WO2012043116A1

WO2012043116A1 - Motor control device

Info

Publication number: WO2012043116A1
Application number: PCT/JP2011/069703
Authority: WO
Inventors: 安島　俊幸; 浩志田村; 則和松崎; 悟大野; 賢佐久間
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2010-09-30
Filing date: 2011-08-31
Publication date: 2012-04-05
Also published as: JP5462121B2; JP2012075293A

Abstract

The invention addresses the problem of obtaining a motor control device capable of, during motor operation from at zero speed rotation to at a high-speed rotation, detecting a medium-level motor abnormality such as, for example, a motor interlayer short-circuit and error increase in a position sensor unit. The motor control device (100) detects the current value of output current output to a motor (310) and controls the current value so as to correspond to a target torque. The motor control device (100) has a motor abnormality determination unit (140) for calculating a motor operation state value on the basis of the current value of output current output to the motor (310) during the operation of the motor (310) and the voltage value of output voltage and for determining from the calculated motor operation state value whether an abnormality occurs in the motor (310) or not.

Description

Motor control device

The present invention relates to a motor control device that detects motor abnormality during motor operation.

For motor devices that use motors, it is desired to detect abnormalities in the motor, notify the user of the abnormal state, and maintain safe operation through early maintenance. Japanese Patent Application Laid-Open No. 2004-228561 describes a technique for detecting a motor abnormality by performing a self-test during the initial operation of the motor.

Japanese Patent Laid-Open No. 2003-348898

However, a self-test cannot be performed while the motor is running. Therefore, while the motor is operating, it is possible to detect a large motor abnormality such as a motor phase loss or a short drop, but it is not possible to detect intermediate level motor abnormalities such as a motor interlayer drop and a position sensor error increase. There wasn't.

An object of the present invention is to provide a motor control device capable of detecting intermediate-level motor abnormalities such as motor interlayer drop and position sensor error increase during motor operation from zero speed to high speed rotation.

A motor control device according to the present invention that solves the above-described problem is a motor control device that detects a current value of an output current output to a motor and controls the current value according to a target torque. The motor operation state value is calculated based on the output current value and the output voltage value, and it is determined whether an abnormality has occurred in the motor based on the calculated motor operation state value. It has a motor abnormality determination part.

According to the motor control device of the present invention, the motor operation state value is calculated based on the current value of the output current output to the motor and the voltage value of the output voltage during operation of the motor, and the calculated motor operation state value Therefore, it is determined whether or not an abnormality has occurred in the motor, so that it is possible to detect an intermediate level motor abnormality such as a motor interlayer drop or an increase in position sensor error during motor operation. This specification includes the contents described in the specification and / or drawings of Japanese Patent Application No. 2010-220166, which is the basis of the priority of the present application.

The block diagram which shows the structure of the motor apparatus of this invention. The wave form diagram which shows the change of the operation state of the motor in 1st Embodiment. The vector diagram which carried out relative conversion of the output voltage and output current of a motor control apparatus. The wave form diagram which shows the change of the operation state at the time of abnormality of the position sensor of a motor. The block diagram of the electric power steering device with which the motor apparatus of this invention was applied. The block diagram of the hybrid vehicle system to which the motor apparatus of this invention was applied. The wave form diagram which shows the change of the operation state of the motor in 2nd Embodiment.

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of a motor device having a motor control device of the present invention.

The motor device 300 is suitable for use in fail-safe by detecting a motor abnormality in an operation state from zero speed (stop state) to high speed rotation during motor operation. The motor device 300 includes a motor 310 and a motor control device 100.

The motor control device 100 includes a current detection unit 120, a current control unit 110, an inverter 130, a motor position detection unit 150, and a motor abnormality determination unit 140. The battery 200 is a DC voltage source of the motor control device 100, and the DC voltage of the battery 200 is converted into a variable voltage and variable frequency three-phase AC by the inverter 130 of the motor control device 100 and applied to the motor 310.

The motor 310 is a synchronous motor that is rotationally driven by supplying three-phase alternating current. A position sensor unit 320 is attached to the motor 310 in order to control the phase of the three-phase AC applied voltage in accordance with the phase of the induced voltage of the motor 310.

In order to control the motor 310 with high accuracy, the current detection unit 120 detects the three-phase motor current values Iu, Iv, and Iw, and the current control unit 110 controls the current values according to the target torque. The position detection unit 150 detects the position detection value θs from the signal of the position sensor unit 320 and calculates the motor rotation speed ωr.

The current control unit 110 uses the position detection value θs and the motor current values Iu, Iv, and Iw to generate a current command (a three-phase current command for AC control and a d-axis for vector control. , A known pulse width modulated (PWM) drive signal is generated so as to coincide with the q-axis current command. The generated drive signal is used to turn on / off the semiconductor switch element of the inverter 130.

The motor abnormality determination unit 140 detects the motor operating state by calculation from the output voltage Vu, the output current Iu, and the motor rotation speed ωr of the motor control device 100, and outputs a motor abnormality signal when determining that the motor is abnormal. The detailed operation of the motor abnormality determination unit 140 will be described later with reference to FIG.

In the motor apparatus 300, when the rotational speed of the motor 310 is controlled, a voltage command is created so that the rotational speed calculated using the motor rotational speed ωr matches the speed command from the host controller. When controlling the motor output torque, the motor current is detected, the motor output torque is calculated from the detected motor current, and the calculated motor output torque matches the torque command from the host controller. Create a current command.

Next, the motor state in the present embodiment will be described with reference to FIG.

FIG. 2 is an operation waveform showing a calculation result of the motor state when the motor rotates at a constant speed.

As shown by the solid line in FIG. 2 (a), the motor torque when the motor is normal is output as a substantially constant torque by current control, and the motor operating state value is as shown by the solid line in FIG. 2 (b). A stable constant value is shown. Here, in order to eliminate the influence of the rotation speed of the motor 310, the motor operation state value does not depend on the acceleration / deceleration state of the motor by correcting and calculating a portion corresponding to the counter electromotive voltage generated according to the motor rotation speed. A substantially constant value of the motor operating state can be obtained.

On the other hand, when an intermediate level motor abnormality occurs in the motor, specifically, an interlayer short circuit occurs in the one-phase winding or two-phase winding of the motor 310, and the motor winding (resistance, inductance, etc.) In the case of a motor abnormality that is about 1/3, the motor current is controlled to be almost constant by the current control unit 110. However, since an imbalance of the back electromotive force occurs due to an interlayer short circuit, FIG. As indicated by the broken line, the motor torque causes a large pulsation.

The motor operating state value when the motor is abnormal greatly fluctuates within one electrical angle cycle as shown by the broken line in FIG. The motor abnormality determination unit 140 detects the motor abnormality by detecting the change in the motor operation state value. That is, when the motor operation state value reaches a predetermined determination value set in advance, it is determined that a motor abnormality has occurred and a motor abnormality signal is output.

Preferably, a state in which the motor operating state value is detected with a fluctuation range within one cycle of electrical angle and the fluctuation range of the motor operating state value is equal to or greater than a predetermined determination value Th is set using a level of the fluctuation range. When it is detected at least once or when it is continuously detected a predetermined number of times, it is determined that a motor abnormality has occurred and a motor abnormality signal is output.

Note that, when the motor is abnormal, the current control unit 110 operates so as to adjust the applied voltage such as a PWM pulse so that the current becomes constant, so the ratio between the output voltage of the inverter 130 and the output current changes.

In the case of an AC motor, the applied voltage is cyclically repeated as an AC voltage. That is, a state where a large amount of current is passed through a normal motor winding and a state where a large amount of current is passed through an abnormal winding are periodically repeated as the motor rotates, and the motor operation state value is determined by the output voltage of the inverter 130. Then, periodic pulsation is generated in accordance with the change in the ratio of the output current. A motor abnormality can be determined by comparing the peak value of the pulsation component that is periodically repeated with a preset determination value.

Here, the motor abnormality is determined by comparing the motor operation state value with the determination value. For example, the motor winding or the like according to the magnitude of the peak value of the pulsation component that is periodically repeated in the motor operation state value. Therefore, it is also possible to notify the user of the degree of motor abnormality steplessly using the detected degree of deterioration or the average value thereof.

Next, the operation of the motor abnormality determination unit 140 in the present embodiment will be described with reference to FIG. FIG. 3 is a vector diagram obtained by dq conversion (relative conversion) of the output voltage and output current of the motor control device.

The voltage vector V has a magnitude Vu and a lead phase (δ + β), and the current vector I has a magnitude Iu and a lead phase β. The angle δ formed by the voltage and current is a power factor angle, and the effective power P and the apparent power S for one phase are expressed by the following equations (1) and (2).

On the other hand, the output Pm of the motor 310 is expressed by the following equation (3).

In particular, when controlling to Id = 0, it is represented only by the Iq term as shown in the above equation (3a).

In the above formulas (3) and (3a), pp is the number of pole pairs, and ke is an induced voltage constant.

The output Po and the input Pi of the inverter 130 are expressed by the following equations (4) and (5).

In the above equation (5), Edc is a DC voltage and Idc is a DC current.

The relationship between the motor output Pm and the inverter output Po when the motor efficiency is ηm is expressed by the following equation (6).

The q-axis output voltage Vq is expressed by the following formula (7).

The current control unit 110 also matches the d-axis current command value Id * corresponding to the target output torque and the q-axis current command value Iq * even when an intermediate level motor abnormality such as an interlayer short circuit occurs. Since the motor operates, the motor power consumption is constant, the motor output fluctuates, and the active power fluctuates.

That is, according to the motor operation state value calculated from the output voltage and output current of the motor control device 100, the presence or absence of an abnormality or the state quantity may be determined from the fluctuation of the active power.

As one index of the motor operation state value, a q-axis current value and a q-axis voltage value related to active power are shown in the following formula (8).

As shown in the above equation (8a), when Id = 0, the ratio between the q-axis current and the q-axis voltage can be expressed in a simplified manner.

Here, when a motor abnormality such as an interlayer short-circuit occurs, Ke ′ including a back electromotive voltage constant changes depending on the motor rotation position.

Further, in equations (8) and (8a), since the motor rotation speed ωr is included in the equation, it is indicated that the motor operation state value is affected by the motor rotation speed, and the motor rotation speed ωr is expressed by equation (8). By multiplying the right side and the left side of the motor, the motor operating state value cancels the influence of the motor rotational speed ωr, and a substantially constant value as shown in FIG. 2 can be obtained.

Here, the change in active power is taken as an index, but the same effect can be obtained even with reactive power. Furthermore, when the current command value (Id * or Iq *) is a substantially constant value, it can be simplified only by the output voltage or the q-axis voltage value, and the load of the control processing calculation can be reduced.

That is, in applications where a large amount of motor torque is required, a motor abnormality (fluctuation in motor operation state value) can be detected using only the q-axis current Iq and the q-axis voltage Vq. On the other hand, in applications where field-weakening control in which a large amount of d-axis current Id flows, the motor abnormality can be detected using only the d-axis current Id and the d-axis voltage Vd. In general, since there are many applications that require motor torque, the active power is larger than the reactive power. Under such conditions, the motor abnormality is detected using the q-axis current Iq and the q-axis voltage Vq. There is no practical problem by judging.

In the present invention, the measurement of the active power and the power factor requires one cycle or more in electrical angle, resulting in a slower response than the normal inverter overcurrent protection operation. The motor winding ground is protected by the same inverter overcurrent operation as before, and the motor operating state value and the judgment value are set for the interlayer shortage that satisfies the condition of Iu + Iv + Iw = 0. A protective operation can be performed by comparison.

Alternatively, if the motor is in an abnormal state where the motor operation can be continued, the user can be notified of the motor abnormality and go to the service station to be informed of maintenance. In the motor operation, the motor operation can be continued within the allowable range in which the temperature rise of the motor 310 or the inverter 130 is set in advance or the allowable current range of the inverter 130. At this time, it is preferable to limit the motor operation according to the motor operation state value.

In order to improve the responsiveness of the motor operation state value, the q-axis current value and the q-axis voltage value are used, and when the instantaneous motor operation state value is at the abnormality determination level, one electrical angle cycle is measured. Therefore, it is possible to hold the motor abnormality and promptly notify the user of the motor abnormality.

In the above-described embodiment, the case where the inverter output is used has been described. However, even when the input power (active power) of the motor control device 100 obtained from the DC voltage value and the DC current value from the battery 200 is used, the motor is similarly used. Abnormality can be detected.

FIG. 4 is a waveform diagram showing changes in the operating state when the position sensor unit of the motor is abnormal.

2 is different from FIG. 2 in that the abnormal state of the motor is not an interlayer short circuit but an abnormality of the position sensor unit 320 attached to the motor 310, and the others are the same as FIG.

As shown in FIG. 4A, the position detection error is a case where an error is superimposed on the position detection value θ due to an abnormality of the position sensor unit 320 such as a resolver, and the detection signal line from the position sensor unit 320 is contacted. This shows a case where the amount of noise changes with time due to a defect or the like, and the error (position detection error) of the position detection value θ calculated by the motor position detection unit changes with time.

The output voltage modulation rate indicates the PWM modulation rate. As shown in FIG. 4B, the modulation rate changes according to the position detection error, and as a result, the output current changes. Here, although current control is working, there is an error in the position detection value θ used in the dq conversion, and therefore there is a detection error in the motor current detection value (Id, Iq) that is the output signal of the current detection unit 120. included. That is, although the current control unit 110 operates so that the current command value (Id *, Iq *) matches the motor current detection value (Id, Iq), the output current (Iu, Iv, Iw) indicates that the three-phase current value obtained from the current command value (Id *, Iq *) does not match.

At this time, the peak value of the absolute value of the three-phase output voltage greatly fluctuates, and the abnormality of the position sensor unit 320 can be detected using the peak value of the absolute value of the three-phase output voltage. Further, even when the motor operation state value described with reference to FIG. 3 and equations (1) to (8) is used, the abnormality of the position sensor unit 320 can be detected and the abnormality can be notified to the user. For example, as shown in FIG. 4E, an upper limit value Tha and a lower limit value Thb are set in advance as determination values for the motor operation state value, and the motor operation state value exceeds the upper limit value Tha, or the lower limit value. When the value is less than Thb, it can be determined that the position sensor unit 320 is abnormal.

According to the motor control device 100 described above, the motor operation state value is calculated based on the current value of the output current output to the motor 310 and the voltage value of the output voltage during the operation of the motor 310, and the calculated motor operation. Since it is determined whether or not an abnormality has occurred in the motor 310 based on the state value, it is possible to detect an intermediate-level motor abnormality such as a drop in the interlayer of the motor 310 or an increase in error in the position sensor unit 320 during the motor operation.

Next, the configuration of an electric power steering apparatus to which the motor control apparatus shown in each embodiment of the present invention is applied will be described with reference to FIG.
FIG. 5 is a configuration diagram of an electric power steering device to which the motor control device shown in each embodiment of the present invention is applied.

The electric actuator includes a torque transmission mechanism 902, a motor 310, and a motor control device 100. The electric power steering apparatus includes an electric actuator, a handle (steering) 900, a steering detector 901, and an operation amount command unit 903, and the operation force of the handle 900 steered by the driver is torque-assisted using the electric actuator. Have

The torque command τ * of the electric actuator is a steering assist torque command (created by the operation amount command unit 903) of the handle 900, and the steering force of the driver is reduced by using the output of the electric actuator. The motor control device 100 receives the torque command τ * as an input command, and controls the motor current so as to follow the torque command value from the torque constant of the motor 310 and the torque command τ *.

The motor output τm output from the output shaft directly connected to the rotor of the motor 310 transmits torque to the rack 910 of the steering device via a torque transmission mechanism 902 using a reduction mechanism such as a worm, a wheel, a planetary gear, or a hydraulic mechanism. Then, the steering force (operation force) of the driver's handle 900 is reduced (assisted) by the electric force, and the steering angles of the

wheels

920 and 921 are operated.

The assist amount is detected by a steering detector 901 that detects a steering state incorporated in the steering shaft, and an operation amount is detected as a steering angle or a steering torque, and an operation amount command unit is added in consideration of a state amount such as a vehicle speed or a road surface state. 903 is determined as the torque command τ *.

The motor control device 100 of the present invention is capable of high-efficiency motor drive by correcting the phase difference generated in the rotation sensor for the torque command τ * required for the electric actuator that rapidly accelerates and decelerates. Even in the field-weakening region of high-speed and high-torque operation, it can be driven without reducing the motor efficiency.

Also, even at low speeds, the motor can be driven with stable and low torque fluctuation by reducing sensor mounting errors. That is, the electric power steering apparatus to which the motor control apparatus 100 is applied can provide an electric power steering apparatus with high torque and high response without impairing the steering feeling to the driver. In the present embodiment, the electric power steering device has been described, but the same effect can be obtained even with an electric brake device.

Next, another embodiment in which the motor control device according to the present invention is applied to a vehicle will be described with reference to FIGS.

FIG. 6 is a configuration diagram of a hybrid vehicle system to which the motor control device of the present invention is applied, and FIG. 7 is a waveform diagram showing changes in the operating state of the motor.

As shown in FIG. 6, the hybrid vehicle system has a power train in which a synchronous motor 620 is applied as a motor / generator.

In the automobile shown in FIG. 6, reference numeral 600 denotes a vehicle body. A front wheel axle 601 is rotatably supported at the front portion of the vehicle body 600, and

front wheels

602 and 603 are provided at both ends of the front wheel axle 601. A rear wheel axle 604 is rotatably supported at the rear portion of the vehicle body 600, and

rear wheels

605 and 606 are provided at both ends of the rear wheel axle 604.

A differential gear 611 that is a power distribution mechanism is provided at the center of the front wheel axle 601, and the rotational driving force transmitted from the engine 610 via the transmission 612 is distributed to the left and right front wheel axles 601. ing. The engine 610 and the synchronous motor 620 are mechanically connected via a belt to a pulley provided on the crankshaft of the engine 610 and a pulley provided on the rotating shaft of the synchronous motor 620.

Thus, the rotational driving force of the synchronous motor 620 can be transmitted to the engine 610, and the rotational driving force of the engine 610 can be transmitted to the synchronous motor 620. In synchronous motor 620, when the three-phase AC power controlled by motor control device 100 is supplied to the stator coil of the stator, the rotor rotates, and a rotational driving force corresponding to the three-phase AC power is generated.

That is, the synchronous motor 620 is controlled by the motor control device 100 and operates as a motor. On the other hand, when the rotor rotates by receiving the rotational driving force of the engine 610, an electromotive force is induced in the stator coil of the stator. Operates as a generator that generates AC power.

The motor control device 100 is a power conversion device that converts DC power supplied from a high-voltage battery 622, which is a high-voltage (42V) system power supply, into three-phase AC power, and corresponds to the magnetic pole position of the rotor according to the operation command value. The three-phase alternating current flowing in the stator coil of the synchronous motor 620 is controlled.

The three-phase AC power generated by the synchronous motor 620 is converted to DC power by the motor control device 100 and charges the high voltage battery 622. The high voltage battery 622 is electrically connected to the low voltage battery 623 via a DC-DC converter 624. The low-voltage battery 623 constitutes a low-voltage (14v) power source of the automobile, and is used as a power source for a starter 625, a radio, a light, and the like that initially starts the engine 610 (cold start).

When the vehicle is at a stop such as waiting for a signal (idle stop mode), when the engine 610 is stopped and the engine 610 is restarted (hot start) when the vehicle reoccurs, the motor controller 100 drives the synchronous motor 620, The engine 610 is restarted. In the idle stop mode, when the charge amount of the high voltage battery 622 is insufficient or when the engine 610 is not sufficiently warmed, the engine 610 is not stopped and the driving is continued. Further, during the idle stop mode, it is necessary to secure a drive source for auxiliary equipment that uses the engine 610 as a drive source, such as an air conditioner compressor. In this case, the synchronous motor 620 is driven to drive the auxiliary machines.

The synchronous motor 620 is driven to assist the driving of the engine 610 even in the acceleration mode or the high load operation mode. Conversely, when the high voltage battery 622 is in a charge mode that requires charging, the engine 610 causes the synchronous motor 620 to generate power and charge the high voltage battery 622. That is, the regeneration mode such as when the vehicle is braked or decelerated is performed.

In such a motor drive device for a vehicle, when an abnormality of the position sensor unit or an abnormality of the synchronous motor 620 occurs, it is desirable to continue the motor operation as much as possible even if the abnormality is detected.

Therefore, as shown in FIG. 7, a plurality of determination levels are provided to determine a state where operation can be continued even if an abnormality is determined and a state where an emergency stop is performed without continuing. The first determination value Th1 shown in FIG. 7 (b) is an abnormality determination level for determining whether the motor abnormality is such that the motor operation can be continued, and the second determination value Th2 shown in FIG. This is an abnormality determination level for determining whether it is a motor abnormality that makes it difficult to continue motor operation (Th1 <Th2).

When the motor operating state value exceeds the first determination value Th1 and is between the second determination value Th2, the motor abnormality is notified to the driver and the vehicle is stopped or serviced promptly. It is possible to urge the vehicle to move to the station, and while restricting the output of the inverter (not shown) of the motor control device 100 as necessary, it is possible to move the vehicle to a safe stop or move the vehicle to the service station. Can be possible. At this time, it is possible to add a restriction on the motor operation state set in advance or a restriction on the motor operation according to the peak value of the motor operation state value.

When the motor operation state value exceeds the second determination value Th2 shown in FIG. 7B, it is a serious abnormal state that leads to burnout of the inverter or the motor, and the vehicle should be urgently stopped. It is judged that. Therefore, the motor operation can be urgently stopped so that the passenger or the like does not eventually malfunction due to motor abnormality.

For example, one of the abnormalities that occur in motor windings is the insulation deterioration of the windings. In this case, it is often caused by aging or repeated damage rather than rapid deterioration, and gradually after the motor operating state value (state value during operation) from a normal state to an abnormal state where continuous operation is possible, It reaches an abnormal state that should be stopped. Therefore, the motor operation can be more precisely controlled by determining the degree of abnormality of the motor using two or more determination values.

When the motor is abnormal, the moment when the motor operation state value matches or exceeds the first determination value Th1 or the second determination value Th2 and the moment when the motor operation state value becomes lower than that occur alternately. This is because the voltage applied to the abnormal motor winding is an AC voltage, and is caused by a change with the rotation of the motor.

The motor torque also changes periodically within one electrical angle cycle, and is an abnormal level (a level exceeding the first determination value Th1 or the second determination value Th2) and a normal level (the first determination value Th1). It can be seen that the following levels occur repeatedly. That is, the abnormality level is detected by detecting the abnormality level with one period of electrical angle as the abnormality detection period. It is possible to prevent erroneous detection by determining that an abnormality is detected when an abnormality is detected for several consecutive cycles at each repetition period of the electrical angle. It should be noted that an abnormality in the position sensor unit 320 can be dealt with similarly.

In the above-described embodiment, the case where the motor control device 100 of the present invention is applied to a hybrid vehicle system has been described. However, the same effect can be obtained in an electric vehicle.

The motor control apparatus 100 of the present invention can move to a place where it can safely stop or move to a service station even when such a synchronous motor 620 is applied as a motor / generator. Can be provided.

Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Motor control apparatus 110 ... Current control part 120 ... Current detection part 130 ... Inverter 140 ... Motor abnormality determination part 150 ... Motor position detection part 200 ... Battery 300 ... Motor apparatus 310 ... Motor 320 ... Position sensor part

Claims

A motor control device that detects a current value of an output current output to a motor and controls the current value according to a target torque,
A motor operating state value is calculated based on the current value of the output current output to the motor and the voltage value of the output voltage during operation of the motor, and the motor is abnormal based on the calculated motor operating state value. A motor control device comprising a motor abnormality determination unit that determines whether or not a problem has occurred.
The said motor abnormality determination part calculates the said motor driving | running state value from the ratio of the effective current component detected from the said output current during the driving | operation of the said motor, and the voltage value of the said output voltage. Motor control device.
The motor control according to claim 1, wherein the motor abnormality determination unit determines that an abnormality has occurred in the motor when the motor operation state value exceeds a predetermined determination value. apparatus.
The motor abnormality determination unit determines that an abnormality has occurred in the motor when a fluctuation range of the motor operating state value within one electrical angle cycle is equal to or larger than a predetermined determination range. The motor control device according to claim 1.
The motor abnormality determination unit generates an abnormality in the motor when the motor operation state value exceeds a predetermined determination value continuously for a predetermined number of cycles every time the electrical angle is repeated. The motor control device according to claim 1, wherein the motor control device is determined to be.
The motor abnormality determination unit determines that an interlayer short circuit has occurred in the motor winding or an abnormality has occurred in the position sensor unit that detects the position of the motor as the motor abnormality. The motor control device according to claim 1, wherein
The motor control device according to claim 1, wherein the motor abnormality determination unit detects a degree of deterioration of the winding of the motor according to a magnitude of a peak value of the motor operation state value.
The motor abnormality determination unit determines that an abnormality that allows continuous operation of the motor has occurred in the motor when the motor operation state value exceeds a preset first determination value; 2. The motor control according to claim 1, wherein when the operating state value exceeds a preset second determination value, it is determined that an abnormality that should stop the motor has occurred in the motor. apparatus.
The motor control device according to claim 1, wherein the motor abnormality determination unit uses a q-axis voltage value as a voltage value of the output voltage and a q-axis current value as a current value of the output current.
The motor control device according to claim 1, wherein the motor abnormality determination unit uses a d-axis voltage value as a voltage value of the output voltage and a d-axis current value as a current value of the output current.
The motor control apparatus according to claim 1, wherein the motor abnormality determination unit outputs a motor abnormality signal when it is determined that an abnormality has occurred in the motor.