog phase current command value. A feature is that abnormality detection of the command calculation means is performed.

As a result, in the feedback control by the analog signal processing, the error detection determination threshold value of the current detecting means can be varied to include the error due to the accuracy of the elements used in this analog circuit and the change over time.
The effect of eliminating the influence of the error on the accuracy of the abnormality determination threshold value can be obtained. According to the twenty-seventh aspect of the present invention, as the correction when the current detection means in the analog signal processing circuit is abnormal, the analog phase current command value is corrected so that the error included in the analog signal processing circuit becomes zero. Is characterized by.

Thus, by correcting the error including the element accuracy of the analog signal processing circuit, it is possible to obtain the effect of eliminating the influence of the element accuracy or the like on the deterioration of the control accuracy.

[0038]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings. (First Embodiment) FIG. 1 is a schematic block diagram of an electric vehicle traveling motor control apparatus to which the first embodiment of the present invention is applied.

Reference numeral 1 is a battery which is a DC power source of an electric vehicle, 2 is an inverter for converting DC power of the battery 1 into AC power, 3 is a three-phase AC motor driven by the inverter 2, and 4 is control of the AC motor 3. , 52, 53 are current detection sensors for detecting the phase currents of the AC motor 3, 6 is a rotation detection sensor for detecting the rotational speed of the AC motor 3, and 7 is an accelerator pedal. It is a vehicle operation state detection sensor for detecting the state of a vehicle operation device such as.

In the inverter 2, the power element switching circuit 21 switches a power element such as an IGBT based on a command from a PWM output circuit 44 described later to convert DC power into AC power. The control device 4 has an input processing circuit 41.
And a motor current command calculation unit 42, a motor voltage command calculation unit 43, and a PWM output unit 4 which are realized by software of a microcomputer.
4, an abnormality determination unit 45 that determines an abnormal state of the current detection sensors 51, 52, and 53, and a correction unit 46.

In the input processing circuit 41, the rotation detection sensor 6
The number of motor revolutions detected by the vehicle operation sensor 7
The input signal processing of the vehicle operation state detected in step 1 is performed. The motor current command calculation unit 42 calculates a phase current command value supplied to the AC motor 3 based on the signal processed by the input processing circuit 41. In the motor voltage command calculation unit 43, the phase current command value of the motor current command calculation unit 42 and the current detection sensor 5 are detected.
The phase voltage applied to the AC motor 3 is calculated so that the deviation from the phase current detection value detected at 1, 52, 53 becomes 0.

In the PWM output unit 44, the inverter 2 receives the P signal based on the motor voltage command from the motor voltage command calculation unit 43.
Output WM. The abnormality determination unit 45 detects an abnormality of the current detection sensors 51, 52, 53 based on the motor voltage command of the motor voltage command calculation unit 43. In the correction unit 46,
When the abnormality determination unit 45 detects an abnormality, the motor voltage command value calculated by the motor voltage command calculation unit 43 is corrected to a value output when all the current detection sensors 51, 52, 53 are normal.

In the control device 4 constructed as above, the current detection sensors 51, 52,
The function and effect of the abnormality detection process 53 will be described in detail. 2 is a time chart of the abnormality determination processing performed by the abnormality determination unit 45 when the detection sensitivity abnormality occurs in the current detection sensors 51, 52, 53, and FIG. 3 is a detection offset abnormality in the current detection sensors 51, 52, 53. 4 is a time chart of the abnormality determination processing performed by the abnormality determination unit 45 in the case of occurrence of the current, FIG. 4 and FIG.
6 is a flowchart showing an abnormality determination process of detecting a detection sensitivity abnormality and a detection offset abnormality of No. 3.

First, the current detection sensors 51, 52, 53
However, regarding the abnormality detection method when the detection sensitivity is abnormal,
This will be described with reference to FIG. When the phase voltage command value of the motor voltage command calculation unit 43 to the AC motor 3 is normal as shown in FIG. 2, the motor current command calculation unit 42 is shown as “voltage command / actual voltage normal value” in the figure. Since the calculation is performed according to the phase current command value for the AC motor 3, the amplitudes of all three phases are the same. However, for example, assuming that the detection sensitivity of the W-phase current detection sensor is doubled, the motor voltage command calculation unit 43 determines that the W-phase In accordance with the increase in the detection sensitivity of 1, the phase current value is tried to be limited to 1/2, and the W-phase phase voltage command is commanded to be smaller than the actual desired phase current flowing to the motor.

Therefore, if the phase voltage command value of only the W phase among the phase voltage command values of the three phases becomes smaller, the abnormality determination section 45 determines that the detection sensitivity of the W phase current detection sensor has increased. On the other hand, the abnormality determination unit 45 determines that the detection sensitivity of the W-phase current detection sensor has decreased when the W-phase voltage command value becomes larger than the other two phases.

The sensitivity abnormality detection of the U-phase and V-phase current detection sensors may be performed in the same manner as the above-mentioned W-phase sensitivity abnormality detection. Furthermore, the current detection sensors 51, 5
An abnormality detection method in the case where 2 and 53 are detected offset abnormality will be described with reference to FIG. As with FIG. 2, the phase voltage command value of the AC motor 3 of the motor voltage command calculation unit 43 is normal to the amplitude as shown in FIG. 3 as shown in “voltage command / actual voltage normal value” in FIG. Is the same in all three phases.

However, for example, assuming that the detection offset of the W-phase current detection sensor exists on the negative side, the motor voltage command calculation unit 43 uses the In order to match the detected phase current value with the phase current command value in accordance with the phase detection offset amount, the phase voltage command value for the W phase is offset commanded to the + side.

Therefore, when the phase voltage command value of only the W phase among the phase voltage command values of the three phases is offset to the + side, the abnormality determination means 45 causes the current detection sensor of the W phase to be offset to the − side. Determine that On the other hand, the abnormality determination means 45
When the phase voltage command value of the W phase is offset to the-side, it is determined that the W phase current detection sensor is offset to the-side.

The offset abnormality detection of the U-phase and V-phase current detection sensors may be performed in the same manner as the W-phase offset abnormality detection. The abnormality determination process in which the abnormality determination unit 45 detects the detection sensitivity abnormality and the detection offset abnormality of the current detection sensors 51, 52, 53 will be described in detail with reference to the flowcharts of FIGS. 4 and 5.

First, in step 401 (hereinafter referred to as S401), the motor voltage command calculation unit 43 detects the phase current command value of the motor current command calculation unit 42 and the phase current detection detected by the current detection sensors 51, 52, 53. Deviation from the value is 0
The phase voltage command value to be applied to the AC motor 3 calculated so as to become (VU +, VV +, VW +) of the + side amplitude and (VU +) of the − side amplitude with reference to the midpoint potential of this command value.
-, VV-, VW-) are stored, and (VUpp, VVpp, VWpp) of the peak-to-peak value which is (+ side peak)-(-side peak) of each phase of the phase voltage command value is stored. Remember.

Next, in S402, it is determined whether or not the peak-to-peak values of the three-phase voltage command values match among these three command values. If they match, the current detection sensor The detection sensitivity of is normal. As a result, if the amplitudes of all the voltage command values match, it is determined in S403 that the current detection sensors for all three phases are normal, and the U-phase current detection sensor stores the flag XVUKF as 1 when the detection sensitivity is abnormal. Since it is normal, clear it to 0,
Similarly for V phase and W phase, flags XVVKF and XVWK respectively.
Clear F to 0 when normal.

On the other hand, if only one of the voltage command values does not match, for example, if the U phase in S405 does not match, the U phase current detection sensor sets 1 in the flag XVUKF when the detection sensitivity is abnormal in S406. And set V of S407 in the same way.
If the phases do not match, the V-phase current detection sensor sets 1 in the detection sensitivity abnormality flag XVVKF in S408, and S40 is set.
If the 9 W phases do not match, the W phase current detection sensor sets 1 to the flag XVWKF when the detection sensitivity is abnormal in S410.

Further, if all the voltage command values do not match, it is unclear in S411 which phase of the current detection sensor is abnormal.
At 12, the XVUKF, XVVKF, and XVWKF are set to 1, and the processing ends. Next, as a result of the determination processing in S402, S4
11 except S403, S405, S407, S409
Then, for the phase judged not to have abnormal detection sensitivity, S
At 413, determination processing of the detected offset abnormality is performed. This determination condition is normal with no offset when the + side amplitude and the − side amplitude match, with the neutral point potential as a reference.

As a result, if it is determined in S445 that the + side amplitude and the − side amplitude are the same in all the phases and it is determined that they are normal, the motor voltage command calculation unit 43 offsets to the + side of the phase voltage command. U-phase, V-phase, and W-phase flags XVUO +, XVVO +, and XVWO + that are stored as 1 when abnormal, and U-phase and V that are stored as 1 when the − side offset of the phase voltage command is abnormal
The respective flags XVUO-, XVVO-, and XVWO- of the W-phase and the W-phase are cleared to 0 at the normal time, and the processing ends.

Further, in S442, S443, and S444, if the + side amplitude and the − side amplitude are the same in all the phases in which the detection sensitivity is not abnormal and it is determined that they are normal, only the flags of the normal phases are set to 0. To clear the process. On the other hand, in S414 to S419, in the case where only one phase does not match the + side amplitude and the − side amplitude among the phases in which the detection sensitivity is not abnormal, in S426 to S433, the two phases of the phases in which the detection sensitivity is not abnormal are the + side. When the amplitude does not match the − side amplitude, the phase that does not match is +
Depending on whether it is offset to the side or to the minus side, the respective abnormal memory flags are set to 1 in S420 to S425 and S434 to S441, and the process ends.

As a result, when the current detection sensor for detecting the phase current of the motor is abnormal, the phase voltage command of the abnormal phase also becomes abnormal. Therefore, by monitoring this phase voltage command, the current detection is also performed in the feedback control. The effect that the abnormality of the sensor can be detected is obtained. In addition, as a method for detecting an abnormality in the current detection sensor, when only two phases of the phase voltage command amplitudes of the three phases match, the current detection sensor of the remaining non-matching phases is set to be abnormal so that there is a transition during feedback control, etc. The phase current overshoot of causes a large deviation between the phase current command value and the phase current detection value, and even if it is difficult to predict the normal phase voltage command amplitude, the effect of this deviation is ignored. Also in the motor control, the effect of enabling the abnormality detection of the current detection sensor in the feedback control can be obtained.

In the above embodiment, the three-phase AC motor is described, but the same applies to other multi-phase AC motors. (Second Embodiment) Next, referring to FIG. 6 and FIG. 7 for the second embodiment of the present invention, the current detection means abnormality determination means 4
The action and effect of the abnormality detection processing of the current detection means 51, 52, 53 performed by the No. 5 will be described in detail below.

FIG. 6 is a time chart showing the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination section 45, and FIG. 7 is a flowchart showing the calculation processing of the abnormality determination section 45. The terminal voltage output of the AC motor 3 calculated by the motor voltage command calculation unit 43 changes depending on the impedance of the AC motor 3, the motor output, the output voltage of the battery 1, or the like. The abnormality determining unit 45 presets the upper and lower limit values of this terminal voltage output in the normal state, and if it is out of the upper and lower limit values, it is considered that an abnormality has occurred in the sensitivity of the current detection sensor.

FIG. 6 shows a state in which the current detection sensitivity of the W-phase current detection sensor 53 is increased, so that the W-phase terminal voltage output is output in a small amount in order to output a small current to the AC motor 3. . W of this abnormality determination unit 45
The abnormality detection process of the phase current detection sensor 53 will be described in detail with reference to the flowchart of FIG. 7. First, in S701, the neutral point of the W phase voltage command value calculated by the motor voltage command calculation unit 43 is used as a reference, and the + side is set. Amplitude of VW +,-side amplitude of VW
-Remember as.

In step S702, the terminal voltage output is compared with preset preset upper and lower limit values, and the result is compared with step S703 to step S7.
Since the determination result is stored in S712 to S720 based on the determination result of 11, the flag XVW + U is set to 1 when the abnormality exceeds the amplitude upper limit value on the + side, and is set to 1 when the abnormality exceeds the amplitude lower limit value on the + side. Set the flag XVW + D, the flag XVW-U that sets 1 when an abnormality exceeds the upper limit of negative amplitude, and the flag XVW-U that sets 1 when an abnormality exceeds the lower limit of amplitude on the negative side. Set to 1 or clear to 0 if not abnormal.

For example, when the W-phase terminal voltage output is output small as shown in FIG. 6, the W-phase voltage command value is equal to or lower than the amplitude lower limit value as shown in the determination condition of S705. Since the amplitudes on the − and − sides are equal to or more than the upper limit value, the flags of XVW + D and XVW-U are set to 1 in S714 and stored, and the process ends. Although the detection abnormality of the W-phase current detection sensor 53 is described in FIGS. 6 and 7, the abnormality detection of the U-phase and V-phase current detection sensors 51 and 52 can be similarly performed.

As a result, when the current detection sensor for detecting the phase current of the motor is abnormal, the phase voltage command of the abnormal phase also becomes abnormal. Therefore, by monitoring this phase voltage command, the current detection is also performed in the feedback control. The effect that the abnormality of the sensor can be detected is obtained. Further, as an abnormality detection method for the current detection sensor, if the individual phase voltage command amplitude of each phase is not within the predetermined upper and lower limit values specified in advance, the current detection sensor for the phase that is not within the upper and lower limit values is determined to be abnormal. By doing so, it is possible to specify the abnormality of the current detection sensor in each phase, so that it is possible to detect the abnormality of the current detection means of two or more of the three phases in the feedback control.

In this embodiment, the three-phase AC motor has been described, but the same applies to other multi-phase AC motors. (Third Embodiment) Next, referring to FIGS. 8 and 9 for the third embodiment of the present invention, the correction unit 46 determines the current detection values at the time of abnormality in the current detection sensors 51, 52, 53 by using these currents. The operation and effect of the correction process for correcting the current detection value detected when the detection sensor is normal will be described in detail below.

In FIG. 8, the correction unit 46 has the current detection sensor 5
FIG. 9 is a flowchart showing a process of correcting the detection sensitivity of the current detection sensors 51, 52, 53 by the correction unit 46. First, the correction unit 46 removes the DC offset component output by the current detection sensors 51, 52, 53 in order to perform the correction processing of the detection sensitivity of the current detection sensors 51, 52, 53 described later.

In the flowchart of FIG. 8, the processing is performed when the voltage command of the U phase is offset to the + side.
It is determined whether the flag XVUO +, which becomes 1 when the U phase voltage command is offset to the + side, is 1. This XVUO +
For example, the XVUO + described in S420 in FIG. 5 of the first embodiment may be used, or SV of FIG. 7 in the second embodiment.
As in 06, the result of XVU + U = 1, XVU-U = 1 in the U phase,
XVUO assuming that the U phase voltage command is offset to the + side
It may be + = 1.

Here, when XVUO + = 1, the offset on the + side of the U phase voltage command is removed in S802, and VU
Store in IN. If XVUO + = 0, the U-phase voltage command is stored in VUIN as is without any offset of the U-phase voltage command in step S803. Next, the correction unit 46
Performs a calculation process based on the flowchart of FIG. 9 in order to correct the detection sensitivity of the current detection sensors 51, 52, 53 described later. First, in S901, it is determined whether the current detection sensor 51 is abnormal. The flag XVUKF which becomes 1 at the time of this abnormality is, for example, S4 in FIG. 4 of the first embodiment.
XVUKF described in No. 05 or the like may be used, or XVU + U = 1, XV in the U phase similar to S704 of FIG. 7 of the second embodiment.
As a result of UD = 1, the U-phase voltage command increases, that is, the sensitivity of the U-phase voltage detection sensor is low, so XVUKF = 1 may be set, or, as in S705, XVU + D = 1, XVU in the U-phase. -
As a result of U = 1, the U-phase voltage command is lowered, that is, the sensitivity of the U-phase voltage detection sensor is high, so XVUKF = 1 may be set.

Here, when XVUKF = 1, VVp which is the amplitude of the voltage command value of the V phase and the W phase which are normal in S902.
The smaller one of p and VWpp which is the safe side is stored as Vpp. In S903, the amplitude ratio between this Vpp and the voltage command value of the U phase where the voltage detection sensor is abnormal is calculated.
At 904, the amplitudes of Vpp and the voltage command value of the U phase are matched,
Store in VUOUT and finish the process.

If XVUKF = 0, no correction processing is performed in S905, the correction processing is stored in VUOUT, and the processing ends. As a result, by correcting the phase current detection value of the phase of the abnormal current detection sensor to the phase current detection value detected by the abnormal current detection sensor at the normal time, even if an abnormality occurs in the current detection sensor, this The effect that the phase voltage command to the motor of the phase where the current detection sensor is abnormal can also be made normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as when it is normal. Is obtained.

Further, as a correction method when the current detection sensor is abnormal, when only two phases of the phase voltage command amplitudes of the three phases match, the phase voltage commands of the remaining non-matching phases are compared to each other. By matching the phase voltage command of the phase, the deviation between the phase current command value and the phase current detection value is large due to the overshoot of the phase current in the feedback control during transients, etc., and it is difficult to predict the normal phase voltage command amplitude. Even when the current detection sensor is abnormal, the current detection sensor can estimate the phase voltage command value of the abnormal phase by ignoring the effect of this deviation. The effect that it can be performed in the same manner as in the normal state is obtained. (Fourth Embodiment) Next, referring to FIG. 10 and FIG. 11 for the fourth embodiment of the present invention, the correction unit 46 detects that the current detection sensors 51, 52, 53 are normal when these current detection sensors are abnormal. The operation and effect of the correction process for correcting the detected current value sometimes will be described in detail below.

FIG. 10 is a time chart in which the correction section 46 performs the correction processing of the current detection sensors 51, 52, 53. In FIG. 11, the correction section 46 displays the current detection sensors 51, 52, 5 and 5.
It is a flow chart which performs the correction processing of 3. When the sensitivity of the W-phase current detection sensor 53 increases, only a small amount of current actually flows as shown in FIG. Therefore, the abnormal current detection sensor 53 is ignored, and the W-phase current detection value is calculated based on the current detection values of the U-phase and V-phase current detection sensors 51 and 52.

The W-phase current detection sensor 5 of the correction unit 46
The correction process of No. 3 will be described in detail with reference to the flowchart of FIG. 11. First, in S1101, the current detection sensor 53
Is abnormal. Flag XVWKF that becomes 1 when this error occurs
May be, for example, the XVWKF described in S409 or the like in FIG. 4 of the first embodiment, or as a result of XVW + U = 1 and XVW-D = 1 in S704 of FIG. Since the voltage command increases, that is, the sensitivity of the W-phase voltage detection sensor decreases, it is possible to set XVW KF = 1. As a result of XVW + D = 1 and XVW-U = 1 in S705, the W-phase voltage command decreases. ,
That is, because the sensitivity of the W-phase voltage detection means is increased, XVWK
You can set F = 1.

Here, when XVWKF = 1 in S1101, it is determined that the W-phase current detection sensor 53 is abnormal, and the U-phase and V-phase are detected.
The current value of the W phase is calculated from the current detection value of the phase and is stored in IWIN, and the process is ended. XVWKF = in S1101
In the case of 0, in S1103, the current detection value of the W phase is stored in IWIN as a current value, and the process ends. After the process, the motor voltage command calculator 43 calculates the motor voltage command using IWIN.

As a result, by correcting the phase current detection value of the phase of the abnormal current detection sensor to the phase current detection value detected by the abnormal current detection sensor at the normal time, an abnormality occurs in the current detection sensor. Also, the phase voltage command to the motor of the phase where this current detection sensor is abnormal can be made normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as when it is normal. The effect of doing is obtained.

Further, as a correction method when the current detection sensor is abnormal, the phase current detection value of the phase in which the phase current detection sensor is abnormal is calculated and the sum of the other normal phase current detection values of two phases is calculated. Invert based on sex point. As a result, even if one of the phase current detection sensors is abnormal with no input such as disconnection, if the other two phases are normal, the abnormal phase detection sensor does not perform offset correction of the abnormal current detection sensor. The phase current detection signal of can be restored. Therefore, even if one of the phase current detection sensors is not input, it is possible to obtain the effect that the motor control can be normally performed. (Fifth Embodiment) Next, referring to FIGS. 12 and 13 for the fifth embodiment of the present invention, the correction unit 46 indicates that the current detection sensors 51, 52, 53 are normal when these current detection sensors are abnormal. The operation and effect of the correction process for correcting the detected current value sometimes will be described in detail below.

FIG. 12 is a time chart for the correction unit 46 to perform the voltage command correction process, and FIG. 13 is a flowchart for the command value correction means 46 to perform the voltage command correction process. When the sensitivity of the W-phase current detection sensor 53 increases, the voltage command actually commanded decreases as shown in FIG. Therefore, the voltage command based on the abnormal current detection sensor 53 is ignored, and the W-phase voltage command value is calculated based on the U-phase and V-phase voltage command values.

The W-phase current detection sensor 5 of the correction unit 46
The correction process of No. 3 will be described in detail based on the flowchart of FIG. 13. First, in S1301, it is determined whether the voltage command is abnormal. The flag XVWKF which is set to 1 at the time of this abnormality may be, for example, the XVWKF described in S409 or the like in FIG. 4 of the first embodiment, or XVW + U = 1, XVW-D in S704 of FIG. 7 of the second embodiment. = 1, as a result, the W-phase voltage command increases, that is, the sensitivity of the W-phase voltage detection means is low, so XV
WKF = 1 or XVW + D = 1, XV in S705
As a result of WU = 1, the voltage command of the W phase decreases, that is, the sensitivity of the W-phase current detection sensor is high, so XVWKF = 1 may be set.

Here, if XVWKF = 1 in S1301, it is determined that the W-phase current detection sensor 53 is abnormal, and the U-phase and V-phase are detected.
Calculate the W phase voltage command value from the phase voltage command value, and
Store in T and end the process. In S1301
When XVWKF = 0, the voltage command value of the W phase is stored in VWO UT in S1303, and the process ends. As a result, by correcting the phase current detection value of the phase of the abnormal current detection sensor by the phase current detection value detected by the abnormal current detection sensor at the normal time, even if an abnormality occurs in the current detection sensor, this The effect that the phase voltage command to the motor of the phase where the current detection sensor is abnormal can also be made normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as when it is normal. Is obtained.

As a correction means when the current detection sensor is abnormal, the phase voltage command of the phase in which the phase current detection sensor is abnormal is summed with the other normal phase voltage commands of two phases to determine the neutral point. By reversing as a reference, even if one of the phase current detection sensors is abnormal with no input such as disconnection, if the other two phases are normal, the phase current detection signal of the abnormal phase can be restored. Therefore, the influence of this abnormal phase current detection signal is ignored, and even if one of the phase current detection sensors has no input,
The effect that the motor control can be normally performed is obtained. (Sixth Embodiment) Next, referring to FIGS. 14 and 15 for a sixth embodiment of the present invention, the correction unit 46 detects that the current detection sensors 51, 52, 53 are normal when they are abnormal. The operation and effect of the correction process for correcting the detected current value sometimes will be described in detail below.

FIG. 14 is a time chart showing the correction process of the voltage command by the correction unit 46, and FIG.
It is a flowchart which shows the correction process of a voltage command. When the sensitivity of the W-phase current detection sensor 53 increases, the voltage command actually commanded decreases as shown in FIG. Therefore, the voltage command based on the abnormal current detection sensor 53 is ignored, and the W phase based on the amplitude of the normal voltage command value of the U phase or V phase and the phase difference between the phase using this amplitude and the abnormal phase. The voltage command value of is calculated.

The W-phase current detection sensor 5 of the correction unit 46
The correction process of No. 3 will be described in detail with reference to the flowchart of FIG. 15. First, in S1501, it is determined whether the voltage command is abnormal. The flag XVWKF which becomes 1 at the time of this abnormality may be, for example, the XVWKF described in S409 or the like in FIG. 4 of the first embodiment, or XVW + U = 1, XVW-D in S704 of FIG. 7 in the second embodiment. = 1, the W-phase voltage command is large, that is, the W-phase current detection sensor has low sensitivity.
XVWKF = 1 may be set, or XVW + D = 1 in S705,
As a result of XVW-U = 1, the W-phase voltage command decreases, that is, the sensitivity of the W-phase voltage detection means is high, so XVWKF = 1 may be set.

Here, when XVWKF = 1 in S1501, it is determined that the W-phase current detection sensor 53 is abnormal, for example, U
The amplitude of the voltage command value of the phase is calculated in S1502 and stored in VU +, and the voltage command value of the W phase is calculated from this amplitude VU + and the phase difference 4π / 3 between the U phase and the W phase and stored in VWOUT. The process ends. Here, the W phase was calculated using the U phase, but the V phase may be used, or the minimum value of the U phase and the V phase may be taken for control on the safety side. On the other hand, if XVWKF = 0 in S1501, the W-phase voltage command value is stored in VWOUT in S1503, and the process ends.

As a result, by correcting the phase current detection value of the phase of the abnormal current detection sensor to the phase current detection value detected by the abnormal current detection sensor at the normal time, an abnormality occurs in the current detection sensor. Also, the phase voltage command to the motor of the phase where this current detection sensor is abnormal can be made normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as when it is normal. The effect of doing is obtained.

As a correction method when the current detection sensor is abnormal, the normal value of the phase voltage command of the phase in which the phase current detection sensor is abnormal is based on the amplitudes and phases of the other two normal phase voltage commands. Even if the common-mode noise is superimposed on the normal phase current detection sensor, the common-mode noise superimposed on the two-phase phase current detection value is generated when the phase is normal when the phase current detection sensor is abnormal. Since this in-phase noise is canceled and the phase current detection value of the abnormal phase is created because it is also superimposed on the phase voltage command value of, the motor control can be performed without the influence of the in-phase noise on the abnormal phase current detection sensor. The effect that it can be performed in the same manner as in the normal state is obtained. (Seventh Embodiment) Next, referring to FIGS. 16 and 17 for the seventh embodiment of the present invention, in the case where the AC motor 3 is a DC brushless motor, the correction unit 46 causes the current detection sensors 51, 52, 53 to be detected. The effect of the correction process for correcting the current detection value detected by these current detection sensors when the sensor is abnormal will be described in detail below.

FIG. 16 is a time chart in which the correction means 46 performs the correction processing of the voltage command, and FIG. 17 is the correction means 46.
6 is a flowchart for performing a voltage command correction process.
If the sensitivity of the W-phase current detection sensor 53 is increased, as shown in FIG.
As shown in, the actual voltage command becomes smaller. for that reason,
The voltage command based on the abnormal current detection sensor 53 is ignored, and the W-phase voltage command value is calculated based on the amplitude of the normal U-phase or V-phase voltage command value and the rotor position of the DC brushless motor.

The W-phase current detection sensor 5 of the correction unit 46
The correction process of No. 3 will be described in detail with reference to the flowchart of FIG. 17. First, in S1701, it is determined whether the voltage command is abnormal. The flag XVWKF which is set to 1 at the time of this abnormality may be, for example, the XVWKF described in S409 or the like in FIG. 4 of the first embodiment, or XVW + U = 1, XVW-D in S704 of FIG. 7 of the second embodiment. = 1, as a result, the W-phase voltage command increases, that is, the sensitivity of the W-phase voltage detection means is low.
XVWKF = 1 may be set, or XVW + D = 1 in S705,
As a result of XVW-U = 1, the voltage command of the W phase is lowered, that is, the sensitivity of the current detection sensor of the W phase is increased, so that XVWKF = 1 may be set.

Here, when XVWKF = 1 in S1701, the W-phase current detection sensor 53 is judged to be abnormal, and for example, U
The amplitude of the voltage command value of the phase is calculated in S1702 and stored in VU +, the voltage command value of the W phase is calculated from this amplitude VU + and the rotor position of the DC brushless motor, and is stored in VWOUT and the processing ends. . Here, the W phase is calculated using the U phase, but the V phase may be used, or the minimum value of the U phase and the V phase may be taken for control on the safety side. On the other hand, S170
If XVWKF = 0 in 1, the voltage command value for the W phase is stored in VWOUT in S1703, and the process ends.

As a result, by correcting the phase current detection value of the phase of the abnormal current detection sensor to the phase current detection value detected by the abnormal current detection sensor at the normal time, an abnormality occurs in the current detection sensor. Also, the phase voltage command to the motor of the phase where this current detection sensor is abnormal can be made normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as when it is normal. The effect of doing is obtained.

As a correction method when the traveling three-phase AC motor is DC brushless and the current detection sensor is abnormal, the phase voltage command for the phase in which the phase current detection sensor is abnormal is
By creating the absolute position information of the rotor of the DC brushless motor with respect to the stator and the amplitude of another normal phase voltage command of at least one phase, at least one phase of the normal phase current detection sensor is normal. For example, the phase current signal of the abnormal phase is restored, and the effect of enabling normal motor control can be obtained. (Eighth Embodiment) Next, an eighth embodiment of the present invention will be described with reference to FIGS.

FIG. 18 is a block diagram showing the eighth embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 represent the same or equivalent portions, and the portions different from those in FIG. 1 are those of the remaining one phase based on the current signals of any two phases of the three-phase current detection sensor. Two-phase to three-phase conversion circuit 4 for current signals
7, the current signal of the remaining one phase is added, and the motor current control of the AC motor 3 is monitored based on the current signals of the three phases.

In the control device 4 configured as above, the current detection sensors 51, 52,
The function and effect of the abnormality detection processing of 53 will be described in detail below. FIG. 19 shows current detection sensors 51, 52, 53.
20 is a time chart showing an abnormality determination process performed by the abnormality determination unit 45 when a detection sensitivity abnormality occurs in FIG.
FIG. 1 is a flowchart showing an abnormality determination process performed by the abnormality determination unit 45 when an abnormality occurs in the current detection sensors 51, 52, 53.

First, the current detection sensors 51, 52, 53
However, regarding the abnormality detection method when the detection sensitivity is abnormal,
This will be described with reference to FIG. When the detection sensitivity increase abnormality occurs in the W-phase current detection sensor 53, the current signal IW has a current waveform similar to that in the normal state although it does not actually flow. On the other hand, under normal conditions, the U-phase and W-phase current signals I
The phase difference between IU and IV is θ1 which is 1/2 of θ2 with respect to the phase difference θ2 between U and IW, but when the W phase sensitivity increase is abnormal, the phase difference between IU and IV is 1 / θ2. Θ greater than 2
3, and the V-phase current amplitude IV0 is smaller than the amplitudes of IU0 and IW0. Therefore, the sensitivity increase abnormality of the W-phase current detection sensor 53 is identified based on the phase difference and the amplitude abnormality.

The abnormality determination processing of this abnormality determination unit 45 is shown in FIG.
More specifically, the amplitudes of IU, IV, and IW are stored in IU, IV, and IW in S2001 to S2003, respectively. Next, S20
In 04, it is judged whether the phase difference between IU and IV is θ1, which is 1/2 of θ2, with respect to the phase difference θ2 between the U-phase and W-phase current signals IU and IW. If θ1 = θ2 / 2 is not satisfied, ,
If the motor rotation is equal to the change amount of θ2 in S2005, the process is terminated as normal, and S2005 is performed.
If the motor rotation is different from the change amount of θ2 at
006, S2007, S2008, S2010, S20
12, S2013, S2014, S2016
Based on the phase difference between U and IV and the amplitude of IV, which of IU and IW is abnormal in sensitivity increase or sensitivity decrease is specified.

As a result, in S2008, θ1> θ2
If the current amplitude of / 2 and IV is smaller than the other two phases or smaller than the current command, it is determined that the sensitivity of the W-phase current detection sensor 53 is abnormal in S2009, and this flag is set.
XIWS is set to 1, other flags are cleared to 0, and the process ends. Further, in S2010, θ1> θ2 /
If the current amplitude of 2 and IV is larger than the other two phases or larger than the current command, it is determined in S2011 that the sensitivity of the U-phase current detection sensor 51 is abnormally increased, and the flag is XI.
The UB is set to 1, the other flags are cleared to 0, and the process ends.

Then, in S2014, θ1 <θ2 /
If the current amplitude of 2 and IV is smaller than the other two phases or smaller than the current command, it is determined in S2015 that the sensitivity of the U-phase current detection sensor 51 is abnormal, and the flag is XI.
The US is set to 1, the other flags are cleared to 0, and the process ends. Further, in S2016, θ1 <θ2 /
2 and the current amplitude of IV is larger than the other two phases or larger than the current command, it is determined that the sensitivity of the W-phase current detection sensor 53 is abnormally increased in S2017, and the flag is XI.
The WB is set to 1, the other flags are cleared to 0, and the process ends.

On the other hand, when the phase difference between IU and IV is normal at S1 = θ2 / 2 in S2004, S201 in FIG.
8 performs IU, IV, and IW amplitude determination processing, and S
If only IV has a small current amplitude like 2019, S
In 2020, the sensitivity of the V-phase current detection sensor 52 is determined to be abnormal, the flag XIVS is set to 1, the other flags are cleared to 0, and the process ends.

If the current amplitude of only IV is large as in S2021, the sensitivity increase abnormality of the V-phase current detection sensor 52 is determined to be abnormal in S2022, and the flag XI is set.
VB is set to 1, the other flags are cleared to 0, and the process ends. When the amplitude of IV is between IU and IW as in S2023, all the current detection sensors are normal in S2024, all flags are cleared to 0, and the process ends.

As a result, in the motor control device which performs feedback control based on the two-phase currents of the three-phase AC motor for traveling of the electric vehicle, the phase current of the phase used to calculate the phase voltage command value for the motor is detected. As a method for detecting an abnormality in the current detection sensor, by monitoring the signal amplitude and the phase difference between the signals of the main current detection sensor and the sub-current detection sensor that detects the phase current of the phase not used for calculation, When the main current detection sensor that detects the phase current used for calculation is abnormal, the signal amplitude of the phase currents of the three phases and the phase difference between the signals become abnormal.Therefore, by monitoring this phase current detection value, feedback control is also possible. The effect that the abnormality of the main current detection sensor can be detected is obtained. (Ninth Embodiment) Next, referring to FIG. 22 for the ninth embodiment of the present invention, the correction unit 46 detects that the current detection sensor 51,
The operation and effect of the correction processing for correcting the current detection value detected by these current detection sensors when the current detection sensor 53 is normal when 53 is abnormal will be described in detail below.

FIG. 22 is a flow chart showing the correction processing of the detected current value by the correction unit 46. In S2201,
If the W-phase current detection sensor shown in FIG. 20 of the eighth embodiment has a sensitivity lowering flag XIWS of 1, it is determined that the W-phase current detection sensor is abnormal, and in S2210, an abnormal history storage flag XIWBS = 1. As will be described later in S2211
A predetermined addition value ΔK to be used in 2204 is determined. This ΔK is a predetermined value K2 until XIWS becomes 0 during normal operation
Increases by 2. Next, in S2202, the DC offset of the W-phase current detection sensor is calculated and stored in IWOF.
Calculate the current amplitude detected by the W phase in 3 and store it in IWH. In S2204, θ3 described in FIG. 19 of the eighth embodiment
The predetermined value ΔK is added / subtracted to / from the current amplitude detected by the W phase so that = θ2 / 2, and the current amplitude IWIN is stored.
At S2202, the DC offset stored in S2202 is added to calculate the W-phase current detection correction value IWOUT, and the process ends.

When the U-phase current detection sensor is normal in S2201, it is determined in S2212 whether the current is normal after correction. If XIWBS = 1 being corrected, the correction process after S2202 is continued and XIWBS not being corrected. If = 0, S22
Current value IW detected as current detection correction value IWOUT in 06
Is stored, the correction value ΔK is initialized in S2213, and the process ends.

When XIWB is 1, at S2201
WIWB = 1 is determined, and the predetermined value K22 is subtracted from ΔK in S2211. As a result, as a correction method when the current detection sensor is abnormal, by correcting the phase current detection value of the abnormal main current detection sensor to the phase current detection value that this abnormal main current detection sensor detects at normal time, Even if one of the current detection sensors is abnormal, it is possible to make the phase voltage command to the motor normal, and even if the current detection sensor is abnormal in feedback control, it is possible to perform motor control in the same way as normal. The effect is obtained.

As a correction method when the current detection sensor is abnormal, the main current detection sensor is corrected by correcting the amplitude of the phase voltage command value in order to equalize the phase difference of the phase current detection values of the three phases among the three phases. Even if the detection sensitivity of one side is abnormal, the abnormal current detection value of this abnormal main current detection sensor is not estimated and the phase voltage command to the motor is corrected normally. However, it is possible to obtain the effect that the motor control can be performed in the same manner as in the normal state. (Tenth Embodiment) Next, referring to FIG. 23 for the tenth embodiment of the present invention, the correction unit 46 determines that the current detection sensor 5
The operation and effect of the correction process for correcting the current detection values detected by these current detection sensors when the current detection sensors 1 and 53 are abnormal will be described in detail below.

FIG. 23 is a flow chart showing the correction processing of the detected current value by the correction section 46. In S2301,
In the U-phase current detection sensor shown in FIG. 20 of the eighth embodiment, the flag XIUB when the sensitivity increases or XIUS when the sensitivity decreases is 1
If the U-phase current detection sensor is abnormal when
In S2302, the remaining two normal phases are selected and the process ends.

If the U-phase current detection sensor is normal in S2301, then in S2303, FIG.
When the flag XIWB when the W-phase current detection sensor described in 0 has increased sensitivity or the XIWS when sensitivity has decreased is 1 and the W-phase current detection sensor is abnormal, the remaining two phases that are normal are selected in S2304. Then, the process ends. Also, S
If the U-phase and W-phase current detection sensors are normal in 2303, the U-phase and W-phase are selected in S2305 and the process ends. Then, after the processing is finished, the motor control is continued using the selected two phases.

As a result, as a correction method when the current detection sensor is abnormal, the phase current detection value of the abnormal main current detection sensor is corrected to the phase current detection value detected by this abnormal main current detection sensor when normal. This makes it possible to normalize the phase voltage command to the motor even if one of the main current detection sensors is abnormal, and it is possible to perform motor control in the feedback control in the same way as when the current detection sensor is abnormal. The effect of enabling is obtained.

As a correction method when the current detection sensor is abnormal, when one of the main current detection sensors is abnormal,
By calculating the phase voltage command to the motor based on the phase current detection value of the sub current detection sensor instead of this abnormal main current detection sensor, even if one of the main current detection sensors is abnormal, this abnormal main current detection sensor By calculating the three-phase voltage command to the motor using the sub-current detection sensor instead of
The effect that the phase voltage command to the motor can be output in the same manner as in the normal state without the influence of the offset error of each current detection sensor is obtained. (Eleventh Embodiment) Next, an eleventh embodiment of the present invention will be described with reference to FIGS.

FIG. 24 is a block diagram showing the eleventh embodiment of the present invention. In the figure, the same reference numerals as those in FIG.
The same or equivalent portions are shown, and a portion different from FIG. 1 is a two-phase to three-phase conversion circuit 47 for the remaining one-phase current signal based on an arbitrary two-phase current signal of the three-phase current detection sensor. It is to create in. In the control device 4 configured as described above, the operation and effect of the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination unit 45 will be described in detail below. FIG. 25 is a time chart showing an abnormality determination process performed by the abnormality determination unit 45 when a detection sensitivity abnormality occurs in the current detection sensors 51, 52, 53.
26 and 27 show current detection sensors 51, 52, and 5.
7 is a flowchart showing an abnormality determination process performed by the abnormality determination unit 45 when an abnormality occurs in No. 3;

First, the current detection sensors 51, 52, 53
However, regarding the abnormality detection method when the detection sensitivity is abnormal,
This will be described with reference to FIG. When the detection sensitivity increase abnormality occurs in the W-phase current detection sensor 53, the voltage command VW becomes smaller than that in the normal state. On the other hand, in a normal state, the phase difference between VU and VV is θ1 which is 1/2 of θ2 with respect to the phase difference θ2 between the U-phase and W-phase voltage commands VU and VW. At this time, the phase difference between VU and VV is θ3, which is larger than 1/2 of θ2, and the voltage command amplitude VV0 of the V phase is V3.
Since it is smaller than the amplitude of U0, the sensitivity increase abnormality of the W-phase current detection sensor 53 is specified based on this phase difference and the amplitude abnormality.

The abnormality determination processing of this abnormality determination unit 45 is shown in FIG.
More specifically, based on the flowchart of FIG. 6, the amplitudes of VU and VV and VW are stored in VU, VV, and VW in S2601 to S2603, respectively. Next, S26
At 04, it is judged whether the phase difference between VU and VV is θ1 which is 1/2 of θ2 with respect to the phase difference θ2 between the U-phase and W-phase voltage commands VU and VW. If θ1 = θ2 / 2 is not satisfied, ,
If the motor rotation is equal to the change amount of θ2 in S2605, the processing is terminated as normal, and S2605 is performed.
If the motor rotation is different from the change amount of θ2 at
606, S2607, S2608, S2610, S26
V in 12, S2613, S2614, S2616
Based on the phase difference between U and VV and the amplitude difference between VV, VW and VV, which of IU and IW is abnormal in sensitivity increase or sensitivity decrease is specified.

As a result, θ1> θ2 in S2608
/ 2 and the voltage command amplitude of VV is V to the voltage command amplitude of VU
If it is closer than the voltage command amplitude of W, in S2609, W
The sensitivity increase abnormality of the phase current detection sensor 53 is determined to be abnormal, the flag XVWS is set to 1, the other flags are cleared to 0, and the process ends. Further, in S2610, θ1
> Θ2 / 2 and the voltage command amplitude of VV is closer to the voltage command amplitude of VW than the voltage command amplitude of VU, it is determined that the sensitivity of the U-phase current detection sensor 53 is abnormal in S2611, and the flag XVWB is set to 1. Then, the other flags are cleared to 0 and the processing is finished.

Then, in S2614, θ1 <θ2 /
2 and the voltage command amplitude of VV is VU to the voltage command amplitude of VW
If it is closer than the voltage command amplitude of, the sensitivity increase abnormality of the U-phase current detection sensor 53 is determined in S2615, 1 is set in the flag XVUS, the other flags are cleared to 0, and the process ends. Further, in S2616, θ1
<Θ2 / 2 and when the VV voltage command amplitude is closer to the VU voltage command amplitude than the VW voltage command amplitude, it is determined in S2617 that the sensitivity of the W-phase current detection sensor 53 has deteriorated, and the flag XVWB is set to 1. Then, the other flags are cleared to 0 and the processing is finished.

On the other hand, if the phase difference between VU and VV is θ1 = θ2 / 2, which is normal in S2604, S261 in FIG.
8 performs VU, VV, and VW amplitude determination processing, and S
When the voltage command amplitude of only VV is small like 2619, it is determined that the sensitivity increase of the V-phase current detection sensor 52 is abnormal, the flag XVVS is set to 1, the other flags are cleared to 0, and the process ends. To do.

When the voltage command amplitude is large only for VV as in S2622, it is determined that the sensitivity of the V-phase current detection sensor 52 is abnormally decreased, 1 is set in the flag XVVB, and the other flags are cleared to 0. Then, the process ends. Then, as in S2623, the amplitude of VV is VU or V
During W, the current detection sensors are all normal in S2624, all flags are cleared to 0, and the process ends.

As a result, in the motor control device which performs feedback control based on the two-phase currents of the three-phase AC motor for running an electric vehicle, the phase-current detection value of this current-detection sensor is used as a method for detecting an abnormality of the current-detection sensor. By monitoring the amplitude and phase difference of the phase voltage command value calculated based on this, when the main current detection sensor that detects the phase current used to calculate the phase voltage command of the motor is abnormal, the signal amplitude of the three-phase phase voltage command is detected. Since the phase difference between the signal and the signal becomes abnormal, by monitoring the phase voltage command value, it is possible to obtain the effect of enabling the current detection sensor to detect the abnormality even in the feedback control.

As a method for detecting an abnormality in the current detection sensor, the abnormal current detection sensor is specified based on the signal amplitude of the three-phase phase voltage command and the phase difference between the signals, so that the two current detection sensors are detected. Even in feedback control,
When one of the current detection sensors is abnormal, it is possible to identify the abnormal current detection sensor. (Twelfth Embodiment) Next, referring to FIGS. 28 and 29 for the twelfth embodiment of the present invention, the action and effect of the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination unit 45 will be described below. Will be described in detail.

FIG. 28 is a time chart showing the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination section 45, and FIG. 29 is a flowchart showing the calculation processing of the abnormality determination section 45. The terminal voltage output of the AC motor 3 calculated by the motor voltage command calculation unit 43 changes depending on the impedance of the AC motor 3, the motor output, the output voltage of the battery 1, or the like. The abnormality determining unit 45 presets the upper and lower limit values of this terminal voltage output in the normal state, and if it is out of the upper and lower limit values, it is considered that an abnormality has occurred in the sensitivity of the current detection sensor.

The abnormality detection processing of the W-phase current detection sensor 53 of the abnormality determination section 45 will be described in detail with reference to the flowchart of FIG. 29. First, in S2901, the amplitude of the voltage command value calculated by the motor voltage command calculation section 43 is calculated. VU0,
It is stored as VV0 and VW0. In S2902, the terminal voltage output is compared with preset upper and lower limit values in a normal state, and as a result, based on the determination results of S2903 to S2908, S
The flag XVUB1 is set to 1 when the U phase detection sensitivity is abnormal because the determination result is stored from 2912 to S2917.
And a flag XVUS1 that is set to 1 when the U phase detection sensitivity increases abnormally
And a flag XVWB1 which is set to 1 when the W phase detection sensitivity is abnormal
And a flag XVWS1 that is set to 1 when the W phase detection sensitivity increase abnormally
The corresponding abnormality flag in is set to 1 or cleared to 0 if it is not abnormal.

For example, when the W-phase terminal voltage output is output small as shown in FIG. 28, the W-phase voltage command value is less than the lower limit amplitude value and smaller than the V-phase, as shown in the determination condition of S2906. In this case, the abnormality flag 1 is set in the flag XVWS1 as the W-phase detection sensitivity increase abnormality, and the process ends. As a result, in a motor control device that performs feedback control based on the two-phase currents of a three-phase AC motor for running an electric vehicle, as a method for detecting an abnormality in a current detection sensor, a calculation is performed based on the phase current detection value of this current detection sensor. By monitoring the amplitude and phase difference of the phase voltage command value, the main current detection sensor that detects the phase current used to calculate the phase voltage command of the motor is abnormal Since the phase difference is abnormal, monitoring the phase voltage command value has the effect of enabling the main current detection sensor to detect an abnormality even in the feedback control.

Further, as a method of detecting an abnormality of the current detection sensor, when the phase voltage command amplitude of at least one phase is not within the predetermined upper and lower limit values, the current detection sensor of the phase which is not within this upper and lower limit value is detected. By specifying the abnormality of the current detection sensor of at least one phase, whether the current detection sensor of the phase of the phase voltage command that is out of the predetermined upper and lower limit values is abnormal or affected by the abnormality of the current detection sensor of the other phase It is possible to determine whether the phase voltage command value is out of the predetermined upper and lower limit values and to identify the abnormal current detection sensor without the phase difference information between the three-phase current detection signals. (Thirteenth Embodiment) Next, referring to FIG. 30 for the thirteenth embodiment of the present invention, the correction unit 46 determines that the current detection sensor 5
The operation and effect of the correction process of correcting the current command value detected by these current detection sensors to the voltage command value when the current detection sensors 1 and 53 are normal will be described in detail below.

FIG. 30 is a flow chart showing the correction processing of the detected current value by the correction unit 46. In S3001,
If the flag XVWS when the W-phase current detection sensor shown in FIG. 26 of the eleventh embodiment increases in sensitivity or XVWB when the sensitivity decreases is 1 and the W-phase current detection sensor is abnormal, the abnormal history in S3010. XVWB as a flag to remember
With S set to 1, the DC offset of the W phase voltage command is calculated and stored in VWOF in S3002, and the current amplitude detected by the W phase is calculated and stored in VWH in S3003. Next, S3
004, θ3 = θ2 described in FIG. 25 of the eleventh embodiment.
Abnormal W phase voltage command amplitude and normal U
The voltage command amplitude ratio of the phase is calculated, and in S3005, S300
The W-phase voltage command correction value VWOUT is calculated in consideration of the DC offset stored in step 2, and the process ends.

If the U-phase current detection sensor is normal in S3001, it is determined in S3011 whether the voltage command of the motor is being corrected. If XVWBS = 1 is being corrected, the correction is continued. When XVWBS = 0 when the correction is not in progress, the voltage command correction value VW is set in S3006.
The voltage command value VW that is not corrected is stored in OUT and the processing ends.

As a result, as a correction method when the current detection sensor is abnormal, the phase voltage command value of the abnormal current detection sensor is
By correcting to the normal phase voltage command value based on the normal phase voltage command value, the phase voltage command to the motor becomes normal even if one of the current detection sensors has abnormal sensitivity. Even when one of the two is abnormal, the effect that the motor control can be performed in the same manner as in the normal case can be obtained.

As a correction method when the current detection sensor is abnormal, the phase voltage command value of the phase in which the current detection sensor is abnormal is set so that the phase difference between the three phase current detection signals becomes equal. By correcting the command value, even if one of the two current detection sensors has abnormal sensitivity, by normalizing the three-phase phase voltage command to the motor, even if one of the current detection sensors in the feedback control is abnormal, The effect that the motor control can be performed in the same manner as in the normal state is obtained. (Fourteenth Embodiment) Referring to FIGS. 31 and 32, a fourteenth embodiment of the present invention will be described with reference to FIGS.
In the case of the brushless motor, the operation and effect of the correction process in which the correction unit 46 corrects the current detection sensors 51, 52, 53 when they are abnormal to the current detection values detected by these current detection sensors in the normal state will be described in detail below. explain.

FIG. 31 is a time chart in which the correction unit 46 performs the correction process of the voltage command, and FIG.
It is a flowchart which performs the correction process of a voltage command. When the sensitivity of the W-phase current detection sensor 53 increases, the voltage command actually commanded decreases as shown in FIG. Therefore, the voltage command based on the abnormal current detection sensor 53 is ignored, and W based on the normal amplitude of the U-phase or V-phase voltage command value and the rotor position of the DC brushless motor is set.
Calculate the voltage command value for the phase.

The W-phase current detection sensor 5 of the correction unit 46
The correction process of No. 3 will be described in detail based on the flowchart of FIG. 32. First, in S3201, it is determined whether the voltage command is abnormal. Flags XVWS1 and XVWB1 that become 1 when this abnormality occurs
Is a flag when the W-phase voltage command is increased or the W-phase voltage command is decreased, that is, when the sensitivity of the W-phase current detection sensor 53 is increased, which is described in S2912 in FIG. 29 of the twelfth embodiment.

Here, when XVWS1 = 1 or XVWB1 = 1 in S3201, it is determined that the W-phase current detection sensor 53 is abnormal. For example, the amplitude of the U-phase voltage command value is calculated in S3202 and stored in VU +. The W phase voltage command value is calculated from the amplitude VU + and the rotor position of the DC brushless motor,
Store in VWOUT and finish the process. Here, the W phase was calculated using the U phase, but the V phase may be used, or the minimum value of the U phase and the V phase may be taken for control on the safety side.

On the other hand, in S3201, XVWS1 = 0 or
When XVWB1 = 0, in S3203, the W-phase voltage command value is stored in VWOUT, and the process ends. As a result, as a correction method when the current detection sensor is abnormal, by correcting the phase voltage command value of the abnormal current detection sensor to the normal phase voltage command value based on the normal phase voltage command value, the current detection Even if one of the sensors has an abnormal sensitivity, the phase voltage command to the motor is made normal, so even if one of the current detection sensors is in the feedback control, the motor control can be performed in the same way as in the normal state. can get.

As a correction method when the traveling three-phase AC motor is DC brushless and the current detection sensor is abnormal, the phase voltage command of the phase in which the phase current detection sensor is abnormal is
Based on the absolute position information of the rotor of the rotor of this DC brushless motor and the amplitude of the other normal phase voltage command for one phase, the current detection sensor corrects the abnormal phase to obtain the phase current detection sensor. If one phase is normal, the phase current signal of this abnormal current detection sensor phase is corrected normally even if there is no input to the other phase current detection sensor, and the motor control is performed in the same way as in normal operation. The effect of enabling is obtained. (Fifteenth Embodiment) Next, referring to FIGS. 33 and 34 for the fifteenth embodiment of the present invention, the operation and effect of the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination unit 45 will be described below. Will be described in detail.

FIG. 33 is a time chart showing the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination section 45, and FIG. 34 is a flowchart showing the calculation processing of the abnormality determination section 45. When the electric vehicle is in a safe state such as being stopped, feedback control for setting the deviation between the current detection value of the current detection sensor and the current command value of the motor current command calculation unit 43 to 0 is an open loop, and the motor current during the open loop is set. An amplitude error (UO1−) between the current command IUO0 of the command calculator 43 and the current detection value IUO2 of the current detection sensor.
The abnormal current detection sensor is specified based on IIUO2).

The abnormality detection processing of the W-phase current detection sensor 53 of the abnormality determination section 45 will be described in detail with reference to the flowchart of FIG. 34. First, in S3401, for example, the U-phase current amplitude is stored as IU. In S3402, the current command value I
UO0 and actual current IUO2 are compared and if they match, S340
The abnormality detection flag XIUFBF is cleared in 3 and if they do not match in S3402, the abnormality detection flag XIUFBF is set to 1 in S3404 and the processing ends.

As a result, in a motor control device that performs feedback control based on the phase current of at least one phase of a three-phase AC motor for running an electric vehicle, this feedback control is open loop for a predetermined time as a method for detecting an abnormality of a current detection sensor. , The phase current command value calculated by the motor current command calculator in this open loop is compared with the phase current detection value detected by the current detection sensor, and the current detection sensor for the phase whose difference is not within the predetermined upper and lower limit values is detected. By making it abnormal, even if all the current detection sensors used for the calculation of the phase voltage command value of the motor are abnormal, the effect that the abnormality detection of the current detection sensors can be performed in the feedback control can be obtained. (Sixteenth Embodiment) Next, referring to FIG. 35 for the sixteenth embodiment of the present invention, the correction unit 46 determines that the current detection sensor 5
The operation and effect of the correction process of correcting the current command value detected by these current detection sensors to the voltage command value when the current detection sensors 1 and 53 are normal will be described in detail below.

FIG. 35 is a flow chart in which the correction section 46 performs the correction processing of the detected current value. In S3501,
When the U-phase current detection sensor described in FIG. 34 of the fifteenth embodiment is XIUFBF at the time of abnormality, it is determined that the U-phase current detection sensor is abnormal and the flag XIUFBR that stores the abnormality history at S3510 is set to 1, In step S3502, the DC offset of the U-phase current detection value is calculated and stored in IUOF.
Calculate the current amplitude detected by W phase and store it in IUH.
Next, in S3504, the ratio between the abnormal U-phase current detection value amplitude and the normal U-phase current command amplitude is calculated, and in S3505, S3.
The U-phase voltage command correction value IUOUT is calculated in consideration of the DC offset stored in 502, and the process ends.

If the U-phase current detection sensor is normal in S3501, it is determined in S3511 whether or not the current detection value is being corrected, and if XIUFBR = 1 during correction, the correction is continued. Then, when XIUFBR = 0 which is not being corrected in S3511, the current value IU which is not corrected is stored in the current command correction value IUOUT in S3506, and the processing ends.

As a result, as a correction method when the current detection sensor is abnormal, the current detection sensor detects the phase current detection value of the abnormal phase, and the phase current detection value detected by the abnormal current detection sensor during normal operation is open loop. Even if all of the current detection sensors have abnormal sensitivity and offset by correcting based on the phase current command value of, the estimated phase current detection value of this abnormal current detection sensor during normal operation Therefore, even if the current detection sensor in the feedback control is abnormal, the motor control can be performed in the same manner as in the normal state. (Seventeenth Embodiment) Next, referring to FIG. 36 for the seventeenth embodiment of the present invention, the correction unit 46 determines that the current detection sensor 5
The operation and effect of the correction process of correcting the current command value detected by these current detection sensors to the voltage command value when the current detection sensors 1 and 53 are normal will be described in detail below.

FIG. 36 is a flow chart showing the correction processing of the detected current value by the correction section 46. In S3601,
When the U-phase current detection sensor described in FIG. 34 of the fifteenth embodiment is XIUFBF at the time of abnormality and the U-phase current detection sensor is abnormal, the flag XVUFBR storing the abnormal history in S3610 is set to 1, In step S3602, the DC offset of the U-phase voltage command is calculated and stored in VUOF, and in step S3603, the current amplitude detected by the U-phase is calculated and stored in VUH. Next, in S3604, an abnormal U-phase voltage command amplitude and normal W
The ratio of the voltage command amplitude of the phase is calculated, and in S3605, S360
The U-phase voltage command correction value VUOUT is calculated in consideration of the DC offset stored in step 2, and the process ends.

If the U-phase current detection sensor is normal in S3601, it is determined in S3611 whether the voltage command value to the motor is being corrected. If XVUFBR = 1 during correction, the correction is continued. Move to processing, S361
When XVUFBR = 0, which is not being corrected in 1, the voltage command value VU which is not corrected is stored in the voltage command correction value VUOUT in S3606, and the processing is ended.

As a result, as a correction method when the current detection sensor is abnormal, the phase voltage command value of the phase in which the current detection sensor has become abnormal is opened, and the phase voltage command value when this abnormal current detection sensor is normal is opened. By correcting based on the phase voltage command value in the loop, even if all of the current detection sensors are abnormal, this abnormal current detection sensor has a normal phase voltage command value and an abnormal phase voltage command value. By correcting the phase current detection value of the abnormal current detection sensor so that the values match, the phase voltage command to the motor becomes normal, and even when the current detection sensor is abnormal during feedback control, the motor control is the same as when normal. The effect that it is possible to do is obtained.

As a correction method when the traveling three-phase AC motor is an induction motor and the current detection sensor is abnormal, the current detection sensor outputs the phase current detection value of the abnormal phase while the motor is stopped. Excitation current is supplied to the motor, and this excitation current is corrected so that the phase current command value and the phase current detection value match, so that the phase current command value and phase current detection are performed with the excitation current that is a direct current while the motor is stopped. Since the values are corrected so as to match, it is possible to obtain the effect that the phase current detection value of the abnormal phase can be corrected to the normal phase current detection value with higher accuracy than correction using the AC signal. (Eighteenth Embodiment) Next, referring to FIGS. 37 to 39 for the eighteenth embodiment of the present invention, the operation and effect of the abnormality detection processing of the current detection sensors 51, 52, 53 performed by the abnormality determination unit 45 will be described below. Will be described in detail.

FIG. 37 is a vector diagram showing the locus of the current vector of the AC motor 3, FIG. 38 is a time chart showing the abnormality detection processing performed by the abnormality determination unit 45, and FIG. 14 is the abnormality detection performed by the abnormality determination unit 45. It is a flowchart which shows a process. First, the operation of the current vector will be described with reference to FIG. 37. When the detection gain of the current detection sensor is normal, the current vector draws a vector locus during normal operation in the figure. When an abnormality occurs in which the current becomes larger, the current vector draws the vector trajectory at the time of abnormality in the figure, so that the torque of the AC motor in the W-phase direction decreases. Therefore, as shown in FIG. 38, since the torque decreases, the rotation speed of the AC motor also decreases in accordance with the peak of the W-phase current amplitude and the peak of the W-phase current amplitude.

Abnormality determination unit 4 associated with this change in the number of revolutions
The calculation process of step 5 will be described in detail with reference to the flowchart of FIG. 39. In step S3901, it is determined whether the variation amount of the motor rotation speed matches the variation amount of the phase θ of the current detection value. The detection gain is normal, and the process ends. Conversely, if it is determined in S3901 that they do not match, and if the maximum time of the amount of change in the motor rotation speed does not match the maximum time of the amplitude of the current detection value in S3902, the motor rotation speed is abnormal due to current detection gain abnormality. Does not mean that the change has occurred, and the process ends.

On the other hand, in S3902, if the maximum time of the fluctuation amount of the motor rotation speed and the maximum time of the amplitude of the current detection value match, the current detection sensor of the matched phase is detected in S3904, S3907, and S3911. If the detection gain is abnormal and the U phases match, if the fluctuation amount of the motor rotation speed fluctuates to a larger value than the normal value in S3904, it is determined that the U phase current detection gain has decreased and the flag is set in S3905. Set 1 to a certain XIUN-, clear other flags, and finish the process.

If the fluctuation amount of the motor rotation speed fluctuates to a smaller value than the normal value in S3904, it is determined that the U-phase current detection gain has increased, and in S3906, the corresponding flag XI is set.
UN + is set to 1, other flags are cleared, and the process ends. If the V phases match in S3907, S
If the fluctuation amount of the motor rotation speed fluctuates to a larger value than the normal value in 3908, it is determined that the V-phase current detection gain has decreased, and in S3909, 1 is set in the flag XIVN- and other flags are set. Clear and end the process.

If the fluctuation amount of the motor rotation speed fluctuates to a smaller value than the normal value in S3908, it is determined that the current detection gain of the V phase has increased, and the flag XI which is the flag is determined in S3910.
Set 1 to VN +, clear other flags, and finish the process. If the W phases match in S3911, S
If the fluctuation amount of the motor rotation speed fluctuates to a value larger than the normal value in 3912, it is determined that the current detection gain of the W phase has decreased, and in S3913, 1 is set in the flag XIWN- and other flags are set. Clear and end the process.

If the fluctuation amount of the motor speed fluctuates to a smaller value than the normal value in S3912, it is determined that the W-phase current detection gain has increased, and in S3914, the flag XI is set.
WN + is set to 1, the other flags are cleared, and the process ends. As a result, in the motor control device that feedback-controls the phase current detection value of at least one phase of the three-phase AC motor for traveling of the electric vehicle and the phase voltage command value of the motor based on the rotation speed of the motor, the current detection sensor is abnormal As a detection method, an abnormal current detection sensor is identified based on a variation in the number of revolutions of the motor during one rotation, so that at least one phase of the current detection sensor is generated at the time of an abnormality. By specifying the abnormal current detection sensor based on the rotation speed fluctuation during one rotation, it is possible to obtain the effect of enabling the abnormality detection of the current detection sensor in the feedback control regardless of the phase voltage command to the motor. (Nineteenth Embodiment) Next, referring to FIG. 40 for a nineteenth embodiment of the present invention, the correction unit 46 determines that the current detection sensor 5
The operation and effect of the correction process for correcting the current detection values detected by these current detection sensors when the current detection sensors 1 and 53 are abnormal will be described in detail below.

FIG. 40 is a flow chart showing the correction processing of the detected current value by the correction section 46. In S4001,
When the sensitivity of the U-phase current detection sensor shown in FIG. 39 of the eighteenth embodiment is increased XIUN + is 1, it is determined that the U-phase current detection sensor has an increase abnormality, and the abnormality history storage flag XIUNR is set to 1 in S4010. Then, the correction amount ΔK is increased by a predetermined value K421 in S4011, the current value IU is multiplied by a predetermined value (1 + ΔK) in S4002, and the corrected current detection value is stored in IUOUT, and the process ends. .

If the U-phase current detection sensor is not the abnormal increase in S4001, the U-phase current detection sensor shown in FIG. 39 of the eighteenth embodiment is U when the sensitivity lowering flag XIUN- is 1 in S4002. Abnormal history memory flag XIUN is determined in S4012 as the phase current detection sensor is abnormally low.
R is set to 1 and the correction amount ΔK is set to a predetermined value K422 in S4013.
Then, in S4002, the current value IU is multiplied by a predetermined value (1 + ΔK), and the corrected current detection value is stored in IUOUT, and the process ends.

If the U-phase current detection sensor is normal in S4003, it is determined in S4014 whether correction is in progress. If correction is being performed for XUINR = 1, the correction in S4002 is continued and correction is not in progress. = 0, the uncorrected detection value IU is stored in IUOUT in S4005, and S4
At 015, the correction amount ΔK is initialized and the process ends.
As a result, as a correction method when the current detection sensor is abnormal,
By correcting the phase current detection value or the phase voltage command value detected by the abnormal current detection sensor so that the rotation speed fluctuation during one rotation of the motor becomes 0, even if at least one phase current detection sensor is abnormal, By correcting the detected phase current value to the detected normal phase current value, the number of revolutions per revolution of the motor becomes 0, the abnormal phase voltage command becomes normal, and the current detection sensor becomes abnormal during feedback control. However, it is possible to obtain the effect that the motor control can be performed in the same manner as in the normal state.

Further, in common with the above embodiments, the current detection sensor detects the phase current with an analog signal proportional to the detected current value, and the phase current command value to the motor is calculated by the CPU as a digital value. The value is D / A converted and converted into an analog phase current command value, and feedback control is performed by analog signal processing so that the analog phase current command value and the analog phase current detection value match. By detecting the abnormality of the current command calculation unit, the error detection threshold value of the current detection sensor is included in the feedback control by analog signal processing, including errors due to the accuracy of the elements used in this analog circuit and changes over time. Since it is variable, the effect of eliminating the influence of the error on the accuracy of the abnormality determination threshold value can be obtained.

Further, as a correction method when the current detection sensor in the analog signal processing circuit is abnormal, by correcting the analog phase current command value so that the error included in the analog signal processing circuit becomes 0, the analog signal By correcting the error including the element accuracy of the processing circuit, it is possible to obtain the effect of eliminating the influence of the element accuracy or the like on the deterioration of the control accuracy.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a time chart showing the first embodiment of the present invention.

FIG. 3 is a time chart showing the first embodiment of the present invention.

FIG. 4 is a flowchart showing a first embodiment of the present invention.

FIG. 5 is a flowchart showing the first embodiment of the present invention.

FIG. 6 is a time chart showing a second embodiment of the present invention.

FIG. 7 is a flowchart showing a second embodiment of the present invention.

FIG. 8 is a flowchart showing a third embodiment of the present invention.

FIG. 9 is a flowchart showing a third embodiment of the present invention.

FIG. 10 is a time chart showing a fourth embodiment of the present invention.

FIG. 11 is a flowchart showing a fourth embodiment of the present invention.

FIG. 12 is a time chart showing a fifth embodiment of the present invention.

FIG. 13 is a flowchart showing a fifth embodiment of the present invention.

FIG. 14 is a time chart showing a sixth embodiment of the present invention.

FIG. 15 is a flowchart showing a sixth embodiment of the present invention.

FIG. 16 is a time chart showing a seventh embodiment of the present invention.

FIG. 17 is a flowchart showing a seventh embodiment of the present invention.

FIG. 18 is a block diagram showing an eighth embodiment of the present invention.

FIG. 19 is a time chart showing an eighth embodiment of the present invention.

FIG. 20 is a flowchart showing an eighth embodiment of the present invention.

FIG. 21 is a flowchart showing an eighth embodiment of the present invention.

FIG. 22 is a flowchart showing a ninth embodiment of the present invention.

FIG. 23 is a flowchart showing a tenth embodiment of the present invention.

FIG. 24 is a block diagram showing an eleventh embodiment of the present invention.

FIG. 25 is a time chart showing an eleventh embodiment of the invention.

FIG. 26 is a flowchart showing an eleventh embodiment of the present invention.

FIG. 27 is a flowchart showing an eleventh embodiment of the present invention.

FIG. 28 is a time chart showing a twelfth embodiment of the invention.

FIG. 29 is a flowchart showing a twelfth embodiment of the present invention.

FIG. 30 is a flowchart showing a thirteenth embodiment of the present invention.

FIG. 31 is a time chart showing a fourteenth embodiment of the invention.

FIG. 32 is a flowchart showing a fourteenth embodiment of the present invention.

FIG. 33 is a time chart showing a fifteenth embodiment of the present invention.

FIG. 34 is a flowchart showing a fifteenth embodiment of the present invention.

FIG. 35 is a flowchart showing a sixteenth embodiment of the present invention.

FIG. 36 is a flowchart showing a seventeenth embodiment of the present invention.

FIG. 37 is a vector diagram showing an eighteenth embodiment of the present invention.

FIG. 38 is a time chart showing an eighteenth embodiment of the invention.

FIG. 39 is a flowchart showing an eighteenth embodiment of the present invention.

FIG. 40 is a flowchart showing a nineteenth embodiment of the present invention.

[Explanation of symbols]

1 ... Battery, 2 ... Inverter, 3 ... AC motor, 4 ... Control device, 42 ... Motor current command calculation unit, 4
3 ... Motor voltage command calculation unit, 45 ... Abnormality determination unit, 46 ...
Correction unit, 51, 52, 53 ... Current detection sensor, 6 ...
Rotation detection sensor.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location H02P 7/63 302 H02P 6/02 371P

Claims (27)

[Claims] 1. A current detecting means (5) for detecting each phase current of a three-phase AC motor (3) for running an electric vehicle.
1, 52, 53), a motor current command calculation means (42) for calculating a phase current command value of the three-phase AC motor, and a phase current command value calculated by the motor current command calculation means (42) and the current. A motor voltage command calculation unit (43) that calculates a motor phase voltage command of the three-phase AC motor based on the phase current detection value detected by the detection unit, and the current detection based on the three-phase command values of the motor phase voltage command. An abnormality determination means (45) for detecting abnormality of the means, and an electric vehicle traveling motor control device comprising: 2. A correction means (46) for correcting the current detection value of the current detection means (51, 52, 53) which has been determined to be abnormal by the abnormality determination means (45) to a normal value. The electric vehicle traveling motor control device according to claim 1. 3. The abnormality determining means (45), when one of the three-phase command values of the motor phase voltage command does not match the command values of the other two phases, determines that the phases do not match as abnormal. The electric vehicle traveling motor control device according to claim 1, wherein: 4. The abnormality determining means (45) determines the upper and lower limits when one of the three-phase command values of the motor phase voltage command is not within the upper and lower limits of a predetermined command value defined in advance. The electric vehicle traveling motor control device according to claim 1, wherein a phase which is not present is abnormal. 5. The correcting means (46), when one of the three-phase command values of the motor phase voltage command is abnormal, changes the abnormal motor phase voltage command amplitude value to another normal motor 3. The electric vehicle traveling motor control device according to claim 2, wherein the correction is performed so as to match the phase voltage command amplitude value. 6. The correcting means (46), when one of the three phase current detection values is abnormal, detects the abnormal phase current detection value as a normal phase current detection value. 3. The electric vehicle traveling motor control device according to claim 2, wherein the sum of phases is created by inverting the value. 7. The correcting means (46), when one of the three-phase command values of the motor phase voltage command is abnormal, changes the abnormal motor phase voltage command value to another normal motor phase command value. 3. The electric vehicle traveling motor control device according to claim 2, wherein the voltage command value is created from a value obtained by inverting the sum of two phases. 8. The correcting means (46), when one of the three-phase command values of the motor phase voltage command is abnormal, changes the abnormal motor phase voltage command value to another normal two-phase command value. The electric vehicle traveling motor control device according to claim 2, which is created based on the amplitude and the phase of the motor phase voltage command value. 9. The traveling three-phase AC motor (3) is a DC brushless motor, comprising rotor position detecting means for detecting the absolute position of the rotor of the motor with respect to the stator, and the correcting means (46). ) Is for correcting the amplitude and phase of the abnormal command value based on the rotor position information of the rotor position detecting means when one of the three phase command values of the motor phase voltage command is abnormal. An electric vehicle traveling motor control device according to claim 2, 10. A main current detection means (5) for detecting a phase current of two of three phases of a three-phase AC motor for running an electric vehicle.
1, 53), a motor current command calculation means (42) for calculating a phase current command value of the three-phase AC motor based on the phase current of the main current detection means, and a phase other than the phases detected by the main current detection means. Sub-current detection means (47) for detecting the remaining one-phase current, and abnormality determination for specifying an abnormal current detection means based on the amplitude and phase difference of the phase currents detected by the main current detection means and the sub-current detection means. An electric vehicle traction motor control device comprising: a means (45); 11. The current detection value of the current detecting means (51, 52, 53) determined to be abnormal by the abnormality determining means (45) is based on the amplitude and phase difference of the phase current detected by the normal current detecting means. The electric vehicle traction motor control device according to claim 10, further comprising: a correcting unit (46) for correcting. 12. The correcting means (46) corrects the amplitude of the motor phase voltage command value so that the phase differences of the phase currents detected by the current detecting means (51, 52, 53) become equal among the three phases. The electric vehicle traveling motor control device according to claim 11, wherein: 13. A current detecting means for selecting a remaining two-phase normal current detecting means other than said current detecting means (51, 52, 53) which is abnormal by said abnormality judging means (45) to be a main current detecting means. The electric vehicle traveling motor control device according to claim 10, further comprising means correction means. 14. A current detecting means (51, 52, 53) for detecting a phase current of at least two phases of a traveling three-phase AC motor of an electric vehicle, and a phase current command value of the three-phase AC motor. And a motor current command calculation means (42) for calculating the motor phase voltage command of the three-phase AC motor based on the phase current command value calculated by the motor current command calculation means and the phase current detection value detected by the current detection means. When the motor voltage command calculation means (43) for performing the above and the phase voltage command of at least one phase calculated by the motor voltage command calculation means are abnormal, the current detection means of the phase in which the phase voltage command is abnormal is abnormal. Judgment means (45)
An electric vehicle traveling motor control device comprising: 15. A correction means (46) for correcting the current detection value of the current detection means (51, 52, 53) which has been determined to be abnormal by the abnormality determination means (45) to a normal value. The electric vehicle traveling motor control device according to claim 14. 16. The abnormality determining means (45) detects an abnormal current based on the amplitude and phase difference of the phase voltage command when the phase differences of the phase voltage command values of the three phases of the motor phase voltage command do not match. Drive motor control device for an electric vehicle according to claim 14, characterized in that the means (51, 52, 53) are specified. 17. The abnormality determining means (45) determines the upper and lower limits when one of the three-phase command values of the motor phase voltage command is not within the upper and lower limits of a predetermined command value. 15. The electric vehicle traveling motor control device according to claim 14, wherein a phase that is not within the range and has the largest difference from the upper and lower limit values is abnormal. 18. The correcting means (46) corrects the amplitude of the motor phase voltage command value so that the phase differences of the phase currents detected by the current detecting means (51, 52, 53) become equal among the three phases. The electric vehicle traveling motor control device according to claim 15, wherein: 19. The traveling three-phase AC motor (3) is DC.
A brushless motor, comprising rotor position detection means for detecting the absolute position of the rotor of the motor with respect to the stator, wherein the correction means (46) is one of the three-phase command values of the motor phase voltage command. The electric vehicle traveling motor control according to claim 15, wherein when one phase is abnormal, the amplitude and phase of the abnormal command value are created and corrected based on the rotor position information of the rotor position detecting means. apparatus 20. At least one current detecting means (51, 52, 53) for detecting a phase current of a traveling three-phase AC motor (3) of an electric vehicle, and a phase current command value of the three-phase AC motor. A motor current command calculation means (42) for calculating, and the AC motor phase voltage for making the deviation between the phase current command value calculated by the motor current command calculation means and the phase current detection value detected by the current detection means zero. Motor voltage command calculation means (43) for performing feedback control for command calculation, and the feedback control in an open loop for a predetermined time, and the current detection in which the phase current command value and the phase current detection value do not substantially match in this open loop. An abnormality determination means (45) for making the means abnormal, and an electric vehicle traveling motor control device comprising: 21. The current detection value of the current detection means (51, 52, 53), which has been determined to be abnormal by the abnormality determination means (45), is set to the phase current command value and the phase current detection value in the open loop. It is characterized by further comprising a correction means for correcting the motor phase current command of the phase in which the phase current command value and the phase current detection value do not substantially match based on the motor phase current command of the substantially matched phase. Item 21. An electric vehicle traveling motor controller according to item 20. 22. The current detection value of the current detection means (51, 52, 53), which has been determined to be abnormal by the abnormality determination means (45), is set to the phase current command value and the phase current detection value in the open loop. Correction means (4) for correcting the motor phase voltage command of the phase in which the phase current command value and the phase current detection value do not substantially match based on the motor phase voltage command of the substantially matched phase.
21. The electric vehicle traveling motor control device according to claim 20, further comprising 5). 23. The traveling three-phase AC motor (3) is an induction motor, and the phase current command value commanded by the motor current command calculation means (42) is an excitation commanded while the motor is stopped. 23. The electric vehicle traveling motor control device according to claim 21 or 22, wherein the electric vehicle traveling motor control device is an electric current. 24. At least one current detecting means (51, 52, 53) for detecting a phase current of a three-phase AC motor (3) for traveling of an electric vehicle, and a rotational speed of the three-phase AC motor. Motor rotation speed detection means (6), motor current command calculation means (42) for calculating a phase current command value of the three-phase AC motor, phase current command value calculated by the motor current command calculation means, and the current detection Motor voltage command calculation means (43) for calculating the AC motor phase voltage command based on the current detection value detected by the means and the motor rotation information detected by the motor rotation speed detection means, and motor rotation information of the motor rotation detection means A rotation fluctuation detecting means for detecting a rotation fluctuation of the AC motor during one rotation, and when the rotation fluctuation is synchronized with the maximum amplitude of the phase current command value, Electric vehicle travel motor control apparatus including an abnormality determination unit that the flow detection means and abnormality (45), the. 25. The rotation fluctuation detected by the rotation fluctuation detecting means is 0 when the error in the current detection value of the current detecting means (51, 52, 53) that the abnormality judging means (45) has determined to be abnormal is zero.
25. The electric vehicle traction motor control device according to claim 24, further comprising a correction means (46) for performing correction so that 26. The current detecting means (51, 52, 53)
Is an analog current detection means for outputting a current detection value as an analog signal in proportion to the detected current value, wherein the motor current command calculation means (42) digitally outputs a current command value to the AC motor (3). CPU that calculates by value
An analog operation means for converting the digital current command value calculated by the CPU into an analog current command value by a D / A converter and outputting the analog current command value. 1
The electric vehicle traveling motor control device according to any one of 4, 16, 17, 20, 22, and 24. 27. A digital current command value calculated by the CPU and the analog current detecting means (51, 52, 53).
7. The method according to claim 2, further comprising correction means for correcting the digital current command value of the CPU so that the error of the analog current detection value detected by the CPU becomes zero.
8, 9, 11, 12, 13, 15, 18, 19, 21,
The electric vehicle traveling motor control device according to any one of 22, 23, 25, and 26.