WO2012147142A1 - モータ駆動装置 - Google Patents
モータ駆動装置 Download PDFInfo
- Publication number
- WO2012147142A1 WO2012147142A1 PCT/JP2011/060012 JP2011060012W WO2012147142A1 WO 2012147142 A1 WO2012147142 A1 WO 2012147142A1 JP 2011060012 W JP2011060012 W JP 2011060012W WO 2012147142 A1 WO2012147142 A1 WO 2012147142A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- rotational position
- drive device
- state
- value
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims abstract description 125
- 238000005070 sampling Methods 0.000 claims abstract description 66
- 230000005856 abnormality Effects 0.000 claims description 73
- 230000005284 excitation Effects 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 17
- 230000002159 abnormal effect Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 8
- 239000012530 fluid Substances 0.000 description 7
- 239000007788 liquid Substances 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
Definitions
- the present invention relates to a motor drive device capable of controlling an output voltage in accordance with a state even when an appropriate waveform and an inappropriate waveform are included in a detection signal from a rotational position sensor of a motor.
- Patent Document 1 describes a technique for determining whether or not the detection signals of two rotational position sensors match the normal amplitude, and detecting the presence or absence of abnormality of the rotational position sensor based on the determination result. Yes.
- Patent Document 2 describes a technique for continuously driving a motor using the remaining two output signals when an abnormality is detected in any one of the output signals in a three-phase output type rotational position sensor. Yes.
- the object of the present invention is to provide a motor based on the two detection signals even when an appropriate state and an inappropriate state appear alternately in the two detection signals of the rotational position sensor in accordance with the rotation stoppage or operating state of the motor.
- An object of the present invention is to provide a motor drive device that can continue the driving of the motor.
- the motor drive device samples the two detection signals output from the rotational position sensor, calculates the rotational position, and controls the voltage applied to the motor according to the rotational position.
- the motor driving device applies the first voltage to the motor when the sum of squares of the respective sampling values sampled from the two detection signals is a predetermined value, In a second state where the sum of squares of the two detection signals does not become a predetermined value, a second voltage is applied to the motor.
- the motor drive device can suppress the motor stop state to a minimum even when the two detection signals include an appropriate waveform and an inappropriate waveform.
- the figure explaining the tolerance of a detection value The figure which shows the example of a waveform of the detection signal of a suitable state.
- the figure explaining the internal structural example of a motor The figure which shows the structural example of a hybrid vehicle system.
- FIG. 1 shows a configuration example of a motor device 500 on which the motor driving device 100 according to the embodiment is mounted.
- the motor driving device 100 detects the rotational position of the motor 300 from the two detection signals output from the rotational position sensor 320 of the motor 300, and controls the drive voltage applied to the motor 300 according to the rotational position.
- the waveforms of the two detection signals vary depending on whether the motor 300 is stopped or operating.
- the motor drive device 100 controls the drive voltage output to the motor 300 based on the square sum of the two-phase detection signals output from the rotational position sensor 320.
- the motor driving apparatus 100 outputs a predetermined voltage generated based on the detection signals to the motor 300.
- the motor drive device 100 outputs a predetermined voltage that is determined in advance to the motor 300.
- the motor drive device 100 includes a current control unit 110, a current detection unit 120, an inverter 130, a sensor abnormality determination unit 140, a rotational position detection unit 150, an excitation unit 160, and a current command unit 170.
- the battery 200 is a DC voltage source of the motor driving device 100.
- the DC voltage Edc of the battery 200 is converted into a three-phase AC voltage having a variable voltage and a variable frequency by the inverter 130 of the motor driving apparatus 100 and applied to the motor 300.
- the motor 300 is a synchronous motor that is rotationally driven by supplying a three-phase AC voltage.
- a rotation position sensor 320 is attached to the motor 300 for detection of the rotation position.
- the rotational position sensor 320 outputs a two-phase detection signal (Sin ⁇ Sin ⁇ t, Cos ⁇ Sin ⁇ t) obtained by modulating the excitation signal (Sin ⁇ t) supplied from the excitation unit 160 according to the phase of the induced voltage appearing in the motor 300.
- This two-phase detection signal is used for phase control of a three-phase AC voltage supplied to the motor 300.
- the rotational position sensor 320 uses a resolver composed of an iron core and windings.
- the rotational position sensor 320 may be a GMR (Giant Magneto Resistive) sensor, a sensor that uses the Hall effect, or the like.
- the motor driving device 100 is provided with a function of controlling the rotation (output) of the motor 300 with current.
- One of the circuits that realize the function is the current detection unit 120.
- the current detection unit 120 uses the three-phase motor current values (Iu, Iv, Iw) applied to the motor 300 and the rotation angle ⁇ as input signals, and generates dq conversion of these to generate current detection values (Id, Iq). To do.
- the rotation angle ⁇ here is given from the rotation position detector 150.
- the current control unit 110 generates voltage command signals (Vd *, Vq *) to be output to the inverter 130 so that the current detection values (Id, Iq) and the current command values (Id *, Iq *) match.
- the current command values (Id *, Iq *) are given from the current command unit 170.
- the current command unit 170 generates a current command value (Id *, Iq *) according to the target torque given from the host controller.
- the inverter 130 generates a three-phase output voltage command (Vu *, Vv *, Vw *) based on the voltage command signal (Vd *, Vq *) and the rotational position ⁇ , and the three-phase output voltage command.
- a process of generating a drive signal by performing pulse width modulation (PWM) of the signal and a process of controlling on / off of the semiconductor switch element by the drive signal are executed. By this control, the output of the three-phase AC voltage (Vu, Vv, Vw) applied to the motor 300 is adjusted.
- PWM pulse width modulation
- the rotational position detector 150 calculates the rotational position ⁇ of the motor 300 from the two-phase detection signals (Sin ⁇ Sin ⁇ t, Cos ⁇ Sin ⁇ t) output from the rotational position sensor 320.
- an analog circuit op-amp
- the operational amplifier is used to adjust the amplitude of the detection signal.
- the rotation position detection unit 150 updates the rotation position ⁇ based on these two-phase detection signals. To do. At this time, the rotational position detection unit 150 sets the status flag Sig to “0”, for example.
- the rotation position detection unit 150 outputs a specified rotation position ⁇ without using the two detection signals.
- the rotational position detector 150 sets the status flag Sig to “1”, for example. Detailed operations performed by the rotational position detector 150 will be described later.
- the sensor abnormality determination unit 140 checks the value of the state flag Sig at a timing synchronized with the excitation cycle of the excitation unit 160. Here, when the value of the state flag Sig is “1”, the sensor abnormality determination unit 140 increases the count value of the counter by one. When the value of the status flag Sig is “0”, the sensor abnormality determination unit 140 resets the count value of the counter.
- the sensor abnormality determination unit 140 displays the abnormality notification 1. Output. In this case, the operation of the motor driving device 100 is continued.
- the sensor abnormality determination unit 140 outputs the abnormality notification 2.
- This abnormality notification 2 also has a function as a stop signal (stop) for stopping the output of the current command values (Id *, Iq *) by the current command unit 170.
- stop stop signal
- the rotational position detection unit 150 generates two phases ( ⁇ / 2, 3 ⁇ / 2, 5 ⁇ / 2,...) That are odd multiples of the quarter period ( ⁇ / 2) of the excitation signal (Sin ⁇ t). Sampling timing of detection signals (Sin ⁇ Sin ⁇ t, Cos ⁇ Sin ⁇ t). The rotational position detector 150 calculates the sum of squares of the sampling values acquired at the timing.
- the amplitudes of the two-phase detection signals are S and C
- the two detection signals can be represented by S ⁇ Sin ⁇ and C ⁇ Cos ⁇ , respectively.
- Rotational position detector 150 determines whether the square sum (SI) of these detection signals is within an allowable range. When the sum of squares (SI) is within the allowable range, the rotational position detector 150 determines that the rotation of the motor 300 is in a normal state. At this time, the value of the status flag Sig is set to “0”.
- the rotational position detector 150 determines that the rotation of the motor 300 is in an abnormal state.
- the value of the status flag Sig is set to “1”.
- the radius of the sum of squares of these detection signals is larger than the first detection allowable error (ie, Sin 2 ⁇ + Cos 2 ⁇ > 1 + ⁇ ) or smaller than the second detection allowable error (ie, Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1- ⁇ ).
- the amplitude including the offset voltage of the two-phase detection signal falls within the dynamic range of 0 to 5 V of the A / D converter provided in the microcontroller. Need to be adjusted as follows. For the adjustment of the signal, an analog circuit (op-amp) or the like is used. Thus, the signal after adjusting the offset voltage and the amplitude is given to the rotational position detection unit 150.
- the permissible detection errors ⁇ ⁇ and ⁇ ⁇ ′ can be set by the maximum permissible error ⁇ e of the rotational position ⁇ according to the required specifications of the motor device 500.
- the maximum allowable error ⁇ e is given by an electrical angle of about ⁇ 25 degrees.
- the detection allowable errors ⁇ ⁇ and ⁇ ⁇ ′ can be set as values corresponding to the maximum allowable error ⁇ e ( ⁇ ⁇ 25 degrees electrical angle).
- the detection tolerances ⁇ and ⁇ ′ are omitted for convenience.
- the motor device 500 When the motor device 500 controls the rotational speed of the motor 300, the motor device 500 calculates the motor rotational speed ⁇ r based on the time change of the rotational position ⁇ , and the motor rotational speed ⁇ r matches the command speed given from the host controller. Thus, the voltage command signal (Vd *, Vq *) or the current command value (Id *, Iq *) is generated. Specifically, the current control unit 110 or the current command unit 170 of the motor device 500 generates a corresponding signal or value, respectively.
- the motor device 500 When the motor device 500 controls the output torque of the motor 300, the motor device 500 uses a relational expression or mapping table between the current detection value (Id, Iq) and the motor torque, and uses the current command value (Id *, Iq). *) Is generated. Specifically, the current command unit 170 of the motor device 500 generates a corresponding value.
- [Waveforms when motor rotation is normal] 3A to 3E show two-phase detection signals that appear when the rotation of the motor 300 is normal and the waveforms of signals related to them.
- the horizontal axis represents the actual rotational position ⁇
- the vertical axis represents the amplitude normalized to ⁇ 1.
- FIG. 3A shows a waveform of a resolver excitation signal output from the excitation unit 160 to the rotational position sensor 320. Black circles in the figure represent sampling timing.
- the two-phase detection signal used for the calculation of the rotational position (angle) ⁇ is expressed by a resolver Sin signal (Sin ⁇ ) and a resolver Cos signal (Cos ⁇ ), as shown by solid lines in FIGS. Is done.
- the rotational position ⁇ can be obtained by calculating the tan signal from these two detection signals and further calculating the arc tangent thereof.
- the two-phase detection signal output from the rotational position sensor 320 has waveforms of Sin ⁇ Sin ⁇ t and Cos ⁇ Sin ⁇ t obtained by amplitude-modulating the resolver excitation signal (Sin ⁇ t).
- the waveform is represented by a dotted line.
- the sampling timing of the A / D converter of the microcontroller is an odd multiple ( ⁇ / 2, 3 ⁇ / 2) of the quarter period ( ⁇ / 2) of the resolver excitation signal Sin ⁇ t (FIG. 3A). , 5 ⁇ / 2, .
- the timing at which the signal value of the resolver excitation signal Sin ⁇ t is positive among the sampling timings is referred to as positive sampling timing
- the timing at which the signal value of the resolver excitation signal Sin ⁇ t is negative is referred to as negative sampling timing.
- the sampling value of the resolver Sin signal is given by SA1, SB1, SA2, SB2,.
- the sampling value of the resolver Cos signal is given by CA1, CB1, CA2, CB2,.
- the sampling values SA1 and CA1 are sampled simultaneously.
- SB1 and CB1 are sampled simultaneously.
- the value of the status flag Sig is “0”. The same applies to the sum of squares of the sampling values SB1 and CB1.
- the solid line in FIG. 3D represents the U-phase output voltage command Vu * (U-phase modulated wave) calculated by the inverter 130. Also, the dotted line in FIG. 3D represents a carrier signal Carrier for PWM modulation.
- the solid line in FIG. 3 (e) is a U-phase PWM modulation waveform generated by comparing the U-phase output voltage command Vu * shown in FIG. 3 (d) with the carrier signal Carrier. This waveform becomes a drive signal of the semiconductor switch element constituting the inverter 130.
- the output voltage of the inverter 130 is half the voltage Edc of the battery 200. Two other phases, V and W, are given as well.
- the solid line in FIG. 3D corresponds to the case where the U-phase output voltage command Vu * is updated at the peak timing of the carrier signal Carrier.
- the U-phase output voltage command Vu2 * corresponding to the dotted line in FIG. 3D shows a case where the U-phase output voltage command is updated at both the peak timing and the bottom timing of the carrier signal Carrier.
- the U-phase output voltage command may be Vu or Vu2 *. In either case, the output voltage of the motor driving device 100 is the same.
- FIGS. 4A to 4E all correspond to the graphs shown in FIGS. 3A to 3E.
- FIG. 4 shows a case where a phenomenon that the sensor abnormality determination unit 140 outputs the abnormality notification 1 appears in the two-phase detection signal.
- the waveform abnormality appears on the side of the resolver Sin signal (Sin ⁇ Sin ⁇ t) indicated by the dotted line in FIG.
- the negative waveform of the resolver excitation signal Sin ⁇ t is clamped to a small value with respect to the normal amplitude.
- This waveform is equivalent to the case of diode clamping. This phenomenon occurs when a wiring extending from the rotational position sensor 320 to the rotational position detection unit 150 comes into contact with the ground line or the power supply line through a resistor or the like, or when an operational amplifier of a signal adjustment analog circuit (detection circuit) is defective. May occur.
- a resolver Sin signal (Sin ⁇ ) and a resolver Cos signal (Cos ⁇ ) indicated by solid lines in FIGS. 4B and 4C are used.
- the phase-side waveform where the signal value of the resolver excitation signal is negative is all clamped to a predetermined value.
- the negative sampling timing gives a timing that is not suitable for the calculation of the rotational position ⁇ .
- the sampling values of the resolver Sin signal (Sin ⁇ ) at this timing are SB1, SB2,. In this case, SBj 2 + CBj 2 ⁇ 1.
- a negative sampling timing gives a timing suitable for calculating the rotational position ⁇ .
- Rotational position detector 150 continues to drive motor 300 without using the sampling value when the sum of squares of the sampling values of the two-phase detection signals is non-1. That is, the rotational position detection unit 150 uses only the sampling value at the positive sampling timing in the section where the actual rotational position ⁇ is 0 to 180 degrees, and is negative in the section where the actual rotational position ⁇ is 180 to 360 degrees. Only the sampling value at the sampling timing is used.
- the rotational position detection unit 150 uses the value sampled at the positive sampling timing for calculation of the rotational position ⁇ at each sampling timing.
- the rotational position detection unit 150 uses the value sampled at the negative sampling timing for calculation of the rotational position ⁇ at each sampling timing. This calculation process is executed in the rotational position detection unit 150 when the sum of squares of the sampling values at each sampling timing alternately repeats 1 and non-1 (that is, 0).
- the U-phase output voltage command Vu * shown in FIG. 4D is correctly updated by executing this calculation process.
- a U-phase PWM signal shown in FIG. 4 (e) is obtained, and a prescribed output voltage is obtained for the motor drive device 100.
- the maximum value of the count value of the internal counter of the sensor abnormality determination unit 140 is 1. At this time, the sensor abnormality determination unit 140 outputs an abnormality notification 1.
- the count value of the internal counter of the sensor abnormality determination unit 140 increases to a value larger than 1.
- the sensor abnormality determination unit 140 outputs an abnormality notification 2.
- the sensor abnormality determination unit 140 outputs a stop signal (stop) for creating a stop current command, and stops the rotation driving of the motor 300.
- the abnormality notification 2 is shared by the stop signal (stop), but each may be output as an individual signal.
- the waveform of the negative sampling timing is clamped.
- the waveform of the positive distribution ring timing may be clamped.
- the abnormality notification 1 is output only when the status flags Sig “1” and “0” appear alternately, and until the count value of the sensor abnormality determination unit 140 exceeds the threshold value. Does not output any abnormality notification. However, when the count value is non-zero and takes a value equal to or less than the threshold value, the output of the abnormality notification 1 may be continued. By installing this function, it is possible to notify the outside that the motor rotation abnormality continues.
- the update of the U-phase output voltage command may be executed only at the peak timing (Vu *) of the carrier signal Carrier, or may be executed at both the peak timing and the bottom timing of the carrier signal Carrier.
- both the excitation frequency and the carrier frequency are roughly expressed with respect to the output fundamental frequency.
- the excitation frequency and the carrier frequency are set to frequencies that do not hinder motor driving.
- sampling may be performed twice within a period that is an integral multiple of the resolver excitation signal.
- the detected waveform is shown in FIG. 4B, 2 at one cycle interval ( ⁇ / 2, 5 ⁇ / 2, 9 ⁇ / 2,...) With respect to the four half cycles ( ⁇ / 2) of the resolver excitation signal Sin ⁇ t.
- the two-phase is generated at the timing of the odd multiple period ( ⁇ / 2, 3 ⁇ / 2, 5 ⁇ / 2,%) Of the quarter period ( ⁇ / 2) of the resolver excitation signal Sin ⁇ t. It is preferable to sample the detection signal.
- the motor drive device 100 it is difficult to notify the abnormal state 1 in which continuous operation is possible and to smoothly drive the motor according to the frequency at which the state of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 occurs continuously.
- the abnormality notification divided into two stages of notification of the abnormal state 2 that should not be continuously operated after being determined to be in a stable state becomes possible.
- the fail-safe property can be improved.
- FIG. 5 shows a configuration example of an electric power steering device that is an example of an application device of the motor driving device 100.
- FIG. 5 shows parts corresponding to those in FIG.
- various motor driving devices in the present specification can be applied to the motor driving 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.
- the electric actuator is a device that assists the steering force (torque) that acts on the steering shaft when the driver steers the handle 900 to reduce the driver's steering.
- the electric actuator includes a torque transmission mechanism 902, a motor 300, and a motor driving device 100.
- Torque command ⁇ * for the electric actuator is generated by the operation amount command unit 903 and supplied to the electric actuator.
- the motor drive device 100 When the motor drive device 100 receives the torque command ⁇ * as an input command from the operation amount command unit 903, the motor drive device 100 controls the drive current of the motor 300 so as to follow the torque command ⁇ *.
- the drive current here is generated based on the torque constant of the motor 300 and the torque command ⁇ *.
- the motor output ⁇ m output from the output shaft directly connected to the rotor of the motor 300 transmits torque to the rack 910 of the steering device via a torque transmission mechanism 902 using a worm, wheel, planetary gear, other reduction mechanism or hydraulic mechanism. introduce. By transmitting this electric force, the force required for the operation required to change the steering angle of the wheels 920 and 921 is reduced.
- This steering amount is detected by a steering detector 901 incorporated in the steering shaft.
- the steering detector 901 detects the steering (operation) amount of the driver as a steering angle or a steering torque, and gives it to the operation amount command unit 903.
- the operation amount command unit 903 determines a torque command ⁇ * from the steering (operation) amount and the state amount (vehicle speed, road surface state, etc.).
- FIG. 6 shows an example of the internal configuration of a motor 300 suitable for combination with the motor drive device 100.
- FIG. 6 is a cross-sectional view of the motor 300 in the motor axial direction.
- a permanent magnet field type permanent magnet synchronous motor is assumed.
- the motor 300 is an embedded permanent magnet synchronous motor in which a permanent magnet is embedded in a rotor core.
- the stator 311 is obtained by sequentially winding three-phase windings corresponding to U, V, and W around the teeth of the stator core.
- a rotor (rotor core 302, permanent magnet 303, motor shaft 360) is disposed in a space inside the stator 311 via a gap.
- the motor 300 is an addendum motor.
- two rotational position sensors 320A and 320B are arranged for fail-safe.
- a magnetic seal plate 341A is installed between the stator 311 and the rotational position sensor 320A.
- a magnetic seal plate 341B is installed between the stator 311 and the rotational position sensor 320B.
- Sensor stators 321A and 321B of the rotational position sensors 320A and 320B are fixed to the motor housing 340.
- the sensor rotor 322A of the rotational position sensor 320A and the sensor rotor 322B of the rotational position sensor 320B are both connected to the rotor (rotor core 302, permanent magnet 303) through the motor shaft 360.
- the motor shaft 360 is rotatably supported by bearings 350A and 350B.
- a torsion bar 361 for detecting a torque by generating a twist in the shaft is provided.
- the motor torque can be calculated by using the twist angle of the shaft and the spring constant of the shaft.
- FIG. 6 shows a structure in which two rotational position sensors 320A and 320B are installed on both the left and right sides of the rotor core 302.
- the two rotational position sensors 320A and 320B are provided on both sides of the torsion bar 361. It only has to be installed.
- the resolver is used for the rotational position sensors 320A and 320B, but a Hall element or a GMR sensor may be used. In these cases, similar detection is possible by using an excitation signal for the bias voltage of the sensor element.
- the detection signal in the state of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 among the two detection signals output from the rotation position sensor 320 is not used for calculation of the rotation position ⁇ .
- two rotational position sensors 320 are mounted on the motor 300. For this reason, the presence or absence of abnormality can be confirmed by matching the two rotational positions ⁇ calculated from the detection waveforms of the two rotational position sensors 320, respectively. Furthermore, by mounting the two rotational position sensors 320, it is possible to directly diagnose which rotational position sensor 320 has an abnormality.
- the motor drive device 100 to be mounted can suppress the motor stop state to a minimum. For this reason, the safety
- FIG. 7 shows a configuration example of a hybrid vehicle system that is an example of an application device of the motor drive device 100.
- the hybrid vehicle system according to the present embodiment has a power train that applies the motor 300 as a motor / generator.
- a front wheel axle 601 is rotatably supported at the front portion of the vehicle body 600, and front wheels 602 and 603 are attached to both ends thereof.
- a rear wheel axle 604 is rotatably supported at the rear portion of the vehicle body 600, and rear wheels 605 and 606 are attached to both ends thereof.
- a differential gear 611 that is a power distribution mechanism is disposed at the center of the front wheel axle 601.
- the differential gear 611 distributes the rotational driving force transmitted from the engine 610 via the transmission 612 to the two left and right front wheel axles 601.
- a pulley 610 a attached to the crankshaft of the engine 610 and a pulley 620 a provided on the rotating shaft of the motor 300 are mechanically connected through a belt 630.
- the rotational driving force of the motor 300 can be transmitted to the engine 610, and conversely, the rotational driving force of the engine 610 can be transmitted to the motor 300.
- the motor 300 When the three-phase AC power controlled by the motor driving device 100 is supplied to the stator coil of the stator that constitutes the motor 300, the rotor of the motor 300 rotates to rotate according to the three-phase AC power. Force is generated. That is, the motor 300 operates as an electric motor controlled by the motor driving device 100. On the other hand, when the rotational driving force of engine 610 is transmitted and the rotor rotates, an electromotive force is induced in the stator coil of the stator. In this case, the motor 300 operates as a generator that generates three-phase AC power.
- the motor drive device 100 is a power conversion device that converts DC power supplied from a high-voltage battery 622 that is a high-voltage (42V or 300V) power supply into three-phase AC power.
- the motor drive device 100 controls the three-phase alternating current that flows through the stator coil of the motor 300 according to the operation command value and the magnetic pole position of the rotor.
- the three-phase AC power generated by the motor 300 is converted into DC power by the motor driving device 100 and used for charging the high voltage battery 622.
- the high voltage battery 622 is electrically connected to the low voltage battery 623 via the 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, or the like that initially starts the engine 610 (cold start).
- the engine 610 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.
- a drive source for auxiliary equipment that uses the engine 610 as a drive source, such as an air conditioner compressor.
- the auxiliary machine is driven by driving the motor 300.
- the motor 300 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 motor 300 to generate power and charge the high voltage battery 622. That is, the electric power generated when the vehicle is braked or decelerated is regenerated.
- the sensor abnormality determination part 140 demonstrated in Example 1 is provided with the function which can output two types of abnormality notifications.
- One is a case where the continuous detection of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 is not more than a predetermined number of times. In this case (only the abnormality notification 1 is output), the motor driving apparatus 100 determines that an initial abnormality has occurred and operates to continue the operation of the motor 300.
- Another one is a case where the state of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 is continuously detected over a predetermined number of times. In this case, the motor driving device 100 operates to urgently stop the operation without allowing continuous driving of the motor 300.
- the motor drive device 100 can notify the driver of the motor abnormality through an external host controller or the like. This notification can be used to prompt the driver to stop the vehicle or move to a service station. Moreover, if the output of the inverter 130 of the motor drive device 100 is limited as necessary, the vehicle can be moved to a safe stop position or the vehicle can be moved to a service station. At this time, it is possible to limit the operation of the motor 300 according to the frequency with which the state of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 continuously occurs.
- the host controller determines that the vehicle should be urgently stopped. Therefore, it is possible to urgently stop the operation of the motor so that the passenger or the like does not eventually malfunction due to the abnormality of the motor.
- the motor drive device 100 provides a vehicle powertrain system that can move to a place where it can be safely stopped or move to a service station. be able to.
- the motor drive device 100 is applied to a hybrid vehicle system.
- the motor drive device 100 can be similarly applied to an electric vehicle.
- Example 4 [Device configuration] Next, the case where the motor drive device 100 is configured as an IC will be described. The only difference between the motor device 500 shown in FIG. 8 and the motor device 500 shown in FIG. 1 is whether or not the motor driving device 100 is configured as one IC. The other configuration of the motor device 500 shown in FIG. 8 is basically the same as that of the motor device 500 shown in FIG. However, as will be described later, the detailed configuration is optimized by IC.
- the inverter 131 of the motor drive device 101 outputs a three-phase AC voltage with an analog variable voltage and variable frequency and applies it to the motor 300.
- the motor drive device 101 has a current control function for controlling the output of the motor 300.
- the current detector 121 monitors the DC current Idc supplied to the inverter 131 and detects the current value.
- the current control unit 111 outputs a voltage command (V *) so that the detected current value (I) matches the current command value (I *).
- the inverter 131 uses the rotational position ⁇ , has a phase difference of 120 degrees, and obtains a three-phase analog voltage output whose amplitude is a value given by the voltage command (V *). Amplification control of the semiconductor switch element of the inverter 131 is performed to adjust the output voltage.
- the analog circuit for signal adjustment of the input circuit of the rotational position detection unit 150 and the output circuit of the excitation unit 160 can be configured inside the IC. Therefore, the peripheral circuit can be configured simply.
- the abnormality notification 1 and abnormality notification 2 output from the sensor abnormality determination unit 140 are transmitted to the host controller.
- a stop signal (Stop) output in conjunction with the abnormality notification 2 is used as a switching signal for the switch 171.
- the switch 171 By switching the switch 171 by this switching signal, the signal given to the current control unit 111 can be switched to either the current command value (I *) or the stop command (GND) input from the host controller. .
- FIG. 9A to 9E show examples of appearance of other abnormal waveforms assumed in this embodiment.
- the difference between FIG. 9 and FIG. 4 is that an abnormal waveform appears in both of the two-phase detection signals.
- both the negative waveform of the resolver excitation signal Sin ⁇ t (FIG. 9B) and the negative waveform of the resolver Cos ⁇ t (FIG. 9C) have small values with respect to the normal amplitude. It is clamped. The clamp values are different.
- the rotational position detection unit 150 adds the following calculation process to detect the rotational position ⁇ , and ensures further robustness. Specifically, in the section of SAi 2 + CAi 2 ⁇ 1 or SBj 2 + CBj 2 ⁇ 1, the rotational position is based on the result of combining the sampling value at each sampling timing with the sampling value at the previous or subsequent sampling timing. ⁇ is detected. For example, not the sum of squares of SA4 and CA4, but the sum of squares of SA4 and CB4 is calculated. CA4 is a waveform on the side affected by the waveform abnormality, while CB4 is a waveform on the normal side. Therefore, the possibility of a correct value is high.
- the phase range of the detection signal that can be used for continuous operation of the motor 300 can be expanded.
- the combination of the SA sequence and the CB sequence is described as a combination of two sampling values that differ by one sampling timing.
- the sum of squares may be calculated for the combination of the SB sequence and the CA sequence. In this way, by determining whether the sum of squares is “1” not only for the combination of the SA sequence and the CB sequence but also for the SB sequence and the CA sequence, the sum of squares is “1” for either one. If the combination of sampling values is used, continuous operation of the motor 300 can be realized.
- phase delay can be avoided or suppressed if the excitation frequency is doubled by hard logic (IC) or the like.
- IC hard logic
- the rotational position detection cycle can be doubled compared to the PWM pulse cycle.
- the offset amount When the offset amount is superimposed on the resolver detection signal (for example, Sin ⁇ Sin ⁇ t) in FIG. 3, the offset amount can be obtained by averaging the sampling values (SA1, SB1,).
- an offset amount is obtained from an added average value for one cycle of Sin ⁇ obtained from sampling values (SA1, SA2,..., SB6, SB7,...) Where the state flag Sig is “0”.
- a technique is adopted in which a DC component amount obtained by analyzing the sampling value by FFT (Fast Fourier Transform) is obtained as an offset amount.
- FIG. 10 shows a configuration example of the vehicle brake device according to the embodiment.
- the vehicular brake device includes a brake assist device 700, a brake pedal 701, a booster device 800, and wheel mechanisms 850a to 850d.
- the braking assist device 700 includes an assist mechanism 720, a primary liquid chamber 721a, a secondary liquid chamber 721b, and a reservoir tank 712.
- the assist control unit 706 shown in FIG. 10 has the same function as the motor drive device 100. That is, the assist control unit 706 has the same functional configuration as that of the first embodiment at least with respect to the sensor abnormality determination unit 140, the rotational position detection unit 150, and the excitation unit 160.
- the microcomputer of the assist control unit 706 is programmed so as to execute a braking operation for the vehicle.
- the motor 731 is different from the motor 300 described above in that the motor 731 is integrally attached to the braking assist device 700. Further, the motor 731 is different from the first embodiment in that the motor 731 is integrated with the assist control unit 706 via the casing 712.
- the amount of operation of the brake pedal 701 that the driver steps on is input to the assist mechanism 720 via the input rod 722 and transmitted to the primary liquid chamber 721a.
- the brake operation amount detected by the stroke sensor 702 attached to the brake pedal 701 is input to the assist control unit 706 that controls the assist mechanism 720.
- the assist control unit 706 controls the motor 731 so that the rotational position ⁇ corresponds to the input brake operation amount.
- the rotational torque of the motor 731 is transmitted to a rotation-translation converter 725 that converts rotational power into translational power via speed reducers 723, 723b, and 723c.
- the translational power converted by the rotation-translation converter 725 presses the primary piston 726 to increase the fluid pressure in the primary fluid chamber 721a and pressurizes the secondary piston 727 to increase the fluid pressure in the secondary fluid chamber 721b.
- a booster mechanism 800 is connected to the primary liquid chamber 721a and the secondary liquid chamber 721b via master pipes 750a and 750b.
- the booster mechanism 800 inputs the hydraulic pressure of the hydraulic fluid pressurized in the primary liquid chamber 721a and the secondary liquid chamber 721b.
- the booster mechanism 800 transmits the input hydraulic pressure to the wheel mechanisms 850a to 850d in accordance with commands from the booster control unit 830. This control generates a braking force of the vehicle.
- Assist control unit 706 controls the displacement amount in order to adjust the pressing amount of primary piston 726.
- the displacement amount of the primary piston 726 is detected as follows. First, the rotation angle of the drive motor 731 is calculated based on a detection signal output from a rotational position sensor (not shown) provided in the motor 731, and the displacement of the primary piston 726 is calculated from the propulsion amount of the rotation-translation conversion device 725. Find the amount.
- the hydraulic pressure adjusting device 801 is provided with two systems of hydraulic pressure adjusting mechanisms 810a and 810b that adjust hydraulic fluid for each of two diagonal wheels out of four. With this mechanism configuration, even if one system failure occurs, the vehicle can be stopped safely. For example, the braking forces of the diagonal two-wheel wheel mechanisms 850a and 850b can be individually adjusted.
- the two hydraulic pressure adjustment mechanisms 810a and 810b operate in the same manner. Therefore, in the following description, one system of the hydraulic pressure adjustment mechanism 810a will be described.
- the hydraulic pressure adjusting mechanism 810a includes a gate OUT valve 811 that controls the supply to the wheel cylinder 851, a gate IN valve 812 that also controls the supply to the pump, and the hydraulic pressure from the master pipe 750a or the pump to each wheel.
- IN valves 814a and 814b for controlling the supply of hydraulic fluid to the cylinder 851, OUT valves 813a and 813b for controlling the pressure reduction of the wheel cylinder 851, and a pump for increasing the master pressure generated by the hydraulic pressure from the master pipe 750a 853 and a pump motor 852 for driving the pump 853.
- the boost control unit 830 processes a signal from the wheel rotation sensor 853 in the wheel mechanisms 850a to 850d. For example, when the wheel lock at the time of braking is detected, the boost control unit 830 operates each IN / OUT valve (electromagnetic type) and pump to adjust the hydraulic pressure so that each wheel does not lock. These mechanisms can also be applied when controlling the hydraulic pressure for vehicle behavior stabilization control.
- the detection signal output from the rotational position sensor of the motor 731 is used for driving the motor and also for controlling the displacement amount of the primary piston 726. For this reason, it is required to continue to operate stably with high accuracy and to detect an abnormality accurately.
- the assist control unit 706 when the assist control unit 706 is used, the stop state of the assist mechanism due to an abnormality in the rotational position sensor or its output wiring system can be minimized. At the same time, the displacement amount of the primary piston 726 can be obtained stably.
- the sensor abnormality determination unit 140 enables the operation to be continued if an initial abnormality occurs when the state of Sin 2 ⁇ + Cos 2 ⁇ ⁇ 1 is repeatedly detected, and Sin When the state of 2 ⁇ + Cos 2 ⁇ ⁇ 1 is continuously detected a predetermined number of times, it is possible to determine the state of emergency stop without continuing driving. That is, the sensor abnormality determination unit 140 can accurately detect an abnormality and display the detected abnormality state on the operation panel via the communication network (CAN). By this display, the driver can accurately grasp the abnormal state. That is, it is possible to provide a safe vehicular brake device that can avoid an abnormal brake operation contrary to the driver's intention.
- CAN communication network
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
[装置構成]
図1に、実施例に係るモータ駆動装置100を実装するモータ装置500の構成例を示す。モータ駆動装置100は、モータ300の回転位置センサ320から出力される2つの検出信号からモータ300の回転位置を検出し、当該回転位置に応じてモータ300に印加する駆動電圧を制御する。2つの検出信号の波形は、モータ300の停止又は運転状態により変化する。
ただし、Cは定数である。この式は、次式と等価である。
なお、式1を式2に変換する演算処理の計算量はマッピングテーブル等の利用により低減することができ、必要とされる処理時間も短縮できる。
図3(a)~(e)に、モータ300の回転が正常である場合に出現する2相の検出信号とそれらに関連する信号の波形を示す。なお、各グラフの横軸は実回転位置θであり、縦軸は振幅を±1に正規化して表している。
図4(a)~(e)に、モータ300の回転に異常が含まれる場合に出現する2相の検出信号とそれらに関連する信号を説明する。各グラフの横軸は実回転位置θであり、縦軸は振幅を±1に正規化して表している。
なお、図1の場合、異常通知2を停止信号(stop)に共用しているが、それぞれ個別の信号として出力しても良い。
以上説明したように、本実施例に係るモータ駆動装置100は、回転位置センサ320の2つの検出信号がSin2θ+Cos2θ≠1の関係を有する場合には当該信号を用いずに、Sin2θ+Cos2θ=1の関係を満たす検出信号を用いてモータ300の駆動電圧を生成する。このため、検出信号の波形に異常が含まれる場合(例えば負のサンプリングタイミングの波形がクランプされる場合)でも、モータ300に対する電圧の供給を停止させずに継続駆動することができる。このため、2相の検出信号への外乱混入に対してロバスト性を向上させることができる。
図5に、モータ駆動装置100の応用装置の一例である電動パワーステアリング装置の構成例を示す。図5は、図1との対応部分に同一符号を付して示している。ただし、モータ駆動装置100には、本明細書における各種のモータ駆動装置を適用することができる。
本実施例に係るモータ駆動装置100の場合には、回転位置センサ320から出力される2つの検出信号のうちSin2θ+Cos2θ≠1の状態にある検出信号を回転位置θの算出に用いず、Sin2θ+Cos2θ=1の状態にある検出信号だけを用いて回転位置θを生成する。
図7に、モータ駆動装置100の応用装置の一例であるハイブリッド自動車システムの構成例を示す。本実施例に係るハイブリッド自動車システムは、モータ300をモータ/ジェネレータとして適用するパワートレインを有している。
[装置構成]
次に、モータ駆動装置100をICとして構成する場合について説明する。図8に示すモータ装置500と図1に示すモータ装置500の違いは、モータ駆動装置100が1つのICとして構成されているか否かだけである。図8に示すモータ装置500のうちその他の構成は、図1に示すモータ装置500の構成と基本的に同様である。ただし、後述するように細部の構成は、IC化により最適化されている。
本実施例では、前述の例とは異なる異常波形の発生時におけるモータ駆動装置101の動作例について説明する。図9(a)~(e)に、本実施例で想定する他の異常波形の出現例を示す。図9と図4との違いは、2相の検出信号の両方に異常波形が出現している点である。図9の場合、レゾルバ励磁信号Sinωt(図9(b))の負側の波形とレゾルバCosωt(図9(c))の負側の波形の両方が、それぞれ正常な振幅に対して小さい値にクランプされている。クランプ値は、それぞれ異っている。
本実施例に係るモータ駆動装置101の場合には、回転位置センサ320の2つの検出信号の2乗和が非1(Sin2θ+Cos2θ≠1)であるときに、励磁信号の4半周期(π/2)だけ位相のずれた2つのサンプリング値を使用して回転位置θの算出や継続駆動の可否を判定する。この場合、前述した実施例の手法では、継続できないような位相範囲でも、モータ300の回転を継続することができる。また、実施例に係るモータ駆動装置101はIC化できるため、省スペースかつ低コストのモータ装置を実現することができる。
続いて、その他の異常波形が2つの検出信号に含まれる場合の処理動作について説明する。以下では、図4(b)、図9(b)及び図9(c)に示すレゾルバ検出信号にオフセット量が重畳する場合について検討する。
図10に、実施例に係る車両用ブレーキ装置の構成例を示す。車両用ブレーキ装置は、制動アシスト装置700と、ブレーキペダル701と、倍力装置800及びホイール機構850a~850dを有している。ここで、制動アシスト装置700は、アシスト機構720と、プライマリ液室721aと、セカンダリ液室721bと、リザーバタンク712を有している。
なお、本発明は上述した実施例に限定されるものでなく、様々な変形例が含まれる。例えば上述した実施例は、本発明を分かり易く説明することを目的とする。このため、必ずしも説明した全ての構成を備えるものに限らない。また、ある実施例の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成を追加、削除又は置換することも可能である。
Claims (10)
- モータの回転位置センサから出力される2つの検出信号をサンプリングし、当該サンプリング値から前記モータの回転位置を検出し、検出された回転位置に応じた電圧を前記モータに印加するモータ駆動装置において、
前記モータ駆動装置は、
前記2つのサンプリング値の2乗和が所定値となる第1の状態のとき、第1の電圧を前記モータに印加し、前記2つのサンプリング値の2乗和が所定ちとならない第2の状態のとき、第2の電圧を前記モータに印加する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置における回転位置検出部は、前記回転位置センサの励磁周波数の所定の周期内で2回サンプリングしたサンプリング値に基づいて前記回転位置を検出する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置において、
正規化された前記2つの検出信号のサンプリング値における前記2乗和が1となる前記第1の状態のとき、前記第1の電圧を前記モータに印加し、前記2乗和が1とならない前記第2の状態のとき、前記第2の電圧を前記モータに印加する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置において、
前記2つの検出信号のうち少なくとも一方は、前記検出信号の正側及び又は負側の波形がクランプされた波形を有している
ことを特徴とする請求項1に記載のモータ駆動装置。 - 請求項1に記載のモータ駆動装置は、
PWMパルス変調した出力電圧を出力し、該PWMパルスに同期して、前記回転位置センサからの検出信号をサンプリングする
ことを特徴とするモータ駆動装置。 - 請求項2に記載のモータ駆動装置において、
前記回転位置検出部は、前記サンプリング値の2乗和が所定値となる状態になるように前記サンプリング値の大きさを補正する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置は、
センサ異常判定部を有し、該センサ異常判定部は、前記第2の状態の出現をカウントし、前記第1の状態のときにカウントをクリアし、該カウント値が所定の回数となる場合、前記回転位置センサに異常が発生していると判断する異常通知を出力する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置は、
前記回転位置センサを2つ有し、回転位置センサ毎に2つのサンプリング値の2乗和が所定値となる前記第1の状態と、前記2乗和が所定値とならない前記第2の状態とを検知して異常を検知する
ことを特徴とするモータ駆動装置。 - 請求項1に記載のモータ駆動装置は、
前記回転位置センサの励磁周波数の4半周期だけずれたタイミングで前記2つの検出信号をサンプリングしたサンプリング値の2乗和が所定値であるか否か判定する
ことを特徴とするモータ駆動装置。 - モータの回転位置センサから出力される2つの検出信号をサンプリングし、当該サンプリング値から前記モータの回転位置を検出し、検出された回転位置に応じた電圧を前記モータに印加するモータ駆動装置において、
前記モータ駆動装置は、
センサ異常判定部を有し、該センサ異常判定部は、
前記回転位置センサの励磁周波数の所定の周期内の2つのサンプリング値から回転位置の演算が可能な第1の状態と、回転位置の演算が困難な第2の状態の両方が検出される場合に、第1の異常を通知して前記モータの運転を継続し、
前記第2の状態のみが検知される場合に、第2の異常を通知して前記モータを停止する
ことを特徴とするモータ駆動装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013511804A JP5785251B2 (ja) | 2011-04-25 | 2011-04-25 | モータ駆動装置 |
CN201180070411.2A CN103518321B (zh) | 2011-04-25 | 2011-04-25 | 电动机驱动装置 |
DE112011105180.8T DE112011105180B4 (de) | 2011-04-25 | 2011-04-25 | Motoransteuervorrichtung |
US14/111,648 US9143065B2 (en) | 2011-04-25 | 2011-04-25 | Motor drive device |
PCT/JP2011/060012 WO2012147142A1 (ja) | 2011-04-25 | 2011-04-25 | モータ駆動装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/060012 WO2012147142A1 (ja) | 2011-04-25 | 2011-04-25 | モータ駆動装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012147142A1 true WO2012147142A1 (ja) | 2012-11-01 |
Family
ID=47071685
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/060012 WO2012147142A1 (ja) | 2011-04-25 | 2011-04-25 | モータ駆動装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9143065B2 (ja) |
JP (1) | JP5785251B2 (ja) |
CN (1) | CN103518321B (ja) |
DE (1) | DE112011105180B4 (ja) |
WO (1) | WO2012147142A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014138435A (ja) * | 2013-01-15 | 2014-07-28 | Mitsubishi Electric Corp | 電力変換器制御装置 |
JP2014202520A (ja) * | 2013-04-02 | 2014-10-27 | 株式会社ジェイテクト | 回転角検出装置及び電動パワーステアリング装置 |
JP2015169631A (ja) * | 2014-03-10 | 2015-09-28 | 多摩川精機株式会社 | レゾルバ誤差補正構造、レゾルバおよびレゾルバ誤差補正方法 |
JP2018021901A (ja) * | 2016-07-20 | 2018-02-08 | Tdk株式会社 | 角度センサおよび角度センサシステム |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5422527B2 (ja) * | 2010-09-09 | 2014-02-19 | 株式会社日立カーエンジニアリング | ブラシレスモータ制御装置及びブラシレスモータシステム |
JP5825303B2 (ja) * | 2013-07-31 | 2015-12-02 | 株式会社安川電機 | 回転電機の制御装置および回転電機システム |
JP6362349B2 (ja) * | 2014-02-19 | 2018-07-25 | 日立オートモティブシステムズ株式会社 | 電動モータの駆動制御装置 |
DE102015207491A1 (de) * | 2015-04-23 | 2016-10-27 | Baumüller Nürnberg GmbH | Verfahren zum Betrieb einer elektrischen Maschine und Antrieb |
US10328972B2 (en) * | 2016-04-06 | 2019-06-25 | Denso Corporation | Rotation detecting apparatus and electric power steering apparatus using the same |
EP3232164B1 (en) * | 2016-04-13 | 2018-12-19 | ams AG | Position sensor and method for generating a sensor output signal |
US10836429B2 (en) * | 2016-07-20 | 2020-11-17 | Tdk Corporation | Angle sensor and angle sensor system |
KR102596568B1 (ko) * | 2016-08-17 | 2023-11-01 | 현대모비스 주식회사 | 전동기의 회전자 각도 추정 장치 및 방법 |
JP6760569B2 (ja) * | 2016-09-16 | 2020-09-23 | 日立オートモティブシステムズ株式会社 | 車両制御装置、車両制御方法および電動パワーステアリング装置 |
JP6350834B2 (ja) * | 2016-09-30 | 2018-07-04 | Tdk株式会社 | 角度センサおよび角度センサシステム |
CN107147343A (zh) * | 2017-06-02 | 2017-09-08 | 深圳市奇诺动力科技有限公司 | 无刷电机磁场定向控制驱动系统及控制方法 |
KR102413372B1 (ko) * | 2017-08-08 | 2022-06-28 | 주식회사 만도 | 차량의 전자식 주차 브레이크 시스템 및 그 제어 방법 |
JP6985944B2 (ja) * | 2018-01-26 | 2021-12-22 | 株式会社日立産機システム | 電力変換装置、それを用いた回転機システム、及びその診断方法 |
US20220085696A1 (en) * | 2019-01-18 | 2022-03-17 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
KR20200119949A (ko) * | 2019-04-10 | 2020-10-21 | 현대자동차주식회사 | 레졸버 신호를 이용한 모터 구동 시스템의 고장진단 장치 및 방법 |
US11929700B2 (en) * | 2019-04-11 | 2024-03-12 | Mitsubishi Electric Corporation | Electric motor control device |
CN115164478B (zh) * | 2022-07-20 | 2023-06-09 | 海信冰箱有限公司 | 一种冰箱及其压缩机转速的控制方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006042419A (ja) * | 2004-07-22 | 2006-02-09 | Denso Corp | 圧縮機駆動用モータの制御方法およびその装置 |
JP2006177750A (ja) * | 2004-12-22 | 2006-07-06 | Toyota Motor Corp | 回転角検出装置のための異常検出装置 |
JP2008051559A (ja) * | 2006-08-22 | 2008-03-06 | Denso Corp | 回転角検出装置のための異常検出装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3593050B2 (ja) * | 2001-03-27 | 2004-11-24 | 三菱電機株式会社 | 位置検出装置の異常検出方法および装置並びに電動パワーステアリング装置 |
JP2005147733A (ja) | 2003-11-12 | 2005-06-09 | Favess Co Ltd | 異常検出装置、異常検出方法、車両用操舵装置 |
GB2413905B (en) * | 2004-05-05 | 2006-05-03 | Imra Europ S A S Uk Res Ct | Permanent magnet synchronous motor and controller therefor |
JP4561318B2 (ja) * | 2004-11-05 | 2010-10-13 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP4708992B2 (ja) * | 2005-12-12 | 2011-06-22 | 日立オートモティブシステムズ株式会社 | 位置検出装置及びこれを用いた同期モータ駆動装置 |
JP5082481B2 (ja) | 2007-02-13 | 2012-11-28 | 日本精工株式会社 | 回転角度位置算出装置及びモータ |
JP4279886B2 (ja) * | 2007-02-28 | 2009-06-17 | 株式会社日立製作所 | 同期モータ駆動装置および方法 |
JP5407575B2 (ja) * | 2009-06-10 | 2014-02-05 | 株式会社ジェイテクト | トルクセンサ及び電動パワーステアリング装置 |
-
2011
- 2011-04-25 WO PCT/JP2011/060012 patent/WO2012147142A1/ja active Application Filing
- 2011-04-25 US US14/111,648 patent/US9143065B2/en active Active
- 2011-04-25 JP JP2013511804A patent/JP5785251B2/ja active Active
- 2011-04-25 CN CN201180070411.2A patent/CN103518321B/zh active Active
- 2011-04-25 DE DE112011105180.8T patent/DE112011105180B4/de active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006042419A (ja) * | 2004-07-22 | 2006-02-09 | Denso Corp | 圧縮機駆動用モータの制御方法およびその装置 |
JP2006177750A (ja) * | 2004-12-22 | 2006-07-06 | Toyota Motor Corp | 回転角検出装置のための異常検出装置 |
JP2008051559A (ja) * | 2006-08-22 | 2008-03-06 | Denso Corp | 回転角検出装置のための異常検出装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014138435A (ja) * | 2013-01-15 | 2014-07-28 | Mitsubishi Electric Corp | 電力変換器制御装置 |
JP2014202520A (ja) * | 2013-04-02 | 2014-10-27 | 株式会社ジェイテクト | 回転角検出装置及び電動パワーステアリング装置 |
JP2015169631A (ja) * | 2014-03-10 | 2015-09-28 | 多摩川精機株式会社 | レゾルバ誤差補正構造、レゾルバおよびレゾルバ誤差補正方法 |
JP2018021901A (ja) * | 2016-07-20 | 2018-02-08 | Tdk株式会社 | 角度センサおよび角度センサシステム |
Also Published As
Publication number | Publication date |
---|---|
US9143065B2 (en) | 2015-09-22 |
DE112011105180B4 (de) | 2021-08-12 |
JP5785251B2 (ja) | 2015-09-24 |
JPWO2012147142A1 (ja) | 2014-07-28 |
US20140035493A1 (en) | 2014-02-06 |
DE112011105180T5 (de) | 2014-01-30 |
CN103518321B (zh) | 2016-08-17 |
CN103518321A (zh) | 2014-01-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5785251B2 (ja) | モータ駆動装置 | |
US9531305B2 (en) | Inverter apparatus | |
US9660561B2 (en) | Motor drive device | |
JP5883836B2 (ja) | 電動ブレーキ装置 | |
JP6709014B2 (ja) | インバータ装置 | |
JP6410695B2 (ja) | インバータ駆動装置、電動ブレーキ装置、及び電動パワーステアリング装置 | |
JP6062327B2 (ja) | インバータ装置および電動車両 | |
CN103444074B (zh) | 电动机的控制装置及具备该电动机的控制装置的电动车辆、以及电动机的控制方法 | |
WO2007091334A1 (ja) | 車両の左右輪差動トルク発生装置 | |
JP6765985B2 (ja) | インバータ装置および電動車両 | |
KR101219350B1 (ko) | 차량의 인휠 모터를 이용한 휠속 감지 장치 및 이의 제어 방법 | |
WO2021053974A1 (ja) | インバータ制御装置 | |
WO2017006717A1 (ja) | モータ制御装置及びそれを搭載した電動パワーステアリング装置 | |
CN103619676A (zh) | 制动系统 | |
US7818111B2 (en) | Motor control apparatus and motor control method | |
WO2018139387A1 (ja) | 電動式直動アクチュエータおよび電動ブレーキ装置 | |
WO2018056435A1 (ja) | 電動モータ装置および電動ブレーキ装置 | |
US11001246B2 (en) | Electric brake device | |
WO2016039203A1 (ja) | 電動ブレーキ装置 | |
WO2015019678A1 (ja) | 回転電機及び回転電機駆動装置 | |
JP2019024315A (ja) | モータ駆動装置 | |
JP6187242B2 (ja) | 車両の駆動力制御装置 | |
JP5397033B2 (ja) | エンジン始動装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11864468 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2013511804 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14111648 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120111051808 Country of ref document: DE Ref document number: 112011105180 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11864468 Country of ref document: EP Kind code of ref document: A1 |