WO2017006719A1 - 三相同期電動機の駆動装置 - Google Patents
三相同期電動機の駆動装置 Download PDFInfo
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- WO2017006719A1 WO2017006719A1 PCT/JP2016/067648 JP2016067648W WO2017006719A1 WO 2017006719 A1 WO2017006719 A1 WO 2017006719A1 JP 2016067648 W JP2016067648 W JP 2016067648W WO 2017006719 A1 WO2017006719 A1 WO 2017006719A1
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- Prior art keywords
- rotational position
- synchronous motor
- position detector
- phase synchronous
- electric power
- Prior art date
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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
- 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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Definitions
- the present invention controls a drive device for a three-phase synchronous motor including an electric power steering device, and more particularly, controls a three-phase synchronous motor based on an output of a rotational position detector that detects the position of a rotor of the three-phase synchronous motor.
- the present invention relates to a drive device for a three-phase synchronous motor.
- a three-phase synchronous motor in general, the rotational position of a rotor provided with a magnet is detected by a magnetic detection element such as a Hall IC, and the armature coil on the stator side is sequentially excited based on the detection result. Is rotating.
- a resolver, an encoder, a GMR sensor, or the like that is a precise rotational position detector, driving with a sine wave current can be realized, and vibrations such as torque ripple and noise can be reduced.
- the three-phase synchronous motor will not be able to rotate immediately.
- a resolver, an encoder, or a GMR sensor is used as the rotational position detector.
- the failure of the rotational position detector causes a malfunction or abnormal operation in a driving device for a three-phase synchronous motor such as an electric power steering, and therefore, improvement has been demanded.
- the invention described in Patent Document 1 has a rotational position estimating means for estimating the position from the voltage and current of the three-phase synchronous motor in addition to the rotational position detector when the rotational position detector fails.
- this rotational position estimating means as an alternative to the output of the rotational position detector, the three-phase synchronous motor can be stably driven even when the rotational position detector is out of order.
- An object of the present invention is to provide a drive device for a three-phase synchronous motor that improves the reliability of the rotational position detector of the three-phase synchronous motor without increasing the cost of the rotational position detector.
- a drive device for a three-phase synchronous motor is a drive device that controls the three-phase synchronous motor based on a signal from a rotational position detector that detects the rotational position of the three-phase synchronous motor, wherein the rotational position is
- the detector has a redundant system configuration including a first rotational position detector and a second rotational position detector, and the drive device controls the three-phase synchronous motor from a zero rotational speed to a rated speed control state.
- a normal rotational position detector is specified from the first rotational position detector or the second rotational position detector based on the rotational position.
- the rotational position estimation means determines which of the two rotational position detectors is malfunctioning. By doing so, it is possible to operate without reducing the output of the three-phase synchronous motor due to the failure of one of the two rotational position detectors.
- FIG. 1 shows the configuration of a driving device 6 for a three-phase synchronous motor.
- the three-phase synchronous motor drive device 6 is intended to drive the three-phase synchronous motor 4.
- a driving device 6 for a three-phase synchronous motor according to the present embodiment is configured to include a detection position determination means 1, a rotational position estimation means 2, a power converter 3, a three-phase synchronous motor 4 to be driven, and a control unit 5.
- a feature of the drive device is that the rotational position estimating means 2 determines a failure (abnormality) of the first rotational position detector 41 and the second rotational position detector 42 and correctly outputs the rotational position. It is to drive the three-phase synchronous motor 4 using a detector.
- the detection position determination means 1 receives the output ⁇ 1 of the first rotational position detector 41, the output ⁇ 2 of the second rotational position detector 42, and the output ⁇ 3 of the rotational position estimation means 2. The And the detection position determination means 1 outputs rotation position (theta).
- FIG. 2 is a diagram showing a processing flow of the detection position determination means 1.
- the detection position determination means 1 first determines whether ⁇ 1 and ⁇ 2 that are the outputs of the two rotational position detectors are substantially the same. When the outputs are substantially matched, ⁇ 1 is used. In the present embodiment, ⁇ 1 is used, but a configuration using ⁇ 2 may be used.
- ⁇ 1 and ⁇ 2 are different, it can be determined that either the rotational position detector 41 or the rotational position detector 42 is out of order. However, it cannot be determined which of the rotational position detector 41 and the rotational position detector 42 is out of order.
- the output ⁇ 3 of the rotational position estimating means 2 is used to determine which is outputting correctly. First, it is determined whether ⁇ 1 and ⁇ 3 are substantially the same. If the outputs substantially match, it is determined that ⁇ 1 is an output from a normal rotational position detector, and ⁇ 1 is used. On the other hand, if the outputs of ⁇ 1 and ⁇ 3 are different, it is determined whether ⁇ 2 and ⁇ 3 are substantially the same. If the outputs substantially match, it is determined that ⁇ 2 is an output from a normal rotational position detector, and ⁇ 2 is used. If ⁇ 2 and ⁇ 3 are different, ⁇ 3 is used.
- the comparison target ⁇ 1, ⁇ 2, and ⁇ 3 are corrected at the same time by correcting the three positions by correcting the detection timing of the rotational position detector. By doing in this way, since the rotation position at the same timing can be detected appropriately, it is possible to prevent erroneous detection of a failure of the rotation position detector when comparing the rotation positions.
- the detection position determination means 1 By configuring the detection position determination means 1 as shown in FIG. 2, even if the first rotational position detector 41 or the second rotational position detector 42 fails, a normal rotational position detector can be used. It is possible to select and output the torque of the three-phase synchronous motor similar to that in the normal state. Furthermore, even if both the first rotational position detector 41 and the second rotational position detector 42 fail, the rotational position estimation means 2 is used to maintain the drive of the three-phase synchronous motor. Therefore, redundancy can be ensured.
- FIG. 3 shows the configuration of the rotational position estimating means 2.
- the rotational position estimation means 2 estimates the rotational position estimated value ⁇ 3 from the virtual neutral point Vn. There are known techniques for estimating the rotational position estimation value ⁇ 3 from the detected virtual neutral point Vn at this time, and one of them will be introduced.
- the rotational position estimation means 2 includes a neutral point potential detection unit 21, a sample / hold unit 22, and a rotational position estimation unit 23.
- the neutral point potential detector 21 detects the virtual neutral point potential Vn0 according to the pulse width modulation signal output from the pulse width modulation signal output means 33. At this time, there is a known technique for detecting the virtual neutral point potential Vn0 from the three-phase synchronous motor 4, and it is omitted because it is not a main part of the present invention.
- the sample / hold unit 22 is an A / D converter for sampling and quantizing the analog signal output of the neutral point potential detection unit 21.
- the sample / hold unit 22 samples this Vn0 in synchronization with the pulse width modulation signal output from the pulse width modulation signal output means 33.
- the sample / hold unit 22 outputs the sampled result (Vn0h) to the rotational position estimation unit 23 as a digital signal.
- the rotational position estimation unit 23 calculates an estimated value ⁇ 3 of the rotational position of the three-phase synchronous motor 4 based on the neutral point potential sampled by the sample / hold unit 22. This estimation result is output as the output ⁇ 3 of the rotational position estimation means 2.
- the feature of the rotational position estimating means 2 is that torque can be generated when the rotational speed of the three-phase synchronous motor is zero.
- a means for estimating the rotational position estimated value ⁇ 3 from the virtual neutral point Vn has been introduced.
- a method based on the magnetic saturation electromotive force a difference in saliency of the three-phase synchronous motor 4 is introduced.
- the three-phase winding connection point neutral point
- the rotational position estimating means 2 can detect the rotational position and output torque.
- an abnormality of the first rotational position detector 41 and the second rotational position detector 42 is detected by comparing the output ⁇ 3 of the rotational position estimation means 2 with ⁇ 1 and ⁇ 2. Thereby, the three-phase synchronous motor 4 can be started from the stopped state using the output ⁇ 3 of the normal rotational position estimating means 2.
- the control unit 5 generates a pulse width modulation signal from the output ⁇ of the detection position determination unit 1.
- the power converter 3 applies a voltage to the three-phase synchronous motor 4 based on the pulse width modulation signal output from the control unit 5.
- the power converter 3 includes a DC power supply 31, a power conversion circuit 32, a pulse width modulation signal output means 33, a virtual neutral point potential detection circuit 34, a three-phase current detector 35, and a shunt current detector 36.
- the DC power supply 31 is a DC power supply that supplies current to the power conversion circuit 32.
- the power conversion circuit 32 is a power conversion circuit including six switching elements Sup to Swn.
- the pulse width modulation signal output means 33 is a driver that inputs the pulse width modulation signal output from the control unit 5 to the power converter 32.
- the neutral point potential detector 34 detects a virtual neutral point Vn used for the rotational position estimating means. Instead of the virtual neutral point Vn, the neutral point potential of the three-phase synchronous motor 4 may be directly detected.
- the three-phase current detector 35 is a current detector that detects three-phase currents Iu, Iv, and Iw flowing through the three-phase synchronous motor 4.
- the current detection of the three-phase synchronous motor 4 it is desirable to directly detect the three-phase current supplied from the power conversion circuit 32 to the three-phase synchronous motor 4 like the current detector 35.
- the currents Iu, Iv, and Iw in which the DC current Idc flowing through the resistor 36 is detected and the three-phase current is reproduced may be used. There are known techniques regarding a method for reproducing the three-phase currents Iu, Iv, and Iw from the direct current Idc.
- the rotational position estimation means determines which of the two rotational position detectors is malfunctioning. By doing so, even if one of the two rotational position detectors fails, the operation can be continued without lowering the output of the three-phase synchronous motor. Since the rotational position estimating means as shown in the present embodiment can be realized without adding hardware such as a rotational position detector, the three-phase synchronous motor can be realized without increasing the cost of the rotational position detector. The reliability of the rotational position detector can be improved.
- FIG. 5 shows the configuration of the electric power steering device 8.
- the torque sensor 82 detects the rotational torque of the steering wheel 81. Torque detected by the torque sensor 82 is input to the driving device 6 and the three-phase synchronous motor 4 outputs torque based on a command corresponding to the torque. The output torque of the three-phase synchronous motor 4 assists the steering force via the steering assist mechanism 83 and is output to the steering mechanism 84. Then, the tire 85 is steered by the steering mechanism 84.
- FIG. 6 shows the configuration of the drive device 6 for a three-phase synchronous motor according to the present embodiment.
- this embodiment has the 1st rotation position estimation means 2 and the 2nd rotation position estimation means 2 as a rotation position estimation means.
- the second embodiment is different from the first embodiment in that the second rotational position estimating means 7 is provided.
- the first rotational position estimating means 2 and the second rotational position estimating means 7 include a method based on the virtual neutral point Vn introduced in the first embodiment, a method based on the magnetic saturation electromotive voltage, and a three-phase synchronous motor. Any two of the methods using a saliency of 4 may be used.
- the feature of these three rotational position estimating means is that the drive control of the three-phase synchronous motor is possible even when the rotational speed of the three-phase synchronous motor is 0, and torque can be output. In the electric power steering apparatus provided with such a rotational position estimating means, torque can be output even when the rotational speed of the three-phase synchronous motor is 0. For example, even when the tire of the vehicle runs on a step, the handle of the driver Can be assisted.
- the first rotational position estimation means 2 can estimate the rotational position even when the three-phase synchronous motor 4 is stopped. Therefore, the first rotational position is detected by comparing ⁇ 3 with ⁇ 1 and ⁇ 2.
- the abnormality of the detector 41 and the second rotational position detector 42 can be detected. Further, even when the speed of the automobile is equal to or lower than the predetermined speed and the three-phase synchronous motor 4 is stopped, the first rotational position estimating means 2 can estimate the rotational position. Therefore, by comparing ⁇ 3 with ⁇ 1 and ⁇ 2.
- the abnormality of the first rotational position detector 41 and the second rotational position detector 42 can be detected.
- the first rotational position detection is performed by comparing the output ⁇ 3 of the first rotational position estimating means 2 with ⁇ 1 and ⁇ 2.
- the three-phase synchronous motor 4 can be continuously driven and the steering force can be assisted using the normal output ⁇ 3 of the first rotational position estimating means 2. .
- FIG. 7 shows the processing of the detection position selection means 9, which is a feature of the second embodiment.
- the detection position selection means 9 receives ⁇ 1 to ⁇ 4 which are outputs of the first rotation position detector 41, the second rotation position detector 42, the first rotation position estimation means 2 and the second rotation position estimation means 7. Then, the estimated rotational position value ⁇ is output.
- the detection position selection means 9 first determines whether ⁇ 1 and ⁇ 2 that are the outputs of the two rotational position detectors are substantially the same. When the outputs are substantially matched, ⁇ 1 is used. However, when ⁇ 1 and ⁇ 2 are different, it cannot be determined which rotational position detector is out of order. Therefore, the output ⁇ 3 of the rotational position estimating means 2 is used to determine which is outputting correctly.
- ⁇ 1 and ⁇ 3 substantially match. If the outputs substantially match, ⁇ 1 is used. If the outputs of ⁇ 1 and ⁇ 3 are different, it is determined whether ⁇ 2 and ⁇ 3 are substantially the same. When the outputs are almost the same, ⁇ 2 is used. If ⁇ 2 and ⁇ 3 are different, it is determined whether ⁇ 3 and ⁇ 4 are substantially the same. When the outputs are almost the same, ⁇ 3 is used. When the outputs of ⁇ 3 and ⁇ 4 are different, ⁇ 4 is used.
- the detection position selection means 9 By configuring the detection position selection means 9 as shown in FIG. 7, even if either the first rotational position detector 41 or the second rotational position detector 42 fails, the normal one Rotational position detectors can be used. Thereby, the steering force can be assisted as usual in the electric power steering.
- the steering force can be assisted by using the first rotational position estimation means 2.
- the second rotational position estimating means 7 can be used, so that a quadruple redundant system can be provided at low cost.
- the detection position selection means 9 uses the first rotational position estimation means 2 and the first rotational position estimation means 2. ⁇ 3 and ⁇ 4, which are the outputs of the rotational position estimating means 7 of No. 2, are used. At this time, the driver is notified of the failure, and the output of the three-phase synchronous motor is gradually decreased. In this way, even when the electric power steering system fails, the driver can safely stop the vehicle.
- the comparison targets ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 are corrected at the same time by correcting the three positions by correcting the detection timing of the rotational position detector. By doing in this way, since the rotation position at the same timing can be detected appropriately, erroneous detection can be prevented when comparing the rotation positions.
- 1 detection position determination means
- 2 rotation position estimation means (first rotation position estimation means), 21: neutral point potential detection section, 22: sample / hold section, 23: rotation position estimation section
- 3 power conversion , 31: DC power supply, 32: Power conversion circuit, 33: Pulse width modulation signal output means, 34: Virtual neutral point potential detection circuit, 35: Three-phase current detector, 36: Shunt current detector, 4: Three Phase synchronous motor, 41: first rotational position detector, 42: second rotational position detector, 5: control unit, 6: driving device for three-phase synchronous motor, 7: second rotational position estimating means, 8 : Electric power steering device, 81: steering wheel, 82: torque sensor, 83: steering assist mechanism, 84: steering mechanism, 85: tire, 9: detection position selection means
Abstract
Description
図1から図4を用いて、本発明に関わる三相同期電動機の駆動装置における第1の実施の形態について説明する。
図5から図7を用いて、本発明に関わる電動パワーステアリングに係る第2の実施の形態について説明する。
Claims (20)
- 三相同期電動機の回転位置を検出する回転位置検出器からの信号に基づいて当該三相同期電動機を制御する駆動装置であって、
前記回転位置検出器は、第1の回転位置検出器および第2の回転位置検出器を含む冗長系の構成であり、
前記駆動装置は、前記三相同期電動機の回転速度が零から定格速度の制御状態を用い回転位置を演算する回転位置推定手段を有し、
前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出した場合に、前記回転位置推定手段が演算した回転位置に基づいて、前記第1の回転位置検出器または前記第2の回転位置検出器のうち正常な回転位置検出器を特定することを特徴とする三相同期電動機の駆動装置。 - 請求項1に記載の三相同期電動機の駆動装置において、
前記第1の回転位置検出器の出力信号と前記第2の回転位置検出器の出力信号とが略一致している場合、前記第1の回転位置検出器の出力信号または前記第2の回転位置検出器の出力信号のいずれか一方の信号に基づいて前記三相同期電動機を制御することを特徴とする三相同期電動機の駆動装置。 - 請求項1に記載の三相同期電動機の駆動装置において、
前記三相同期電動機の回転速度が零の場合、前記回転位置推定手段の出力信号に基づいて前記三相同期電動機を制御することを特徴とする三相同期電動機の駆動装置。 - 請求項1に記載の三相同期電動機の駆動装置において、
前記第1の回転位置検出器の出力信号と前記第2の回転位置検出器の出力信号とが異なる場合に、前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常として検出することを特徴とする三相同期電動機の駆動装置。 - 請求項1に記載の三相同期電動機の駆動装置において、
前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出した場合に、正常な方の回転位置検出器の信号に基づいて前記三相同期電動機の駆動を継続することを特徴とする三相同期電動機の駆動装置。 - 請求項5に記載の三相同期電動機の駆動装置において、
正常と判断された前記回転位置検出器の出力信号と前記回転位置推定手段の出力信号とを比較し、前記正常と判断された前記回転位置検出器の異常を判断することを特徴とする三相同期電動機の駆動装置。 - 請求項1に記載の三相同期電動機の駆動装置において、
前記第1および第2の回転位置検出器の検出タイミングと前記回転位置推定手段の検出タイミングの差を補正することを特徴とする三相同期電動機の駆動装置。 - 三相同期電動機の回転位置を検出する回転位置検出器からの信号に基づいて当該三相同期電動機を制御する駆動装置と、
前記三相同期電動機により操舵トルクをアシストするステアリングアシスト機構と、を備えたパワーステアリング装置であって、
前記回転位置検出器は、第1の回転位置検出器および第2の回転位置検出器を含む冗長系の構成であり、
前記駆動装置は、前記三相同期電動機の回転速度が零から定格速度の制御状態を用い回転位置を演算する回転位置推定手段を有し、
前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出した場合に、前記回転位置推定手段が演算した回転位置に基づいて、前記第1の回転位置検出器または前記第2の回転位置検出器のうち正常な回転位置検出器を特定することを特徴とする電動パワーステアリング装置。 - 請求項8に記載の電動パワーステアリング装置において、
前記第1の回転位置検出器の出力信号と前記第2の回転位置検出器の出力信号とが略一致している場合、前記第1の回転位置検出器の出力信号または前記第2の回転位置検出器の出力信号のいずれか一方の信号に基づいて前記三相同期電動機を制御することを特徴とする電動パワーステアリング装置。 - 請求項8に記載の電動パワーステアリング装置において、
前記三相同期電動機の回転速度が零の場合、前記回転位置推定手段の出力信号に基づいて前記三相同期電動機を制御することを特徴とする電動パワーステアリング装置。 - 請求項10の電動パワーステアリング装置において、
前記三相同期電動機が停止している状態で、前記第1と第2の回転位置検出器の出力が定常範囲に入っていないことで異常を検出することを特徴とする電動パワーステアリング装置。 - 請求項11の電動パワーステアリング装置において、
車両の速度が所定の速度以下のときに、前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出することを特徴とする電動パワーステアリング装置。 - 請求項8に記載の電動パワーステアリング装置において、
前記第1の回転位置検出器の出力信号と前記第2の回転位置検出器の出力信号とが異なる場合に、前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常として検出することを特徴とする電動パワーステアリング装置。 - 請求項8に記載の電動パワーステアリング装置において、
前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出した場合に、正常な方の回転位置検出器の信号に基づいて前記三相同期電動機の駆動を継続することを特徴とする電動パワーステアリング装置。 - 請求項14に記載の電動パワーステアリング装置において、
正常と判断された前記回転位置検出器の出力信号と前記回転位置推定手段の出力信号とを比較し、前記正常と判断された前記回転位置検出器の異常を判断することを特徴とする電動パワーステアリング装置。 - 請求項14に記載の電動パワーステアリング装置において、
前記第1の回転位置検出器または前記第2の回転位置検出器のいずれか一方の異常を検出した場合に、前記三相同期電動機の出力トルクを前記第1の回転位置検出器および前記第2の回転位置検出器のいずれも正常である場合と同等のトルクとすることを特徴とする電動パワーステアリング装置。 - 請求項15に記載の電動パワーステアリング装置において、
前記第1の回転位置検出器及び第2の回転位置検出器のいずれもが異常であると判断された場合に、前記回転位置推定手段の出力信号に基づいて前記三相同期電動機の駆動を継続することを特徴とする電動パワーステアリング装置。 - 請求項17に記載の電動パワーステアリング装置において、
前記回転位置推定手段は、第1の回転位置推定手段および第2の回転位置推定手段を有し、
前記回転位置推定手段の出力信号に基づいて前記三相同期電動機の駆動を継続している場合において、前記第1の回転位置推定手段の出力と前記第2の回転位置推定手段の出力とを比較することで前記回転位置推定手段の異常を判断することを特徴とする電動パワーステアリング装置 - 請求項17に記載の電動パワーステアリング装置において、
前記回転位置推定手段の出力信号に基づいて前記三相同期電動機の駆動を継続している場合において、前記三相同期電動機の出力を徐々に減少させる又は零とすることを特徴とする電動パワーステアリング装置。 - 請求項8に記載の電動パワーステアリング装置において、
前記第1および第2の回転位置検出器の検出タイミングと前記回転位置推定手段の検出タイミングの差を補正することを特徴とする電動パワーステアリング装置。
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JP7242399B2 (ja) * | 2019-04-24 | 2023-03-20 | 日立Astemo株式会社 | モータ制御装置及びこれを用いた電動ブレーキ装置、並びにモータ制御方法及びこの制御方法を用いた電動ブレーキ制御方法 |
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