WO2015186471A1

WO2015186471A1 - Motor control device, motor drive device, and electric vehicle

Info

Publication number: WO2015186471A1
Application number: PCT/JP2015/063413
Authority: WO
Inventors: 慎吾西口; 和人大山; 宮崎　英樹; 鈴木　康介
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2014-06-04
Filing date: 2015-05-11
Publication date: 2015-12-10
Also published as: JPWO2015186471A1; JP6208345B2

Abstract

The purpose of the present invention is to effectively drive a motor. When a sun gear shaft (34) connected to a drive shaft (12) on the electric vehicle side is fixed, a rotor (22a) of a motor (20a) connected to a ring shaft (30) and a rotor (22b) of a motor (20b) connected to a carrier shaft (32) are connected to each other. In this state, the motors (20a, 20b) are driven to rotate opposite to each other, and a correction value of the position of the rotor (22b) detected by a rotational position detection sensor (25b) is calculated so that the output torque (Ta) of the motor (20a) and the output torque (Tb) of the motor (20b) are balanced with each other and the acceleration of each of the rotors (22a, 22b) becomes zero.

Description

Motor control device, motor drive device, and electric vehicle

The present invention relates to a motor control device, a motor drive device, and an electric vehicle.

A motor unit composed of a plurality of motors and an output composition mechanism has been proposed for the purpose of expanding output torque and increasing efficiency. For example, in order to reduce the size of a motor unit, a motor unit using an axial gap motor composed of two rotors for one stator and a planetary gear mechanism is known (see Patent Document 1).

JP 2013-62988 A

In the motor unit described in the patent document described above, a rotor position detection sensor is provided for each rotor. Since the rotor position detection sensor is fixed using, for example, a keyway, the rotor position detection sensor may be attached in a state where the position is shifted. If the mounting position of the rotor position detection sensor is deviated, the magnitude of the output torque deviates from the output torque command value. However, fine adjustment of the mounting position of the rotor position detection sensor is difficult after the motor unit is assembled.

(1) In the motor control device according to the first aspect of the present invention, the first motor is controlled based on the torque command and the rotor rotational position of the first motor in which the output shaft is connected to the power transmission mechanism that transmits power to the outside. Based on a first torque control unit that energizes the first motor so as to output torque according to the torque command, a torque command of the second motor whose output shaft is connected to the power transmission mechanism, and a rotor rotational position. A second torque control unit for energizing the second motor so that the second motor outputs torque according to the torque command, and a rate of change in the rotational speed of the output shaft of the first or second motor. A rate-of-change calculation unit that calculates the first and second values so that the first motor outputs the first correction torque and the second motor outputs the second correction torque that cancels the first correction torque. Corrective control of other motors At the same time, the rotor rotational position of the second motor is corrected so that the rate of change calculated by the rate of change calculation unit during the correction control becomes zero, and the correction amount when the rate of change becomes zero is stored. An amount storage control unit, and after the correction amount storage control unit stores the correction amount, the second torque control unit and the corrected rotation position after correcting the rotor rotation position of the second motor by the correction amount Based on the torque command of the second motor, the second motor is energized so that the second motor outputs a torque corresponding to the torque command.
(2) A motor driving device according to a third aspect of the present invention is a motor control device according to the first or second aspect, a first motor having a first rotational position detection sensor for detecting a rotor rotational position, and And a second motor having a second rotational position detection sensor for detecting the rotational position of the rotor, and the power transmission mechanism includes a first shaft connected to the output shaft of the first motor, and an output of the second motor. The second shaft connected to the shaft and the third shaft connected to the drive shaft of the vehicle, and the third shaft by combining the output of the first motor and the output of the second motor Output from.
(3) An electric vehicle according to a sixth aspect of the invention includes an on / off switch for turning on / off the power of the vehicle, a parking brake, and a parking brake detection switch for detecting whether or not the parking brake is operated, and stores a correction amount. When the control unit determines that the parking brake is operating based on the detection signal from the parking brake detection switch after the on / off switch is turned on, the control unit determines that the correction control can be performed and performs the correction control. At the same time, the rotor rotational position of the second motor is corrected so that the change rate calculated by the change rate calculation unit during the correction control becomes zero, and the correction amount when the change rate becomes zero is stored. .

According to the present invention, the motor can be driven efficiently.

It is a figure which shows the electric vehicle containing the motor drive device of one embodiment. It is a speed diagram of a mechanical apparatus. It is a figure which shows transition of the output torque of each motor, and the rotational speed of each rotor. It is a figure which shows transition of the output torque of each motor, and the rotational speed of each rotor. It is a figure which shows transition of the output torque of each motor at the time of performing the correction process mentioned later of the detection position of a rotor, and the rotational speed of each rotor. It is a block diagram of the motor controller which also performs correction processing of the detection position of a rotor with vector control. It is a flowchart which shows the control process of the motor in a motor controller. It is a flowchart about the subroutine of step S100 of FIG. It is a figure which shows a modification.

1 to 8, an embodiment of a motor control device, a motor drive device, and an electric vehicle according to the present invention will be described. FIG. 1 is a diagram illustrating a schematic configuration of an electric vehicle 1 including a motor control device 100 according to an embodiment. The electric vehicle 1 according to the present embodiment includes a motor control device 100, a motor unit 200, a mechanical device 36, a drive shaft 12, a reduction gear 11, drive wheels 10, a vehicle-side controller 3, and a main switch 4. And various sensors 5 and a parking brake 6.

The motor unit 200 is a device in which, for example,

motors

20a and 20b configured as synchronous generator motors and a mechanical device 36 described later are provided in the same casing. The motor 20a is an axial gap type motor including a rotor 22a and a stator 21a. Similarly, the motor 20b is an axial gap type motor including a rotor 22b and a stator 21b. Each of the

motors

20a and 20b also has a function as a generator.

The motor 20a is provided with a rotational position detection sensor 25a for detecting the rotational position of the rotor 22a. The motor 20b is provided with a rotational position detection sensor 25b that detects the rotational position of the rotor 22b. An output shaft 23a of the rotor 22a is connected to a ring shaft 30 of a mechanical device 36 described later. The output shaft 23b of the rotor 22b is connected to a carrier shaft 32 of a mechanical device 36 described later.

The mechanical device 36 is a single-pinion type planetary gear mechanism that synthesizes power using the sun gear shaft 34, the ring gear shaft 30 and the carrier shaft 32 as rotational elements. The mechanical device 36 includes a sun gear shaft 34 constituted by external gears and a ring gear shaft 30 constituted by internal gears arranged concentrically with the sun gear shaft 34. The mechanical device 36 includes a plurality of pinion gears 31 that mesh with the sun gear shaft 34 and mesh with the ring gear shaft 30, and a carrier shaft 32 that includes a carrier that holds the plurality of pinion gears 31 so as to rotate and revolve.

The sun gear shaft 34 is connected to the drive wheel 10 via the drive shaft 12 and the reduction gear 11 of the electric vehicle 1. As described above, the carrier shaft 32 is connected to the output shaft 23b of the rotor 22b of the motor 20b. As described above, the ring shaft 30 is coupled to the output shaft 23a of the rotor 22a of the motor 20a. When the

motors

20 a and 20 b function as electric motors, the power of the motor 20 b input from the carrier shaft 32 and the power of the motor 20 a input from the ring gear shaft 30 are integrated and output from the sun gear shaft 34.

The electric vehicle 1 is provided with a known parking brake 6. When the parking brake 6 is operated, the drive shaft 12 of the electric vehicle 1 is fixed, so that the sun gear shaft 34 connected to the drive shaft 12 is also fixed.

The motor 20a exchanges electric power with the battery 50 via the inverter 40a. The motor 20b exchanges power with the battery 50 via the inverter 40b. Both the

motors

20a and 20b are driven and controlled by

inverters

40a and 40b that are driven and controlled by a motor controller 60 described later.

Motor control device 100 of the present embodiment includes

inverters

40a and 40b for

driving motors

20a and 20b, a battery 50 configured as a power source, for example, a lithium ion secondary battery, and inverter 40a. , 40b for controlling the motor controller 60.

Various signals necessary for driving and controlling the

motors

20a and 20b are input to the motor controller 60. An input signal to the motor controller 60 is detected by, for example, a signal from the rotational

position detection sensors

25a and 25b, a phase current applied to the

motors

20a and 20b detected by a current sensor (not shown), or a voltage sensor (not shown). For example, the DC voltage of the battery. Various signals from the vehicle-side controller 3 are input to the motor controller 60.

The motor controller 60 outputs a switching control signal to the

inverters

40a and 40b. Since switching control is well known, detailed description thereof is omitted. In the present embodiment, the motor control device 100, the

motors

20a and 20b, and the mechanical device 36 constitute the motor drive device 2.

The vehicle controller 3 is a control device that controls each part of the electric vehicle 1. The vehicle-side controller 3 outputs a torque command to the motor controller 60 based on, for example, the depression amount of the accelerator pedal 7 of the electric vehicle 1 detected by an accelerator pedal sensor 5d described later. A main switch 4 and various sensors 5 are connected to the vehicle-side controller 3. The main switch 4 is an on / off switch that turns on and off the power supply of the electric vehicle 1. Various sensors 5 are sensors that detect the state of the electric vehicle 1. The various sensors 5 include, for example, a parking brake detection switch 5a, a vehicle speed sensor 5b, a brake switch 5c, an accelerator pedal sensor 5d, and the like.

The parking brake detection switch 5a is a detection switch for detecting whether or not the parking brake 6 is operated. When the parking brake 6 is operated, a parking brake signal is output. The vehicle speed sensor 5 b is a sensor that detects the vehicle speed of the electric vehicle 1. The brake switch 5c is a switch that outputs a brake signal when a brake pedal (not shown) for operating a hydraulic brake device (not shown) of the electric vehicle 1 is depressed. The accelerator pedal sensor 5 d is a sensor that detects the amount of depression of the accelerator pedal 7 of the electric vehicle 1.

FIG. 2 is a velocity diagram illustrating the rotation speed ranges of the sun gear shaft 34, the carrier shaft 32, and the ring shaft 30 of the mechanical device 36. Λ in the figure is given by equation (1), and the speed increase ratio or speed reduction ratio of each gear shaft can be grasped. Here, Zr is the number of teeth of the ring gear, and Zs is the number of teeth of the sun gear.
λ = Zr / Zs (1)

The motor control device 100 of the present embodiment configured as described above performs drive control of the

motors

20a and 20b based on the torque command from the vehicle-side controller 3. In the motor control device 100 of the present embodiment, the rotational positions of the

rotors

22a and 22b are detected based on signals from the rotational

position detection sensors

25a and 25b, and the drive control of the

motors

20a and 20b is performed by known vector control. . If the mounting positions of the rotational

position detection sensors

25a and 25b with respect to the casing of the motor unit 200 are shifted, the rotational positions of the

rotors

22a and 22b detected by the rotational

position detection sensors

25a and 25b are shifted, and the output torque of the

motors

20a and 20b is reduced. It will decline.

For this reason, it is desirable to finely adjust the mounting positions of the rotational

position detection sensors

25a and 25b after the motor unit 200 is assembled. However, depending on the positions of the rotational

position detection sensors

25a and 25b, the mounting position may be after the motor unit 200 is assembled. It becomes difficult to make fine adjustments. For example, it can be considered that even if one of the two rotational

position detection sensors

25a and 25b can be finely adjusted, the other fine adjustment is difficult.

For example, in the present embodiment, the rotational position detection sensor 25a of the two rotational

position detection sensors

25a and 25b can be accessed from the outside of the motor unit 200 and can finely adjust the mounting position. However, the rotational position detection sensor 25b is inaccessible from the outside of the motor unit 200, and the attachment position cannot be finely adjusted. Therefore, in the present embodiment, the detection position of the rotor 22b by the rotational position detection sensor 25b is corrected as follows.

In the present embodiment, the features of the mechanical device 36 described below are used for correcting the detection position of the rotor 22b by the rotational position detection sensor 25b.
When the motor 20a is driven, the ring shaft 30 connected to the output shaft of the rotor 22a rotates. For example, when the sun gear shaft 34 connected to the drive shaft 12 of the electric vehicle 1 is fixed, the rotor 22a of the motor 20a and the rotor 22b of the motor 20b are connected to each other. That is, when the sun gear shaft 34 is fixed, the carrier shaft 32 and the rotor 22b of the motor 20b connected to the carrier shaft 32 are rotated by the rotation of the ring shaft 30. At this time, the speed ratio G between the rotational speed of the rotor 22a and the rotational speed of the rotor 22b is expressed by the following equation (2).
G = (Zr + Zs) / Zr (2)

Suppose that the motor 20b is driven so that the rotor 22b rotates in a direction opposite to the rotation direction of the rotor 22b with the sun gear shaft 34 fixed. FIG. 3 is a graph showing the transition of the output torque of each

motor

20a, 20b and the rotational speed of each

rotor

22a, 22b. FIG. 3A is a diagram showing the output torque Ta of the motor 20a, and FIG. 3B is a diagram showing the output torque Tb of the motor 20b. FIG. 3C is a diagram showing the rotational speeds of the

rotors

22a and 22b. 3A and 3B, the time difference Δt at the rise of the output torques Ta and Tb of the

motors

20 a and 20 b is a time difference assuming a delay in CAN communication in the electric vehicle 1.

Assuming that the value of the output torque Ta of the motor 20a is Tm1, if the value of the output torque Tb of the motor 20b is Tm2 = −Tm1 × G, the output torque Ta of the motor 20a and the output of the motor 20b are determined on the mechanism of the mechanical device 36. The torque Tb is balanced. Therefore, as shown in FIG. 3, the rotational speeds of the

rotors

22a and 22b are constant without increasing or decreasing over time. That is, the motor controller 60 calculates the torque command value Ta * such that the output torque Ta of the motor 20a is Tm1 and the torque command value Tb * such that the output torque Tb of the motor 20b is Tm2, and then calculates the

inverter

40a, 40b is driven. At this time, if the output torques Ta and Tb of the

motors

20a and 20b coincide with the torque command values Ta * and Tb *, the rotational speeds of the

rotors

22a and 22b when the sun gear shaft 34 is fixed are the same even if time passes. It becomes constant without increasing or decreasing.

However, if the mounting position of the rotational position detection sensor 25b is deviated, the output torque Tb of the motor 20b becomes smaller than the output torque target value Tm2 that should be output originally. FIG. 4 is a graph showing changes in the output torques Ta and Tb of the

motors

20a and 20b and the rotational speeds of the

rotors

22a and 22b when the output torque Tb of the motor 20b is smaller than Tm2. 4A is a diagram showing the output torque Ta of the motor 20a, and FIG. 4B is a diagram showing the output torque Tb of the motor 20b. FIG. 4C is a diagram showing the rotational speeds of the

rotors

22a and 22b.

As shown in FIG. 4, when the mounting position of the rotational position detection sensor 25b is shifted, the output torque Tb of the motor 20b is lower than the target torque Tm2, and the rotational speeds of the

rotors

22a and 22b when the sun gear shaft 34 is fixed. Increases over time.

Therefore, in the present embodiment, the motor controller 60 calculates the acceleration of the rotor 22b when the

motors

20a and 20b are driven as described above. If the calculated acceleration of the rotor 22b is not zero, the motor controller 60 calculates a correction value for the detected position of the rotor 22b by the rotational position detection sensor 25b so that the acceleration of the rotor 22b becomes zero. Then, the motor controller 60 performs drive control of the motor 20b based on the detected position of the rotor 22b corrected with the calculated correction value.

FIG. 5 is a diagram showing transitions of output torques Ta and Tb of the

motors

20a and 20b and rotation speeds of the

rotors

22a and 22b when correction processing described later of the detection position of the rotor 22b is performed. FIG. 5A is a diagram showing the output torque Ta of the motor 20a, and FIG. 5B is a diagram showing the output torque Tb of the motor 20b. FIG.5 (c) is a figure which shows the rotational speed of each

rotor

22a, 22b. By performing the correction processing of the detection position of the rotor 22b after the time point t1, the output torque Tb of the motor 20b increases, and the rotational speeds of the

rotors

22a and 22b are stabilized at a constant value.

FIG. 6 is a block diagram of the motor controller 60 that performs correction processing of the detection position of the rotor 22b together with vector control. The motor controller 60 includes a torque command calculation unit 611, an axial acceleration calculation unit 612,

vector control units

621 and 622, a correction amount generation unit 631, an adder 632, a switch 633, and a storage unit 634. Yes. The torque command calculation unit 611 calculates torque command values Ta * and Tb * based on the torque command from the vehicle-side controller 3. Torque command value Ta * is output to vector controller 621, and torque command value Tb * is output to vector controller 622.

The torque command calculation unit 611 sets the torque command values Ta * and Tb * so that the

motors

22a and 22b output the above-described first and second target torques Tm1 and Tm2, respectively, during the correction process. If the motor 22a rotates forward at the first target torque Tm1 and the motor 22b reverses at the second target torque Tm2 that cancels the first target torque Tm1, the rotational speeds of the

motors

22a and 22b increase as described in FIG. Stable at a constant value without speed or acceleration.

Note that the values of the first and second target torques Tm1, Tm2 can be set to values equal to or greater than the cogging torque of the

motors

20a, 20b, for example. As the first and second target torques Tm1 and Tm2, the first target torque Tm1 is appropriately set in advance, and the first target torque Tm1 is multiplied by the speed ratio G to set the second target torque Tm2 as a negative value. be able to. However, the first and second target torques Tm1 and Tm2 may be determined by experiment or analysis. The first target torque Tm1 is also called a correction first torque, and the second target torque Tm2 is also called a correction second torque.

The vector controller 621 generates a known PWM signal based on the torque command value Ta * from the torque command calculation unit 611 and the rotational position information of the rotor 22a from the rotational position detection sensor 25a, and outputs it to the inverter 40a. To do. The vector controller 622 generates a known PWM signal based on the torque command value Tb * from the torque command calculation unit 611 and the corrected rotational position of the rotor 22b and outputs it to the inverter 40b.

The axial acceleration calculation unit 612 calculates the acceleration of the rotor 22b based on the rotation speed of the rotor 22b derived from information on the rotation position of the rotor 22b. As will be described later, the correction amount generation unit 631 calculates a correction amount for the rotational position of the rotor 22b by proportional-integral compensation. The switch 633 selects either the correction amount calculated by the correction amount generation unit 631 or the correction amount stored in the storage unit 634 and outputs it to the adder 632. The adder 632 adds the correction amount input via the switch 633 and the rotational position of the rotor 22b from the rotational position detection sensor 25b, and outputs the result to the vector control unit 622.

The correction amount for the rotational position of the rotor 22b is calculated as follows. When calculating the correction amount, the switch 633 is switched so that the correction amount from the correction amount generator 631 is input to the adder 632.

The correction amount generation unit 631 performs proportional-integral compensation based on the difference between the acceleration command value (0 [rad / s ^ 2]) of the rotor 22b and the acceleration of the rotor 22b calculated by the axial acceleration calculation unit 612. And the correction amount is calculated. The correction amount calculated by the correction amount generation unit 631 is input to the adder 632 via the switch 633. The adder 632 adds the correction amount from the correction amount generation unit 631 input via the switch 633 and the rotational position of the rotor 22b from the rotational position detection sensor 25b, and the corrected rotational position of the rotor 22b. Is output to the vector control unit 622.

The vector control unit 622 generates a PWM signal based on the rotational position of the rotor 22b reflecting the correction amount calculated by the correction amount generation unit 631, and outputs the PWM signal to the inverter 40b. As a result, the torque of the motor 22b increases and the acceleration of the rotor 22b gradually decreases.

The correction amount calculation process in the correction amount generation unit 631 is repeatedly executed until the acceleration of the rotor 22b becomes zero. When the acceleration of the rotor 22b becomes zero, the correction amount calculated by the correction amount generation unit 631 at that time is stored in the storage unit 634, and the correction amount calculation processing in the correction amount generation unit 631 described above ends. . When the correction amount calculation process in the correction amount generation unit 631 is completed, the switch 633 is switched so that the correction amount stored in the storage unit 634 is input to the adder 632. As a result, after the correction amount calculation process is completed, the rotational position of the rotor 22 b corrected by the correction amount stored in the storage unit 634 is input to the vector control unit 622.

The correction amount calculation processing in the correction amount generation unit 631 is executed, for example, when the motor control device 100 is initialized by turning on the power of the motor control device 100. That is, in the correction amount calculation process in the correction amount generation unit 631 described above, for example, the main switch 4 of the electric vehicle 1 on which the motor control device 100 is mounted is turned on, the electric vehicle 1 is turned on, and the motor control is performed. This is performed when the apparatus 100 is powered on.

Note that the sun gear shaft 34 connected to the drive shaft 12 of the electric vehicle 1 must be fixed in order for the correction amount generation unit 631 to perform correction amount calculation processing. Therefore, in the present embodiment, after the main switch 4 is turned on, if it is determined that the parking brake 6 is operating based on the presence or absence of the parking brake signal from the parking brake detection switch 5a, the correction amount is generated. The unit 631 performs a correction amount calculation process.

As described above, when the correction amount is stored in the storage unit 634 and the switch 633 is switched, the control is switched to normal control. In the normal control, the correction amount stored in the storage unit 634 and the rotational position of the rotor 22b from the rotational position detection sensor 25b are input to the adder 632. Therefore, the rotational position of the rotor 22 b corrected with the correction amount stored in the storage unit 634 is output from the adder 632 and input to the vector controller 622.

FIG. 7 is a flowchart showing control processing of the

motors

20a and 20b in the motor controller 60. For example, when the main switch 4 of the electric vehicle 1 is turned on and the motor control device 100 is turned on, a program for performing the processing shown in FIG. 7 is started and repeatedly executed by the CPU of the motor controller 60. In step S1, it is determined whether or not the motor control device 100 has been initialized.

If the determination in step S1 is affirmative, the process proceeds to step S3, and it is determined whether or not a parking brake signal from the parking brake detection switch 5a is detected. If an affirmative determination is made in step S3, the process proceeds to step S100, and a subroutine for correction processing of the detected position of the rotor 22b is executed. The subroutine of step S100 will be described in detail later.

When the subroutine of step S100 is executed, the process proceeds to step S200, and a subroutine for performing normal control related to driving of the

motors

20a and 20b is executed. In the normal control subroutine of step S200, known drive control is performed for the motor 20a. In the normal control subroutine of step S200, the driving of the motor 20b is controlled based on the rotational position of the rotor 22b corrected with the correction amount stored in the storage unit 634 as described above.

If a negative determination is made in step S3, the process proceeds to step S200, and a normal control subroutine is executed. If a negative determination is made in step S1, the process proceeds to step S200, and a normal control subroutine is executed.

FIG. 8 is a flowchart for the subroutine of step S100 in FIG. If step S3 in FIG. 7 is affirmatively determined, the process proceeds to step S101 in FIG. In step S102, the torque command value Ta * is set to Tm1, the torque command value Tb * is set to Tm2, and the process proceeds to step S103. In step S103, the rotational position of the rotor 22b is read, and the process proceeds to step S105.

In step S105, the rotational speed and acceleration of the rotor 22b are calculated based on the rotational position of the rotor 22b read in step S103, and the process proceeds to step S107. In step S107, it is determined whether or not the acceleration of the rotor 22b calculated in step S105 is zero.

If a negative determination is made in step S107, the process proceeds to step S109, and proportional integration is performed based on the difference between the acceleration command value (0 [rad / s ^ 2]) of the rotor 22b and the acceleration of the rotor 22b calculated in step S105. Compensation is performed, a correction amount is calculated, and the process proceeds to step S111. In step S111, the rotational position of the rotor 22b from the rotational position detection sensor 25b is corrected with the correction amount calculated in step S111, and the process proceeds to step S113. In step S113, the rotational position of the rotor 22b corrected in step S111 is output to the vector control unit 622, and the process returns to step S103.

If a positive determination is made in step S107, the process proceeds to step S115, the latest correction amount calculated in step S111 is read, stored in the storage unit 634, and the process proceeds to step S117. In step S117, the switch 633 is switched so that the correction amount stored in the storage unit 634 is input to the adder 632, and the process returns to the main routine.

In the present embodiment, the following operational effects are achieved.
(1) In the correction processing of the detection position of the rotor 22b, the correction first torque and correction for canceling each other's generated torque for the two

motors

20a and 20b connected to the

output shafts

23a and 23b in the mechanical device 36. The correction control is performed to output the torque command values Ta * and Tb * for outputting the second torque. During the correction control, the acceleration of the rotor 22b is calculated, and the correction amount for the rotational position of the rotor 22b is calculated so that the calculated acceleration of the rotor 22b becomes zero. Thereby, since the output correction amount of the rotational position sensor that is difficult to adjust can be obtained with a simple configuration, an increase in cost of the motor control device 100, the motor drive device 2, and the electric vehicle 1 can be suppressed. Further, since torque calculation is performed with the correction value of the rotational position sensor output, the control accuracy of the output torque of the motor 20b is improved, and the torque can be accurately output from the motor 20b.

Further, even if it is difficult to finely adjust the mounting position of the rotational position detection sensor 25b, it is possible to suppress a decrease in output torque of the motor 20b due to a shift in the mounting position of the rotational position detection sensor 25b. Cost increase can be suppressed.
Furthermore, since the motor 20b can be driven efficiently by improving the control accuracy of the output torque of the motor 20b, the power consumption of the motor drive device 2 and the electric vehicle 1 can be suppressed.

(2) The correction amount generation unit 631 is configured to perform a correction amount calculation process when the parking brake 6 of the electric vehicle 1 is operating. Accordingly, the correction amount calculation unit 631 that needs to fix the sun gear shaft 34 connected to the drive shaft 12 of the electric vehicle 1 performs the correction amount calculation processing at a time when there is no problem in traveling of the electric vehicle 1. Therefore, the user of the electric vehicle 1 does not feel inconvenience.

(3) Using the feature of the mechanical device 36 in which the rotor 22a of the motor 20a and the rotor 22b of the motor 20b are connected to each other when the sun gear shaft 34 is fixed, the sun gear shaft 34 is fixed as described above. The detection position of the rotor 22b is corrected. Thereby, since the detection position of the rotor 22b can be corrected without adding a mechanical configuration, an increase in cost of the motor control device 100, the motor drive device 2, and the electric vehicle 1 can be suppressed.

(4) The vehicle-side controller 3 is configured to output a torque command to the motor controller 60 based on the depression amount of the accelerator pedal 7 of the electric vehicle 1 detected by the accelerator pedal sensor 5d. Based on the torque command from the vehicle-side controller 3 and the detected position of the rotor 22a by the rotational position detection sensor 25a, the motor controller 60 outputs the output torque of the motor 20a, specifically, the PWM signal to be output to the inverter 40a. It was configured to calculate. Further, based on the torque command from the vehicle-side controller 3 and the detection value obtained by correcting the detection position of the rotor 22b by the rotational position detection sensor 25b with the correction amount, the output torque of the motor 20b, specifically, the output to the inverter 40b. The PWM signal to be calculated is calculated by the motor controller 60. And based on the PWM signal from the motor controller 60, it comprised so that

inverter

40a, 40b might control the electricity supply to

motor

20a, 20b. During normal control, the driving of the motor 20b is controlled based on the rotational position of the rotor 22b corrected with the correction amount stored in the storage unit 634. Thereby, since the motor 20b can be driven efficiently by improving the control accuracy of the output torque of the motor 20b, the power consumption of the electric vehicle 1 can be suppressed.

---- Modifications ----
(1) In the above description, when the main switch 4 of the electric vehicle 1 is turned on and the motor control device 100 is turned on, that is, when the motor control device 100 is initialized, the correction amount generation unit 631. However, the present invention is not limited to this. For example, the correction amount generation unit 631 may perform a correction amount calculation process when the parking brake 6 of the electric vehicle 1 is operated due to a signal waiting or the like.
In addition, the correction amount calculation process in the correction amount generation unit 631 is not performed every time after the initialization of the motor control device 100, but at intervals of a predetermined period, for example, after the initialization of the first motor control device 100 every month. A correction amount calculation process in the correction amount generation unit 631 may be performed.

(2) As described above, in order for the correction amount generation unit 631 to perform the correction amount calculation process, the sun gear shaft 34 connected to the drive shaft 12 of the electric vehicle 1 must be fixed. Therefore, in the above description, when the parking brake signal from the parking brake detection switch 5a is detected, the correction amount generation unit 631 performs the correction amount calculation process. However, the present invention is not limited to this. For example, when the vehicle speed of the electric vehicle 1 detected by the vehicle speed sensor 5b is zero and a brake signal from the brake switch 5c is detected, the correction amount generation unit 631 performs a correction amount calculation process. You may comprise. Whether or not the hydraulic brake device, that is, the foot brake is in operation, is detected by detecting the brake fluid pressure of a hydraulic brake device (not shown) of the electric vehicle 1 instead of the brake signal from the brake switch 5c. May be determined.

(3) In the above description, the detection position of the rotor 22b detected by the rotational position detection sensor 25b is corrected. However, the detection position of the rotor 22a detected by the rotation position detection sensor 25a is corrected. May be.

(4) In the above description, the sun gear shaft 34 is connected to the drive shaft 12, the carrier shaft 32 is connected to the output shaft 23b of the motor 20b, and the ring shaft 30 is connected to the output shaft 23a of the motor 20a. Although described, the present invention is not limited to this. The combination of the

shafts

30, 32, 34 of the mechanical device 36 with the drive shaft 12, the output shaft 23a of the motor 20a, and the output shaft 23b of the motor 20b is, for example, any of the combination combinations A to F in FIG. May be.

9 is a combination in the above-described embodiment. In this case, as described above, the sun gear shaft 34 is connected to the drive shaft 12, the carrier shaft 32 is connected to the output shaft 23b of the motor 20b, and the ring shaft 30 is connected to the output shaft 23a of the motor 20a. When correcting the detection position of the rotor 22b in the combination combination A, as described above, the torque command value Ta * may be set to Tm1, and the torque command value Tb * may be set to −Tm1 × G. The speed ratio G is G = (Zr + Zs) / Zr as described above.

When performing the correction processing of the detection position of the rotor 22b in the combined combination B, the torque command value Ta * may be set to Tm1, and the torque command value Tb * may be set to -Tm1 / G. The speed ratio G is G = (Zr + Zs) / Zr. When correcting the detection position of the rotor 22b in the combination C, the torque command value Ta * may be set to Tm1, and the torque command value Tb * may be set to Tm1 × G. The speed ratio G is G = 1. Hereinafter, since the same applies to the combination combinations D to F, the description thereof is omitted.

(5) In the above description, the mechanical device 36 is a planetary gear mechanism, but the present invention is not limited to this. For example, the mechanical device 36 may be another mechanism such as a differential gear mechanism called a so-called differential gear.

(6) In the above description, the

motors

20a and 20b and the mechanical device 36 are provided in the same casing of the motor unit 200, but the present invention is not limited to this. For example, the motor 20a, the motor 20b, and the mechanical device 36 may be separated from each other.
(7) You may combine each embodiment and modification which were mentioned above, respectively.

In addition, it cannot be overemphasized that this invention can be variously changed in the range which is not limited to said each embodiment and modification, and does not deviate from the summary.

DESCRIPTION OF SYMBOLS 1 Electric vehicle, 2 Motor drive device, 3 Vehicle side controller, 12 Drive shaft, 20a, 20b Motor, 21a, 21b Stator, 22a, 22b Rotor, 23a, 23b Output shaft, 25a, 25b Rotation position detection sensor, 30 Ring gear shaft , 32 carrier shaft, 34 sun gear shaft, 36 mechanical device, 40a, 40b inverter, 60 motor controller, 100 motor drive device, 611 torque command calculation unit 612 axis acceleration calculation unit, 621, 622 vector control unit, 631 correction amount generation unit , 632 adder, 633 switch, 634 storage unit

Claims

Based on the torque command of the first motor whose output shaft is connected to the power transmission mechanism that transmits power to the outside and the rotor rotation position, the first motor outputs torque corresponding to the torque command. A first torque control unit for energizing the first motor;
Based on the torque command of the second motor whose output shaft is connected to the power transmission mechanism and the rotor rotational position, the second motor outputs torque corresponding to the torque command to the second motor. A second torque control unit energized;
A rate-of-change calculator that calculates a rate of change of the rotational speed of the output shaft of the first or second motor;
Correction control of the first and second motors is performed so that the first motor outputs a first correction torque and the second motor outputs a second correction torque that cancels the first correction torque. And correcting the rotor rotational position of the second motor so that the change rate calculated by the change rate calculation unit during the correction control becomes zero, and when the change rate becomes zero A correction amount storage control unit for storing the correction amount,
After the correction amount storage control unit stores the correction amount, the second torque control unit includes a corrected rotation position obtained by correcting the rotor rotation position of the second motor with the correction amount, and the second torque control unit. A motor control device for energizing the second motor based on a motor torque command so that the second motor outputs a torque corresponding to the torque command.
The motor control device according to claim 1,
When the motor control device is activated, the correction amount storage control unit determines whether or not the correction control can be performed, and determines that the correction control can be performed. When the rotor rotational position of the second motor is corrected so that the change rate calculated by the change rate calculation unit becomes zero during the correction control, and the change rate becomes zero Motor control device for storing the correction amount.
The motor control device according to claim 1 or 2,
A first motor having a first rotational position detection sensor for detecting a rotor rotational position;
A second motor having a second rotational position detection sensor for detecting the rotor rotational position;
The power transmission mechanism is connected to a first shaft connected to the output shaft of the first motor, a second shaft connected to the output shaft of the second motor, and a drive shaft of the vehicle. A motor drive device having a third shaft, which combines the output of the first motor and the output of the second motor and outputs the resultant from the third shaft.
In the motor drive device according to claim 3,
The first motor, the second motor, and the power transmission mechanism are configured as one unit,
The first rotational position detection sensor is provided at a position accessible from the outside of the unit,
The second rotational position detection sensor is a motor drive device provided at a position inaccessible from the outside of the unit.
In the motor drive device according to claim 3 or 4,
The power transmission mechanism is a planetary gear mechanism that synthesizes power using a sun gear shaft, a ring gear shaft, and a carrier shaft as rotational elements, and the first shaft, the second shaft, and the third shaft are respectively A motor driving device corresponding to any one of the sun gear shaft, the ring gear shaft, and the carrier shaft.
A motor driving device according to claim 3;
An on / off switch to turn on / off the vehicle,
Parking brake,
A parking brake detection switch for detecting whether or not the parking brake is operating,
When the correction amount storage control unit determines that the parking brake is operating based on a detection signal from the parking brake detection switch after the on / off switch is turned on, the correction control can be performed. Determining, performing the correction control, correcting the rotor rotational position of the second motor so that the change rate calculated by the change rate calculation unit during the correction control becomes zero, and An electric vehicle that stores a correction amount when the rate of change becomes zero.
The electric vehicle according to claim 6,
An accelerator pedal that gives a torque command;
Based on the torque command and the rotor rotational position detected by the first rotational position detection sensor, the first output torque of the first motor is calculated, and the torque command and the second rotational position detection sensor are used. A torque calculator that calculates a second output torque of the second motor based on the detected rotor rotational position;
The energization to the first motor is controlled so that the first output torque calculated by the torque calculation unit is output from the first motor, and the second output calculated by the torque calculation unit. A drive unit that controls energization of the second motor so that torque is output from the second motor;
The torque calculation unit is an electric vehicle that corrects the rotor rotational position detected by the second rotational position detection sensor based on the correction amount stored in the correction amount storage control unit.