WO2019064830A1 - Dispositif de conversion de puissance, module de moteur et dispositif de direction assistée électrique - Google Patents

Dispositif de conversion de puissance, module de moteur et dispositif de direction assistée électrique Download PDF

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Publication number
WO2019064830A1
WO2019064830A1 PCT/JP2018/026570 JP2018026570W WO2019064830A1 WO 2019064830 A1 WO2019064830 A1 WO 2019064830A1 JP 2018026570 W JP2018026570 W JP 2018026570W WO 2019064830 A1 WO2019064830 A1 WO 2019064830A1
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Prior art keywords
phase
current
switch element
inverter
failure detection
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PCT/JP2018/026570
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English (en)
Japanese (ja)
Inventor
香織 鍋師
貴 小池上
雄飛 中田
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日本電産株式会社
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Priority to CN201890001091.2U priority Critical patent/CN212413082U/zh
Publication of WO2019064830A1 publication Critical patent/WO2019064830A1/fr

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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
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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 power conversion device, a motor module, and an electric power steering device that convert power from a power supply into power to be supplied to an electric motor.
  • Patent Document 1 discloses a power conversion device that includes a control unit and two inverters, and converts power from a power supply into power to be supplied to a three-phase motor.
  • Each of the two inverters is connected to a power supply and a ground (hereinafter referred to as "GND").
  • One inverter is connected to one end of the three-phase winding of the motor, and the other inverter is connected to the other end of the three-phase winding.
  • Each inverter has a bridge circuit composed of three legs, each of which includes a high side switch element and a low side switch element.
  • the control unit switches motor control from normal control to abnormal control when it detects a failure of the switch element in the two inverters. In the normal control, for example, the motor is driven by switching switch elements of two inverters. In the control at the time of abnormality, for example, the motor is driven by the unfailed inverter using the neutral point of the winding in the broken inverter.
  • Patent Document 2 discloses a device for driving a motor having a Y-connected winding by one inverter (hereinafter, referred to as “single inverter type device”). Patent Document 2 discloses that a signal detected in a predetermined energization pattern is collated with a predetermined abnormality type correspondence table to detect a disconnection and a short circuit of a wiring.
  • An embodiment of the present disclosure provides a power converter capable of detecting a failure of a switch element of an inverter in a shorter time, a motor module including the power converter, and an electric power steering apparatus including the motor module.
  • An exemplary power converter of the present disclosure is a power converter that converts power from a power source to power supplied to a motor having n-phase (n is an integer of 3 or more) windings, A first inverter connected to one end of a winding of each phase, the first inverter having n legs each having a low side switching device and a high side switching device; and a winding of each phase of the motor A second inverter connected to the other end, the second inverter having n legs each having a low side switch element and a high side switch element, and an open fault of the switch elements in the first and second inverters And a memory for storing data processed and processed by the failure detection device, wherein the failure detection device is expressed in a dq coordinate system.
  • the d-axis current and zero-phase current are acquired at the reference time of failure detection, and the acquired data of the d-axis current and zero-phase current are written to the memory, and the absolute value of the difference between the acquired d-axis current and zero-phase current And detects an open failure of the switch element in the first and second inverters.
  • a converter, a motor module including the power converter, and an electric power steering apparatus including the motor module are provided.
  • FIG. 1 is a circuit diagram showing a circuit configuration of an inverter unit 100 according to an exemplary embodiment 1.
  • FIG. 2 is a block diagram showing the block configuration of the motor module 2000 according to the exemplary embodiment 1, mainly showing the block configuration of the power conversion device 1000.
  • FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to three-phase energization control. Is a graph.
  • FIG. 4 is a schematic view showing the configuration of the H bridge.
  • FIG. 1 is a circuit diagram showing a circuit configuration of an inverter unit 100 according to an exemplary embodiment 1.
  • FIG. 2 is a block diagram showing the block configuration of the motor module 2000 according to the exemplary embodiment 1, mainly showing the block configuration of the power conversion device 1000.
  • FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in
  • FIG. 5 is a graph illustrating waveforms of simulation results of the three-phase currents Ia, Ib and Ic when the switch element L1 of the A-phase and H-bridge has an open failure.
  • FIG. 6 is a diagram illustrating a table of data groups of three-phase currents recorded in the internal register 341 of the failure detection device 340.
  • FIG. 7 shows a current waveform obtained by plotting current values flowing in the B-phase and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control when the winding M1 is broken. It is a graph which illustrates.
  • FIG. 6 is a diagram illustrating a table of data groups of three-phase currents recorded in the internal register 341 of the failure detection device 340.
  • FIG. 7 shows a current waveform obtained by plotting current values flowing in the B-phase and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control when the
  • FIG. 8 shows a current waveform obtained by plotting current values flowing in the A-phase and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control when the winding M2 is broken. It is a graph which illustrates.
  • FIG. 9 shows a current waveform obtained by plotting the values of currents flowing through the A-phase and B-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control when the winding M3 is broken. It is a graph which illustrates.
  • FIG. 10A is a graph showing waveforms of simulation results of three-phase current, d-axis current, q-axis current, and zero-phase current obtained when an open failure occurs in a switch element on the high side of the A-phase H bridge.
  • FIG. 10B is a graph showing waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current obtained when a switch element on the high side of the A-phase H bridge fails.
  • FIG. 10B is a graph showing waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current obtained when a switch element on the high side of the A-phase H bridge fails.
  • FIG. 10C is a graph showing waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current obtained when an open failure occurs in a switch element on the low side of the A-phase H bridge.
  • FIG. 10D is a graph showing waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current, which are obtained when a switch element on the low side of the A-phase H bridge fails.
  • FIG. 11 is a diagram exemplifying a table of data groups of d-axis current, q-axis current, zero-phase current and q-axis voltage recorded in the internal register 341.
  • FIG. 12 is a schematic view showing a typical configuration of an electric power steering apparatus 3000 according to an exemplary embodiment 3. As shown in FIG.
  • the implementation of the present disclosure will be exemplified taking a power conversion device that converts power from a power supply into power supplied to a three-phase motor having three-phase (A-phase, B-phase, C-phase) windings.
  • the form will be described.
  • a power conversion device that converts power from a power supply to power supplied to an n-phase motor having n-phase (n is an integer of 4 or more) windings such as four-phase or five-phase is also within the scope of the present disclosure. .
  • FIG. 1 schematically shows the circuit configuration of the inverter unit 100 according to the present embodiment.
  • the inverter unit 100 includes a power shutoff circuit 110, a first inverter 120 and a second inverter 130.
  • the inverter unit 100 can convert the power from the power supplies 101A and 101B into the power to be supplied to the motor 200.
  • the first and second inverters 120, 130 can convert DC power into three-phase AC power which is pseudo-sinusoidal waves of A-phase, B-phase and C-phase.
  • the motor 200 is, for example, a three-phase alternating current motor.
  • the motor 200 includes an A-phase winding M1, a B-phase winding M2, and a C-phase winding M3, and is connected to the first inverter 120 and the second inverter 130.
  • the first inverter 120 is connected to one end of the winding of each phase of the motor 200
  • the second inverter 130 is connected to the other end of the winding of each phase.
  • “connection” between components (components) mainly means electrical connection.
  • the first inverter 120 has terminals A_L, B_L and C_L corresponding to the respective phases.
  • the second inverter 130 has terminals A_R, B_R and C_R corresponding to the respective phases.
  • the terminal A_L of the first inverter 120 is connected to one end of the A-phase winding M1
  • the terminal B_L is connected to one end of the B-phase winding M2
  • the terminal C_L is connected to one end of the C-phase winding M3.
  • the terminal A_R of the second inverter 130 is connected to the other end of the A-phase winding M1
  • the terminal B_R is connected to the other end of the B-phase winding M2
  • the terminal C_R is , C phase is connected to the other end of the winding M3.
  • Such motor connections are different from so-called star connections and delta connections.
  • the power supply shutoff circuit 110 has first to fourth switch elements 111, 112, 113 and 114.
  • the first inverter 120 can be electrically connected to the power supply 101A and the GND by the power shutoff circuit 110.
  • the second inverter 130 can be electrically connected to the power supply 101 B and the GND by the power shutoff circuit 110.
  • the first switch element 111 switches connection / non-connection between the first inverter 120 and GND.
  • the second switch element 112 switches connection / non-connection between the power supply 101 and the first inverter 120.
  • the third switch element 113 switches connection / disconnection between the second inverter 130 and GND.
  • the fourth switch element 114 switches connection / disconnection between the power supply 101 and the second inverter 130.
  • the on / off of the first to fourth switch elements 111, 112, 113 and 114 may be controlled by, for example, a microcontroller or a dedicated driver.
  • the first to fourth switch elements 111, 112, 113 and 114 can block bidirectional current.
  • semiconductor switches such as thyristors, analog switch ICs, or field effect transistors (typically MOSFETs) having parasitic diodes formed therein as the first to fourth switch elements 111, 112, 113 and 114, and A mechanical relay or the like can be used.
  • a combination of a diode and an insulated gate bipolar transistor (IGBT) may be used.
  • the first to fourth switch elements 111, 112, 113 and 114 may be described as SWs 111, 112, 113 and 114, respectively.
  • the SW 111 is arranged such that a forward current flows toward the first inverter 120 in an internal parasitic diode.
  • the SW 112 is arranged such that a forward current flows in the parasitic diode toward the power supply 101A.
  • the SW 113 is disposed such that a forward current flows to the second inverter 130 in the parasitic diode.
  • the SW 114 is arranged such that forward current flows in the parasitic diode toward the power supply 101B.
  • the power shutoff circuit 110 preferably further includes fifth and sixth switch elements 115 and 116 for reverse connection protection, as shown.
  • the fifth and sixth switch elements 115, 116 are typically semiconductor switches of a MOSFET having parasitic diodes.
  • the fifth switch element 115 is connected in series to the SW 112, and is disposed such that a forward current flows toward the first inverter 120 in the parasitic diode.
  • the sixth switch element 116 is connected in series to the SW 114, and is disposed such that a forward current flows toward the second inverter 130 in the parasitic diode. Even when the power supplies 101A and 101B are connected in the reverse direction, the reverse current can be cut off by the two switch elements for reverse connection protection.
  • the number of switch elements to be used is not limited to the illustrated example, and is appropriately determined in consideration of design specifications and the like. Particularly in the on-vehicle field, high quality assurance is required from the viewpoint of safety, so it is preferable to provide a plurality of switch elements for each inverter.
  • the power supply may comprise a power supply 101A for the first inverter 120 and a power supply 101B for the second inverter 130.
  • the power supplies 101A and 101B generate a predetermined power supply voltage (for example, 12 V).
  • a power supply for example, a DC power supply is used.
  • the power source may be an AC-DC converter and a DC-DC converter, or may be a battery (storage battery).
  • the power supply 101 may be a single power supply common to the first and second inverters 120 and 130.
  • a coil 102 is provided between the power supplies 101A and 101B and the power shutoff circuit 110.
  • the coil 102 functions as a noise filter, and smoothes high frequency noise included in the voltage waveform supplied to each inverter or high frequency noise generated in each inverter so as not to flow out to the power supply side.
  • a capacitor 103 is connected to the power supply terminal of each inverter.
  • the capacitor 103 is a so-called bypass capacitor, which suppresses voltage ripple.
  • the capacitor 103 is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined depending on design specifications and the like.
  • the first inverter 120 comprises a bridge circuit having three legs. Each leg has a low side switch element and a high side switch element.
  • the A-phase leg has a low side switch element 121L and a high side switch element 121H.
  • the B-phase leg has a low side switch element 122L and a high side switch element 122H.
  • the C-phase leg has a low side switch element 123L and a high side switch element 123H.
  • a switch element FET or IGBT can be used, for example.
  • an example using a MOSFET as a switch element will be described, and the switch element may be described as SW.
  • the switch elements 121L, 122L and 123L are described as SW 121L, 122L and 123L.
  • the first inverter 120 has three shunt resistors 121R, 122R and 123R as a current sensor 150 (see FIG. 3) for detecting the current flowing in the winding of each phase A, B and C.
  • Current sensor 150 includes a current detection circuit (not shown) that detects the current flowing in each shunt resistor.
  • the shunt resistors 121R, 122R and 123R are respectively connected between the three low side switch elements included in the three legs of the first inverter 120 and the GND.
  • shunt resistor 121R is electrically connected between SW121L and SW111
  • shunt resistor 122R is electrically connected between SW122L and SW111
  • shunt resistor 123R is between SW123L and SW111. Electrically connected.
  • the resistance value of the shunt resistor is, for example, about 0.5 m ⁇ to 1.0 m ⁇ .
  • the second inverter 130 includes a bridge circuit having three legs.
  • the A-phase leg has a low side switch element 131L and a high side switch element 131H.
  • the B-phase leg has a low side switch element 132L and a high side switch element 132H.
  • the C-phase leg has a low side switch element 133L and a high side switch element 133H.
  • the second inverter 130 includes three shunt resistors 131R, 132R and 133R. The shunt resistors are connected between the three low side switch elements included in the three legs and GND.
  • the number of shunt resistors is not limited to three for each inverter. For example, it is possible to use two shunt resistors for A phase and B phase, two shunt resistors for B phase and C phase, and two shunt resistors for A phase and C phase.
  • the number of shunt resistors to be used and the arrangement of the shunt resistors are appropriately determined in consideration of product cost, design specifications and the like.
  • the second inverter 130 has substantially the same structure as the structure of the first inverter 120.
  • the inverter on the left side of the drawing is described as a first inverter 120 and the inverter on the right side is described as a second inverter 130 for convenience of description.
  • the first and second inverters 120 and 130 may be used as components of the inverter unit 100 without distinction.
  • FIG. 2 schematically shows the block configuration of the motor module 2000 according to the present embodiment, and mainly shows the block configuration of the power conversion device 1000. As shown in FIG.
  • the motor module 2000 includes a power converter 1000 having an inverter unit 100 and a control circuit 300, and a motor 200.
  • the motor module 2000 may be modularized and manufactured and sold as an electromechanical integrated motor having, for example, a motor, a sensor, a driver and a controller.
  • the power conversion device 1000 other than the motor 200 can be modularized and manufactured and sold.
  • the control circuit 300 includes, for example, a power supply circuit 310, an angle sensor 320, an input circuit 330, a controller 340, a drive circuit 350, and a ROM 360.
  • the control circuit 300 is connected to the inverter unit 100, and drives the motor 200 by controlling the inverter unit 100.
  • control circuit 300 can realize closed loop control by controlling the target position, rotational speed, current and the like of the rotor of the motor 200.
  • Control circuit 300 may include a torque sensor instead of angle sensor 320. In this case, the control circuit 300 can control the target motor torque.
  • the power supply circuit 310 generates DC voltages (for example, 3 V, 5 V) necessary for each block in the circuit.
  • the angle sensor 320 is, for example, a resolver or a Hall IC. Alternatively, the angle sensor 320 is also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet. The angle sensor 320 detects a rotation angle of the rotor (hereinafter referred to as “rotation signal”), and outputs a rotation signal to the controller 340.
  • rotation signal a rotation angle of the rotor
  • Input circuit 330 receives a motor current value (hereinafter referred to as “actual current value”) detected by current sensor 150, and converts the level of the actual current value to the input level of controller 340 as necessary. , And outputs the actual current value to the controller 340.
  • the input circuit 330 is, for example, an analog-to-digital converter.
  • the controller 340 is an integrated circuit that controls the entire power conversion apparatus 1000, and is, for example, a microcontroller or a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • the controller 340 controls the switching operation (turn on or off) of each SW in the first and second inverters 120 and 130 of the inverter unit 100.
  • the controller 340 sets a target current value according to the actual current value, the rotation signal of the rotor, etc. to generate a PWM signal, and outputs it to the drive circuit 350. Further, the controller 340 can control on / off of each SW in the power shutoff circuit 110 of the inverter unit 100.
  • the controller 340 can further detect the presence or absence of a failure of the switch element in the first and second inverters 120, 130. Therefore, when describing the operation of detecting the presence or absence of a failure of the switch element, in the present specification, "controller 340" may be described as “fault detection device 340" as the subject of the operation.
  • the drive circuit 350 is typically a gate driver (or pre-driver).
  • the drive circuit 350 generates a control signal (gate control signal) for controlling the switching operation of the MOSFET of each SW in the first and second inverters 120 and 130 in accordance with the PWM signal, and supplies the control signal to the gate of each SW.
  • the drive circuit 350 can generate a control signal for controlling on / off of each SW in the power shutoff circuit 110 according to an instruction from the controller 340.
  • the gate driver may not be required. In that case, the function of the gate driver may be implemented in the controller 340.
  • the ROM 360 is electrically connected to the controller 340.
  • the ROM 360 is, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read only memory.
  • the ROM 360 stores a control program including an instruction group for causing the controller 340 to control the power conversion apparatus 1000 and an instruction group for executing failure detection of a switch element described later.
  • the control program is temporarily expanded in a RAM (not shown) at boot time.
  • the control circuit 300 turns on all the SWs 111, 112, 113 and 114 of the power shutoff circuit 110. Thereby, the power supply 101A and the first inverter 120 are electrically connected, and the power supply 101B and the second inverter 130 are electrically connected. In addition, the first inverter 120 and GND are electrically connected, and the second inverter 130 and GND are electrically connected. In this connected state, the control circuit 300 drives the motor 200 by energizing the windings M1, M2 and M3 using both the first and second inverters 120, 130.
  • energization of a three-phase winding is referred to as “three-phase energization control”
  • energization of a two-phase winding is referred to as “two-phase energization control”.
  • FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to three-phase energization control. doing.
  • the horizontal axis indicates the motor electrical angle (deg), and the vertical axis indicates the current value (A).
  • current values are plotted every 30 ° of electrical angle.
  • I pk represents the maximum current value (peak current value) of each phase.
  • the control circuit 300 controls the switching operation of each switch element of the first and second inverters 120 and 130 by PWM control that obtains the current waveform shown in FIG. 3.
  • the fault detection device (i.e., the controller) 340 is based on at least one of the three-phase current of the motor 200 and the current / voltage represented in the dq coordinate system (which may also be expressed as dqz rotational coordinate system). The presence or absence of a failure of the switch element in the two inverters 120 and 130 can be detected.
  • the current / voltage in the dq coordinate system is, for example, a zero-phase current, the details of which will be described later.
  • the failure detection device 340 can detect the presence or absence of a failure of the switch element in the first and second inverters 120 and 130 while driving the motor 200 based on, for example, vector control. For example, when the power conversion device 1000 is powered on and motor control starts, the failure detection device 340 starts detecting a failure of the switch element in response to the start. For example, the failure detection device 340 may continue the detection of the failure of the switch element during the period of controlling the motor 200, or performs the detection of the failure of the switch element only during the designated period (for example, periodically). You may
  • the failure of the switch element will be described.
  • the failure of the switch element means the failure of the switch element in the first and second inverters 120 and 130.
  • the failure of the switch element is roughly classified into “open failure” and “short failure”.
  • Open fault refers to a fault in which the source-drain of FET is opened (in other words, resistance rds between source-drain becomes high impedance), and "short fault” is in the source-drain of FET Refers to a short circuit failure.
  • the failure detection device 340 detects a failure of the switch element.
  • the outline of the failure detection of the switch element is as follows.
  • the failure detection device (controller) 340 acquires at least one of the three-phase current of the motor 200 and the current / voltage represented in the dq coordinate system at a predetermined cycle, and acquires data of the acquired current / voltage, for example, in the controller Write to the register 341 (see FIG. 2) of The internal register 341 stores data that the failure detection device 340 performs arithmetic processing.
  • the failure detection device 340 compares the current / voltage data acquired at the failure detection reference time with the past data group including data of a plurality of current / voltages acquired earlier than the reference time. Based on the detection, the presence or absence of a failure of the switch element in the first and second inverters 120 and 130 is detected.
  • the predetermined cycle is determined from the number of points at which current and voltage data are acquired during one cycle and one cycle of the electrical angle of the motor.
  • the predetermined cycle is, for example, 100 ⁇ s.
  • the failure detection device 340 acquires the three-phase current of the motor 200 every predetermined period and writes the current in the internal register 341.
  • the failure detection device 340 compares the data of the three-phase current acquired at the reference time with the data group of a plurality of three-phase currents acquired at a time earlier than the reference time, and the first and second inverters 120. , 130 detects the presence or absence of a failure of the switch element.
  • the failure detection device 340 detects the presence or absence of a failure of the switch element based on the past data group related to the three-phase current recorded in the internal register 341.
  • FIG. 4 schematically shows the H bridge of each phase.
  • the H bridge of each phase includes the switch element H1 on the high side of the first inverter 120, the switch element L1 on the low side, the switch element H2 on the high side of the second inverter 130, the switch element L2 on the low side, and the winding M. Have.
  • the inventor conducted a simulation to verify the behavior of the three-phase currents Ia, Ib and Ic after failure of the switch element of the H bridge. This simulation was performed under the condition that the time when the open failure of the switch element L1 (corresponding to the SW121L in FIG. 1) of the A phase H bridge is 0.01 ms.
  • FIG. 5 exemplifies waveforms of simulation results of the three-phase currents Ia, Ib and Ic when the switch element L1 of the A-phase H bridge has an open failure.
  • the horizontal axis of the upper and lower graphs in FIG. 5 indicates time [s], and the vertical axis indicates current [A].
  • the upper graph illustrates the waveforms of the three-phase currents Ia, Ib and Ic from 0s to 0.02s
  • the lower graph shows the waveforms of the three-phase currents Ia, Ib and Ic in the upper graph.
  • the waveform of the portion from 6 ms to 11 ms is shown enlarged.
  • the waveforms of the three-phase current shown in FIG. 5 are based on data of the three-phase currents Ia, Ib and Ic acquired in a cycle of 0.1 ms.
  • the phase current Ia of the A-phase fluctuates to generate a period in which a peculiar behavior is exhibited. More specifically, when an open failure occurs in the low side or high side switch element of the H bridge, it is possible to observe a period in which the phase current becomes zero and does not change. This is because, for example, the actual current or voltage of phase A can not follow the target current or voltage of PI (Proportional-Integral) control in vector control.
  • PI Proportional-Integral
  • FIG. 6 illustrates a table of data groups of three-phase currents recorded in the internal register 341 of the failure detection device 340.
  • the table of FIG. 6 shows the values of the phase currents Ia and Ib of A-phase and B-phase for 14 points acquired between 9.6 ms and 11 ms in the graph of FIG.
  • the value of the phase current Ic of the C phase is not shown.
  • the fault detection device 340 writes the latest data group of the three-phase current acquired every 0.1 ms during one cycle of the electrical angle of the motor into the internal register 341, and the data group recorded in the internal register 341 Update every cycle of electrical angle.
  • a microcontroller having an internal register with a data width of 8 bits can be used as the failure detection device 340.
  • a dedicated buffer (not shown) can be used instead of the internal register 341. The buffer may have a capacity capable of recording the latest data group of the three-phase current acquired during one cycle of the electrical angle.
  • the failure detection device 340 may write the data group of three-phase current acquired during a part of one period of the electrical angle of the motor as the latest data group in the internal ranger.
  • the predetermined period is determined from the partial period and the number of points for acquiring current / voltage data in the period.
  • the reference time is a time at which the latest data in the latest data group is acquired or calculated.
  • the reference time is the latest time at which the latest data is acquired or calculated in the failure detection of the switch element, and changes with the passage of time.
  • the reference time can be arbitrarily set in the latest data group.
  • the time when certain data in the latest data group is acquired can be used as a reference time, and the data group acquired before the reference time can be treated as a past data group.
  • a past data group including data of a plurality of current and voltage acquired at a time prior to the reference time has point No. It consists of data groups of three-phase currents acquired at a total of 13 points from 0 to 12 (9.6 ms to 10.9 ms).
  • This past data group is included in the above-mentioned latest data group (data group for one period of electrical angle). In other words, the past data group is a part of the latest data group.
  • the failure detection device 340 compares the data of the reference time (point No. 13) with the past (point No. 0 to 12) data group. In the table of FIG. 6, it is observed that the phase current of A phase continues to be zero during a period of 8 points from the reference time to the past 7 points.
  • the failure detection device 340 identifies the failure of the A-phase H bridge when the phase current of A-phase is continuously zero during a predetermined point (for example, 8 points) going back from the reference time.
  • the failure of the H bridge refers to the open failure of at least one of the four switch elements H1, L1, H2 and L2.
  • the failure detection device 340 can determine the failure at the reference time (11 ms) after an open failure occurs in the low-side switch element 121L of the A-phase H bridge. On the other hand, based on the data group of B phase and C phase (not shown) in the past data group, the failure detection device 340 determines that the failure of the B bridge and the C phase H bridge has not occurred. Time is determined.
  • failure detection of the switch element has been performed in response to a trigger notifying that start of the failure detection of the switch element, for example.
  • data necessary for failure detection of the switch element is acquired in response to the trigger, and failure detection of the switch element is performed based on the acquired data. Therefore, much time has been spent on failure detection of the switch element.
  • failure detection of switch elements is performed in parallel during control of the motor, it is desirable to make the detection time as short as possible so as not to affect motor control.
  • failure detection of the switch element is performed based on a past data group acquired at a time prior to the failure detection reference time. Data may not be newly acquired to detect a failure of the switch element. Therefore, it becomes unnecessary to acquire new data, and failure detection of the switch element can be performed in a shorter time. As a result, for example, it becomes possible to quickly switch the motor control from the three-phase energization control to the two-phase energization control described later.
  • the failure detection device 340 can switch the control mode of the motor from normal three-phase current control to abnormal two-phase current control.
  • energization of a three-phase winding is referred to as “three-phase energization control”
  • energization of a two-phase winding is referred to as “two-phase energization control”.
  • the failure detection device 340 when the failure detection device 340 detects a failure in the A-phase H bridge, it performs two-phase energization control of energizing the windings M2 and M3 using the B-phase and C-phase H bridges other than the A phase. it can.
  • the failure detection device 340 detects a failure in the B-phase H bridge, the failure detection device 340 can perform two-phase energization control of energizing the windings M1 and M3 using the A-phase and C-phase H bridges other than the B phase.
  • the failure detection device 340 can perform two-phase energization control of energizing the windings M1 and M2 using the A-phase and B-phase H bridges other than the C phase.
  • FIG. 7 is a current waveform obtained by plotting current values flowing in the B-phase and C-phase windings of motor 200 when power converter 1000 is controlled in accordance with two-phase energization control when A-phase H bridge fails.
  • FIG. 8 is a current waveform obtained by plotting the values of currents flowing through the A-phase and C-phase windings of motor 200 when power converter 1000 is controlled according to two-phase energization control when the B-phase H bridge fails.
  • FIG. 9 is a current waveform obtained by plotting current values flowing through the A-phase and B-phase windings of the motor 200 when the power conversion apparatus 1000 is controlled according to the two-phase energization control when the C-phase H bridge fails. Is illustrated.
  • the horizontal axis indicates the motor electrical angle (deg), and the vertical axis indicates the current value (A).
  • current values are plotted at every electrical angle of 30 °.
  • I pk represents the maximum current value (peak current value) of each phase during energization control of each phase.
  • a configuration in which two inverters as shown in FIG. 1 are respectively connected to one end and the other end of the winding that is, in a circuit configuration provided with an H bridge for each phase
  • currents flowing in the three phase windings are controlled independently. It is possible that zero phase current can flow.
  • the zero phase current is also called z phase current.
  • an axis corresponding to the zero phase is represented as the z axis.
  • the fault detection device 340 can monitor, for example, the zero phase current, and detect a fault of the switch element in the first and second inverters 120 and 130 according to a change in the current.
  • the fault detection device 340 can monitor the current / voltage represented in the dq coordinate system.
  • the current / voltage in the dq coordinate system indicates at least one of d-axis current, q-axis current, zero-phase current, d-axis voltage, q-axis voltage and z-phase voltage.
  • the current / voltage of the dq coordinate system to be monitored preferably includes a zero-phase current. In the present embodiment, an example will be described in which a zero-phase current is mainly used as the current / voltage in the dq coordinate system.
  • the failure detection device (i.e., the controller) 340 acquires the current and voltage represented in the dq coordinate system at predetermined intervals.
  • the predetermined cycle is, for example, 0.1 ms.
  • the failure detection device 340 has, for example, a failure detection unit that performs failure detection.
  • the failure detection unit converts the currents Ia, Ib and Ic into the d-axis current Id, the q-axis current Iq and the zero-phase current Iz in the dqz rotational coordinate system, using a conversion matrix.
  • the controller 340 typically has a control unit that performs vector control.
  • the fault detection unit can also receive necessary data of the d-axis current, q-axis current, zero-phase current, d-axis voltage, q-axis voltage and z-phase voltage from the control unit.
  • the fault detection device 340 acquires at least one of these currents and voltages in the dq coordinate system.
  • the inventor conducted a simulation to verify the behavior of the three-phase currents Ia, Ib, Ic, d-axis current, q-axis current and zero-phase current after a failure occurs in the switch element of the H bridge. This simulation was performed under the condition that the time when the switch element H1 or L1 (corresponding to the SW 121H or 121L in FIG. 1) of the A-phase H bridge is open or shorted is 0.015 s.
  • FIG. 10A shows waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current obtained when an open failure occurs in a switch element on the high side of an A-phase H bridge.
  • FIG. 10B shows waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current, which are obtained when the switch element on the high side of the A-phase H bridge fails.
  • FIG. 10C shows waveforms of simulation results of three-phase current, d-axis current, q-axis current, and zero-phase current obtained when an open failure occurs in a switch element on the low side of the A-phase H bridge.
  • FIG. 10D shows waveforms of simulation results of a three-phase current, a d-axis current, a q-axis current, and a zero-phase current, which are obtained when the switch element on the low side of the A-phase H bridge fails.
  • the horizontal axis of the graph indicates time (s), and the vertical axis indicates current (A).
  • d-axis voltage and the q-axis voltage in the dq coordinate system are calculated based on the abc phase voltage.
  • the failure detection device 340 acquires, for example, d-axis current, q-axis current, zero-phase current and q-axis voltage in the dq coordinate system based on the three-phase current, and writes the acquired data to the internal register 341.
  • the failure detection device 340 detects a failure of the switch element in the first and second inverters 120 and 130 based on the comparison result between the data acquired at the reference time and a plurality of data groups acquired at a time earlier than the reference time. To detect the presence or absence of
  • FIG. 11 illustrates a table of data groups of d-axis current, q-axis current, zero-phase current, and q-axis voltage, which are recorded in the internal register 341.
  • the table shows data of 5 points in the latest data group acquired.
  • the failure detection device 340 refers to the table to monitor the current / voltage fluctuation of the dq coordinate system, for example, monitors the fluctuation of the zero phase current.
  • the failure detection device 340 detects a failure of the switch element in the first and second inverters 120 and 130 when the point value at the reference time deviates from the value of the past data group.
  • the failure detection device 340 determines that the Iz value “20” of the reference time is a past data group acquired earlier than the reference time: point T, T + 1, T + 2 It is determined that the values are out of the Iz values “6.8”, “5”, and “7” in For this determination, for example, a threshold value stored in advance in the ROM 360 can be used. If the difference between the Iz value at the reference time and each Iz value included in the past data group is equal to or less than the threshold value, the failure detection device 340 does not detect a failure of the switch element. On the other hand, when the difference is larger than the threshold, the failure detection device 340 can determine that at least one switch element in the first and second inverters 120 and 130 is open failure or short failure.
  • the failure detection device 340 does not detect a switch element failure when the reference time is at point T + 2, shifts the reference time to point T + 3 for the first time It can be decided.
  • the failure detection device 340 can detect the failure of the switch element by monitoring the variation of the current / voltage of the dq coordinate system which is the DC component.
  • the failure detection unit of the controller 340 may generate, for example, a motor control shutdown signal and output it to the control unit when it detects a short failure or an open failure of the switch element.
  • the control unit may shut down the three-phase conduction control in response to the signal.
  • the control mode can be switched from the assist mode of torque to the manual steering mode.
  • EPS electric power steering
  • the comparison between the data acquired at the reference time and the plurality of data groups acquired at the time before the reference time is more It becomes easy to do. Therefore, for example, an advantage such as circuit scale reduction or memory size reduction can be obtained in the implementation on a microcontroller. Furthermore, by performing failure detection based on the past data group, failure detection can be performed in a shorter time.
  • the failure detection apparatus 340 analyzes open-circuit failure of switch elements in the first and second inverters 120 and 130 by analyzing fluctuations in the three-phase current in response to fluctuations in the current / voltage in the dq coordinate system. It detects based on the analysis result of the fluctuation of three phase current. More specifically, the failure detection device 340 can identify the H bridge of the phase including the open failure switch element among the three phase H bridges based on the analysis result of the fluctuation of the three phase current.
  • the inverter unit, the control circuit, and the power conversion device according to the present embodiment have, for example, the structures shown in FIGS. Hereinafter, differences from the first embodiment will be mainly described.
  • the failure detection device 340 analyzes the open failure of the switch element in the first and second inverters 120 and 130 by analyzing the fluctuation of the three-phase current in response to the fluctuation of the zero-phase current or the d-axis current, for example. Detect based on
  • the failure detection device 340 acquires the three-phase current, the d-axis current and the zero phase current, for example, every 0.1 ms, and writes the acquired data to the internal register 341. For example, the failure detection device 340 compares the data of the zero-phase current acquired at the reference detection time of failure detection with the past data group including data of a plurality of zero-phase currents acquired at a time before the reference time. The fluctuation of the zero phase current is detected based on The failure detection device 340 can detect the fluctuation of the zero-phase current using, for example, the detection method described with reference to FIG.
  • the failure detection device 340 compares the data of d-axis current acquired at the reference detection time of failure detection with the past data group including data of a plurality of d-axis currents acquired at a time before the reference time. Based on the above, the variation of the d-axis current may be detected instead of the zero phase current.
  • the failure detection device 340 can detect the fluctuation of the d-axis current using, for example, the same detection method as the zero-phase current described with reference to FIG.
  • the failure detection device 340 when detecting a fluctuation of the zero phase current or the d-axis current in the dq coordinate system, the failure detection device 340 starts analysis of the fluctuation of the three phase current in response to the fluctuation.
  • the failure detection device 340 may use, for example, the data of the three-phase current acquired at the reference time and a plurality of three-phases acquired at the time before the reference time using the detection method described with reference to FIGS.
  • the fluctuation of the three-phase current can be analyzed based on the past data group including the current data.
  • the failure detection device 340 causes an open failure of a one-phase switch element including the data group of the phase current among the three phases.
  • the phase current Ia of Iabc shown in FIG. 10A or FIG. 10C includes a period in which the phase current becomes zero and does not change.
  • the failure detection device 340 can identify an A-phase H bridge including an open-failed switch element among the three-phase H bridge based on the analysis result of the fluctuation of the three-phase current.
  • the failure detection device 340 when the failure detection device 340 specifies the failed A-phase H bridge, it is possible to perform two-phase energization control of energizing the windings M2 and M3 using the B-phase and C-phase H bridges other than the H bridge. It is. Thus, if a phase H bridge fails, the failure detection device 340 can identify that H bridge and continue energizing the winding using the remaining H bridges other than the failed H bridge. It becomes possible.
  • the present embodiment by analyzing the fluctuation of the three-phase current in response to the fluctuation of the signal in the dq coordinate system, it is possible to identify the H bridge including the open failure switch element. Since it is only necessary to analyze the three-phase current only when the signal in the dq coordinate system, which is a DC component, fluctuates, it is not necessary to analyze the three-phase current all the time; . Furthermore, the time to failure determination can be shortened.
  • FIG. 12 schematically shows a typical configuration of the electric power steering apparatus 3000 according to the present embodiment.
  • Vehicles such as automobiles generally have an electric power steering device.
  • the electric power steering apparatus 3000 according to the present embodiment has a steering system 520 and an auxiliary torque mechanism 540 that generates an auxiliary torque.
  • Electric power steering apparatus 3000 generates an assist torque that assists the steering torque of the steering system generated by the driver operating the steering wheel.
  • the assist torque reduces the burden on the driver's operation.
  • the steering system 520 includes, for example, a steering handle 521, a steering shaft 522, free shaft joints 523A and 523B, a rotating shaft 524, a rack and pinion mechanism 525, rack shafts 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckles 528A, 528B, and left and right steering wheels 529A, 529B.
  • the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an electronic control unit (ECU) 542 for a car, a motor 543, and a reduction mechanism 544.
  • the steering torque sensor 541 detects a steering torque in the steering system 520.
  • the ECU 542 generates a drive signal based on a detection signal of the steering torque sensor 541.
  • the motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal.
  • the motor 543 transmits the generated assist torque to the steering system 520 via the reduction mechanism 544.
  • the ECU 542 includes, for example, the controller 340 and the drive circuit 350 according to Embodiment 1 or 2.
  • an electronic control system is built around an ECU.
  • a motor drive unit is constructed by the ECU 542, the motor 543 and the inverter 545.
  • the motor module 2000 according to the first embodiment can be suitably used for the unit.
  • Embodiments of the present disclosure can be widely used in a variety of devices equipped with various motors, such as vacuum cleaners, dryers, ceiling fans, washing machines, refrigerators, and electric power steering devices.
  • inverter unit 110 power shutoff circuit 120: first inverter 130: second inverter 150: current sensor 200: motor 300: control circuit 310: power supply circuit 320: angle sensor 330: input circuit 340: controller 350: drive circuit 360 : ROM 1000: Power converter 2000: Motor module 3000: Electric power steering device

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

Abstract

L'invention concerne un dispositif de conversion de puissance permettant de détecter une anomalie dans un élément de commutation d'un onduleur, en un temps réduit. Le dispositif de conversion de puissance (1000) selon l'invention comprend un premier onduleur (120), un deuxième onduleur (130) et un dispositif de détection d'anomalie (340) destiné à détecter une anomalie d'ouverture d'un élément de commutation dans le premier ou le deuxième onduleur. Le dispositif de détection d'anomalie acquiert un courant de phase zéro et un courant d'axe d exprimé dans un système de coordonnées d-q à un moment de référence de détection d'anomalie, des données pour le courant d'axe d acquis et le courant de phase zéro sont inscrites dans une mémoire, et une anomalie d'ouverture dans un élément de commutation dans le premier ou le deuxième onduleur est détectée en fonction de la valeur absolue de la différence entre le courant d'axe d acquis et le courant de phase zéro.
PCT/JP2018/026570 2017-09-29 2018-07-13 Dispositif de conversion de puissance, module de moteur et dispositif de direction assistée électrique WO2019064830A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0614558A (ja) * 1992-06-25 1994-01-21 Mitsubishi Electric Corp インバータ装置
JP2011188653A (ja) * 2010-03-09 2011-09-22 Mitsubishi Electric Corp モータ駆動装置
WO2017150640A1 (fr) * 2016-03-04 2017-09-08 日本電産株式会社 Dispositif de conversion d'énergie, unité d'entraînement de moteur et dispositif d'orientation de puissance électrique

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0614558A (ja) * 1992-06-25 1994-01-21 Mitsubishi Electric Corp インバータ装置
JP2011188653A (ja) * 2010-03-09 2011-09-22 Mitsubishi Electric Corp モータ駆動装置
WO2017150640A1 (fr) * 2016-03-04 2017-09-08 日本電産株式会社 Dispositif de conversion d'énergie, unité d'entraînement de moteur et dispositif d'orientation de puissance électrique

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