WO2018088465A1 - Dispositif de commande d'appareil électrique rotatif et dispositif de direction assistée électrique faisant appel à un tel dispositif de commande - Google Patents

Dispositif de commande d'appareil électrique rotatif et dispositif de direction assistée électrique faisant appel à un tel dispositif de commande Download PDF

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Publication number
WO2018088465A1
WO2018088465A1 PCT/JP2017/040396 JP2017040396W WO2018088465A1 WO 2018088465 A1 WO2018088465 A1 WO 2018088465A1 JP 2017040396 W JP2017040396 W JP 2017040396W WO 2018088465 A1 WO2018088465 A1 WO 2018088465A1
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WO
WIPO (PCT)
Prior art keywords
control unit
control
abnormality
slave
command value
Prior art date
Application number
PCT/JP2017/040396
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English (en)
Japanese (ja)
Inventor
修司 倉光
功一 中村
篤子 岡
雅也 滝
秀樹 株根
祐希 渡邉
利光 坂井
洋佑 大城
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017209905A external-priority patent/JP7027808B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN201780068832.9A priority Critical patent/CN110063021B/zh
Publication of WO2018088465A1 publication Critical patent/WO2018088465A1/fr
Priority to US16/405,049 priority patent/US10862417B2/en

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • 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
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • the present disclosure relates to a rotating electrical machine control device and an electric power steering device using the same.
  • Patent Document 1 an electric power steering device that assists steering by a driving force of a motor is known.
  • the basic assist control amount is calculated independently by two microcomputers.
  • An object of the present disclosure is to provide a rotating electrical machine control device that controls driving of a rotating electrical machine by coordinating a plurality of systems, and an electric power steering device using the same.
  • the rotating electrical machine control device controls driving of the rotating electrical machine including a plurality of winding sets, and includes a plurality of drive circuits and a plurality of control units.
  • the control unit includes a signal output unit that outputs a control signal to a corresponding driving circuit, and can communicate with each other.
  • the control unit calculates a command value related to generation of a control signal in all the control units, and transmits one command value to another control unit, and a command value transmitted from the master control unit.
  • At least one slave controller that outputs a control signal based thereon is included. By transmitting the command value calculated by one master control unit to the slave control unit, it is possible to appropriately coordinate a plurality of systems, and to reduce mismatch between systems and the complexity of arbitration. .
  • the rotating electrical machine control device controls driving of the rotating electrical machine including a plurality of winding sets, and includes a plurality of drive circuits and a plurality of control units.
  • the control unit includes a signal output unit that outputs a control signal to a corresponding driving circuit, and can communicate with each other.
  • the control unit includes one master control unit and at least one slave control unit.
  • the control unit has a cooperative drive mode, an independent drive mode, and a one-system drive mode. In the cooperative drive mode, the master control unit calculates a command value related to the generation of the control signal, outputs a control signal based on the command value, and the slave control unit performs control based on the command value calculated by the master control unit. Output a signal.
  • the master control unit calculates a command value related to generation of the control signal of its own system, outputs a control signal based on the calculated command value, and the slave control unit generates a control signal of its own system.
  • the command value is calculated, and a control signal based on the calculated command value is output.
  • a part of the master control unit and the slave control unit stops the output of the control signal, and the other control unit calculates a command value related to generation of the control signal of the own system, and the command value A control signal based on is output.
  • FIG. 1 is a schematic configuration diagram of a steering system according to a first embodiment.
  • FIG. 2 is a schematic diagram showing the motor winding according to the first embodiment.
  • FIG. 3 is a time chart for explaining the energization phase difference according to the first embodiment.
  • FIG. 4 is an explanatory diagram for explaining torque improvement by phase difference energization in the first embodiment.
  • FIG. 5 is an explanatory diagram for explaining the torque ripple according to the first embodiment.
  • FIG. 8 is a block diagram showing the motor control device according to the first embodiment.
  • FIG. 9 is a block diagram showing a first control unit and a second control unit according to the first embodiment
  • FIG. 10 is a block diagram illustrating current feedback control according to the first embodiment.
  • FIG. 11 is a time chart for explaining the arithmetic processing according to the first embodiment.
  • FIG. 12 is a block diagram showing a first control unit and a second control unit according to the second embodiment
  • FIG. 13 is a time chart for explaining the arithmetic processing according to the second embodiment.
  • FIG. 14 is a block diagram illustrating a first controller and a second controller according to the third embodiment.
  • FIG. 15 is a block diagram illustrating current feedback control according to the third embodiment.
  • FIG. 16 is a time chart for explaining the arithmetic processing according to the third embodiment.
  • FIG. 17 is a block diagram illustrating a first controller and a second controller according to the fourth embodiment.
  • FIG. 18 is a time chart for explaining the arithmetic processing according to the fourth embodiment.
  • FIG. 19 is a block diagram showing a first controller and a second controller according to the fifth embodiment.
  • FIG. 20 is a time chart for explaining the arithmetic processing according to the fifth embodiment.
  • FIG. 21 is a time chart for explaining the arithmetic processing according to the sixth embodiment.
  • FIG. 22 is a block diagram showing a first control unit and a second control unit according to the seventh embodiment, FIG.
  • FIG. 23A is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment
  • FIG. 23B is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment.
  • FIG. 23C is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment.
  • FIG. 23D is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment;
  • FIG. 23E is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment.
  • FIG. 23F is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the seventh embodiment.
  • FIG. 24 is a flowchart for explaining communication abnormality monitoring processing according to the seventh embodiment.
  • FIG. 25 is a flowchart for explaining the interruption determination process according to the seventh embodiment.
  • FIG. 26 is a flowchart for explaining consistency determination processing according to the seventh embodiment.
  • FIG. 27 is a block diagram illustrating independent drive control according to the seventh embodiment.
  • FIG. 28A is an explanatory diagram for explaining a communication frame of communication between microcomputers according to the eighth embodiment.
  • FIG. 28B is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 28C is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 28D is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 28A is an explanatory diagram for explaining a communication frame of communication between microcomputers according to the eighth embodiment.
  • FIG. 28B is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 28C is an explan
  • FIG. 28E is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 28F is an explanatory diagram illustrating a communication frame for communication between microcomputers according to the eighth embodiment.
  • FIG. 29 is a flowchart for explaining a control mode switching process according to the eighth embodiment.
  • FIG. 30 is a flowchart for explaining the control mode switching process according to the eighth embodiment.
  • FIG. 31 is a flowchart for explaining command deviation determination processing according to the eighth embodiment.
  • FIG. 32 is a flowchart for explaining the return processing from the alternative control according to the eighth embodiment.
  • FIG. 33 is a flowchart for explaining a return process from the independent drive control control due to an abnormality in communication between microcomputers according to the eighth embodiment.
  • FIG. 29 is a flowchart for explaining a control mode switching process according to the eighth embodiment.
  • FIG. 30 is a flowchart for explaining the control mode switching process according to the eighth embodiment.
  • FIG. 31 is a flow
  • FIG. 34 is a flowchart for explaining a return process from the independent drive control control due to the command deviation abnormality according to the eighth embodiment.
  • FIG. 35 is a flowchart for explaining a return process from the independent drive control control due to the command deviation abnormality according to the eighth embodiment.
  • FIG. 36 is a flowchart for explaining return processing from single-system drive according to the eighth embodiment.
  • FIG. 37 is a flowchart for explaining return processing from single-system drive according to the eighth embodiment.
  • FIG. 38 is a transition diagram illustrating mode transition according to the eighth embodiment.
  • FIGS. A first embodiment is shown in FIGS.
  • an ECU 10 as a rotating electrical machine control device of the present embodiment is applied to, for example, an electric power steering device 8 for assisting a steering operation of a vehicle together with a motor 80 as a rotating electrical machine.
  • FIG. 1 shows an overall configuration of a steering system 90 including an electric power steering device 8.
  • FIG. 1 shows a configuration of a steering system 90 including an electric power steering device 8.
  • the steering system 90 includes a steering wheel 91, which is a steering member, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, an electric power steering device 8, and the like.
  • the steering wheel 91 is connected to the steering shaft 92.
  • the steering shaft 92 is provided with a torque sensor 94 that detects the steering torque Ts.
  • a pinion gear 96 is provided at the tip of the steering shaft 92.
  • the pinion gear 96 is engaged with the rack shaft 97.
  • a pair of wheels 98 are connected to both ends of the rack shaft 97 via tie rods or the like.
  • the steering shaft 92 connected to the steering wheel 91 rotates.
  • the rotational movement of the steering shaft 92 is converted into a linear movement of the rack shaft 97 by the pinion gear 96.
  • the pair of wheels 98 are steered at an angle corresponding to the amount of displacement of the rack shaft 97.
  • the electric power steering device 8 includes a drive device 40 having a motor 80 and an ECU 10, a reduction gear 89 as a power transmission unit that reduces the rotation of the motor 80 and transmits the rotation to the steering shaft 92.
  • the electric power steering device 8 of the present embodiment is a so-called “column assist type”, but may be a so-called “rack assist type” that transmits the rotation of the motor 80 to the rack shaft 97.
  • the steering shaft 92 corresponds to the “drive target”.
  • the motor 80 outputs an auxiliary torque that assists the steering of the steering wheel 91 by the driver.
  • the motor 80 is driven by power supplied from the batteries 191 and 291 (see FIG. 8) as power sources, and the reduction gear. 89 is rotated forward and backward.
  • the motor 80 is a three-phase brushless motor and includes a rotor 860 and a stator 840 (see FIG. 6).
  • the motor 80 has a first motor winding 180 and a second motor winding 280 as a winding set.
  • the first motor winding 180 has a U1 coil 181, a V1 coil 182, and a W1 coil 183.
  • Second motor winding 280 has U2 coil 281, V2 coil 282, and W2 coil 283.
  • the first motor winding 180 is referred to as “motor winding 1”
  • the second motor winding 280 is referred to as “motor winding 2”.
  • “first” is described as a subscript “1”
  • second is described as a subscript “2” as appropriate in the figure.
  • the first motor winding 180 and the second motor winding 280 have the same electrical characteristics.
  • the common stator 840 has an electrical angle of 30 [deg]. ] It is shifted and canceled.
  • the motor windings 180 and 280 are controlled to be supplied with a phase current whose phase ⁇ is shifted by 30 [deg] (see FIG. 3).
  • FIG. 3 illustrates the U-phase voltage Vu1 of the first system and the U-phase voltage Vu2 of the second system.
  • the sixth-order torque ripple can be reduced by setting the energization phase difference to an electrical angle of 30 [deg] (see formula (i)).
  • the merit of canceling noise and vibration can be maximized.
  • heat generation is also averaged, temperature-dependent systematic errors such as detection values and torque of each sensor can be reduced, and the amount of current that can be energized can be averaged.
  • the first system L1 corresponds to the “master system” and the second system L2 corresponds to the “slave system”.
  • the configuration related to the first system L1 is numbered in the 100s, and the configuration related to the second system L2 is numbered in the 200s.
  • strain L2 it attaches
  • the configuration of the driving device 40 will be described with reference to FIGS.
  • the drive device 40 of the present embodiment is a so-called “mechanical and integrated type” in which the ECU 10 is integrally provided on one side of the motor 80 in the axial direction.
  • the ECU 10 is disposed coaxially with the axis Ax of the shaft 870 on the side opposite to the output shaft of the motor 80.
  • the ECU 10 may be provided on the output shaft side of the motor 80.
  • the motor 80 includes a stator 840, a rotor 860, a housing 830 that accommodates them, and the like.
  • the stator 840 is fixed to the housing 830, and the motor windings 180 and 280 are wound thereon.
  • the rotor 860 is provided inside the stator 840 in the radial direction, and is provided so as to be rotatable relative to the stator 840.
  • the shaft 870 is fitted into the rotor 860 and rotates integrally with the rotor 860.
  • the shaft 870 is rotatably supported by the housing 830 by bearings 835 and 836.
  • An end portion of the shaft 870 on the ECU 10 side protrudes from the housing 830 to the ECU 10 side.
  • a magnet 875 is provided at the end of the shaft 870 on the ECU 10 side.
  • the housing 830 has a bottomed cylindrical case 834 including a rear frame end 837 and a front frame end 838 provided on the opening side of the case 834. Case 834 and front frame end 838 are fastened to each other by bolts or the like.
  • a lead wire insertion hole 839 is formed in the rear frame end 837. Lead wires 185 and 285 connected to the phases of the motor windings 180 and 280 are inserted into the lead wire insertion holes 839. The lead wires 185 and 285 are taken out from the lead wire insertion hole 839 to the ECU 10 side and connected to the substrate 470.
  • the ECU 10 includes a cover 460, a heat sink 465 fixed to the cover 460, a substrate 470 fixed to the heat sink 465, various electronic components mounted on the substrate 470, and the like.
  • the cover 460 protects electronic components from external impacts and prevents intrusion of dust, water, etc. into the ECU 10.
  • the cover 460 is integrally formed with a cover main body 461 and a connector portion 462.
  • the connector portion 462 may be a separate body from the cover main body 461.
  • a terminal 463 of the connector portion 462 is connected to the substrate 470 via a wiring or the like (not shown).
  • the number of connectors and the number of terminals can be appropriately changed according to the number of signals and the like.
  • the connector portion 462 is provided at an end portion in the axial direction of the driving device 40 and opens to the opposite side to the motor 80.
  • the connector unit 462 includes connectors 111 to 113 and 211 to 231 described later.
  • the substrate 470 is a printed circuit board, for example, and is provided to face the rear frame end 837. On the board 470, electronic components for two systems are mounted independently for each system, and a completely redundant configuration is formed. In this embodiment, an electronic component is mounted on one substrate 470, but the electronic component may be mounted on a plurality of substrates.
  • the surface on the motor 80 side is a motor surface 471
  • the surface opposite to the motor 80 is a cover surface 472.
  • a switching element 121 that constitutes the inverter circuit 120 a switching element 221 that constitutes the inverter circuit 220, rotation angle sensors 126 and 226, custom ICs 159 and 259, and the like are mounted on the motor surface 471.
  • the rotation angle sensors 126 and 226 are mounted at locations facing the magnet 875 so that changes in the magnetic field accompanying rotation of the magnet 875 can be detected.
  • capacitors 128 and 228, inductors 129 and 229, and microcomputers constituting the control units 131 and 231 are mounted on the cover surface 472.
  • “131” and “231” are assigned to the microcomputers constituting the control units 131 and 231, respectively.
  • Capacitors 128 and 228 smooth the power input from batteries 191 and 291 (see FIG. 8). Further, the capacitors 128 and 228 assist the power supply to the motor 80 by accumulating electric charges.
  • Capacitors 128 and 228 and inductors 129 and 229 constitute a filter circuit, reduce noise transmitted from other devices sharing batteries 191, 291, and other devices sharing batteries 191, 291 from driving device 40. Reduces noise transmitted to the device.
  • the power supply circuits 116 and 216, the motor relay, the current sensors 125 and 225, etc. are also mounted on the motor surface 471 or the cover surface 472.
  • the ECU 10 includes inverter circuits 120 and 220 as drive circuits, control units 131 and 231, and the like.
  • the ECU 10 is provided with a first power connector 111, a first vehicle communication connector 112, a first torque connector 113, a second power connector 211, a second vehicle communication connector 212, and a second torque connector 213.
  • the first power connector 111 is connected to the first battery 191, and the second power connector 211 is connected to the second battery 291.
  • the connectors 111 and 211 may be connected to the same battery.
  • the first power connector 111 is connected to the first inverter circuit 120 via the first power circuit 116.
  • the second power connector 211 is connected to the second inverter circuit 220 via the second power circuit 216.
  • the power supply circuits 116 and 216 are, for example, power supply relays.
  • the first vehicle communication connector 112 is connected to the first vehicle communication network 195, and the second vehicle communication connector 212 is connected to the second vehicle communication network 295.
  • CAN Controller (Area Network) is illustrated as the vehicle communication networks 195 and 295, but any standard such as CAN-FD (CAN with Flexible Data) rate or FlexRay may be used.
  • the first vehicle communication connector 112 is connected to the first control unit 131 via the first vehicle communication circuit 117.
  • the first control unit 131 can exchange information with the vehicle communication network via the vehicle communication connector 112 and the vehicle communication circuit 117.
  • the second vehicle communication connector 212 is connected to the second control unit 231 via the second vehicle communication circuit 217.
  • the second control unit 231 can exchange information with the vehicle communication network via the vehicle communication connector 212 and the vehicle communication circuit 217.
  • the torque connectors 113 and 213 are connected to the torque sensor 94. Specifically, the first torque connector 113 is connected to the first sensor unit 194 of the torque sensor 94. The second torque connector 213 is connected to the torque sensor 94 with the second sensor unit 294. In FIG. 8, the first sensor unit 194 is described as “torque sensor 1”, and the second sensor unit 294 is described as “torque sensor 2”.
  • the first control unit 131 can acquire a torque signal related to the steering torque Ts from the first sensor unit 194 of the torque sensor 94 via the torque connector 113 and the torque sensor input circuit 118.
  • the second control unit 231 can acquire a torque signal related to the steering torque Ts from the second sensor unit 294 of the torque sensor 94 via the torque connector 213 and the torque sensor input circuit 218.
  • the control units 131 and 231 can calculate the steering torque Ts based on the torque signal.
  • the first inverter circuit 120 is a three-phase inverter having a switching element 121 and converts electric power supplied to the first motor winding 180.
  • the switching element 121 is controlled to be turned on / off based on the first PWM signals PWM_u1 * , PWM_v1 * , and PWM_w1 * output from the first controller 131.
  • the second inverter circuit 220 is a three-phase inverter having a switching element 221 and converts electric power supplied to the second motor winding 280.
  • the switching element 221 is controlled to be turned on / off based on the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * output from the second control unit 231.
  • the PWM signals PWM_u1 * , PWM_v1 * , PWM_w1 * , PWM_u2 * , PWM_v2 * , and PWM_w2 * correspond to “control signals”.
  • the first current sensor 125 detects a first U-phase current Iu1, a first V-phase current Iv1, and a first W-phase current Iw1 that are passed through each phase of the first motor winding 180, and detects the detected value as a first control unit. It outputs to 131.
  • the second current sensor 225 detects the second U-phase current Iu2, the second V-phase current Iv2, and the second W-phase current Iw2 that are energized in each phase of the second motor winding 280, and the detected value is output to the second control unit. To 231.
  • the U-phase current, the V-phase current, and the W-phase current are collectively referred to as “phase current” or “three-phase current”.
  • the d-axis current and the q-axis current are collectively referred to as “dq-axis current”. The same applies to the voltage.
  • the first rotation angle sensor 126 detects the rotation angle of the motor 80 and outputs it to the first control unit 131.
  • the second rotation angle sensor 226 detects the rotation angle of the motor 80 and outputs it to the second control unit 231.
  • the electrical angle based on the detection value of the first rotation angle sensor 126 is defined as the first electrical angle EleAng1
  • the electrical angle based on the detection value of the second rotation angle sensor 226 is defined as the second electrical angle EleAng2.
  • the first temperature sensor 127 is disposed, for example, in a region where the first inverter circuit 120 is provided, and detects the temperature related to the first system L1.
  • the second temperature sensor 227 is disposed, for example, in a region where the second inverter circuit 220 is provided, and detects the temperature related to the second system L2.
  • the temperature sensors 127 and 227 may detect the temperature of the heat sink 465, may detect the temperature of the substrate 470, or detect the element temperature of the inverter circuits 120 and 220. Alternatively, the temperature of the motor windings 180 and 280 may be detected.
  • Power is supplied to the first controller 131 via the first power connector 111 and a regulator (not shown). Power is supplied to the second control unit 231 via the second power connector 211 and a regulator (not shown).
  • the first control unit 131 and the second control unit 231 are provided to be able to communicate with each other between the control units.
  • communication between the control units 131 and 231 is referred to as “inter-microcomputer communication” as appropriate.
  • any method such as serial communication such as SPI or SENT, CAN communication, or FlexRay communication may be used.
  • control units 131 and 231 are configured mainly with a microcomputer or the like, and are provided with a CPU, ROM, RAM, I / O (not shown) and a bus line for connecting these configurations.
  • Each process in the control units 131 and 231 may be a software process in which a CPU stores a program stored in advance in a substantial memory device such as a ROM (that is, a readable non-temporary tangible recording medium).
  • a ROM that is, a readable non-temporary tangible recording medium
  • hardware processing by a dedicated electronic circuit may be used.
  • the first control unit 131 that is a master control unit includes a dq-axis current calculation unit 140, an assist torque command calculation unit 141, a q-axis current command calculation unit 142, a d-axis current command calculation unit 143, a first current feedback calculation unit 150, It has a first three-phase voltage command calculation unit 161, a first PWM calculation unit 163, a first signal output unit 165, and a first communication unit 170.
  • feedback is referred to as “FB” as appropriate.
  • the first dq-axis current calculation unit 140 converts the phase currents Iu1, Iv1, Iw1 acquired from the first current sensor 125 into the dq-axis using the first electrical angle EleAng1, and the first d-axis current detection value Id1 and the first q
  • the shaft current detection value Iq1 is calculated.
  • the assist torque command calculation unit 141 is based on the torque signal acquired from the torque sensor 94 via the torque sensor input circuit 118, the vehicle speed acquired from the vehicle communication network 195 via the vehicle communication circuit 117, and the like. An assist torque command value Trq * as a torque command value is calculated. The assist torque command value Trq * is output to the current command calculation unit 142. The assist torque command value Trq * is provided to devices other than the electric power steering device 8 via the vehicle communication circuit 117.
  • the q-axis current command calculation unit 142 calculates a q-axis current command value Iq * based on the assist torque command value Trq * .
  • the q-axis current command value Iq * of the present embodiment is a total q-axis current value of two systems required for outputting torque of the assist torque command value Trq * .
  • the q-axis current value is obtained by multiplying the assist torque command value Trq * by a motor torque constant.
  • the d-axis current command calculation unit 143 calculates a d-axis current command value Id * .
  • the q-axis current command value Iq * and the d-axis current command value Id * correspond to the “current sum command value”.
  • the first current feedback calculation unit 150 performs a current feedback calculation based on the dq-axis current command values Id * , Iq * and the dq-axis current detection values Id1, Iq1, Id2, Iq2, and the first d-axis voltage command value Vd1 *. And the first q-axis voltage command value Vq1 * is calculated. Details of the current feedback calculation will be described later.
  • the first dq-axis voltage command values Vd1 * and Vq1 * are calculated by “sum and difference control” using the dq-axis current command values Id * and Iq * as current sum command values. By controlling the sum and difference, it is possible to cancel the influence of mutual inductance.
  • the first three-phase voltage command calculation unit 161 performs inverse dq conversion on the first dq-axis voltage command values Vd1 * and Vq1 * using the first electrical angle EleAng1 to obtain the first U-phase voltage command value Vu1 * and the first V-phase.
  • the voltage command value Vv1 * and the first W-phase voltage command value Vw1 * are calculated.
  • the first PWM calculation unit 163 calculates the first PWM signals PWM_u1 * , PWM_v1 * , and PWM_w1 * based on the three-phase voltage command values Vu1 * , Vv1 * , and Vw1 * .
  • the first signal output unit 165 outputs the first PWM signals PWM_u1 * , PWM_v1 * , and PWM_w1 * to the first inverter circuit 120.
  • the first communication unit 170 includes a first transmission unit 171 and a first reception unit 172, and communicates with the second communication unit 270.
  • the first transmission unit 171 transmits the value calculated by the first control unit 131 to the second control unit 231.
  • the first transmission unit 171 sends the d-axis current command value Id * , the q-axis current command value Iq * , the first d-axis current detection value Id1, and the first q-axis current detection value Iq1 to the second control unit 231.
  • the first reception unit 172 receives a value transmitted from the second control unit 231.
  • the first receiving unit 172 receives the second d-axis current detection value Id2 and the second q-axis current detection value Iq2.
  • the current command value and the current detection value transmitted and received between the control units 131 and 231 may be three-phase values instead of the dq axis values. However, the amount of data is reduced when the dq axis values are transmitted and received. Can be suppressed. Further, transmission / reception of the d-axis current detection values Id1 and Id2 may not be performed.
  • the second control unit 231 that is a slave control unit includes a second dq-axis current calculation unit 240, a second current feedback calculation unit 250, a second three-phase voltage command value calculation unit 261, a second PWM calculation unit 263, and a second signal output.
  • Unit 265 and second communication unit 270 are included in The second control unit 231 that is a slave control unit.
  • the second dq-axis current calculation unit 240 converts the phase currents Iu2, Iv2, and Iw2 acquired from the second current sensor 225 into the dq-axis using the second electrical angle EleAng2, and outputs the second d-axis current detection value Id2 and the second q
  • the shaft current detection value Iq2 is calculated.
  • the second current feedback calculation unit 250 performs a current feedback calculation based on the dq-axis current command values Id * and Iq * and the dq-axis current detection values Id1, Iq1, Id2, and Iq2, and the second d-axis voltage command value Vd2 *. And the second q-axis voltage command value Vq2 * .
  • the second dq-axis voltage command values Vd2 * and Vq2 * are calculated by “sum and difference control” using the dq-axis current command values Id * and Iq * as current sum command values.
  • the second current feedback calculation unit 250 performs current feedback calculation using the dq-axis current command values Id * and Iq * transmitted from the first control unit 131.
  • the first control unit 131 and the second control unit 231 perform current feedback calculation using the same current command values Id * and Iq * .
  • the second three-phase voltage command calculation unit 261 performs inverse dq conversion on the second dq-axis voltage command values Vd2 * and Vq2 * using the second electrical angle EleAng2 to obtain the second U-phase voltage command value Vu2 * and the second V-phase.
  • the voltage command value Vv2 * and the second W-phase voltage command value Vw2 * are calculated.
  • the voltage command calculation units 161 and 261 calculate the voltage command values Vu1 * , Vv1 * , Vw1 * , Vu2 * , Vv2 * , and Vw2 * so that the energization phase difference becomes an electrical angle of 30 [deg].
  • the second PWM calculator 263 calculates the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * based on the three-phase voltage command values Vu2 * , Vv2 * , and Vw2 * .
  • the second signal output unit 265 outputs the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * to the second inverter circuit 220.
  • the second communication unit 270 includes a second transmission unit 271 and a second reception unit 272.
  • the second transmission unit 271 transmits the value calculated by the second control unit 231 to the first control unit 131.
  • the second transmission unit 271 transmits the second d-axis current detection value Id2 and the second q-axis current detection value Iq2.
  • the second reception unit 272 receives a value transmitted from the first control unit 131.
  • the second receiving unit 272 receives the d-axis current command value Id * , the q-axis current command value Iq * , the first d-axis current detection value Id1, and the first q-axis current detection value Iq1.
  • FIG. 10 Details of the current feedback calculation units 150 and 250 will be described with reference to FIG. In FIG. 10, the blocks of the transmission units 171 and 271 are illustrated separately for convenience. In addition, the second three-phase voltage command calculation unit 261 and the second PWM calculation unit 263 are described in one block, and the signal output units 165 and 265, the inverter circuits 120 and 220, and the like are omitted. In FIG. 10, the explanation will focus on the current feedback calculation for the q axis. Since the current feedback calculation for the d-axis is the same as that for the q-axis, description thereof is omitted. The same applies to FIGS. 15 and 27 described later.
  • the first current feedback calculation unit 150 includes an adder 151, subtracters 152 to 154, controllers 155 and 156, and an adder 157.
  • the adder 151 adds the first q-axis current detection value Iq1 and the second q-axis current detection value Iq2, and calculates the first q-axis current sum Iq_a1.
  • the subtractor 152 subtracts the second q-axis current detection value Iq2 from the first q-axis current detection value Iq1, and calculates the first q-axis current difference Iq_d1.
  • the subtractor 153 subtracts the first q-axis current sum Iq_a1 from the q-axis current command value Iq * to calculate a first current sum deviation ⁇ Iq_a1.
  • the subtractor 154 subtracts the first q-axis current difference Iq_d1 from the current difference command value to calculate a first current difference deviation ⁇ Iq_d1.
  • the current difference command value is set to 0, and control is performed so as to eliminate the current difference between the systems.
  • the current difference command value may be set to a value other than 0, and control may be performed so that a desired current difference is generated between the systems. The same applies to the current difference command value input to the subtractor 254.
  • the controller 155 calculates the basic q-axis voltage command value Vq_b1 * by, for example, PI calculation so that the current sum deviation ⁇ Iq_a1 becomes zero.
  • the controller 156 calculates the q-axis voltage difference command value Vq_d1 * by, for example, PI calculation so that the current difference deviation ⁇ Iq_d1 becomes zero.
  • Adder 157 adds basic q-axis voltage command value Vq_b1 * and q-axis voltage difference command value Vq_d1 * to calculate first q-axis voltage command value Vq1 * .
  • the second current feedback calculation unit 250 includes an adder 251, subtracters 252 to 254, controllers 255 and 256, and a subtractor 257.
  • the adder 251 adds the first q-axis current detection value Iq1 and the second q-axis current detection value Iq2, and calculates the q-axis current sum Iq_a2.
  • the subtractor 252 subtracts the second q-axis current detection value Iq2 from the first q-axis current detection value Iq1, and calculates the q-axis current difference Iq_d2.
  • the adders 151 and 251 use the same value, so that the q-axis current sums Iq_a1 and Iq_a2 have the same value. Further, when different control cycle values are used as in the sixth embodiment described later, the q-axis current sums Iq_a1 and Iq_a2 have different values. The same applies to the q-axis current differences Iq_d1 and Iq_d2.
  • the subtractor 253 subtracts the second q-axis current sum Iq_a2 from the q-axis current command value Iq * to calculate a second current sum deviation ⁇ Iq_a2.
  • the subtractor 254 subtracts the second q-axis current difference Iq_d2 from the current difference command value to calculate a second current difference deviation ⁇ Iq_d2.
  • the current difference command value input to the subtractor 254 may be a value transmitted from the first control unit 131 or a value set internally by the second control unit 231.
  • the controller 255 calculates the basic q-axis voltage command value Vq_b2 * by, for example, PI calculation so that the current sum deviation ⁇ Iq_a2 becomes zero.
  • the controller 256 calculates the q-axis voltage difference command value Vq_d2 * by, for example, PI calculation so that the current difference deviation ⁇ Iq_d2 becomes zero.
  • Subtractor 257 subtracts the q-axis voltage difference command value Vq_d2 * from the basic q axis voltage command value Vq_b2 *, calculates the first 2q-axis voltage command value Vq2 *.
  • FIG. 11 shows, from the top, the common time axis as the horizontal axis, the current acquisition timing of the first control unit, the arithmetic processing in the first control unit, the communication between microcomputers, the current acquisition timing of the second control unit, in the second control unit An arithmetic processing is shown.
  • the current control cycle is P (n)
  • P (n) is described as the start timing.
  • the next control cycle is P (n + 1).
  • values related to current control transmitted / received by communication between microcomputers are mainly described, and descriptions of values used in the own system are omitted as appropriate. The same applies to time charts according to embodiments described later.
  • the assist torque command calculation unit 141 calculates the assist torque command value Trq * from time x1 to time x2, and the current command calculation from time x3 to time x4.
  • the units 142 and 143 calculate current command values Id * and Iq * .
  • the first control unit 131 acquires the phase currents Iu1, Iv1, and Iw1 from the current sensor 125 from time x5 to time x6, and calculates the dq-axis current detection values Id1 and Iq1 from time x7 to time x8. .
  • the second control unit 231 acquires the phase currents Iu2, Iv2, and Iw2 from the current sensor 125 from time x5 to time x6, and calculates the current detection values Id2 and Iq2 from time x7 to time x8.
  • the current acquisition and the dq conversion timing in the control units 131 and 231 are simultaneous, but a deviation within a range in time for the time x9 when the communication between the microcomputers starts is allowed. Also, the processing after the communication between the microcomputers is allowed to deviate to the extent that it is within the control cycle. The same applies to later-described embodiments.
  • control units 131 and 231 From time x9 to time x10, communication between the control units 131 and 231 is performed between the control units 131 and 231 to transmit and receive dq axis current detection values Id1, Iq1, Id2, and Iq2. Also, the dq-axis current command values Id * and Iq * are transmitted from the first control unit 131 to the second control unit 231.
  • the control units 131 and 231 perform the current FB calculation, the three-phase voltage command calculation, and the PWM command calculation from the time x11 after the end of the communication between the microcomputers. At the time x15 after the PWM command calculation, the PWM signal Is output and reflected to each inverter circuit 120 and 220.
  • control units 131 and 231 can perform current feedback calculation using the same value.
  • information provided to in-vehicle devices other than the electric power steering device 8 can be unified by commonly using the assist torque command value Trq * calculated by the first control unit 131.
  • assist torque command value Trq * calculated by the first control unit 131.
  • the current feedback calculation units 150 and 250 control the current sum and current difference between the two systems. By controlling the current sum, the deviation between the assist torque command value Trq * and the output torque can be reduced, and a desired torque can be output from the motor 80. Further, since the current difference between the systems is controlled to be 0, the heat generation in each system can be made uniform. In addition, the control complexity is reduced when voltage limiting, heat limiting, and other current limiting processes are performed, or when an abnormality occurs in one system and backup control is performed using the other system. Can do.
  • the ECU 10 controls the driving of the motor 80 including the motor windings 180 and 280 which are a plurality of winding sets, and includes a plurality of inverter circuits 120 and 220, and a plurality of inverter circuits 120 and 220.
  • the control units 131 and 231 are provided.
  • the control units 131 and 231 have signal output units 165 and 265 that output control signals to the inverter circuits 120 and 220 provided correspondingly, and can communicate with each other.
  • the first control unit 131 is a control signal to the first inverter circuit 120 provided corresponding first 1PWM signal PWM_u1 *, PWM_v1 *, and outputs the PWM_w1 *.
  • the second control unit 231, the 2PWM signal to the second inverter circuit 220 provided corresponding to a control signal PWM_u2 *, PWM_v2 *, and outputs the PWM_w2 *.
  • the first control unit 131 that is one master control unit calculates a command value related to the generation of control signals in all the control units 131 and 231 and transmits the command value to the second control unit 231 that is another control unit. To do.
  • the second control unit 231 that is a slave control unit outputs a control signal based on the command value transmitted from the first control unit 131.
  • the first system L1 and the second system L2 can be appropriately coordinated by transmitting a command value calculated by one master control unit to the slave control unit.
  • “cooperation” means that the energization of the master system and the slave system is controlled based on the “command value” calculated by the master control unit.
  • the first control unit 131 transmits dq-axis current command values Id * and Iq * to the second control unit 231 as command values.
  • the current feedback control can be appropriately performed by coordinating the systems L1 and L2.
  • the first control unit 131 transmits the first dq-axis current detection values Id1 and Iq1, which are current detection values of the first system L1, to the second control unit 231.
  • the second control unit 231 transmits the second dq-axis current detection values Id2 and Iq2 that are current detection values of the second system L2 to the first control unit 131.
  • the first dq-axis current detection values Id1 and Iq1 correspond to the “master current detection value”
  • the second dq-axis current detection values Id2 and Iq2 correspond to the “slave current detection value”.
  • the master current detection value and the slave current detection value may be, for example, a three-phase current detection value, and are not limited to the dq axis current.
  • the current sum of the first system L 1 that is the master system and the second system L 2 that is the slave system becomes the current command values Id * and Iq * , and the current difference is Control so that the current difference command value is obtained.
  • the assist torque can be output from the motor 80 in accordance with the assist torque command value Trq * .
  • the current difference between systems can be appropriately controlled by controlling the current difference.
  • the current difference command value to 0, the current difference between the systems can be eliminated, so that the heat generation of each system can be made uniform.
  • the first control unit 131 and the second control unit 231 transmit and receive information necessary for the current feedback control after the calculation of the current detection values Id1, Iq1, Id2, and Iq2 until the current feedback control starts. I do. Specifically, the first dq-axis current detection values Id1 and Iq1 and the second dq-axis current detection values Id2 and Iq2 are mutually transmitted and received, and the dq-axis current command values Id * and Iq * are second controlled from the first control unit 131. To the unit 231.
  • control units 131 and 231 can perform current feedback control using the current command values Id * and Iq * and the current detection values Id1, Iq1, Id2, and Iq2 in the current control cycle.
  • the ECU 10 of this embodiment is applied to the electric power steering device 8.
  • the electric power steering device 8 includes an ECU 10, a motor 80, and a reduction gear 89.
  • the motor 80 outputs assist torque that assists the steering of the steering wheel 91 by the driver.
  • the reduction gear 89 transmits the driving force of the motor 80 to the steering shaft 92.
  • Trq * calculated by the first control unit 131 that is the master control unit
  • the first control unit 132 which is a master control unit, includes a dq-axis current calculation unit 140, an assist torque command calculation unit 141, a q-axis current command calculation unit 142, and a d-axis, as in the first embodiment. It has a current command calculation unit 143, a first current feedback calculation unit 150, a first three-phase voltage command calculation unit 161, a first PWM calculation unit 163, a first signal output unit 165, and a first communication unit 170.
  • the second control unit 232 which is a slave control unit, includes a second dq-axis current calculation unit 240, a second current feedback calculation unit 250, a second three-phase voltage command value calculation unit 261, a second PWM calculation unit 263, and a second signal output.
  • a q-axis current command calculation unit 242 and a d-axis current command calculation unit 243 are provided.
  • current command values Id * and Iq * are transmitted from the first control unit 131 to the second control unit 231 as “command values”.
  • the assist torque command value Trq * is transmitted from the first control unit 132 to the second control unit 232 as the “command value” instead of the current command values Id * and Iq * . That is, in the present embodiment, the first communication unit 170 transmits the torque command value Trq * and the current detection values Id1, Iq1 to the second communication unit 270, and the second communication unit 270 transmits the current detection values Id2, Iq2 to the first 1 to the communication unit 170.
  • the q-axis current command calculation unit 242 calculates a q-axis current command value Iq * based on the assist torque command value Trq * transmitted from the first control unit 132.
  • the d-axis current command calculation unit 243 calculates the d-axis current command value Id * .
  • the second current feedback calculation unit 250 calculates a current feedback based on the current command values Id * and Iq * calculated by the current command calculation units 242 and 243 and the detected current values Id1, Iq1, Id2, and Iq2. To calculate the second d-axis voltage command value Vd2 * and the second q-axis voltage command value Vq2 * .
  • the second control unit 232 determines that the current command calculation units 242 and 243 have the current command value Id based on the assist torque command value Trq * transmitted from the first control unit 132. * And Iq * are calculated. Then, after time x22, current feedback control and subsequent processes are performed as in time x11 and subsequent times in FIG. 11, and at time x25, the PWM signal is output and reflected to each of the inverter circuits 120 and 220.
  • the assist torque command value Trq * calculated by the first control unit 132 is shared by the control units 132 and 232, the same effects as those of the above embodiment can be obtained. Further, the amount of data in communication between microcomputers can be reduced as compared with the case where the current command values Id * and Iq * are transmitted and received.
  • the first control unit 132 transmits an assist torque command value Trq * , which is a torque command value, to the second control unit 232 as a command value. Even if it does in this way, there exists an effect similar to the said embodiment.
  • the first control unit 133 serving as a master control unit includes a dq-axis current calculation unit 140, an assist torque command calculation unit 141, a q-axis current command calculation unit 142, a d-axis current command calculation unit 143, a current It has a feedback calculation unit 175, a first three-phase voltage command calculation unit 161, a first PWM calculation unit 163, a first signal output unit 165, and a first communication unit 170.
  • the current feedback calculation unit 175 performs a current feedback calculation based on the dq-axis current command values Id * , Iq * and the dq-axis current detection values Id1, Iq1, Id2, Iq2, and dq-axis voltage command values Vd1 * , Vq1 *. , Vd2 * , Vq2 * are calculated.
  • the second control unit 233 which is a slave control unit, includes a dq-axis current calculation unit 240, a second three-phase voltage command value calculation unit 261, a second PWM calculation unit 263, a second signal output unit 265, and a second communication unit. 270.
  • the current feedback calculation unit 175 of the first control unit 133 includes a first current feedback calculation unit 150 and a second current feedback calculation unit 350.
  • the processing in the first current feedback calculation unit 150 is the same as that in the first embodiment, and calculates the first dq-axis voltage command values Vd1 * and Vq1 * .
  • Second current feedback calculation section 350 first 2dq axis voltage command value Vd2 *, be one that calculates the Vq2 *, an adder 351, subtractors 352 to 354, controller 355, and the subtracter 357 Have.
  • the second current feedback calculation unit 350 is the same as the second current feedback calculation unit 250 of the second control unit 231 of the above embodiment, and includes an adder 351, subtracters 352 to 353, controllers 355 and 356, and a subtractor.
  • Each processing in 357 is the same as the processing of the adder 251, subtracters 252 to 254, controllers 255, 256, and subtractor 257 corresponding to the last two digits.
  • the second current feedback calculation unit 350 is provided in the first control unit 133, internally acquired values are used as the first dq-axis current detection values Id1 and Iq1. . Moreover, the value transmitted from the 2nd control part 233 by the communication between microcomputers is used for 2nd dq axis current detection value Id2 and Iq2.
  • the second dq-axis voltage command values Vd2 * and Vq2 * calculated by the current feedback calculation unit 175 of the first control unit 133 are transmitted from the transmission unit 171 to the second control unit 233. That is, in this embodiment, the second dq-axis voltage command values Vd2 * and Vq2 * are transmitted as the “command value” from the first control unit 133 to the second control unit 233.
  • the second three-phase voltage command calculation unit 261 performs inverse dq conversion on the second dq-axis voltage command values Vd2 * and Vq2 * transmitted from the first control unit 133, and the second three-phase voltage command values Vu2 * and Vv2 * , Vw2 * is calculated.
  • the first communication unit 170 transmits the second dq-axis voltage command values Vd2 * and Vq2 * to the second control unit 233, and the second communication unit 270 outputs the second dq-axis current detection values Id2 and Iq2. It transmits to the 1st control part 133.
  • the calculation processing of this embodiment will be described based on the time chart of FIG.
  • the processing from time x41 to x48 is the same as the processing from time x1 to x8 in FIG.
  • the first inter-microcomputer communication in the control cycle is performed between the control units 133 and 233.
  • the second dq-axis current detection values Id2 and Iq2 are transmitted from the second control unit 233 to the first control unit 133 in the first inter-microcomputer communication.
  • the first control unit 133 From the time x51 after the end of the first communication between the microcomputers, the first control unit 133 performs the current FB calculation. In addition, the second communication between the microcomputers is performed at times x52 to x53 after the end of the current FB calculation. In the second communication between the microcomputers, the second dq-axis voltage command values Vd2 * and Vq2 * are transmitted from the first control unit 133 to the second control unit 233.
  • control units 133 and 233 After x54 after the second communication between the microcomputers, the control units 133 and 233 perform a three-phase voltage command calculation and a PWM command calculation, and at time x55 after the PWM command calculation, the PWM signal is transmitted to each inverter circuit. 120 and 220 are output and reflected.
  • the first control unit 133 obtains the first dq-axis voltage command values Vd1 * and Vq2 * related to the first system L1 and the second dq-axis voltage command values Vd2 * and Vq2 * related to the second system L2. Calculate.
  • the first control unit 133 transmits the second dq-axis voltage command values Vd2 * and Vq2 * as command values to the second control unit 233.
  • the second dq-axis voltage command values Vd2 * and Vq2 * correspond to the “slave voltage command value”. Thereby, the current feedback calculation in the second control unit 233 can be omitted.
  • the second control unit 233 transmits the second dq-axis current detection values Id2 and Iq2 that are slave current detection values to the first control unit 133.
  • the first control unit 133 calculates the current sum of the first system L1 and the second system L2 based on the first dq-axis current detection values Id1 and Iq1, which are master current detection values, and the second dq-axis current detection values Id2 and Iq2.
  • the first dq-axis voltage command values Vd1 * and Vq1 * which are voltage command values of the first system L1, and the second system L2 so that the current command values Id * and Iq * become the current difference command values.
  • the second dq-axis voltage command values Vd2 * and Vq2 * which are the voltage command values are calculated.
  • the assist torque can be output from the motor 80 in accordance with the assist torque command value Trq * .
  • the current difference between the systems can be controlled to a predetermined value.
  • the current difference between the systems can be eliminated, so that the heat generation of each system can be made uniform.
  • the same effects as those of the above embodiment can be obtained.
  • the first control unit 134 as a master control unit includes a dq-axis current calculation unit 140, an assist torque command calculation unit 141, a q-axis current command calculation unit 142, a d-axis current command calculation unit 143, a current It has a feedback calculation unit 175, a three-phase voltage command calculation unit 162, a first PWM calculation unit 163, a first signal output unit 165, and a first communication unit 170.
  • the dq-axis voltage command values Vd1 * , Vq1 * , Vd2 * , Vq2 * calculated by the current feedback calculation unit 175 are output to the three-phase voltage command calculation unit 162.
  • the three-phase voltage command calculation unit 162 performs inverse dq conversion on the first dq-axis voltage command values Vd1 * and Vq1 * using the first electrical angle EleAng1 to obtain the first U-phase voltage command value Vu1 * and the first V-phase voltage command value.
  • Vv1 * and the first W-phase voltage command value Vw1 * are calculated.
  • the first three-phase voltage command values Vu1 * , Vv1 * , Vw1 * are output to the first PWM calculation unit 163 and used for the calculation of the first PWM signals PWM_u1 * , PWM_v1 * , PWM_w1 * .
  • the three-phase voltage command calculation unit 162 performs inverse dq conversion on the second dq-axis voltage command values Vd2 * and Vq2 * using the second electrical angle EleAng2 to obtain the second U-phase voltage command value Vu2 * and the second V-phase voltage.
  • the command value Vv2 * and the second W-phase voltage command value Vw2 * are calculated.
  • the second electrical angle EleAng2 transmitted from the second control unit 234 is used for the inverse dq conversion.
  • the second electrical angle EleAng2 is not acquired from the second control unit 234, and is contained in the first control unit 134.
  • the second electrical angle EleAng2 may be obtained from the first electrical angle EleAng1 and used for the inverse dq conversion.
  • the fifth embodiment the fifth embodiment.
  • the second three-phase voltage command values Vu2 * , Vv2 * , Vw2 * are transmitted from the transmission unit 171 to the second control unit 234. That is, in the present embodiment, the second three-phase voltage command values Vu2 * , Vv2 * , Vw2 * are transmitted from the first control unit 134 to the second control unit 234 as the “command value”.
  • the second control unit 234 that is a slave control unit includes a dq-axis current calculation unit 240, a second PWM calculation unit 263, a second signal output unit 265, and a second communication unit 270.
  • the second PWM calculation unit 263 calculates the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * using the three-phase voltage command values Vu2 * , Vv2 * , and Vw2 * transmitted from the first control unit 134.
  • the first communication unit 170 transmits the second three-phase voltage command values Vu2 * , Vv2 * , Vw2 * to the second control unit 234, and the second communication unit 270 performs the second dq-axis current detection.
  • the values Id2, Iq2 and the second electrical angle EleAng2 are transmitted to the first control unit 134.
  • the first control unit 134 From time x61 after the end of the first communication between the microcomputers, the first control unit 134 performs a current FB calculation, and then performs a three-phase voltage command calculation.
  • the second inter-microcomputer communication is performed at times x62 to x63 after the completion of the three-phase voltage command calculation.
  • the second three-phase voltage command values Vu2 * , Vv2 * , and Vw2 * are transmitted from the first control unit 134 to the second control unit 234.
  • control units 134 and 234 After time x64 after the second communication between the microcomputers, the control units 134 and 234 perform the PWM command calculation, and output and reflect the PWM signal to the inverter circuits 120 and 220 at time x65 after the PWM command calculation. To do.
  • the three-phase voltage command values Vu2 * , Vv2 * , Vw2 * are transmitted from the first control unit 134 to the second control unit 234 instead of the dq-axis voltage command values Vd2 * , Vq2 *.
  • the three-phase voltage command values Vu2 * , Vv2 * , Vw2 * correspond to “slave voltage command values”.
  • the same effects as those of the above embodiment can be obtained.
  • the first control unit 135 which is a master control unit, includes a dq-axis current calculation unit 140, an assist torque command calculation unit 141, a q-axis current command calculation unit 142, a d-axis current command calculation unit 143, a current A feedback calculation unit 175, a three-phase voltage command calculation unit 162, a PWM calculation unit 164, a first signal output unit 165, and a first communication unit 170 are included.
  • the current feedback calculation unit 175 and the three-phase voltage command calculation unit 162 are the same as those in the fourth embodiment.
  • the three-phase voltage command values Vu1 * , Vv1 * , Vw1 * , Vu2 * , Vv2 * , and Vw2 * calculated by the three-phase voltage command calculation unit 162 are output to the PWM calculation unit 164.
  • the PWM calculation unit 164 calculates the first PWM signals PWM_u1 * , PWM_v1 * , and PWM_w1 * based on the first three-phase voltage command values Vu1 * , Vv1 * , and Vw1 * .
  • the first PWM signals PWM_u1 * , PWM_v1 * , and PWM_w1 * are output from the signal output unit 165 to the first inverter circuit 120.
  • the PWM calculation unit 164 calculates the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * based on the second three-phase voltage command values Vu2 * , Vv2 * , and Vw2 * .
  • the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * are transmitted from the transmission unit 171 to the second control unit 235.
  • the second control unit 235 that is a slave control unit includes a dq-axis current calculation unit 240, a second signal output unit 265, and a second communication unit 270.
  • the second signal output unit 265 outputs the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * transmitted from the first control unit 135 to the second inverter circuit 220. That is, in the present embodiment, the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * are transmitted from the first control unit 135 to the second control unit 235 as “command values”.
  • the first communication unit 170 transmits the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * to the second control unit 235, and the second communication unit 270 includes the second dq-axis current detection values Id2, Iq2, and The second electrical angle EleAng2 is transmitted to the first controller 135.
  • the current FB calculation is performed, and then the three-phase voltage command calculation and the PWM command calculation are performed.
  • the second inter-microcomputer communication is performed at times x72 to x73 after the completion of the PWM command calculation.
  • the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * are transmitted from the first control unit 135 to the second control unit 235.
  • the PWM signal is output and reflected on each inverter circuit 120, 220.
  • the first control unit 135 receives the first PWM signal PWM_u1 * , PWM_v1 * , PWM_w1 * related to the first system L1, and the second PWM signal PWM_u2 * , PWM_v2 * , PWM_w2 * related to the second system L2. Calculate. In addition, the first control unit 135 transmits the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * as command values to the second control unit 235. In the present embodiment, the second PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 * correspond to “slave control signals”. Thereby, the calculation of the voltage command value in the second control unit 235 can be omitted. In addition, the same effects as those of the above embodiment can be obtained.
  • FIG. 1 A sixth embodiment is shown in FIG.
  • dq-axis current command values Id * and Iq * are transmitted as command values from the first control unit 131 to the second control unit 231, and the control units 131 and 231 each transmit the command value.
  • the current FB calculation is performed will be described as an example.
  • the value calculated in the previous control cycle P (n-1) is appended with a subscript (n-1)
  • the value calculated in the current control cycle P (n) is appropriately subscripted. Add (n) .
  • the processing at times x83 to x86 of the previous control cycle P (n ⁇ 1) is the same as the processing at times x93 to x96 of the current control cycle P (n), and thus the description thereof is omitted.
  • control cycle P (n) communication between microcomputers 131 and 231 is performed from time x91 to time x92, and dq-axis current detection calculated in the previous control cycle P (n-1) Values Id1 (n-1) , Iq1 (n-1) , Id2 (n-1) , and Iq2 (n-1) are transmitted / received to / from each other. Further, the dq-axis current command values Id * (n ⁇ 1) and Iq * (n ⁇ 1) are transmitted from the first control unit 131 to the second control unit 231.
  • the first control unit 131 calculates the assist torque command value Trq * and the dq-axis current command values Id * and Iq * .
  • the first control unit 131 acquires the phase currents Iu1, Iv1, and Iw1, and calculates the dq-axis current detection values Id1 (n) and Iq1 (n) .
  • the second control unit 231 acquires the phase currents Iu2, Iv2, and Iw2, and calculates the dq-axis current detection values Id2 (n) and Iq2 (n) .
  • the first control unit 131 determines the dq-axis current command values Id * (n) and Iq * (n) of the current control cycle P (n) and the dq-axis current detection value of the own system in the current FB calculation.
  • Id1 (n) , Iq1 (n) , and dq-axis current detection values Id2 (n-1) and Iq2 (n-1) of other systems of the previous control cycle P (n-1) are used.
  • the second control unit 231 calculates the dq-axis current command values Id * (n ⁇ 1) and Iq * (n ⁇ 1) of the previous control cycle P (n ⁇ 1) and the dq-axis of another system in the current FB calculation.
  • the current detection values Id1 (n-1) and Iq1 (n-1) and the dq-axis current detection values Id2 (n) and Iq2 (n) of the own system in the current control period P (n) are used.
  • the value of the current control cycle P (n) is used for the value calculated in the own system, and the value acquired from the other system is used for the previous control cycle P (n ⁇ 1). Calculation is performed using the value.
  • the “cooperative operation” for controlling energization of each system using the values related to each system in common is included in the concept of
  • the control units 131 and 231 of the first embodiment have been described as examples. However, in the second to fifth embodiments, the value of the previous control cycle is used as the current detection value of the other system. May be.
  • information acquired from another control unit among information necessary for calculation of the control signal uses a value in the previous control cycle.
  • “information necessary for control signal calculation” is the dq-axis current detection values Id1, Iq1, Id2, Iq2, and the dq-axis current command values Id * and Iq * .
  • FIGS. A seventh embodiment is shown in FIGS.
  • the first control unit 136 serving as a master control unit includes an abnormality monitoring unit 190 in addition to the components of the first control unit 131 of the first embodiment.
  • the second control unit 236 that is a slave control unit includes, in addition to the components of the second control unit 231 of the first embodiment, an assist torque calculation unit 241, a q-axis current command calculation unit 242, a d-axis current command calculation unit 243, And it has the abnormality monitoring part 290.
  • the d-axis current command calculation unit and the q-axis current command calculation unit are described in one block.
  • FIG. 22 shows an example in which the abnormality monitoring units 190 and 290 are provided in the control units 131 and 231 of the first embodiment, but the control units 132 to 135 and 232 of the second to fifth embodiments. ⁇ 235 may be provided with the abnormality monitoring units 190 and 290, blocks required for the calculation of the PWM signal, and the like.
  • the assist torque calculation unit 241 of the second control unit 236 includes a torque signal acquired from the torque sensor 94 via the torque sensor input circuit 218 and a vehicle speed acquired from the vehicle communication network via the vehicle communication circuit 217. Based on the above, an assist torque command value Trq2 * as a torque command value is calculated.
  • the q-axis current command calculation unit 242 calculates a q-axis current command value Iq2 * based on the assist torque command value Trq2 * .
  • the d-axis current command calculation unit 243 calculates a d-axis current command value Id2 * .
  • the command values Trq2 * , Iq2 * , Id2 * calculated by the second control unit 236 are used when an abnormality occurs in the first control unit 136 that is the master control unit, or when a communication abnormality occurs. Thus, even when an abnormality occurs in the first control unit 136 or when a communication abnormality occurs, the control can be continued by the second control unit 236 alone.
  • the second controller 236 may not calculate the command values Trq2 * , Iq2 * , and Id2 * when the dq-axis current command values Id * and Iq * can be acquired from the first controller 136.
  • the second control unit 236 calculates the command values Trq2 * , Iq2 * , and Id2 * even when the dq-axis current command values Id * and Iq * can be acquired from the first control unit 136. Also good. Thereby, when it becomes impossible to acquire a command value from the 1st control part 136, it can change to control by the 2nd control part 236 alone promptly. In particular, even in the case of including a logic whose control output changes depending on the calculation intermediate value such as filter processing, the calculation error of the command value accompanying the calculation start delay can be reduced.
  • the abnormality monitoring units 190 and 290 monitor the abnormality of the own system and the abnormality of communication between the microcomputers between the control units 136 and 236.
  • the abnormality information related to the own system is transmitted to the control unit of the other system through communication between microcomputers.
  • the abnormality information which concerns on another system is acquired by communication between microcomputers. Thereby, the abnormal state is shared.
  • the current feedback calculation units 150 and 250 perform control according to the determination results of the abnormality monitoring units 190 and 290.
  • the communication abnormality includes an abnormality in communication with the vehicle communication networks 195 and 295 in addition to an abnormality in communication between microcomputers corresponding to the “communication abnormality between control units”.
  • communication abnormality means an abnormality in communication between microcomputers.
  • the command value calculated by the first control unit 136 is transmitted to the second control unit 236 through inter-microcomputer communication, and the master system and the slave system are used using the common command value.
  • each system is operated in a coordinated manner.
  • the abnormality monitoring units 190 and 290 monitor the abnormality of the communication between the microcomputers, and perform backup processing when the abnormality is detected.
  • FIG. 23 shows details of a communication frame for communication between microcomputers.
  • FIG. 23A shows a communication frame of a signal transmitted from the first control unit 136 to the second control unit 236.
  • the communication frame includes a signal indicating the q-axis current command value Iq * , d-axis A signal indicating the current command value Id * , a signal indicating the q-axis current detection value Iq1, a signal indicating the d-axis current detection value Id1, a run counter signal, and a CRC (Cyclic Redundancy Check) signal are included.
  • CRC Cyclic Redundancy Check
  • FIG. 23B shows a signal transmitted from the second control unit 236 to the first control unit 136.
  • the communication frame includes a q-axis current detection value Iq2, a d-axis current detection value Id2, a run counter signal, and a CRC signal. Is included. The same applies to signals transmitted from the second control units 231 to 235 to the first control units 131 to 135.
  • FIG. 23C shows a signal transmitted from the first control unit 132 of the second embodiment.
  • the communication frame includes a signal indicating the assist torque command value Trq * , q-axis current detection A signal indicating the value Iq1, a signal indicating the d-axis current detection value Id1, a run counter signal, and a CRC signal are included.
  • FIG. 23D shows a signal transmitted from the first control unit 133 of the third embodiment.
  • a signal indicating the q-axis voltage command value Vq2 * is transmitted in the communication frame.
  • a signal indicating a d-axis voltage command value Vd2 * a run counter signal, and a CRC signal.
  • FIG. 23E shows a signal transmitted from the first control unit 134 of the fourth embodiment.
  • the U-phase voltage command value Vu2 * is included in the communication frame .
  • a signal indicating a V-phase voltage command value Vv2 * a signal indicating a W-phase voltage command value Vw2 * , a run counter signal, and a CRC signal.
  • FIG. 23F illustrates a signal transmitted from the first control unit 135 to the second control unit 235 according to the fifth embodiment.
  • the communication signals include the PWM signals PWM_u2 * , PWM_v2 * , and PWM_w2 *.
  • a run counter signal and a CRC signal.
  • Any number of signals related to the q-axis current command value, the d-axis current command value, the q-axis current detection value, and the d-axis current detection value can be used as long as each physical quantity can be expressed with a desired accuracy. Good. The same applies to the torque command value, voltage command value, and PWM signal.
  • the run counter signal may be any number of bits that can detect communication interruption. For example, the count number is 0 to 3 for 2 bits, and the count number is 0 to 15 for 4 bits. It is.
  • the CRC signal that is an error detection signal may be a CRC polynomial and the number of bits that can ensure communication reliability. Further, the error detection signal may be a signal other than CRC, such as a checksum, as long as the reliability of communication can be detected. Further, the signal order may be changed, or another signal may be added. The same applies to the eighth embodiment.
  • step S101 is omitted, and is simply referred to as “S”.
  • S The other steps are the same.
  • the second control unit 236 receives a communication frame from the first control unit 136.
  • the abnormality monitoring unit 290 performs a disruption determination process.
  • the abnormality monitoring unit 290 performs consistency determination processing. The disruption determination process and the consistency determination process may be performed in a different order, or may be performed separately from the present process to acquire a determination result.
  • FIG. 25 shows a flowchart for explaining the interruption determination process.
  • the abnormality monitoring unit 290 acquires the count value RC from the run counter signal in the acquired communication frame. Let RC (n) be the current value of the count value RC.
  • the abnormality monitoring unit 290 determines whether or not the current count value RC (n) matches the value obtained by adding 1 to the previous count value RC (n ⁇ 1), which is the previous count value RC. . That is, it is determined whether or not the formula (ii) is established. When it is determined that the formula (ii) is not established (S122: NO), the process proceeds to S123. When it is determined that the formula (ii) is established (S122: YES), the process proceeds to S124.
  • the abnormality monitoring unit 290 determines that communication interruption has occurred, and sets a communication interruption flag. In the figure, a state where each flag is set is “1”, and a state where each flag is not set is “0”.
  • the abnormality monitoring unit 290 determines that no communication interruption has occurred, and resets the communication interruption flag. Further, the current count value RC (n) is stored in a memory or the like (not shown). The stored current count value is used as the previous value in the next calculation. Here, at least the latest count value RC only needs to be held.
  • FIG. 26 shows a flowchart for explaining consistency determination processing.
  • the abnormality monitoring unit 290 acquires a value based on the CRC signal from the communication frame.
  • the CRC value acquired here is a value obtained by CRC calculation by the first control unit 136 which is another system, and is hereinafter referred to as another system CRC value.
  • the abnormality monitoring unit 290 calculates a CRC value by a CRC calculation that is an error detection calculation based on the communication frame.
  • the value calculated here is a value calculated internally by the second control unit 236, and is hereinafter referred to as the own system CRC value.
  • the abnormality monitoring unit 290 determines whether or not the own system CRC value matches the other system CRC value. When it is determined that the own system CRC value and the other system CRC value do not match (S133: NO), the process proceeds to S134. When it is determined that the own system CRC value matches the other system CRC value (S133: YES), the process proceeds to S135.
  • the abnormality monitoring unit 290 determines that a communication consistency abnormality such as garbled bits has occurred, and sets a communication consistency abnormality flag. In S135, the abnormality monitoring unit 290 determines that no communication integrity abnormality such as bit corruption has occurred, and resets the communication consistency abnormality flag.
  • the abnormality monitoring unit 290 determines whether the communication interruption flag or the communication consistency abnormality flag is set. When it is determined that the communication interruption flag and the communication consistency abnormality flag are not set (S104: NO), the process proceeds to S109. When it is determined that the communication interruption flag or the communication consistency abnormality flag is set (S104: YES), the process proceeds to S105.
  • the abnormality monitoring unit 290 sets a communication abnormality detection flag.
  • the abnormality monitoring unit 290 increments the abnormality detection counter and the time counter.
  • the abnormality detection counter is a counter for counting the number of times of abnormality detection
  • the time counter is a counter for measuring the time after the abnormality is detected.
  • the abnormality monitoring unit 290 determines whether or not the count value of the abnormality detection counter is larger than the determination determination threshold value THf. When it is determined that the count value of the abnormality determination counter is equal to or smaller than the determination determination threshold THf (S107: NO), the process proceeds to S113. When it is determined that the count value of the abnormality determination counter is larger than the determination determination threshold THf (S107: YES), the process proceeds to S108.
  • the abnormality monitoring unit 290 sets a communication abnormality confirmation flag. Further, the second control unit 236 shifts to an abnormality determination procedure.
  • the abnormality determination procedure of this embodiment is independent drive control that does not use a value acquired from the first system L1 which is another system.
  • the first control unit 136 performs current feedback control without using the value acquired from the second control unit 236. Specifically, the current detection values Id2 and Iq2 related to the second system L2 are set to 0, and the PI calculation of the difference is stopped.
  • the second control unit 236 performs current feedback control without using the value acquired from the first control unit 136.
  • the second control unit 236 performs current control using the dq-axis current command values Id * and Iq * acquired from the first control unit 136 at the normal time.
  • the second control unit 236 replaces the dq axis current command values Id * and Iq * acquired from the first control unit 136 with each other in the second control unit 236.
  • Current feedback calculation is performed using the dq-axis current command values Id2 * and Iq2 * calculated by the dq-axis current command calculation units 242 and 243. Further, the current detection values Id1 and Iq1 relating to the first system L1 are set to 0, and the PI calculation of the difference is stopped.
  • the abnormality monitoring unit 290 determines whether the communication abnormality detection flag is set. Judge whether or not. When it is determined that the communication abnormality detection flag is not set (S109: NO), the process proceeds to S110. When it is determined that the communication abnormality detection flag is set (S109: YES), the process proceeds to S111.
  • the 2nd control part 236 continues normal control using the value acquired by communication between microcomputers. Also, each value acquired in the current communication is held as a hold value in a storage unit (not shown) or the like. Here, it is sufficient that at least the latest value is held.
  • the second control unit 236 holds the dq axis current command values Id * and Iq * and the dq axis current detection values Id1 and Iq1.
  • the abnormality monitoring unit 290 increments the time counter.
  • the abnormality monitoring unit 290 determines whether or not the count value of the time counter is larger than the elapsed determination threshold value THt. When it is determined that the count value of the time counter is equal to or less than the elapsed determination threshold value THt (S112: NO), the process proceeds to S113. When it is determined that the count value of the time counter is larger than the elapsed determination threshold value THt (S112: YES), the process proceeds to S114.
  • the abnormality monitoring unit 290 resets the communication abnormality detection flag. Further, the detected communication error between the microcomputers is considered to be temporary, and the normal control using the value acquired from the first control unit 136 through the communication between microcomputers is restored.
  • the value held in S110 is different. That is, since the first control unit 136 has not acquired the dq-axis current command values Id2 * and Iq2 * from the second control unit 236, the first control unit 136 holds the dq-axis current detection values Id1 and Id2 as hold values.
  • the other points are substantially the same as the abnormality monitoring process in the second control unit 236.
  • the first control unit 136 includes an abnormality monitoring unit 190 that monitors the abnormality of the own system and the communication abnormality.
  • the second control unit 236 includes an abnormality monitoring unit 290 that monitors an abnormality of the own system and a communication abnormality. Thereby, abnormality of EUU10 can be detected appropriately.
  • the output signal transmitted from one of the control units 136 and 236 to the other includes a run counter signal.
  • the abnormality monitoring units 190 and 290 determine that communication interruption has occurred as a communication abnormality between the control units. Thereby, communication interruption can be detected appropriately.
  • the output signal transmitted from one of the control units 136 and 236 to the other includes a CRC signal that is an error detection signal.
  • the abnormality monitoring units 190 and 290 are based on the other system CRC value which is a value based on the CRC signal included in the output signal and the own system CRC value which is a value calculated by the error detection calculation based on the output signal, Monitors communication consistency errors, which are communication errors between control units. Thereby, it is possible to appropriately detect a communication integrity abnormality such as bit corruption.
  • the abnormality monitoring units 190 and 290 determine the abnormality when a predetermined abnormality continuation condition is satisfied after the abnormality is detected.
  • the count value of the abnormality counter becomes larger than the determination determination threshold value THf within a predetermined period after the abnormality is detected, it is considered that the predetermined abnormality continuation condition is satisfied, and the abnormality is confirmed.
  • the predetermined abnormality continuation condition is satisfied, and the abnormality is confirmed.
  • the control units 136 and 236 hold values acquired by communication from other control units as hold values when no abnormality is detected. Further, the control is performed using the hold value from when the abnormality is detected until it is determined. Thereby, it is possible to prevent control using incorrect information.
  • the second control unit 236 can calculate current command values Id2 * and Iq2 * that are used to generate a control signal related to the own system.
  • the current command values Id2 * and Iq2 * correspond to “slave command values”.
  • the control units 136 and 236 do not use the values acquired from other control units until the determination is made after the abnormality is detected, but the control units 136 and 236 are controlled using the command calculated by itself and the detection value of the own system. You may make it perform the independent drive control mode which produces
  • the control units 136 and 236 are driven in cooperation, when the current sum and current difference of a plurality of systems (two systems in the present embodiment) are controlled, the control units 136 and 236 are in the independent drive control mode.
  • the current detection value acquired from the other control unit is set to 0, and the current difference control is stopped.
  • “at the time of abnormality” is a concept including both the time from when an abnormality is detected until it is determined, and the time when the abnormality is determined.
  • the control units 136 and 236 return to the normal control mode when the abnormality is not confirmed within a predetermined period after the abnormality is detected. Thereby, when abnormality is not decided, it can return from normal time control mode to normal control mode appropriately.
  • the ECU 10 is applied to the electric power steering device 8.
  • the process shifts to an abnormality detection procedure before the abnormality is confirmed, and when an abnormality is confirmed, the process shifts to the independent drive control mode.
  • the current FB calculation units 150 and 250 of the control units 136 and 236 switch the control mode according to the type of abnormality that has occurred.
  • the types of abnormality are (1) communication error between microcomputers, (2) abnormality that makes motor control impossible, (3) abnormality that indirectly affects motor control, (4) command value divergence between systems Classify into:
  • the abnormalities (1) to (4) are appropriately referred to as “abnormal (1) to (4)”.
  • Uncontrollable abnormalities include abnormalities in the drive system from the batteries 191 and 291 via the inverter circuits 120 and 220 to the motor windings 180 and 280, abnormalities in the sensor used to generate command values necessary for motor control, and the control unit 131 and 231 abnormalities.
  • sensors used for generating command values necessary for motor control include a torque sensor 94, current sensors 125 and 225, and rotation angle sensors 126 and 226.
  • the current detection value acquired from the other control unit is set to 0 and the current difference control is stopped.
  • the output of the current FB control and the control signal is stopped.
  • the output torque from the normal system may be equivalent to that in the two-system drive. Further, in the single-system drive control, the output torque may be increased as compared with the two-system drive in order to compensate for the torque shortage.
  • An abnormality that indirectly affects motor control refers to a state in which motor control is possible but motor control cannot be performed as intended by the user or under preset conditions.
  • Abnormalities that indirectly affect motor control include abnormalities in communication with the vehicle communication networks 195 and 295, abnormalities in the temperature sensors 127 and 227, and the like.
  • the substitute control is a control that uses substitute information instead of an abnormal signal. For example, when vehicle communication abnormality occurs and information related to the vehicle speed cannot be acquired, a fixed value of a predetermined hourly speed (for example, 100 km / h) is used as alternative information related to the vehicle speed. Further, for example, when an abnormality occurs in the temperature sensors 127 and 227, a fixed value of a predetermined temperature is used as alternative information relating to the temperature.
  • the predetermined temperature is set according to the temperature that requires overheat protection.
  • FIG. 28 shows details of a communication frame for communication between microcomputers.
  • 28A, 28B, 28C, 28D, 28E, and 28F correspond to FIGS. 23A, 23B, 23C, 23D, 23E, and 23F, respectively, before the run counter signal.
  • a status signal related to the own system has been added.
  • the master-side status signal is a signal corresponding to the abnormality monitoring result of the first system L1 in the abnormality monitoring unit 190.
  • the slave-side status signal is a signal according to the abnormality monitoring result of the second system L2 in the abnormality monitoring unit 290.
  • the number of bits of the master-side status signal and the slave-side status signal may be any number, and it is desirable to set the number of bits that can represent the state of each abnormal item according to the abnormal item notified to other systems.
  • the control units 136 and 236 share the abnormal state using the status signal.
  • the abnormal state is caused by any information such as the abnormal signal itself or the state transition code. You may share state.
  • Control mode switching processing will be described based on the flowcharts of FIGS.
  • the processing in FIG. 29 is performed at a predetermined cycle by the first control unit 136 on the master side.
  • the description is omitted in FIGS. 29 and 30, as in the above embodiment, when an abnormality is detected, the abnormality counter is incremented, and the abnormality is confirmed when the counter value becomes larger than the decision determination threshold value THf.
  • the determination threshold value THf may be different for each type of abnormality. In the period from abnormality detection to abnormality confirmation, control using a hold value internally held is performed as in the above embodiment.
  • the abnormality monitoring unit 190 determines whether an abnormality (1) that is a communication abnormality between microcomputers has occurred.
  • communication abnormality determination is performed as in the seventh embodiment, but the abnormality determination method may be different.
  • the process proceeds to S202, and the control mode is set to independent drive control.
  • the process proceeds to S203.
  • the abnormality monitoring unit 190 determines whether or not an abnormality (2) that is an abnormality that cannot control the motor 80 in its own system has occurred. When it is determined that the abnormality (2) has not occurred (S203: NO), the process proceeds to S206. When it is determined that the abnormality (2) has occurred (S203: YES), the process proceeds to S204.
  • the first control unit 136 includes information indicating that the abnormality (2) has occurred in the status signal of the own system, and transmits the information to the second control unit 236.
  • a signal is transmitted at this step, but the signal may be transmitted from the transmission unit 171 at a predetermined communication timing. The same applies to the steps related to other signal transmission / reception.
  • the first control unit 136 sets the control mode of the own system to drive stop. In this case, if the other system is normal, the motor 80 is driven by one-system drive on the other system side.
  • the abnormality monitoring unit 190 determines whether or not an abnormality (3) that is an abnormality that indirectly affects motor control has occurred. When it is determined that the abnormality (3) has not occurred (S206: NO), the process proceeds to S209. When it is determined that the abnormality (3) has occurred (S206: YES), the process proceeds to S207.
  • control unit 136 sets the control mode to alternative control.
  • the abnormality monitoring unit 190 acquires status information of another system.
  • the abnormality monitoring unit 190 determines whether an abnormality (2) has occurred in the other system based on the status information of the other system. When it is determined that no abnormality (2) has occurred in the other system (S210: NO), the process proceeds to S212. If it is determined that an abnormality (2) has occurred in the other system (S210: YES), the process proceeds to S211 and the control mode is set to one-system drive control.
  • the abnormality monitoring unit 190 determines whether or not an abnormality (4) that is a command divergence between systems has occurred.
  • the abnormality (4) is determined on the slave side, and the abnormality monitoring unit 190 on the master side determines based on the status information acquired from the second control unit 236 on the slave side.
  • the process proceeds to S213, and the control mode is set to independent drive control.
  • the control mode is set to normal control.
  • the normal control of this embodiment is coordinated drive control that controls the master system and the slave system using the master-side command value.
  • the details of the cooperative drive control may be those of any of the above embodiments.
  • S301 to S310 is the same as the processing of S201 to S210.
  • the corresponding control block and value are set such that the own system is the second system L2, the other system is the first system L1, and the abnormality monitoring unit 190 is changed to the abnormality monitoring unit 290, for example. May be read as appropriate.
  • step S321 the abnormality monitoring unit 290 calculates a command deviation that is a deviation between the command value of the master system acquired by communication between microcomputers and the command value calculated by the own system. In the present embodiment, it calculates the difference ⁇ I between the current command value I2 * of the current command value I1 * and the second line of the first system.
  • the current command values I1 * and I2 * may be any value such as a command value related to the dq-axis current, a command value related to the three-phase current, or a square sum of the command values related to the three-phase current.
  • the command deviation is not limited to the current command value deviation, and may be a torque command value or voltage command value deviation.
  • abnormality monitoring unit 290 determines whether or not command deviation ⁇ I is greater than or equal to command deviation determination threshold THi1.
  • the command deviation determination threshold is set to such a value that the current command values I1 * and I2 * can be regarded as matching. If it is determined that the command deviation ⁇ I * is smaller than the command deviation determination threshold THi1 (S322: NO), it is determined that no command deviation abnormality has occurred, the present routine is terminated, and the routine proceeds to S313 in FIG. When it is determined that the command deviation ⁇ I * is greater than or equal to the command deviation determination threshold THi1 (S322: YES), the process proceeds to S323, and the command deviation counter is incremented.
  • the abnormality monitoring unit 290 determines whether or not the count value of the command divergence counter is greater than or equal to the divergence determination threshold value THd. When it is determined that the count value of the command divergence counter is smaller than the divergence determination threshold THd (S324: NO), the command divergence abnormality is not confirmed and this routine is terminated, and the process proceeds to S313 in FIG. When it is determined that the count value of the command deviation counter is equal to or greater than the deviation determination threshold THd (S324: YES), the process proceeds to S325.
  • the second control unit 236 includes information indicating that the abnormality (4) has occurred in the status signal of its own system and transmits the information to the first control unit 136.
  • the second control unit 236 determines whether or not an abnormality (4) has occurred. If it is determined that the abnormality (4) has occurred (S313: YES), the process proceeds to S314, and the control mode is set to independent drive control. When it is determined that the abnormality (4) has not occurred (S313: NO), the process proceeds to S315 and the control mode is set to normal control.
  • FIG. 32 is a flowchart for explaining return processing when the control mode is alternative control. This process is performed at a predetermined cycle when the control units 136 and 236 shift to alternative control. Since the return processing from the alternative control is the same in the control units 136 and 236, the processing of the first control unit 136 will be described, and the description related to the second control unit 236 will be omitted. The same applies to FIG.
  • the abnormality monitoring unit 190 determines whether or not the abnormality (3) has been resolved. If it is determined that the abnormality (3) has not been resolved (S401: NO), the process proceeds to S404 and the alternative control is continued. When it is determined that the abnormality (3) has been resolved (S401: YES), the process proceeds to S402.
  • the abnormality monitoring unit 190 increments the return counter.
  • the abnormality monitoring unit 190 determines whether or not the count value of the return counter is greater than or equal to the return determination threshold value THr.
  • the return determination threshold THr may be the same as or different from the value in the return processing from another abnormality.
  • the process proceeds to S404 and the alternative control is continued.
  • the process proceeds to S405.
  • the first control unit 136 includes information indicating that the abnormality (3) is normal in the status signal of the own system and transmits the information to the second control unit 236.
  • the abnormality monitoring unit 190 acquires status information of another system.
  • the abnormality monitoring unit 190 determines whether or not the own system and the other system are normal. When it is determined that the own system and the other system are normal (S407: YES), the process proceeds to S408 and the control mode is set to normal control. When it is determined that the own system or another system is not normal (S407: NO), the process proceeds to S409, and the process proceeds to the control mode corresponding to the abnormal state. Specifically, the control mode is determined by the control mode switching process described with reference to FIGS.
  • FIG. 33 is a flowchart for explaining return processing when the control mode is independent drive control due to an abnormality in communication between microcomputers. This process is performed at a predetermined cycle when the control units 136 and 236 shift to independent drive control due to communication abnormality.
  • the abnormality monitoring unit 190 determines whether the abnormality (1) has been resolved.
  • the CRC signal and the run counter are normal, it is determined that the abnormality (1) has been resolved.
  • the process proceeds to S424.
  • the process proceeds to S422.
  • S422 and S423 are the same as the processes of S402 and S403 in FIG. If it is determined in S423 that the count value of the return counter is smaller than the return determination threshold THr (S423: NO), the process proceeds to S424. When it is determined that the count value of the return counter is equal to or greater than the return determination threshold THr (S423: YES), the process proceeds to S426.
  • the abnormality monitoring unit 190 determines whether or not the own system is normal other than communication between microcomputers. In this step, if the own system is normal except for communication between microcomputers, it is determined that the own system is normal. The same applies to S465 and S525 described later. When it is determined that the own system is not normal (S424: NO), the process proceeds to S430. When it is determined that the own system is normal (S242: YES), the process proceeds to S425 and the independent drive control is continued.
  • the first control unit 136 transmits a signal including status information related to the abnormality information of the own system to the second control unit 236.
  • the first control unit 136 acquires status information of another system.
  • the processing of S428 to S430 is the same as the processing of S407 to S409 in FIG.
  • FIG. 34 and FIG. 35 are flowcharts for explaining return processing when the command value deviation is abnormal.
  • FIG. 34 shows processing of the second control unit 236 on the slave side
  • FIG. 35 shows processing of the first control unit 136 on the master side.
  • the abnormality monitoring unit 290 determines whether or not the communication between microcomputers is normal. When it is determined that the communication between the microcomputers is not normal (S441: NO), the process proceeds to S446 and the independent drive control is continued. When it is determined that the communication between the microcomputers is normal (S441: YES), the process proceeds to S442, and the command deviation ⁇ I * is calculated. As explained in FIG. 31, the command deviation may be other than the current deviation.
  • the abnormality monitoring unit 290 determines whether or not the command deviation ⁇ I * is equal to or less than the command deviation determination threshold THi2.
  • the command deviation determination threshold THi2 is set to a value that allows the current command values I1 * and I2 * of the first system L1 to be regarded as matching. Note that the command deviation determination threshold THi2 used here may be the same value as or different from the command deviation determination threshold THi1 used in S322.
  • the process proceeds to S446 and the independent drive control is continued.
  • the command deviations ⁇ Id * and ⁇ Iq * are equal to or less than the command deviation determination threshold THi2 (S443: YES)
  • the process proceeds to S444.
  • S444 and S445 are the same as the processing of S402 and S403 in FIG.
  • S445: NO when it is determined that the count value of the return counter is smaller than the return determination threshold THr (S445: NO), the process proceeds to S446 and the independent drive control is continued.
  • the process proceeds to S447.
  • the second control unit 236 includes information indicating that the abnormality (4) is normal in the status signal of the own system, and transmits the information to the first control unit 136.
  • the second control unit 236 acquires status information of another system.
  • the processing of S449 to S451 is the same as the processing of S407 to S409 in FIG.
  • the abnormality monitoring unit 190 determines whether or not the communication between microcomputers is normal. If it is determined that the communication between the microcomputers is not normal (S461: NO), the process proceeds to S465. When it is determined that the communication between the microcomputers is normal (S461: YES), the process proceeds to S462.
  • S462 and S463 The processing of S462 and S463 is the same as the processing of S426 and S427 in FIG.
  • the abnormality monitoring unit 190 determines whether the abnormality (4) has been resolved based on the status information acquired from the slave side. When it is determined that the abnormality (4) has been resolved (S464: YES), the process proceeds to S467. When it is determined that the abnormality (4) has not been resolved (S464: NO), the process proceeds to S465.
  • S465 and S466 is the same as S424 and S425 in FIG. 33, and the processing of S467 to S469 is the same as the processing of S428 to S430.
  • FIG. 36 and FIG. 37 are flowcharts for explaining return processing from single-system drive.
  • FIG. 36 shows the processing of the abnormal system that has stopped driving due to the abnormality (2)
  • FIG. 37 shows the processing of the system that continues the one-system driving.
  • the description will be made assuming that the first system L1 is an abnormal system and the second system L2 continues the single system drive.
  • the abnormality monitoring unit 190 determines whether or not the abnormality (2) has been resolved. When it is determined that the abnormality (2) has not been resolved (S501: YES), the process proceeds to S505, and the drive stop state is continued. If it is determined that the abnormality (2) has been resolved (S501: YES), the process proceeds to S502.
  • S502 and S503 are the same as the processes of S402 and S403 in FIG. If it is determined in S503 that the count value of the return counter is smaller than the return determination threshold THr (S503: NO), the process proceeds to S505, and the drive stop state is continued. If it is determined that the count value of the return counter is equal to or greater than the return determination threshold THr (S503: YES), the process proceeds to S505.
  • the abnormality monitoring unit 190 determines whether or not communication between microcomputers is normal. If it is determined that the communication between the microcomputers is not normal (S504: NO), the process proceeds to S505, and the drive stop state is continued. When it is determined that the communication between the microcomputers is normal (S504: YES), the process proceeds to S506.
  • the processing of S506 to S510 is the same as the processing of S426 to S430 in FIG.
  • the abnormality monitoring unit 290 determines whether or not the communication between microcomputers is normal. If it is determined that the communication between the microcomputers is not normal (S521: NO), the process proceeds to S525. If it is determined that the communication between the microcomputers is normal (S521: YES), the process proceeds to S522.
  • the processing of S522 and S523 is the same as the processing of S426 and S427.
  • the abnormality monitoring unit 290 determines whether or not the abnormality (2) in the first system L1 that has stopped driving has been resolved based on the acquired status signal. When it is determined that the abnormality (2) has been resolved (S524: YES), the process proceeds to S527. When it is determined that the abnormality (2) has not been resolved (S524: NO), the process proceeds to S525.
  • the abnormality monitoring unit 290 determines whether or not the own system is normal other than communication between microcomputers. When it is determined that the own system is not normal (S525: NO), the process proceeds to S529. When it is determined that the own system is normal (S525: YES), the process proceeds to S526 and the one-system drive is continued.
  • the processing of S527 to S529 is the same as the processing of S407 to S409 in FIG.
  • control units 136 and 236 share the own system abnormality information related to the abnormality of the own system and the other system abnormality information related to the abnormality of the other system. Specifically, the control units 136 and 236 transmit the own system abnormality information that is the abnormality information of the own system to the control units 236 and 136 of the other system, and the other system abnormality information that is the abnormality information of the other system is transmitted to the other system. Obtained from the control units 236 and 136. In the present embodiment, the abnormality information is included in the status signal and shared by communication between microcomputers.
  • the first control unit 136 transmits a master-side status signal including own system abnormality information to the second control unit 236, and acquires a slave-side status signal including other system abnormality information from the second control unit 236.
  • the second control unit 236 transmits a slave-side status signal including own system abnormality information to the first control unit 136 and acquires a master-side status signal including other system abnormality information from the first control unit 136.
  • the control units 136 and 236 can switch between the normal control mode and the abnormal time control mode as the control mode based on the own system abnormality information and the other system abnormality information. In the normal control mode, the control units 136 and 236 are driven in cooperation.
  • the abnormal time control mode includes at least one of an alternative control mode, a single system drive control mode, and an independent drive control mode. The control units 136 and 236 return to the normal control mode when the abnormality is resolved during the alternative control mode, the independent drive control mode, or the single-system drive control mode.
  • the alternative control mode uses alternative information in place of the abnormal signal among the signals used in the normal control mode.
  • driving of some systems is stopped, and control of the motor 80 is continued using the remaining systems.
  • control units 136 and 236 are not coordinated, and the control of the motor 80 is continued for each system. Thereby, control of the motor 80 can be appropriately continued according to the abnormal state.
  • the control units 136 and 236 switch to the independent drive control mode when a communication abnormality between the control units that cannot use the other system abnormality information occurs. Thereby, it is possible to prevent control using incorrect information.
  • Uncontrollable abnormalities are abnormalities in the drive system from the batteries 191 and 291 via the inverter circuits 120 and 220 to the motor windings 180 and 280, abnormalities in the torque sensor 94, current sensors 125 and 225, or rotation angle sensors 126 and 226 Or, it is an abnormality of the control units 136 and 236.
  • the motor 80 can be properly driven using the normal system by switching to the single system drive mode.
  • the control units 136 and 236 switch to the alternative control mode when an abnormality that indirectly affects the driving of the motor 80 occurs. In the present embodiment, this makes it possible to appropriately continue drive control of the motor 80.
  • the control units 136 and 236 have a cooperative drive mode, an independent drive mode, and a single-system drive mode.
  • the motor control device having the cooperative drive mode, the independent drive mode, and the single-system drive mode is considered to correspond to the ECU of the present embodiment.
  • the drive mode is switched according to the abnormal state, but the drive mode may be switched under a transition condition other than the abnormal state.
  • the alternative control mode may be combined with another control mode, for example, the alternative control is performed in one system.
  • the first control unit 136 that is a master control unit calculates a command value related to generation of a control signal, outputs a control signal based on the command value, and the second control unit 236 that is a slave control unit. Outputs a control signal based on the command value calculated by the first control unit 136.
  • the first control unit 136 calculates a command value related to generation of a control signal of the own system, outputs a control signal based on the calculated command value, and the second control unit 236 controls the own system.
  • a command value related to signal generation is calculated, and a control signal based on the calculated command value is output.
  • control units there are two control units, one is a master control unit, and the other is a slave control unit. In other embodiments, there may be three or more control units. That is, the number of systems may be 3 or more. In this case, there is one master control unit and a plurality of slave control units. In the case of three or more systems, the drive of any one system is stopped and the drive is continued in the remaining multiple systems. The drive of the plurality of systems is stopped and the drive is performed in the remaining one system. The case of continuing is also included in the concept of “single system drive”.
  • the master control unit may be replaced such that one of the slave control units is switched to the master control unit and the cooperative control is continued.
  • a plurality of drive circuits and winding sets may be provided for one control unit.
  • control unit controls the driving of the rotating electrical machine by current feedback control.
  • driving of the rotating electrical machine may be controlled by a method other than the current feedback control.
  • master control unit transmits a torque command value, a current command value, a voltage command value, or a value other than the PWM signal as a command value to the slave control unit according to the control method. Also good.
  • the rotating electrical machine is a three-phase brushless motor. In other embodiments, the rotating electrical machine is not limited to a brushless motor, and may be any motor.
  • the rotating electrical machine is not limited to a motor, and may be a generator, or a so-called motor generator having both functions of an electric motor and a generator.
  • the drive device is an electromechanical integrated type in which an ECU and a motor are integrally provided. In another embodiment, the ECU may be a separate electromechanical body provided separately from the motor.
  • the rotating electrical machine control device is applied to an electric power steering device.
  • the rotating electrical machine control device may be applied to devices other than the electric power steering device.
  • this indication is not limited to the said embodiment at all, and can be implemented with a various form in the range which does not deviate from the meaning.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

La présente invention concerne un dispositif de commande d'appareil électrique rotatif (10), qui commande l'entraînement d'un appareil électrique rotatif (80) pourvu de multiples ensembles de bobines (180, 280), et qui comprend de multiples circuits d'entraînement (120, 220) et de multiples unités de commande (131-136, 231-236). Les unités de commande (131-136, 231-236) comprennent une unité de sortie de signal (165, 265) destinée à émettre un signal de commande au circuit d'entraînement (120, 220) correspondant, et peuvent communiquer entre elles. Les unités de commande comprennent en outre une unité de commande maître (131-136) et au moins une unité de commande esclave (231-236). L'unité de commande maître (131-136) calcule une valeur de commande relative à la génération d'un signal de commande dans toutes les unités de commande (131-136, 231-236), et transmet la valeur de commande à l'unité de commande esclave (231-236). L'unité de commande esclave (231-236) émet un signal de commande reposant sur la valeur de commande transmise par l'unité de commande maître (131-136).
PCT/JP2017/040396 2016-11-11 2017-11-09 Dispositif de commande d'appareil électrique rotatif et dispositif de direction assistée électrique faisant appel à un tel dispositif de commande WO2018088465A1 (fr)

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CN201780068832.9A CN110063021B (zh) 2016-11-11 2017-11-09 旋转电机控制装置以及使用了该旋转电机控制装置的电动动力转向装置
US16/405,049 US10862417B2 (en) 2016-11-11 2019-05-07 Rotary electric device control device and electric power steering device

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JP2016220474 2016-11-11
JP2017023443 2017-02-10
JP2017-023443 2017-02-10
JP2017-209905 2017-10-31
JP2017209905A JP7027808B2 (ja) 2016-11-11 2017-10-31 回転電機制御装置、および、これを用いた電動パワーステアリング装置

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EP3892522A1 (fr) 2020-04-08 2021-10-13 Jtekt Corporation Dispositif de commande de moteur
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WO2022219794A1 (fr) 2021-04-16 2022-10-20 三菱電機株式会社 Dispositif de commande de machine tournante et dispositif de direction assistée électrique
WO2022219795A1 (fr) 2021-04-16 2022-10-20 三菱電機株式会社 Dispositif de commande de machine rotative et dispositif de direction assistée électrique
WO2023062907A1 (fr) * 2021-10-12 2023-04-20 日産自動車株式会社 Procédé de commande de direction et dispositif de direction
WO2023112133A1 (fr) 2021-12-14 2023-06-22 三菱電機株式会社 Dispositif de direction assistée électrique
US11750134B2 (en) 2019-09-26 2023-09-05 Mitsubishi Electric Corporation AC rotary machine apparatus

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JP2015126642A (ja) * 2013-12-27 2015-07-06 日立オートモティブシステムズ株式会社 モータ制御装置
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US10538265B2 (en) * 2016-11-11 2020-01-21 Denso Corporation Rotary electric device control device, and electric power steering device using the same
US11750134B2 (en) 2019-09-26 2023-09-05 Mitsubishi Electric Corporation AC rotary machine apparatus
EP3892522A1 (fr) 2020-04-08 2021-10-13 Jtekt Corporation Dispositif de commande de moteur
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WO2022219794A1 (fr) 2021-04-16 2022-10-20 三菱電機株式会社 Dispositif de commande de machine tournante et dispositif de direction assistée électrique
WO2022219795A1 (fr) 2021-04-16 2022-10-20 三菱電機株式会社 Dispositif de commande de machine rotative et dispositif de direction assistée électrique
WO2023062907A1 (fr) * 2021-10-12 2023-04-20 日産自動車株式会社 Procédé de commande de direction et dispositif de direction
WO2023112133A1 (fr) 2021-12-14 2023-06-22 三菱電機株式会社 Dispositif de direction assistée électrique

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