KR101904374B1 - Motor driving apparatus and electric vehicle including the same - Google Patents

Abstract

The present invention relates to a chiller. A motor driving apparatus and an electric vehicle including the same according to an embodiment of the present invention are provided with a motor, an inverter that has a plurality of switching elements and outputs AC power to the motor, an inverter control unit that controls the inverter, And a position detection sensor for detecting a position of a rotor of the motor, wherein the inverter control unit is configured to control the second phase current based on the first phase detection current detected by the output current detection unit And the second phase detection current detected by the output current detection section is compared with the estimated second phase estimation current to determine the failure of the output current detection section. Based on this, it is possible to easily detect the failure of the output current detection unit for detecting the output current flowing in the motor.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motor driving apparatus and an electric vehicle including the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor driving apparatus and an electric vehicle having the same, and more particularly, to a motor driving apparatus capable of easily detecting a failure of an output current detecting unit for detecting an output current flowing in a motor, .

The vehicle that appeared by the invention of the internal combustion engine is a necessity indispensable to the life of mankind. However, it causes the problem of energy exhaustion due to the consumption of enormous energy and the main cause of environmental pollution. BACKGROUND ART [0002] There is a trend toward developing and using an electric vehicle, an internal combustion engine, and a hybrid vehicle that combines the electric vehicle and the hybrid vehicle.

On the other hand, such an electric vehicle, hybrid vehicle, or the like uses an output of a motor and a battery or the like.

On the other hand, when the motor is driven, a failure of the circuit elements inside the motor driving unit may occur. In this case, the motor drive can not be stably performed.

An object of the present invention is to provide a motor drive apparatus capable of easily detecting a failure of an output current detection unit for detecting an output current flowing in a motor and an electric vehicle having the motor drive apparatus.

It is another object of the present invention to provide a motor drive apparatus capable of quickly detecting a failure of an output current detection unit for detecting an output current flowing in a motor and an electric vehicle having the motor drive apparatus.

According to an aspect of the present invention, there is provided a motor drive apparatus and an electric vehicle including the motor, including: a motor; an inverter having a plurality of switching elements and outputting an AC power to the motor; And a position detection sensor for detecting a position of a rotor of the motor. The inverter control unit controls the inverter based on the first phase detection current detected by the output current detection unit , The second phase current is estimated, and the second phase detection current detected by the output current detection unit is compared with the estimated second phase estimation current to determine the failure of the output current detection unit.

According to another aspect of the present invention, there is provided a motor drive apparatus and an electric vehicle including the same. The motor drive apparatus includes a motor, an inverter that includes a plurality of switching elements and outputs an AC power to the motor, And a position detection sensor for detecting a position of a rotor of the motor, wherein the inverter control unit controls the first phase current detected by the first phase current detection unit Axis current command value based on the magnetic pole position detected by the position detection sensor, compares the q-axis current command value with the estimated q-axis estimated current, It is determined whether or not the output current detection unit is faulty.

According to another aspect of the present invention, there is provided a motor drive apparatus and an electric vehicle including the same, including a motor, an inverter having a plurality of switching elements and outputting an AC power to the motor, And a position detection sensor for detecting a position of a rotor of the motor, wherein the inverter control unit includes a first phase detection unit that detects a first phase detected by an output current detection unit, The output power of the inverter and the estimated power are calculated based on the current and the second phase detection current to compare the output power of the inverter with the estimated power to determine whether or not the output current detection unit is faulty.

A motor driving apparatus and an electric vehicle including the motor drive apparatus according to an embodiment of the present invention are provided with a motor, an inverter that has a plurality of switching elements and outputs an AC power to the motor, an inverter control unit that controls the inverter, And a position detection sensor for detecting the position of the rotor of the motor, wherein the inverter control unit controls the first phase current based on the second phase current detected based on the first phase detection current detected by the output current detection unit, And an output current detection unit for detecting an output current flowing to the motor by comparing the second phase detection current detected by the output current detection unit and the estimated second phase estimation current to determine whether or not the output current detection unit is faulty It is possible to easily detect a failure.

It is also possible to quickly detect the failure of the output current detection unit for detecting the output current flowing in the motor within 1/2 cycle or 1/4 cycle of the phase current waveform.

According to the present invention, even if an abnormality occurs in the detection of the motor current due to the failure of one of the two output current detecting portions, etc., the motor can be properly driven.

It is possible to judge whether or not a detection current failure occurs in the detection current of the first stage and at least the two-phase output voltage and the input or the output, and the defective phase can be accurately confirmed by a simple method.

Further, according to the present invention, the current can be accurately estimated even transiently.

This makes it possible to provide a high reliability in the motor drive apparatus.

A motor driving apparatus and an electric vehicle including the motor driving apparatus according to another embodiment of the present invention are provided with a motor, an inverter that has a plurality of switching elements and outputs AC power to the motor, an inverter control unit that controls the inverter, And a position detection sensor for detecting the position of the rotor of the motor, wherein the inverter control unit controls the rotation phase of the motor based on the first phase detection current detected by the output current detection unit, Axis current command value based on the magnetic pole position detected by the position detecting sensor and compares the q-axis current command value with the estimated q-axis estimated current to determine whether or not the output current detecting section is faulty It is possible to easily detect the failure of the output current detection unit for detecting the output current flowing to the motor.

As described above, according to another embodiment of the present invention, it is possible to detect abnormality of the detected current value in a short time when the output current detecting section fails, and at the same time, Can continue.

According to another aspect of the present invention, there is provided a motor drive apparatus and an electric vehicle including the same. The motor drive apparatus includes a motor, an inverter for outputting AC power to the motor, an inverter control unit for controlling the inverter, And a position detection sensor for detecting the position of the rotor of the motor. The inverter control unit controls the first phase current detected by the output current detecting unit and the second phase current detected by the second phase current detecting unit, And an output current detection unit for detecting an output current flowing to the motor by comparing the output power of the inverter with the estimated power and judging the failure of the output current detection unit It is possible to easily detect a failure.

As described above, according to still another embodiment of the present invention, it is possible to detect an abnormality of the detected current value in a short time at the time of failure of the output current detecting section, and at the same time, The driving can be continued.

1 is a schematic view showing a vehicle body of an electric vehicle according to an embodiment of the present invention.
2 is an example of an internal block diagram of the electric vehicle of FIG.
Fig. 3 illustrates an example of an internal block diagram of the motor drive apparatus of Fig.
4 is an example of an internal circuit diagram of the motor driving apparatus of Fig.
5 is an internal block diagram of a motor driving apparatus according to the first embodiment of the present invention.
6 is an example of an internal block diagram of the axis conversion unit in Fig.
7 to 8 are views referred to in the description of the operation of the motor driving apparatus of FIG.
9 is an internal block diagram of a motor driving apparatus according to a second embodiment of the present invention.
10 is an example of an internal block diagram of the axis conversion unit in FIG.
11 is a diagram referred to in the description of the operation of the motor driving apparatus of FIG.
12 is an internal block diagram of a motor driving apparatus according to the third embodiment of the present invention.
13 is an example of an internal block diagram of the axis conversion unit in Fig.
14 is a diagram referred to in the description of the operation of the motor driving apparatus of Fig.

Hereinafter, the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

1 is a schematic view showing a vehicle body of an electric vehicle according to an embodiment of the present invention.

Referring to the drawings, an electric vehicle 100 according to an embodiment of the present invention includes a battery 205 for supplying power, a motor driving device 200 for receiving power from a battery 205, a motor driving device 200 A front wheel suspension 150 and a rear wheel 155 that are rotated by the motor 250 and a front suspension suspension 160 that blocks vibration of the road surface from being transmitted to the vehicle body, An apparatus 165, and a tilt angle detecting unit 190 for detecting the tilt angle of the vehicle body. On the other hand, a driving gear (not shown) for converting the rotational speed of the motor 250 based on the gear ratio may be additionally provided.

The inclination angle detection unit 190 detects the inclination angle of the vehicle body, and the detected inclination angle is input to the electronic control unit 310 described later. The inclination angle detection unit 190 may be implemented by a gyro sensor, a horizontal gauge sensor, or the like.

The inclination angle detecting unit 190 may be disposed on the battery 205 and may be disposed on both the front wheel 150 and the rear wheel 155 or both the front wheel 150 and the rear wheel 155 have.

The battery 205 supplies power to the motor driving apparatus 200. [ In particular, DC power is supplied to the capacitor C in the motor driving apparatus 200.

The battery 205 may be formed of a plurality of unit cells. A plurality of unit cells may be managed by a battery management system (BMS) to maintain a constant voltage, and a certain voltage may be discharged by the battery management system.

For example, the battery management system can detect the voltage Vbat of the battery 205 and transmit it to an electronic control unit (not shown) or the inverter control unit 250 in the motor drive unit 200, The DC power stored in the capacitor C in the motor driving apparatus 200 can be supplied to the battery when the voltage Vbat falls below the lower limit. In addition, when the battery voltage Vbat rises above the upper limit value, DC power may be supplied to the capacitor C in the motor driving apparatus 200.

The battery 205 is preferably a secondary battery capable of charging and discharging, but is not limited thereto.

The motor driving apparatus 200 receives the DC power from the battery 205 by the power input cable 120. The motor driving apparatus 200 converts the DC power received from the battery 205 into AC power and supplies the AC power to the motor 250. The converted AC power source is preferably a three-phase AC power source. The motor driving apparatus 200 supplies the three-phase AC power to the motor 250 through the three-phase output cable 125 provided in the motor driving apparatus 200.

Although the motor drive apparatus 200 of FIG. 1 shows a three-phase output cable 125 consisting of three cables, three cables may be provided in a single cable.

The motor driving apparatus 200 according to the embodiment of the present invention will be described later with reference to FIG.

The motor 250 includes a stator 130 that is fixed without rotation, and a rotating rotor 135. The motor 250 is provided with an input cable 140 to receive AC power supplied from the motor driving apparatus 200. The motor 250 may be, for example, a three-phase motor. When the variable-frequency alternating-current alternating-current power source is applied to the coil of each stator, the rotational speed of the rotor is varied .

The motor 250 may be of various types such as an induction motor, a BLDC motor (blushless DC motor), and a reluctance motor.

Meanwhile, a driving gear (not shown) may be provided at one side of the motor 250. The drive gear converts the rotational energy of the motor 250 based on the gear ratio. The rotational energy output from the driving gear is transmitted to the front wheel 150 and / or the rear wheel 155 to allow the electric vehicle 100 to move.

The front suspension unit 160 and the rear suspension unit 165 support the front wheel 150 and the rear wheel 155, respectively, with respect to the vehicle body. The front suspension unit 160 and the rear suspension unit 165 are supported by a spring or a damping mechanism so that the vibration of the road surface does not touch the vehicle body.

The front wheel 150 may further include a steering device (not shown). The steering apparatus is a device for adjusting the direction of the front wheel 150 so as to drive the electric vehicle 100 in a direction intended by the driver.

On the other hand, although not shown in the drawings, the electric vehicle 100 may further include an electronic controller for controlling electronic devices throughout the electric vehicle. An electronic control unit (not shown) controls each device so that it can operate and display. It is also possible to control the above-described battery management system.

 The electronic control unit (not shown) includes an inclination angle detection unit (not shown) for detecting the inclination angle of the electric vehicle 100, a speed detection unit (not shown) for detecting the speed of the electric vehicle 100, (A driving mode, a reverse mode, a neutral mode, a parking mode, and the like) based on a detection signal from an acceleration sensor (not shown) Lt; / RTI > The operation command value at this time may be, for example, a torque command value or a speed command value.

On the other hand, in the electric vehicle 100 according to the embodiment of the present invention, a pure electric vehicle using a battery and a motor may be a concept including a hybrid electric vehicle using a battery and a motor while using an engine of course. At this time, the hybrid electric vehicle may further include a switching means capable of selecting at least one of a battery and an engine, and a transmission. On the other hand, a hybrid electric vehicle can be divided into a serial system that converts mechanical energy output from the engine into electric energy to drive the motor, and a parallel system that uses both mechanical energy output from the engine and electrical energy from the battery.

2 is an example of an internal block diagram of the electric vehicle of FIG.

The electric vehicle 100 may include an input unit 120, a communication unit 130, a memory 140, a control unit 170, and a driving unit 220.

The input unit 120 includes an operation button, a key, and the like, and can output an input signal for power on / off of the electric vehicle 100, operation setting, and the like.

The communication unit 130 can exchange data with a peripheral device, for example, a remote control device or the mobile terminal 600 by wire or wireless, or exchange data wirelessly with a remote server or the like. For example, mobile communication such as 4G or 5G, infrared (IR) communication, RF communication, Bluetooth communication, Zigbee communication, WiFi communication, and the like can be performed.

On the other hand, the memory 140 of the electric vehicle 100 can store data necessary for the operation of the electric vehicle 100. [ For example, data on operation time, operation mode, and the like at the time of operation of the driving unit 220 can be stored.

The memory 140 of the electric vehicle 100 can also store management data including power consumption information of the electric vehicle, recommended operation information, current operation information, and management information.

Further, the memory 140 of the electric vehicle 100 may store diagnostic data including operation information, operation information, and error information of the electric vehicle.

The control unit 170 can control each unit in the electric vehicle 100. [ For example, the control unit 170 can control the input unit 120, the communication unit 130, the memory 140, the driving unit 220, and the like.

The driving unit 220 may include an inverter 420, an inverter control unit 430, and a motor 230 shown in FIG. 3 in order to drive the motor 250.

Fig. 3 illustrates an example of an internal block diagram of the motor drive apparatus of Fig.

The motor driving apparatus 200 in the motor driving apparatus 200 of FIG. 3 may include a memory 270, an inverter control unit 430, an inverter 430, and the like.

The detailed operation of the motor driving apparatus 200 will be described in more detail with reference to Fig.

4 is an example of an internal circuit diagram of the motor driving apparatus of Fig.

The motor driving apparatus 200 according to the embodiment of the present invention includes an inverter 420, an inverter control unit 430, an output current detection unit E, and a position detection sensor 105 .

The motor driving apparatus 200 according to the embodiment of the present invention may include a converter 410, a dc voltage detection unit B, a smoothing capacitor C, and an output current detection unit E. The driving unit 200 may further include an input current detection unit A, a reactor L, and the like.

The reactor L is disposed between the input power source 405 (Vs) and the converter 410 and performs a power factor correcting or boosting operation. The reactor L may also function to limit the harmonic current due to the fast switching of the converter 410.

Here, the input power source 405 may be a direct current power source from the battery 205.

The input current detection section A can detect the input current is inputted from the input power supply 405. [ To this end, a current transformer (CT), a shunt resistor, or the like may be used as the input current detector A. The detected input current is may be input to the inverter control unit 430 as a discrete signal in the form of a pulse.

The converter 410 can convert the level of the input power source 405 through the reactor L and output it.

Meanwhile, the converter 410 may be a diode without a switching element, and may perform a level shifting operation without a separate switching operation.

For example, in the case of a single-phase AC power source, four diodes may be used in the form of a bridge, and in the case of a three-phase AC power source, six diodes may be used in the form of a bridge.

On the other hand, the converter 410 may be, for example, a half-bridge type converter in which two switching elements and four diodes are connected, and in the case of a three-phase AC power source, six switching elements and six diodes may be used .

When the converter 410 includes a switching element, the DC power conversion can be performed by the switching operation of the switching element.

The smoothing capacitor C smoothes the input power supply and stores it. In the drawing, one element is exemplified by the smoothing capacitor C, but a plurality of elements are provided so that the element stability can be ensured.

On the other hand, both ends of the smoothing capacitor C are referred to as a dc stage or a dc stage because the dc power source is stored.

The dc voltage detection unit B can detect the dc voltage Vdc at both ends of the smoothing capacitor C. [ For this purpose, the dc voltage detection unit B may include a resistance element, an amplifier, and the like. The detected dc voltage source Vdc can be input to the inverter control unit 430 as a discrete signal in the form of a pulse.

The inverter 420 includes a plurality of inverter switching elements and converts the smoothed DC power supply Vdc into three-phase AC power supplies Va, Vb and Vc of a predetermined frequency by on / off operation of the switching elements, And outputs it to the synchronous motor 250.

The inverter 420 includes a pair of upper arm switching elements Sa, Sb and Sc and lower arm switching elements S'a, S'b and S'c serially connected to each other, The switching elements are connected to each other in parallel (Sa & S a, Sb & S'b, Sc & S'c). Diodes are connected in anti-parallel to each switching element Sa, S'a, Sb, S'b, Sc, S'c.

The switching elements in the inverter 420 perform ON / OFF operations of the respective switching elements based on the inverter switching control signal Sic from the inverter controller 430. [ Thereby, the three-phase AC power source having the predetermined frequency is outputted to the three-phase synchronous motor 250.

The inverter control unit 430 can control the switching operation of the inverter 420 based on the sensorless method. For this, the inverter control unit 430 can receive the output current io detected by the output current detection unit E.

The inverter control unit 430 outputs the inverter switching control signal Sic to the inverter 420 to control the switching operation of the inverter 420. [ The inverter switching control signal Sic is generated and output based on the output current io detected by the output current detection section E as a switching control signal of the pulse width modulation method (PWM).

The output current detection unit E detects the output current io flowing between the inverter 420 and the three-phase motor 250. [ That is, the current flowing in the motor 250 is detected. The output current detection unit E can detect all the output currents (i, ib, ic or iu, iv, iw) of the respective phases or can detect the output currents of the two phases using the three-phase balance.

The output current detection unit E may be located between the inverter 420 and the motor 250. For current detection, a current transformer (CT), a shunt resistor, or the like may be used.

Three shunt resistors are placed between the inverter 420 and the synchronous motor 250 or the three lower arm switching elements S'a, S'b, S'c To be connected to each other. On the other hand, it is also possible to use two shunt resistors using three phase equilibrium. On the other hand, when one shunt resistor is used, the shunt resistor may be disposed between the capacitor C and the inverter 420 described above.

The detected output current io can be applied to the inverter control unit 430 as a pulse discrete signal and the inverter switching control signal Sic is generated based on the detected output current io do. Hereinafter, the detected output current io may be described as being three-phase output currents (ia, ib, ic).

On the other hand, the three-phase motor 250 has a stator and a rotor, and each phase alternating current power of a predetermined frequency is applied to a coil of a stator of each phase (a, b, c phase) .

The motor 250 may be, for example, a Surface Mounted Permanent Magnet Synchronous Motor (SMPMSM), an Interior Permanent Magnet Synchronous Motor (IPMSM) A synchronous motor (Synchronous Reluctance Motor; Synrm), and the like. Among them, SMPMSM and IPMSM are permanent magnet applied Permanent Magnet Synchronous Motor (PMSM), and Synrm is characterized by having no permanent magnet.

On the other hand, the three-phase a, b, and c phases described above can correspond to the u, v, and w phases described below.

5 is an internal block diagram of a motor driving apparatus according to the first embodiment of the present invention.

5 includes a motor 250, an inverter 420, an inverter control unit 430 for controlling the rotation of the motor 250 through the control of the inverter 420, Output current detecting portions 104u and 104v for detecting the output current flowing to the motor 250 and a position detecting sensor 105 for detecting the position of the rotor of the motor 250. [

The inverter control unit 430 according to the first embodiment of the present invention estimates the second phase current based on the first phase detection current iu detected by the output current detection unit 104, It is possible to judge the failure of the output current detection unit 104 by comparing the second phase detection current iv detected by the current detection unit 104 with the estimated second phase estimation current ivest. This makes it possible to easily detect the failure of the output current detection unit 104 that detects the output current flowing through the motor 250. [

Meanwhile, the inverter control unit 430 may include a voltage command generation unit 340 and an axis conversion unit 310.

The motor 250 may be a three-phase permanent magnet synchronous motor having a rotor (not shown) and a stator (not shown) having armature windings of u-phase, v-phase and w-

The inverter control unit 430 controls the inverter 420 so that the three-phase AC voltage obtained by performing the DC voltage pulse width modulation is supplied to the motor 250. [

The three-phase AC voltage supplied to the motor 250 by the inverter 420 is composed of u-phase, v-phase, and w-phase voltages indicating the applied voltage to the u-phase, v-phase, and w-phase armature windings.

The total applied voltage to the motor 250, which is the combined voltage of the u-phase, v-phase and w-phase voltages, can be referred to as the motor voltage.

The currents flowing through the u-phase component, the v-phase component and the w-phase component of the current supplied to the motor 250, that is, the u-phase, v-phase and w-phase armature windings, And w-phase current.

The motor 250, which is the combined current of the u-phase, v-phase, and w-phase currents, can name the entire supply current as motor current.

The output current detection unit 104 can detect current values of currents of two phases out of the u-phase, v-phase, and w-phase currents.

5 illustrates that the u-phase current iu is detected by the first output current detection unit 104u and the v-phase current iv is detected by the second output current detection unit 104v.

On the other hand, a w-phase current may be detected instead of the u-phase or v-phase current value.

On the other hand, the position detection sensor 105 can detect the magnetic pole position? Of the rotor of the motor 250. That is, the position detection sensor 105 can detect the position of the rotor of the motor 250. [

To this end, the position detection sensor 105 may include an encoder, a resolver, or the like.

In the following description, the used coordinate system and coordinate axes are defined here.

The αβ coordinate system is a two-dimensional fixed coordinate system having the fixed axes α and β as axes. The α and β axes are orthogonal to each other, and the β axis is ahead of the α axis by an electrical angle of 90 °. The? -axis corresponds to the axis (U-axis) corresponding to the u-phase winding.

The dq coordinate system is a two-dimensional rotational coordinate system with d and q axis axes as rotation axes. In the rotational coordinate system in which the permanent magnet of the motor 250 rotates at the same speed as the magnetic flux produced by the permanent magnet, the axis along the direction of the magnetic flux produced by the permanent magnet is the d axis, and the axis whose electrical angle is 90 degrees ahead in the d axis is q wet. The magnetic pole position? Is the d-axis movement angle seen from the U-axis.

The voltage command generation unit 340 generates a voltage command based on the magnetic pole position? Detected by the position detection sensor 105 and the two-phase currents i? And i? Based on the stationary coordinate system output from the axial conversion unit 310 Generates the voltage command values (vu ^* , vv ^* , vw ^* ) to be applied to the motor (250), and outputs the generated voltage command values.

The inverter 420 uses the pulse width modulation so that the voltage values of the u-phase, v-phase and w-phase voltages actually applied to the motor 250 coincide with the voltage command values vu ^* , vv ^* and vw ^* Generates a three-phase AC voltage to the motor (250), and applies the generated three-phase AC voltage to the motor (250).

On the other hand, although the position detection sensor 105 is used in Fig. 5, it is also possible to use a so-called position sensorless control technique which does not use the position detection sensor.

Based on the u phase current iu which is the first phase detection current detected by the output current detection unit 104 and the v phase current iv which is the second phase detection current, Based two-phase currents i [alpha] and i [beta].

That is, the axis converting unit 310 performs axis transformation using the first and second phase detection currents detected by the output current detecting unit 104, and generates a two-phase current based on the axis-converted, i? and i?).

On the other hand, the axis converting unit 310 determines whether there is an abnormality in the u phase current iu, which is the first phase detection current, and the v phase current iv, which is the second phase detection current, An error signal E can be output. The error signal E is used for processing to deal with an error.

The internal configuration of the axial conversion unit 310 will be described in more detail with reference to FIG.

6 is an example of an internal block diagram of the axis conversion unit in Fig.

Referring to the drawings, the axis transformation unit 310 may include a current estimator 121a, a failure determination unit 122a, and a three-phase two-phase conversion unit 123a.

The current estimator 121a estimates the v-phase current, which is the second phase current, based on the u-phase current iu, which is the first phase detection current, and outputs the estimated second phase current ivest as Can be calculated and output.

In particular, the current estimator 121a can calculate and output the estimated second phase current ivest using Equation (1) below.

In Equation 1, ivest represents the estimated second phase current, iu represents the detected first phase current, u phase current, and F (s) represents the second phase, Filter.

F (s) can be expressed by the following equation (2).

Here, s is a Laplace operator, and [omega] n represents a three-phase alternating current angular frequency. ? n can be a value obtained by differentiating the rotation speed command value? ^* of the motor and the magnetic pole position?.

On the other hand, in Equation (2), a first order filter is exemplified, but not limited thereto, and a second order or higher order filter is also possible.

The failure determining section 122a compares the v-phase estimated current value ivest, which is the second phase, with the v-phase detected current iv, which is the second phase, and outputs an error signal E.

When the difference between the v-phase estimation current value ivest and the v-phase detection current iv is equal to or smaller than a predetermined value, the failure determining section 122a determines that the error is normal and outputs an error signal having a value of '0' (E), and when it exceeds the predetermined value, it is judged as an error, and an error signal having a value of '1' can be outputted.

As described above, it is possible to determine whether or not the detected current value iu or iv detected by the output current detecting section 104 is abnormal based on the level of the error signal E output from the failure determining section 122a. That is, it is possible to determine the presence or absence of an abnormality in the output current detecting section by such a simple method.

On the other hand, the three-phase two-phase converting unit 123a calculates the phase of the stationary coordinate system based on the u phase current iu and the second phase v phase current iv as the first phase, And generates and outputs the two-phase currents i [alpha] and i [beta].

7 is a graph showing the v phase estimated current value ivest, the second phase v phase detected current iv, and the error signal E, which are the second phase when the u phase current iu becomes zero; to be.

For example, when the output current detection unit 104u of the u-phase current is broken due to disconnection or the like, the level of the u-phase current iu detected by the output current detection unit 104u of the u-phase current can be zero.

In this case, the waveform 130a of the detected u-phase current iu, the waveform 131a of the second phase v-phase estimation current value ivest, the waveform 132a of the second phase v detection current iv, The waveform 133a of the second phase v estimation current iv and the waveform 134a of the error signal E can be illustrated as shown in the figure.

Referring to the drawing, it can be seen that the level of the error signal E changes from 0 to 1 within 1/4 period after disconnection near the time point of the time axis 0.15.

On the other hand, Fig. 7 shows a case where there is an abnormality in the u-phase. However, even when there is an abnormality in the v-phase, a deviation occurs between the v-phase estimated current value ivest and the v- An abnormal judgment can be performed.

On the other hand, occurrence of an abnormality can be determined even when the magnitude of the signal changes due to, for example, the amplification factor of the output current detection section 104 and the change in the contact resistance of the wiring.

8 shows the v-phase estimation current value ivest, the v-phase detection current iv and the error signal E when the amplification factor of the u-phase output current detection section 104v changes abruptly.

In this case, the waveform 130b of the detected u-phase current iu, the waveform 131b of the second phase v-phase estimation current value ivest, the waveform 132b of the second phase v detection current iv, The waveform 133b of the effective value of the deviation between the v-phase estimated current value ivest and the v-phase detected current iv and the waveform 1344 of the error signal E can be illustrated as shown in the figure.

Referring to the drawing, it can be seen that the level of the error signal E changes from 0 to 1 within 1/2 cycle after the amplification rate is rapidly changed in the vicinity of the time point of the time axis of 0.15.

On the other hand, FIG. 8 shows a case where there is an abnormality in the u-phase. However, even when there is an abnormality in the v-phase, a deviation occurs between the v-phase estimated current value ivest and the v- have.

7 and 8 show the results when the frequency is 50 Hz. However, in the case where the frequency is different, for example, in the case of the low-speed rotation and the high-speed rotation, similarly, within 1/4 to 1/2 cycle, This is possible.

As described above, according to Figs. 5 to 8 and the description thereof, the abnormality of the detection current value due to the failure of the output current detection section 104 can be detected in a short time by a simple method.

9 is an internal block diagram of a motor driving apparatus according to a second embodiment of the present invention.

9 is similar to the motor driving apparatus 200 of FIG. 5 except that the magnetic pole position? From the position detecting sensor 105 is set to a voltage command generator 340b , There is a difference in that it is applied to the axial conversion unit 310b.

Unlike the motor driving apparatus 200 of FIG. 5, the voltage command generating unit 340b outputs the q-axis current instruction value iq ^* to the axis converting unit 310b.

9 includes an inverter control unit 430b for controlling the rotation of the motor 250 through the control of the motor 250, the inverter 420 and the inverter 420, the motor 250 Output current detection units 104u and 104v for detecting an output current flowing in the motor 250 and a position detection sensor 105 for detecting the position of the rotor of the motor 250. [

The inverter control unit 430b estimates (iqest) the q-axis current, which is a rotation coordinate system, based on the first phase detection current iu detected by the output current detection unit 104 according to the second embodiment of the present invention Axis current command value iq ^* and the q-axis current command value iq ^* based on the magnetic pole position? Detected by the position detection sensor 105. The q-axis current instruction value iq ^* It is possible to judge whether or not the output current detecting section 104 is faulty. This makes it possible to easily detect the failure of the output current detection unit 104 that detects the output current flowing through the motor 250. [

On the other hand, the inverter control unit 430b may include a voltage command generation unit 340b and an axis conversion unit 310b.

The voltage command generation unit 340b generates a voltage command based on the magnetic pole position? Detected by the position detection sensor 105 and the two-phase currents i? And i? Based on the stationary coordinate system output to the axis conversion unit 310b (Vu ^* , vv ^* , vw ^* ) and a q-axis current instruction value (iq ^* ) or a torque instruction value to be applied to the motor (250).

The axial conversion unit 310b outputs the u-phase detection current iu, the second phase v-phase detection current iv and the voltage command generation unit 340b which are the first phase detected by the output current detection unit 104 phase currents (i? and i?) based on the q-axis current command value (iq ^* ) based on the stationary coordinate system.

The internal structure of the axial conversion unit 310b will be described in more detail with reference to FIG.

10 is an example of an internal block diagram of the axis conversion unit in FIG.

Referring to the drawing, the axis conversion unit 310b may include a current estimator 121b, a failure determination unit 122b, and a three-phase two-phase conversion unit 123b.

The current estimator 121b estimates the q-axis current, which is a rotational coordinate system, based on the u-phase current iu, which is the first phase detection current, and calculates the estimated q-axis current iqest, can do.

In particular, the current estimator 121a can calculate the q-axis estimated current value iqest using the following equations (4) to (5).

In Equations 4 and 5, iqest represents the estimated q-axis current, iu represents the detected first phase current, u-phase current, F (s) represents i? Est represents the estimated? -Axis current ,? represents the position of the magnetic pole of the motor, and F? (s) represents a filter for estimating the? -axis current.

F (s) can be expressed by the following equation (6).

Here, s is a Laplace operator, and [omega] n represents a three-phase alternating current angular frequency.

On the other hand, in Equation (6), a first order filter is exemplified, but not limited thereto, and a second order or higher order filter is also possible.

The failure determining section 122b compares the q-axis current instruction value iq ^* with the q-axis estimated current iqest and outputs an error signal E.

When the difference between the q-axis current instruction value iq ^* and the q-axis estimation current iqest is equal to or smaller than a predetermined value, the failure determining section 122b determines that the error is normal and outputs an error signal having a value of '0' (E), and when it exceeds the predetermined value, it is judged as an error, and an error signal having a value of '1' can be outputted.

In this manner, it is possible to determine whether or not the detected current value iu or iv detected by the output current detecting unit 104 is abnormal based on the level of the error signal E output from the failure determining unit 122b. That is, it is possible to determine the presence or absence of an abnormality in the output current detecting section by such a simple method.

On the other hand, the three-phase / two-phase converter 123b uses the stop-coordinate system based on the estimated current iuest of the u-phase and the v-phase current iv of the second phase, Phase currents i [alpha] and i [beta].

On the other hand, the estimated current iuest of the u phase is estimated based on the v phase detected current iv using the following equation (8).

That is, the three-phase two-phase converter 123a generates the two-phase currents i? And i? Based on the stationary coordinate system based on the two-phase v-phase current iv using the following equations (7) and And output it.

On the other hand, according to the above description, although the? Axis current of the stationary coordinate system and the? Axis current of the? Axis current are estimated (i beta est), the q axis estimated current value iqest is calculated using the v phase estimated current ivest as the estimated current It is also possible to calculate. In other words, it is also possible to perform the calculation according to Equation (9).

In the present embodiment, the output of the voltage command generator 340b is set to the q-axis current command value iq ^* , but instead of iq ^* , the torque command value T ^* is output so that the failure determining section 122b outputs the torque command value T ^* ), It is also possible to perform a failure determination.

In this case, the q-axis current estimator 121b may output the estimated torque Test instead of the q-axis estimated current iqest.

For example, the estimated torque (Test) can be estimated using Equations (4) to (6) and Equations (10) and (11).

On the other hand, in the present embodiment, an example of determining the abnormality of the u-phase current iu has been shown, but it is also possible to determine the abnormality of the v-phase current iv. It is also possible to apply it to the w phase.

On the other hand, the output of the failure determination section 122b is not limited to the aβ axis two-phase current based on the stationary coordinate system.

In this embodiment, the output of the axis conversion unit 310b is the αβ axis two-phase currents iα and iβ based on the stationary coordinate system, but the dq-axis two-phase currents id and iq based on the nearest coordinate system are also possible.

On the other hand, coordinate conversion from? P coordinate to dq coordinate can be performed using the following equation (12).

11 is a graph showing the relation between the u phase current iu, the u phase estimated current value iuest, the v phase detected current iv and the q axis current command value iq ^* ), a q-axis estimated current value (iqest), and an error signal (E).

For example, when the output current detection unit 104u of the u-phase current is broken due to disconnection or the like, the level of the u-phase current iu detected by the output current detection unit 104u of the u-phase current can be zero.

In this case, the waveform 1140 of the detected u-phase current iu, the waveform 1141 of the u-phase estimation current value iuest, the waveform 1142 of the v-phase detection current iv, ^* waveform 1143, the waveform 1144 and the waveform 1145 of the error signal (E) of the q-axis current estimated value (iqest) a) can be illustrated as shown in the drawing.

Referring to the drawing, it can be seen that the level of the error signal E changes from 0 to 1 within 1/4 period after disconnection near the time point of the time axis 0.15.

On the other hand, it can be seen that the u-phase estimated current value iuest can estimate a good current value even after disconnection and can be used for motor control.

As described above, according to the present invention, when the output current detection unit fails, the abnormality of the detected current value can be detected by a simple method in a short time, and at the same time, I can continue.

12 is an internal block diagram of a motor driving apparatus according to the third embodiment of the present invention.

The motor driving apparatus 200c of FIG. 12 is similar to the motor driving apparatus 200 of FIG. 5, but unlike the motor driving apparatus 200 of FIG. 5, And the output power Pout is output to the axial conversion unit 310b.

The motor driving apparatus 200c of FIG. 12 includes an inverter control unit 430c for controlling the rotation of the motor 250 through the control of the motor 250, the inverter 420 and the inverter 420, Output current detection units 104u and 104v for detecting an output current flowing in the motor 250 and a position detection sensor 105 for detecting the position of the rotor of the motor 250. [

The inverter control unit 430c according to the third embodiment of the present invention controls the inverter control unit 430c based on the first phase detection current iu and the second phase detection current iv detected by the output current detection unit 104, It is possible to determine the failure of the output current detection unit 104 by calculating the output power Pout and the estimated power Pu and comparing the output power Pout of the inverter with the estimated power Pu. This makes it possible to easily detect the failure of the output current detection unit 104 that detects the output current flowing through the motor 250. [

On the other hand, the inverter control unit 430c may include a voltage command generation unit 340c and an axis conversion unit 310c.

The voltage command generation unit 340c generates a voltage command based on the magnetic pole position? Detected by the position detection sensor 105 and the two-phase currents i? And i? Based on the stationary coordinate system output to the axis conversion unit 310b (Vu ^* , vv ^* , vw ^* ) and the inverter output power (Pout) to be applied to the motor (250), and output the generated voltage command values.

The values of the voltage command values vu ^* , vv ^* and vw ^* and the inverter output power Pout may be values calculated by the voltage command generation unit 340b in the previous control cycle.

The axial conversion unit 310c outputs the u-phase detection current iu, the second phase v-phase detection current iv and the voltage command generation unit 340c which are the first phase detected by the output current detection unit 104 Phase currents i? And i? Based on the stationary coordinate system based on the inverter output power Pout and outputs the generated two-phase currents i? And i?.

On the other hand, the figure shows that the three-phase voltage command values vu ^* , vv ^* and vw ^* are inputted to the axial conversion section 310c, but alternatively, when the two phase voltage command values vu ^* and vv ^* And the voltage command value of the other phase can be calculated.

The internal configuration of the axial conversion unit 310c will be described in more detail with reference to FIG.

13 is an example of an internal block diagram of the axis conversion unit in Fig.

Referring to the drawings, the axis conversion unit 310c may include a current estimator 121a, a failure determination unit 122c, and a three-phase two-phase conversion unit 123c.

The current estimator 121a can calculate the v-phase estimated current value ivest using Equation (1) in the same manner as the current estimator 121a in Fig.

That is, the current estimator 121a can estimate the second phase estimation current based on the first phase detection current detected by the output current detection section 104. [

Next, the failure determining section 122c calculates the estimated power Pu based on the first phase detection current iu and the second phase estimation current ivest, and outputs the estimated output power Pout and the estimated power Pout (Pu), and output an error signal (E).

Particularly, the failure determining section 122c calculates the estimated power Pu using the following expression (13), compares the inverter output power Pout with the estimated power Pu, and outputs the error signal E do.

When the difference between the inverter output power Pout and the estimated power Pu is equal to or less than a predetermined value, the failure determining section 122c determines that the error is normal and outputs an error signal E having a value of '0' And if it exceeds the predetermined value, it is determined as an error, and an error signal having a value of '1' can be output.

On the other hand, the inverter output power Pout can be calculated by the following equations (14) and (15).

Here, id ^* , iq ^* , vd ^* and vq ^* represent the d-axis current command value q-axis current command value and the d-axis voltage command value q-axis voltage command value, and ωm ^* represents the mechanical angular speed command value of the motor and the T ^* torque command value .

On the other hand, in the case of using the expression (15), the inverter output power (Pout) may be calculated by adding the motor loss item to the expression (15) in consideration of the motor loss.

On the other hand, when the motor loss is relatively small, the motor loss may be ignored.

On the other hand, in Equation (15), it is also possible to use a detected value and an estimated value instead of the set value.

Based on the u-phase current (iu) and the v-phase current (iv), using the equation (3) when the error signal E is 0, the three- And generates and outputs the phase currents i [alpha] and i [beta].

On the other hand, when the error signal E is 1, the three-phase / two-phase converter 123c determines that the u-phase current iu is abnormal and uses the following equations (16) and Phase currents i [alpha] and i [beta].

That is, the three-phase two-phase converter 123c converts the two-phase current based on the stationary coordinate system based on the first phase estimated current iuest and the second phase detected current iv detected by the output current detector 104, It is possible to generate and output the currents i [alpha] and i [beta].

In the present embodiment, the output of the voltage command generation unit 340c is the inverter output power Pout. However, instead of the inverter output power Pout, the inverter input power Pin is output, May be used.

In this case, the inverter input power (Pin) can be calculated using the following equation (18).

Here, Vdc and Idc are detection values of DC voltage and DC current of the inverter. Or the dc voltage across the dc short capacitor, and the detected value of the dc current.

On the other hand, since the inverter loss is relatively small, the failure determining section 122c can compare the inverter input power Pin and the estimated power Pu to determine the u-phase current iu or more.

On the other hand, in the present embodiment, an example of determining the u-phase current iu or more has been described, but it is also possible to determine the abnormality of the v-phase current iv. All combinations are possible. Naturally, it is also possible to apply it to w-phase.

On the other hand, the output of the failure determining section 122c is not limited to the aβ axis two-phase current based on the stationary coordinate system.

In this embodiment, although the output of the failure determining section 122c is the? -Axis two-phase current i? And i?, The magnetic pole position? Is input to the failure determining section 122c, (id and iq) may be output. Coordinate transformation from? p coordinate to dq coordinate can be performed using expression (12).

Fig. 14 shows the relationship between the u-phase current iu, the u-phase estimated current value iuest, the v-phase detected current iv and the inverter output power Pout, which are the first phases when the u-phase current iu becomes zero, , Estimated power (Pu), and error signal (E).

For example, when the output current detection unit 104u of the u-phase current is broken due to disconnection or the like, the level of the u-phase current iu detected by the output current detection unit 104u of the u-phase current can be zero.

In this case, the waveform 1150 of the detected u-phase current iu, the waveform 1151 of the u-phase estimation current value iuest, the waveform 1152 of the v-phase detection current iv, The waveform 1153 of the error signal E, the waveform 1154 of the estimated power Pu and the waveform 1155 of the error signal E can be illustrated as shown in the drawing.

Referring to the drawing, it can be seen that the level of the error signal E changes from 0 to 1 within 1/4 period after disconnection near the time point of the time axis 0.15.

On the other hand, it can be seen that the u-phase estimated current value iuest can estimate a good current value even after disconnection and can be used for motor control.

it can be seen that the u-phase estimated current value iuest can estimate a good current value even after the disconnection and is usable for controlling the motor.

The configuration and method of the embodiments described above are not limitedly applied to the motor driving apparatus according to the embodiment of the present invention and the electric vehicle having the motor driving apparatus according to the embodiment of the present invention, All or some of the embodiments may be selectively combined.

Meanwhile, the motor driving apparatus and the operation method of the electric vehicle having the motor driving apparatus of the present invention can be implemented as a processor-readable code on a recording medium readable by a processor included in the motor driving apparatus and the electric vehicle having the motor driving apparatus Do. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

Claims (16)

delete delete delete delete delete motor;
An inverter having a plurality of switching elements and outputting AC power to the motor;
An inverter control unit for controlling the inverter;
An output current detector for detecting an output current flowing to the motor;
And a position detection sensor for detecting the position of the rotor of the motor,
The inverter control unit includes:
Axis current command value based on the magnetic pole position detected by the position detection sensor, and estimates the q-axis current command value based on the q-axis current command value based on the q-axis current command value, And determines whether the output current detection unit is faulty by comparing the current command value with the estimated q-axis estimated current. The method according to claim 6,
The inverter control unit includes:
A voltage command generator for generating a voltage command value to be applied to the motor and a q-axis current command value based on the magnetic pole position detected by the position detection sensor; And
Phase current based on the detected current detected by the output current detecting unit and the q-axis current instruction value, and generating an axis-converted, stationary coordinate system based two-phase current,
Wherein the axis-
Axis current command value, based on the first phase detection current detected by the output current detection section, generates a q-axis current command value based on the magnetic pole position detected by the position detection sensor, the q-axis current command value and the q-axis estimated current are compared to determine whether the output current detection unit is faulty. 8. The method of claim 7,
Wherein the voltage command generation unit comprises:
A current estimator for estimating the q-axis estimated current as a rotation coordinate system based on the first phase detection current detected by the output current detection section;
And a malfunction determining unit that compares the q-axis current command value with the estimated q-axis estimated current to output an error signal. 9. The method of claim 8,
The voltage command generation unit may include:
And a three-phase two-phase converter for generating and outputting the two-phase current based on the stationary coordinate system based on the first phase estimated current and the second phase detected current detected by the output current detecting unit Characterized in that the motor drive device. The method according to claim 6,
The inverter control unit includes:
And controls the inverter on the basis of the estimated current of the first phase estimated at the time of the failure determination. delete delete delete delete delete An electric vehicle comprising the motor drive device according to any one of claims 6 to 10.

Images