KR102615315B1 - Method and apparatus for controlling motor - Google Patents

Abstract

According to one embodiment, a motor control device that can guarantee minimum performance even when a failure occurs in some modules is disclosed.

Description

{Method and apparatus for controlling motor}

The present disclosure discloses a method and apparatus for controlling a motor according to one or more embodiments.

Devices that use motors, such as vehicles, are widely used throughout society. However, all devices always have a risk of unexpected failure.

However, in some cases, if a failure occurs, it can lead to fatal results. For example, in the case of a vehicle, if the motor stops operating due to an unexpected breakdown, it can lead to a serious accident.

Therefore, when a motor is used in a vehicle, etc., it is necessary to ensure minimum performance even in emergency situations such as breakdown.

Accordingly, a method that can guarantee minimum performance is required in a motor control device even when a failure occurs in some modules.

The present disclosure may provide an apparatus for controlling a motor according to one or more embodiments. Specifically, a motor control device that can guarantee minimum performance even when a failure occurs in some modules is disclosed.

The technical challenges to be solved are not limited to the technical challenges described above, and may further include various technical challenges within the scope apparent to those skilled in the art.

A motor control device according to a first aspect includes a power management integrated circuit (PMIC) that controls power; A first MCU operating in conjunction with the PMIC; a second MCU monitoring the status of the first MCU; a first gate driver that operates by receiving a signal from the first MCU; a second gate driver that operates by receiving signals from the first MCU or the second MCU; a first APM (automotive power module) that receives a PWM signal from the first gate driver and controls odd winding of the motor; a second gate driver that operates by receiving signals from the first MCU or the second MCU; And a second APM (automotive power module) that receives a PWM signal from the second gate driver to control even winding of the motor, wherein the first MCU includes the first gate driver and the second gate driver. By controlling the odd winding of the motor and the even winding of the motor, it is possible to control the odd winding of the motor.

Additionally, if at least one of the second gate driver and the second APM fails, the first MCU may control odd winding of the motor by controlling the first gate driver.

In addition, the second MCU may control even winding of the motor by controlling the second gate driver when at least one of the PMIC, the first MCU, the first gate driver, and the first APM fails. .

Additionally, a first angle sensor for applying an angle signal to the first MCU, a first torque sensor for applying a torque signal to the first MCU, a second angle sensor for applying an angle signal to the second MCU, and the second It may further include a second torque sensor that applies a torque signal to the MCU.

Additionally, the first APM may transmit current sensing data to the first gate driver, and the second APM may transmit current sensing data to the second gate driver.

In addition, it may further include a rotary position sensor that senses the rotary position of the motor.

Additionally, the second MCU may operate in a preliminary manner when the first MCU fails.

Additionally, the motor may include six-phase windings, and the six-phase windings may include the odd winding and the even winding.

A motor control device according to a second aspect includes a PMIC for controlling power; A first MCU operating in conjunction with the PMIC; a second MCU operating in parallel with the first MCU; a first gate driver that operates by receiving a signal from the first MCU; a second gate driver that operates by receiving a signal from the second MCU; a first APM that receives a PWM signal from the first gate driver and controls odd winding of the motor; a second gate driver that operates by receiving a signal from the second MCU; and a second APM that receives a PWM signal from the second gate driver and controls the even winding of the motor, wherein the motor includes six-phase windings, and the six-phase windings include the odd winding and the even winding. may include.

A motor control method according to a third aspect includes monitoring a plurality of modules used to control a motor; If there is no faulty module, the odd winding of the motor is controlled using the first gate driver and the first APM according to the signal output by the first MCU, and the even winding of the motor is controlled using the second gate driver and the second APM. controlling winding; When at least one of the first MCU, the first gate driver, and the first APM fails, the even winding is controlled using the second gate driver and the second APM according to a signal output by the second MCU. step; and when at least one of the second MCU, the second gate driver, and the second APM fails, controlling the odd winding using the first gate driver and the first APM according to a signal output by the first MCU. It may include;

The fourth aspect may provide a computer-readable non-transitory recording medium on which a program for implementing the method of the third aspect is recorded.

The present disclosure may provide an apparatus for controlling a motor according to one or more embodiments.

FIG. 1 is a block diagram illustrating an example in which a motor control device according to an embodiment controls a motor using a first MCU and a second MCU in parallel.
FIG. 2 is a block diagram illustrating an example in which a motor control device according to an embodiment controls a motor using a first MCU as a master and a second MCU as a slave.
FIG. 3 is a block diagram illustrating an example of how a motor control device according to an embodiment controls a motor in a normal operating situation.
FIG. 4 is a block diagram illustrating an example in which a motor control device according to an embodiment controls a motor when the second gate driver or the second APM fails.
FIG. 5 is a block diagram illustrating an example in which a motor control device according to an embodiment controls a motor when the first PMIC or the first MCU is broken.
FIG. 6 is a flowchart showing an example of how a motor control device operates using a first MCU or a second MCU.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

However, the technical idea of the present invention is not limited to some of the described embodiments, but may be implemented in various different forms, and as long as it is within the scope of the technical idea of the present invention, one or more of the components may be optionally used between the embodiments. It can be used by combining or replacing.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention, unless specifically defined and described, are generally understood by those skilled in the art to which the present invention pertains. It can be interpreted as meaning, and the meaning of commonly used terms, such as terms defined in a dictionary, can be interpreted by considering the contextual meaning of the related technology.

Additionally, the terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

In this specification, the singular may also include the plural unless specifically stated in the phrase, and when described as “at least one (or more than one) of A and B and C”, it is combined with A, B, and C. It can contain one or more of all possible combinations.

Additionally, in describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and are not limited to the essence, order, or order of the component.

And, when a component is described as being 'connected', 'coupled', or 'connected' to another component, that component is directly 'connected', 'coupled', or 'connected' to that other component. In addition to cases, it may also include cases where the component is 'connected', 'coupled', or 'connected' by another component between that component and that other component.

Additionally, when described as being formed or arranged “above” or “below” each component, “above” or “below” means that the two components are directly connected to each other. This includes not only the case of contact, but also the case where one or more other components are formed or disposed between the two components. In addition, when expressed as “top” or “bottom,” the meaning of not only the upward direction but also the downward direction can be included based on one component.

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

FIG. 1 is a block diagram illustrating an example in which the motor control device 10 according to an embodiment controls the motor 320 by using the first MCU 110 and the second MCU 210 in parallel.

As shown in FIG. 1, the motor control device 10 includes a first power management integrated circuit (PMIC) 140, a first MCU 110, a first gate driver 120, a first APM 130, It may include a second PMIC 240, a second MCU 210, a second gate driver 220, a second APM 230, and a motor 320.

However, those skilled in the art will understand that other general-purpose components other than those shown in FIG. 1 may be further included in the motor control device 10. For example, motor control device 10 may further include a rotary position sensor 310. Alternatively, according to another embodiment, those skilled in the art may understand that some of the components shown in FIG. 1 may be omitted. For example, the second PMIC 240 may be omitted from the motor control device 10 and the first PMIC 140 may operate in conjunction with the second MCU 210. Additionally, referring to FIG. 1, the motor 320 may include an odd winding 150 and an even winding 250.

As an example of the configuration of the motor control device 10, referring to FIG. 1, the motor control device 10 includes a first PMIC 140 that controls power, and a first MCU that operates in conjunction with the first PMIC 140. (110), a second MCU 210 operating in parallel with the first MCU 110, a first gate driver 120 operating by receiving a signal from the first MCU 110, and a second MCU 210. a second gate driver 220 that operates by receiving a signal from the first APM 130 that receives a PWM signal from the first gate driver 120 to control the odd winding 150 of the motor 320; A second gate driver 220 that operates by receiving a signal from the MCU 210 and a second APM 230 that receives a PWM signal from the second gate driver 220 to control the even winding 250 of the motor 320 ) may include. Additionally, the motor 320 includes six-phase windings, and the six-phase windings may include an odd winding 150 and an even winding 250.

The first PMIC 140 or the second PMIC 240 can control power to a plurality of modules. For example, the first PMIC 140 may control power applied to the first MCU 110, the first gate driver 120, the first APM 130, etc. As another example, the second PMIC 240 may control power applied to the second MCU 210, the second gate driver 220, the second APM 230, etc.

The first MCU 110 or the second MCU 210 may receive data from a plurality of modules included in the motor control device 10 and control the plurality of modules.

For example, the first MCU 110 receives position information indicating the rotation angle of the motor 320 from the rotary position sensor 310, and sends a control signal to the first gate driver 120 based on the received position information. By applying , the odd winding 150 of the motor 320 can be controlled.

As another example, the first MCU 110 may receive a logic level signal and control the odd winding 150 by controlling the first gate driver 120 to correspond to the received logic level signal.

The first MCU 110 and the second MCU 210 may perform communication functions. For example, the first MCU 110 and the second MCU 210 can communicate with external devices using Wi-Fi chips, Bluetooth chips, etc., and can also communicate with internal modules according to established protocols. Wi-Fi chips and Bluetooth chips can communicate using Wi-Fi and Bluetooth methods, respectively. When using a Wi-Fi chip or a Bluetooth chip, various connection information such as SSID and session key are first transmitted and received, and various information can be transmitted and received after establishing a communication connection using this. Wireless communication chips can perform communication according to various communication standards such as IEEE, ZigBee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), and LTE (Long Term Evolution). The NFC chip can operate in the NFC (Near Field Communication) method using the 13.56MHz band among various RF-ID frequency bands such as 135kHz, 13.56MHz, 433MHz, 860~960MHz, 2.45GHz, etc. Additionally, the first MCU 110 and the second MCU 210 may perform CAN (Controller Area Network) communication.

Referring to FIG. 1, the first MCU 110 and the second MCU 210 may operate in parallel. Specifically, the first MCU 110 controls the first gate driver 120, the first gate driver 120 applies a signal to the first APM 130, and the first APM 130 receives the received signal. Accordingly, the motor 320 can be controlled by applying appropriate signals and power to the odd winding 150. Alternatively, the second MCU 210 controls the second gate driver 220, the second gate driver 220 applies a signal to the second APM 230, and the second APM 230 responds to the received signal. Accordingly, the motor 320 can be controlled by applying appropriate signals and power to the even winding 250.

Since the first MCU 110 and the second MCU 210 operate in parallel to control the motor 320, even if one module fails, only one of the odd winding 150 or the even winding 250 is operated. Because one is stopped and the other is running, the motor control device 10 can maintain 50% performance even in abnormal situations.

FIG. 2 is a block diagram illustrating an example in which the motor control device 10 according to an embodiment controls the motor 320 using the first MCU 110 as a master and the second MCU 210 as a slave. am.

Referring to FIG. 2, unlike in FIG. 1, the first MCU 110 can control both the first gate driver 120 and the second gate driver 220. Since the first MCU 110 is used as a master and the second MCU 210 is used as a slave, in a normal situation (a situation in which there is no broken module), the first MCU 110 controls the motor 320 and 2 The MCU 210 may not be involved in direct control of the motor 320. Therefore, under normal circumstances, the first MCU 110 can control both the odd winding 150 and the even winding 250.

However, in an abnormal situation (a situation where there is a faulty module), the motor control device 10 may operate in various ways depending on the type of the faulty module.

For example, when the second gate driver 220 and/or the second APM 230 fails, the first MCU 110 controls the odd winding 150 through the first gate driver 120, thereby It is possible to maintain 50% of the performance of (320). In this case, the even winding 250 does not operate, but the odd winding 150 operates, so the motor 320 can maintain 50% performance.

As another example, if the first PMIC 140, the first MCU 110, the first gate driver 120, the first APM 130, etc. fails, the second MCU 210 operates as the second gate driver 220. By controlling the even winding 250 through , 50% of the performance of the motor 320 can be maintained. In this case, the odd winding 150 does not operate, but the even winding 250 operates, so the motor 320 can maintain 50% performance.

Referring to FIG. 2, a case where the motor 320 operates in 6 phases according to one embodiment is shown. In this case, the odd winding 150 may be composed of three phases (u1, v1, w1), and the even winding 250 may also be composed of three phases (u2, v2, w2). Even when only one of the odd winding 150 and the even winding 250 operates, the motor 320 can maintain 50% of the overall performance. For example, it can output power equivalent to 50% of its normal state.

FIG. 3 is a block diagram illustrating an example in which the motor control device 10 according to an embodiment controls the motor 320 in a normal operating situation.

As shown in FIG. 3, the motor control device 10 includes a PMIC 140, a first MCU 110, a first gate driver 120, a first APM 130, a second PMIC 240, and a first APM 130. It may include 2 MCUs 210, a second gate driver 220, a second APM 230, and a motor 320.

However, according to one embodiment, other general-purpose components in addition to the components shown in FIG. 3 may be further included in the motor control device 10, and according to another embodiment, the components shown in FIG. 3 Anyone skilled in the art can understand that some of the components may be omitted.

As an example of the configuration of the motor control device 10, referring to FIG. 3, the motor control device 10 includes a PMIC 140 that controls power, a first MCU 110 that operates in conjunction with the PMIC 140, and A second MCU 210 that monitors the status of the first MCU 110, a first gate driver 120 that operates by receiving a signal from the first MCU 110, the first MCU 110, or the second MCU ( 210), a second gate driver 220 that operates by receiving a signal from the first gate driver 120, a first APM 130 that controls odd winding of the motor 320 by receiving a PWM signal from the first gate driver 120, and a first MCU. (110) or a second gate driver 220 that operates by receiving a signal from the second MCU 210 and a second gate driver that receives a PWM signal from the second gate driver 220 to control the even winding of the motor 320 May include APM (230). Additionally, the first MCU 110 may control the odd winding of the motor 320 and the even winding of the motor by controlling the first gate driver 120 and the second gate driver 220.

Referring to FIG. 3, in a normal situation, the first MCU 110 controls both the first gate driver 120 and the second gate driver 220 to drive the motor 320, and the second MCU 210 controls both the first gate driver 120 and the second gate driver 220. The first MCU 110, the first gate driver 120, the second gate driver 220, the first APM 130, the second APM 230, etc. can be monitored. Actual control of the motor 320 is performed by the first MCU 110, but the second MCU 210 monitors the situation and can respond to abnormal situations.

The motor control device 10 according to an embodiment includes a first angle sensor 410 that applies an angle signal to the first MCU 110, and a first torque sensor 420 that applies a torque signal to the first MCU 110. ), a second angle sensor 415 for applying an angle signal to the second MCU 210, and a second torque sensor 425 for applying a torque signal to the second MCU.

Additionally, the first MCU 110 may receive a control signal from the first bus 430, and the second MCU 210 may receive a control signal from the second bus 435. Here, the control signal may include a control signal generated according to user input, such as steering wheel operation.

The first APM 130 may transmit current sensing data to the first gate driver 120, and the second APM 230 may transmit current sensing data to the second gate driver 220.

Additionally, the motor control device 10 may further include a rotary position sensor 400 that senses the rotary position of the motor 320.

FIG. 4 is a block diagram illustrating an example in which the motor control device 10 according to an embodiment controls the motor 320 when the second gate driver 220 or the second APM 230 fails.

In describing the content of FIG. 4, the content described in FIG. 3 may be referred to.

According to one embodiment, the first MCU 110 controls the motor 320 by controlling the first gate driver 120 when the second gate driver 220 and/or the second APM 230 fails. You can. In this case, the first MCU 110 can maintain 50% performance by controlling the odd winding (or even winding) of the motor 320 through the first gate driver 120.

The first MCU 110, the first gate driver 120, and the first APM 130 operate the odd circuit of the motor 320 regardless of whether the second gate driver 220 and/or the second APM 230 fails. By controlling the winding, 50% performance can be maintained.

According to one embodiment, the second MCU 210 cannot control the first gate driver 120 and the first APM 130, and the second gate driver 220 and/or the second APM 230 Even in the event of a malfunction, monitoring can be performed continuously.

FIG. 5 is a block diagram illustrating an example in which the motor control device 10 according to an embodiment controls the motor 320 when the first PMIC 140 or the first MCU 110 is broken.

In explaining the content of FIG. 5, the content described above in FIGS. 3 and 4 may be referred to.

According to one embodiment, the second MCU 210 is configured to operate the second gate when at least one of the PMIC 140, the first MCU 110, the first gate driver 120, and the first APM 130 fails. By controlling the odd winding (or even winding) of the motor 320 by controlling the driver 220, 50% performance can be maintained.

Since the first MCU 110 is used as a master and the second MCU 210 is used as a slave, in a normal situation (a situation in which there is no broken module), the first MCU 110 controls the motor 320 and 2 The MCU 210 may not be involved in direct control of the motor 320.

However, as shown in FIG. 5, the second MCU 210 operates the motor ( 320) control can be performed.

The second MCU 210 controls the even winding (or odd winding) by controlling the second gate driver 220, so that the PMIC 140, the first MCU 110, the first gate driver 120, and the first Even if the APM (130) etc. fails, 50% performance can be maintained. In this case, the second MCU 210 guarantees minimum performance by operating preliminarily when the first MCU 110 fails, and can only perform monitoring in a normal state.

FIG. 6 is a flowchart showing an example of how the motor control device 10 operates using the first MCU 110 or the second MCU 210. FIG. 6 can be understood with reference to the content described in FIGS. 1 to 5.

In step S610, the motor control device 10 according to an embodiment monitors a plurality of modules used to control the motor 320. The plurality of modules include a first MCU (110), a first gate driver (120), a first APM (130), a first PMIC (140), an odd winding (150), a second MCU (210), and a second gate driver. It may be (220), the second APM (230), the second PMIC (240), the even winding (250), etc.

If there is a failed module in step S620, the process proceeds to step S630. In step S630, the motor control device 10 according to an embodiment controls the odd signal of the motor 320 using the first gate driver 120 and the first APM 130 according to the signal output by the first MCU 110. Controls winding (150).

In step S640, the motor control device 10 according to an embodiment controls the even of the motor 320 using the second gate driver 220 and the second APM 230 according to the signal output by the first MCU 110. Controls winding (250).

In step S650, when at least one of the first MCU 110, the first gate driver 120, and the first APM 130 is broken, the motor control device 10 according to an embodiment is configured to operate the second MCU 210. The even winding 250 is controlled using the second gate driver 220 and the second APM 230 according to the output signal.

In step S660, when at least one of the second MCU 210, the second gate driver 220, and the second APM 230 is broken, the motor control device 10 according to an embodiment is configured to operate the first MCU 110. The odd winding 150 is controlled using the first gate driver 120 and the first APM 130 according to the output signal.

Meanwhile, the above-described method can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. Additionally, the data structure used in the above-described method can be recorded on a computer-readable recording medium through various means. The computer-readable recording media includes storage media such as magnetic storage media (e.g., ROM, RAM, USB, floppy disk, hard disk, etc.) and optical read media (e.g., CD-ROM, DVD, etc.) do.

Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

10: Motor control unit
140: 1st PMIC 240: 2nd PMIC
120: first gate driver 220: second gate driver
130: 1st APM 230: 2nd APM
110: first MCU 210: second MCU
320: motor
410: first angle sensor 415: second angle sensor
420: first torque sensor 425: second torque sensor
430: 1st bus 435: 2nd bus
400: Rotary position sensor

Claims (11)

Power management integrated circuit (PMIC) that controls power;
A first MCU operating in conjunction with the PMIC;
a second MCU monitoring the status of the first MCU;
a first gate driver that operates by receiving a signal from the first MCU;
a second gate driver that operates by receiving signals from the first MCU or the second MCU;
a first APM (automotive power module) that receives a PWM signal from the first gate driver and controls odd winding of the motor;
a second gate driver that operates by receiving signals from the first MCU or the second MCU; and
It includes a second APM (automotive power module) that receives a PWM signal from the second gate driver and controls even winding of the motor,
The first MCU controls the odd winding of the motor and the even winding of the motor by controlling the first gate driver and the second gate driver.
According to claim 1,
The first MCU controls odd winding of the motor by controlling the first gate driver when at least one of the second gate driver and the second APM fails.
According to claim 1,
The second MCU is a motor control device that controls even winding of the motor by controlling the second gate driver when at least one of the PMIC, the first MCU, the first gate driver, and the first APM fails. .
According to claim 1,
A first angle sensor for applying an angle signal to the first MCU, a first torque sensor for applying a torque signal to the first MCU, a second angle sensor for applying an angle signal to the second MCU, and a second MCU A motor control device further comprising a second torque sensor for applying a torque signal.
According to claim 1,
The first APM transmits current sensing data to the first gate driver, and the second APM transmits current sensing data to the second gate driver.
According to claim 1,
A motor control device further comprising a rotary position sensor that senses the rotary position of the motor.
According to claim 1,
The second MCU is a motor control device that operates preliminarily when the first MCU fails.
According to claim 1,
The motor includes six-phase windings, and the six-phase windings include the odd winding and the even winding.
PMIC that controls power;
A first MCU operating in conjunction with the PMIC;
a second MCU operating in parallel with the first MCU;
a first gate driver that operates by receiving a signal from the first MCU;
a second gate driver that operates by receiving a signal from the second MCU;
a first APM that receives a PWM signal from the first gate driver and controls odd winding of the motor;
a second gate driver that operates by receiving a signal from the second MCU; and
A second APM that receives a PWM signal from the second gate driver and controls the even winding of the motor,
The motor includes six-phase windings, and the six-phase windings include the odd winding and the even winding.
Monitoring a plurality of modules used to control a motor;
If there is no faulty module, the odd winding of the motor is controlled using the first gate driver and the first APM according to the signal output by the first MCU, and the even winding of the motor is controlled using the second gate driver and the second APM. controlling winding;
When at least one of the first MCU, the first gate driver, and the first APM fails, the even winding is controlled using the second gate driver and the second APM according to a signal output by the second MCU. step; and
When at least one of the second MCU, the second gate driver, and the second APM fails, the odd winding is controlled using the first gate driver and the first APM according to a signal output by the first MCU. A motor control method comprising:
According to claim 10,
The motor includes six-phase windings, and the six-phase windings include the odd winding and the even winding.

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