WO2019065545A1 - Dispositif de commande d'excitation de moteur, dispositif d'excitation de moteur et véhicule électrique comprenant ledit dispositif d'excitation de moteur - Google Patents

Dispositif de commande d'excitation de moteur, dispositif d'excitation de moteur et véhicule électrique comprenant ledit dispositif d'excitation de moteur Download PDF

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Publication number
WO2019065545A1
WO2019065545A1 PCT/JP2018/035229 JP2018035229W WO2019065545A1 WO 2019065545 A1 WO2019065545 A1 WO 2019065545A1 JP 2018035229 W JP2018035229 W JP 2018035229W WO 2019065545 A1 WO2019065545 A1 WO 2019065545A1
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Prior art keywords
current
motor drive
phase
current sensor
motor
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PCT/JP2018/035229
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English (en)
Japanese (ja)
Inventor
剛志 神田
明良 西川
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Ntn株式会社
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Priority claimed from JP2017184595A external-priority patent/JP2019062623A/ja
Priority claimed from JP2018026140A external-priority patent/JP2019146304A/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2019065545A1 publication Critical patent/WO2019065545A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present invention relates to a motor drive control device, and relates to a technology capable of reducing the number of parts, cost and weight.
  • the present invention also relates to a motor drive device and an electric vehicle equipped with the motor drive device, and more particularly to a technology for improving control performance while providing redundancy for an abnormality of a current sensor provided in the motor drive device.
  • Patent Document 1 proposes a technique for determining an abnormality when the sum of three-phase current detection values deviates from a predetermined range.
  • the three-phase alternating current motor currently used as a drive source in many electric vehicles can exhibit the performance by sending an optimal current according to a motor angle. Therefore, current feedback control is often performed by detecting the amount of current with a current sensor attached to a three-phase power line.
  • a method is often used in which current sensors are attached to two phases and the remaining one phase is obtained by calculation based on the principle that the current flowing through the three-phase power line of the three-phase AC motor becomes zero when summed.
  • the merits are for size and weight reduction by cost reduction, cost reduction, and simplification of control by reducing the number of parts.
  • Simplification of control means calculating the target value of the current when the calculation based on the actual measurement of the three-phase current does not mean that the total of the three-phase current becomes zero due to the error or noise of the current sensor
  • the model equation of vector control operation is It is the point which can be applied as it is.
  • noise mainly refers to noise that is superimposed on the output of the current sensor due to switching noise when performing current control.
  • the control device when noise is superimposed on the output of the current sensor, for example, the control device undesirably performs current control to induce undesirable torque fluctuation, and this is observed as vibration or noise, so that this effect can be reduced It is a constant issue.
  • Patent Document 1 gives an example in which two sets of three-phase energizing circuits are provided, in which case six current sensors are required.
  • Patent Document 1 exemplifies a motor provided with two energizing circuits (three-phase coils) in one motor, six currents can be used even when two motors provided with a pair of energizing circuits are used.
  • a sensor is required.
  • Using as many as six current sensors is disadvantageous in terms of cost, space and weight.
  • non-contact type current sensors such as Hall type, CT type, Rogowski coil type are often used for reasons of loss and safety. This is disadvantageous in cost, space and weight.
  • An object of the present invention is to provide a motor drive control device capable of reducing the number of parts, cost and space and weight.
  • Patent Document 3 proposes a configuration adopting a process capable of specifying which current sensor is abnormal from current values obtained by attaching current sensors to all three phases. ing.
  • Patent Document 4 the purpose of detecting an abnormality is common, but providing another phase of the current sensor in addition to the two-phase current sensor necessary for control for the abnormality detection is a space and From the viewpoint of being disadvantageous in terms of cost, a method has been proposed in which a current of a specific pattern for detecting an abnormality is supplied to detect an abnormality of the current sensor.
  • Patent Document 3 an abnormal current sensor is identified, and it is emphasized to prevent a decrease in traveling performance with a normal current sensor that remains even in the case of a single phase abnormality.
  • Patent Document 4 is proposed for the purpose of space reduction and cost reduction by eliminating the current sensor for one phase used only at the time of abnormality detection, which is unnecessary at normal times.
  • the number of current sensors installed above the minimum required number is used only for anomaly detection and anomaly substitution, and it is used for anomaly detection and anomaly substitution. There is room to contribute to the improvement of control performance.
  • Another object of the present invention is to provide a motor drive device capable of improving noise resistance performance and improving control performance while achieving redundancy of a control system, and an electric vehicle provided with this motor drive device. It is.
  • a motor drive control device 22 is a system of U-phase, V-phase and W-phase three-phase electrodes in one three-phase motor or a plurality of three-phase motors
  • a motor drive control device for controlling a plurality of motor equipments MS provided across the motor The motor drive control unit 19 is provided with current sensors for detecting the currents flowing through the U-phase, V-phase and W-phase of the respective systems in all phases, and individually controlling the respective systems by the currents detected by these current sensors.
  • One of the current sensors for detecting the current flowing through the U phase, the V phase and the W phase of each system is a common current sensor for detecting the current of each phase in two systems, and this common Is a non-contact current sensor.
  • the motor drive control unit 19 individually controls each system by means of a current sensor that detects the current flowing through each individual phase of each system.
  • one current sensor is a common current sensor that detects the current of one phase in each of two systems
  • the common current sensor is a non-contact current sensor.
  • the remaining phase current sensors are current sensors that are individually detected.
  • the motor installation MS includes two systems of three-phase electrodes
  • separate current sensors are used for any two phases of U-phase, V-phase and W-phase of each system, and the remaining phase of the two systems is used. Pass the non-contact current sensor common to (in phase).
  • the motor drive control unit 19 can individually control each system using an individual current sensor of each system.
  • the current sensor is commonly used in two systems, the sum of the three phases can not simply be obtained, and therefore the sum of the currents is calculated including another system using the commonly used current sensor.
  • the normal abnormality of the current sensor can be determined.
  • the current of one phase in the two systems is passed through a common non-contact current sensor, thereby reducing the number of component current sensors, reducing cost, space and weight.
  • the current detection unit 23 may be provided to calculate the current flowing through the system of In this case, the motor drive control unit 19 can individually control each system finely using the current calculated by the current detection unit 23.
  • the term "to be zero” includes a “range around zero” in which the detection error of the current sensor is taken into consideration. The following "being zero” also includes “a range near zero” in consideration of the detection error of the current sensor. The “near-zero range” is set, for example, from a test or simulation.
  • the common current sensor and the current sensors of the remaining phases are determined to be normal, and When the sum does not become zero, the common current sensor and the remaining phase current sensor may have an abnormality detection unit 24 that determines that one or both of the current sensors are abnormal.
  • the motor drive control unit 19 can control each system individually based on the determination result by the abnormality detection unit 24.
  • the motor drive control unit 19 may control the respective systems individually using only the current detected by the current sensor of the remaining phase. In this case, the control system can be simplified and the processing load can be reduced.
  • the motor drive control unit 19 stops the energizing circuit 16 connected to all the systems for driving the motor 6, and the abnormality is detected.
  • the detection unit 24 may detect the current with each current sensor and determine that the current sensor whose current does not become zero is abnormal. In this case, it is possible to easily determine an abnormal current sensor by temporarily stopping the energizing circuits 16 connected to all the systems.
  • the motor drive control unit 19 stops the conduction circuit 16 connected to one system, and the common current sensor performs one phase
  • the abnormality detection unit 24 determines whether or not the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases becomes zero with respect to the system in which the current flows.
  • the current sensor which becomes In this case it is possible to determine the abnormal current sensor without completely stopping the driving of the motor 6 while maintaining the system in which the current flows.
  • the abnormality detection unit 24 detects the current detected by the current sensor of the remaining phase for the stopped system.
  • the current sensor which becomes abnormal may be determined depending on whether it becomes zero or not. Also in this case, it is possible to determine the abnormal current sensor without completely stopping the driving of the motor 6.
  • the motor drive control unit 19 stops the energizing circuit 16 connected to one system, and the abnormality detection unit 24 causes a current to flow.
  • the system when there is a system in which the sum of the currents respectively detected by the common current sensor and the current sensors of the remaining phases is zero, it may be determined that the common current sensor is normal.
  • the rotational speed detection means 26 for detecting the rotational speed of the motor 6 is provided, and the abnormality detection unit 24 calculates a back electromotive voltage according to a condition determined from the rotational speed detected by the rotational speed detection means 26.
  • Abnormality detection may be performed when the back electromotive force does not exceed the power supply voltage.
  • the predetermined condition is a condition arbitrarily determined by design or the like, and is determined by, for example, finding an appropriate condition by either or both of a test and a simulation.
  • the "rotational speed" is a rotational speed per unit time, and is synonymous with "rotational speed". According to this configuration, the abnormality detection of the current sensor can be performed with high accuracy by performing the abnormality detection when the calculated back electromotive force does not exceed the power supply voltage.
  • the motor equipment MS includes two or more motors 6 and the motor drive control unit 19 stops the energizing circuit 16 connected to the system of a part of the motors 6 among the plurality of motors 6, the motor is energized.
  • the command torque of the motor 6 in which the energizing circuit 16 is stopped may be increased with respect to the command torque of the motor 6 in which the circuit 16 is not stopped.
  • a desired motor torque can be maintained by thus increasing the command torque of the stopped motor 6.
  • the motor drive control unit 19 individually detects another phase of the one system. From the sum of individual current sensors that detect the current of another system phase and a common current sensor to the common current sensor of the energizing circuit 16 connected to the one system The current of may be calculated to perform current control. In this case, even if it is determined that the current sensor that detects the current of one phase of any one system is abnormal, the current control can be performed by the remaining current sensors.
  • a motor drive device is a motor drive device 106 for driving a three-phase AC motor 104 serving as a drive source for traveling an electric vehicle, comprising: a current drive circuit 108; A current sensor S for detecting the current flowing to the circuit 104, and a control device 109 for providing a drive signal of the current to the current drive circuit 108 based on the given torque command and the current detected by the current sensor S; As the current sensor S, a pair of current sensors capable of detecting the magnitude and the direction of the current are provided in directions facing each other and in any two phases in three phases, respectively.
  • the control device 109 superimposes the difference between the currents respectively detected by the pair of current sensors for each phase in the two phases including the pair of current sensors, and superimposes them on the output of the pair of current sensors And differential operation means 116 for performing current control using each of the obtained current values.
  • controller 109 provides a current drive signal to current drive circuit 108 based on the torque command and the current detected by current sensor S. For example, when all the current sensors are normal, among the current values received by the differential operation means 116, the output of the current sensor as a pair attached in two phases is adopted.
  • the differential operation means 116 takes, for example, the difference between the two outputs of the current sensors facing each other, applies a gain so as to make the magnification a factor of 1 if necessary, and uses it as the current value used for current control.
  • the differential operation means 116 takes the difference between the currents respectively detected by the pair of current sensors, cancels out the common phase noise superimposed on the output of the pair of current sensors, and obtains the obtained current value Each is used to perform current control. Thereby, an effect similar to that of a so-called operation amplification circuit is expected, and removal of in-phase noise can be expected. Therefore, by preventing undesired current control, undesired torque fluctuation can be suppressed, and improvement in control performance can be expected.
  • the control device 109 has an abnormality detection means 114 which takes in the output of the current sensor as the pair, determines whether the obtained current value satisfies a predetermined conditional expression, and detects an abnormality of the current sensor. It may be The “determining whether the obtained current value satisfies a predetermined conditional expression” is, for example, comparing the sum of the obtained current values with a threshold value.
  • the threshold is a threshold arbitrarily determined by design or the like, and is determined by finding an appropriate threshold by, for example, one or both of a test and a simulation.
  • the absolute values of the obtained current values will match if both of the current sensors that are mounted opposite to each other are normal, but if either one of the current sensors has an abnormality, the result is different It is possible to detect an abnormality in the current sensor on the basis of the occurrence of
  • the abnormality detection unit 114 determines that one of the current sensors of the pair is abnormal. You may diagnose that there is.
  • the threshold is a threshold arbitrarily determined by design or the like, and is determined by finding an appropriate threshold by, for example, one or both of a test and a simulation. In this case, when the outputs of the oppositely attached current sensors are added, if the paired current sensors are both normal, the result of the addition is approximately zero or a constant, and the abnormality of the current sensors is diagnosed be able to.
  • the control device 109 When the abnormality detection means 114 determines that one of the current sensors in the pair is abnormal, the control device 109 causes a current to flow as an abnormal point diagnosis current only in the phase provided with the current sensor.
  • the current drive circuit 108 may be operated, and the abnormal point diagnosis unit 115 may be provided to identify the abnormal current sensor by detecting the abnormal point diagnosis current with the current sensor.
  • the current sensor S includes the pair of current sensors provided in the two phases, and a current sensor detecting a current flowing in the remaining one phase of the three phases,
  • the control device 109 sums the outputs of the current sensors respectively provided for the three phases, one by one from each phase, and when the sum exceeds a threshold without becoming zero, any current It is also possible to have an abnormal point diagnosis means 115 for identifying a current sensor that is abnormal by judging that the sensor is abnormal and changing the combination for obtaining the sum.
  • the threshold is a threshold arbitrarily determined by design or the like, and is determined by finding an appropriate threshold by, for example, one or both of a test and a simulation.
  • the control device 109 When the abnormal point diagnostic means 115 identifies the abnormal current sensor, the control device 109 does not use the output current value of the abnormal current sensor, and uses the output current value of the remaining current sensors. Control may be performed. In this case, even if an abnormality occurs in any of the current sensors, control performance can be improved and redundancy can be secured.
  • the electric vehicle of the present invention is provided with the motor drive device 106 described in any of the above-mentioned in the present invention.
  • the above-described effects can be obtained for the motor drive device 106 of the present invention.
  • the drivability of the electric vehicle can be improved.
  • FIG. 14 is a block diagram of a control system of a motor drive control device according to still another modification of this embodiment. It is a block diagram of the conceptual structure which shows the electric vehicle provided with the motor drive unit based on 2nd Embodiment of this invention by a top view. It is a block diagram which shows schematic structure of the motor drive device.
  • FIG. 1 is a block diagram of a conceptual configuration showing a plan view of an electric vehicle equipped with a motor drive control device according to this embodiment.
  • This electric vehicle is a four-wheeled vehicle in which the wheels 2 serving as the left and right rear wheels of the vehicle body 1 are drive wheels and the wheels 3 serving as the left and right front wheels are driven wheels.
  • the front wheel 3 is a steered wheel.
  • the left and right wheels 2, 2 serving as drive wheels are driven by independent traveling motors 6, respectively.
  • Each motor 6 constitutes an in-wheel motor drive device IWM described later.
  • Each wheel 2 and 3 is provided with a brake.
  • the wheels 3 which are steered wheels serving as the left and right front wheels are steerable via a steering mechanism (not shown), and are steered by the steering means 15 such as a steering wheel.
  • the left and right in-wheel motor drive devices IWM which are motor equipment respectively have a motor 6, a reduction gear 7 and a bearing 4 for a wheel, and a part or all of these are disposed in the wheel Ru.
  • the rotation of the motor 6 is transmitted to the wheel 2 which is a driving wheel via the reduction gear 7 and the wheel bearing 4.
  • the brake rotor 5 constituting the brake is fixed to the flange portion of the hub wheel 4 a of the wheel bearing 4, and the brake rotor 5 rotates integrally with the wheel 2.
  • the motor 6 is a three-phase motor, and is, for example, an embedded magnet synchronous motor in which a permanent magnet is built in the core portion of the rotor 6a.
  • the motor 6 is a motor in which a radial gap is provided between a stator 6 b fixed to the housing 8 and a rotor 6 a attached to the rotation output shaft 9.
  • FIG. 3 is a block diagram of a control system of the motor drive control device 22.
  • the motor drive control device 22 controls a motor installation MS including a plurality of (two in this example) three-phase motors 6 of a system of U-phase, V-phase, and W-phase three-phase electrodes.
  • the motor drive control device 22 has an ECU 14 that is an electronic control unit that controls the entire vehicle, and an inverter device 13 that controls the left and right motors 6 for traveling in accordance with an instruction from the ECU 14.
  • the ECU 14 is also referred to as a VCU (Vehicle Control Unit).
  • the inverter device 13 has power circuit units 16 and 16 provided for the respective motors 6, and a motor control unit 17 that controls the power circuit units 16.
  • the motor control unit 17 includes motor drive control units 19 and 19 corresponding to the respective motors 6, a current detection unit 23, and an abnormality detection unit 24.
  • the motor control unit 17 has a function of outputting each information such as each detection value and control value regarding the in-wheel motor drive device IWM which the motor control unit 17 has to the ECU 14.
  • the power circuit unit 16 includes an inverter 16a that converts DC power of the battery 18 into three-phase AC power used to drive the motor 6, and a gate drive circuit 16b that drives the inverter 16a.
  • the inverter 16 a is composed of U-phase, V-phase and W-phase semiconductor switching elements 25.
  • the gate drive circuit 16b drives each of the semiconductor switching elements 25 based on the input on / off command.
  • the motor control unit 17 is configured by a computer, a program executed by the computer, and an electronic circuit, and includes motor drive control units 19 and 19 as a control unit that is a basis of the computer. Each motor drive control unit 19 controls each system individually.
  • the ECU 14 generates an acceleration command, a deceleration command, and a steering unit from the signal (acceleration command) of the accelerator opening output from the accelerator operation unit 20 (FIG. 1) and the deceleration command output from the brake operation unit 21 (FIG. 1).
  • An acceleration / deceleration command to be given to the motors 6, 6 of the left and right rear wheels 2, 2 (FIG. 1) is generated as a torque command from the turning command output from the step 15 (FIG. 1), and output to the inverter device 13.
  • Each motor drive control unit 19 converts an acceleration / deceleration command into a current command in accordance with an acceleration / deceleration command according to a torque command or the like (command value) given from the ECU 14 which is a higher order control means.
  • the motor drive control unit 19 obtains the current flowing from the inverter 16a to the motor 6 from the current sensors U1, V1, W, U2, V2, and performs current feedback control to make the detected current follow the command value.
  • the command voltage is calculated by feedback control, and the command voltage is made a pulse width modulation signal to give an on / off command to the gate drive circuit 16b.
  • the current sensor detects the current flowing through each of the U phase, V phase, and W phase of each system.
  • one (in this example, W-phase) current sensors W is commonly used to detect the current of each one phase (in-phase) in the two systems. It is a non-contact current sensor.
  • the current sensor W is also referred to as a current sensor W1 / W2.
  • the remaining two (in this example, U-phase and V-phase) current sensors U1, V1, U2, and V2 are four non-contact current sensors that individually detect one system. A total of five current sensors are provided.
  • non-contact current sensors are applied to the common current sensor W and the individual current sensors U1, V1, W, U2, and V2.
  • a non-contact current sensor for example, a non-contact current sensor such as a Hall sensor, a CT sensor, or a Rogowski coil sensor is applied.
  • individual current sensors may also be used as contact current sensors provided with a shunt resistor or the like. Good.
  • the common current sensor must be a non-contact current sensor in order to collectively detect the currents flowing through the plurality of conductors (phases) to be measured.
  • the current detection unit 23 uses the fact that the sum of three-phase currents is zero from the currents detected by the common (commonized) current sensor W and the individual current sensors U1, V1, U2, and V2, respectively.
  • the current flowing to the system to be controlled is calculated. Specifically, the current flowing to the system to be controlled can be calculated from the following formula.
  • iu1, iv1 in the first motor 61 of the system
  • the detection value of the U-phase, separate current sensor V-phase U1, V1, iu2, iv2: in the second motor 6 2 strains, U-phase, Detection values of the individual V-phase current sensors U2 and V2, iw: detection values of the common current sensor W.
  • the abnormality detection unit 24 detects the common current sensor W and the individual current sensors U1, V1, U1. When it is determined that U2 and V2 are normal and the sum of the currents does not become zero, it is determined that one or both of the common current sensor W and the individual current sensors U1, V1, U2, and V2 are abnormal.
  • each motor drive control unit 19 only detects the current detected by the individual current sensors U1, V1, U2, and V2. It may be used to control each system individually. In this case, the control system can be simplified to reduce the computational processing load.
  • abnormalities in the current sensor for example, an abnormality in which the output is stuck or shorted on the Hi side, an abnormality in which the output is stuck or shorted on the Lo side, an offset abnormality in which the output is not 0A when deenergized,
  • anomaly detection is performed using the fact that the sum of three-phase currents is zero.
  • the common current sensor W when the common current sensor W is used in a plurality of systems, the sum of the three phases can not simply be obtained, so the energizing circuit of another system using the common current sensor W It is necessary to find the sum including it. Also, since you want to determine possible abnormal current sensor, for example, another for and detect the individual sensor output all of the motor 6 1, 6 2 outputs once stopped, using common current sensor W Stop the output of the power supply circuit of the system of and perform abnormality detection. Examples of the abnormality detection in driving of the motor 6 1 or 6 2 illustrates a flow chart in FIGS. 4 to 6.
  • FIG. 4 is a flowchart showing a method of detecting an abnormality in the motor drive control device.
  • 5 and 6 are flowcharts showing a part of the flowchart. The following description will be given with reference to FIG. 3 as appropriate.
  • All motor 6 1, 6 2 starts the process during operation, the abnormality detection unit 24, the sum of five pieces all current sensors U1, V1, W, U2, V2 determines whether 0A ( Step a1). When the sum of current sensors U1, V1, W, U2, V2 is 0 A (step a1: Yes), abnormality detection unit 24 determines that all current sensors U1, V1, W, U2, V2 are normal, and The motor drive control unit 19 controls the motor based on the determination result (step a2), and ends the present process.
  • step a1: No the abnormality detection unit 24 determines that any one of the current sensors is abnormal, and each motor drive control unit 19 , power circuit connected to all the system for driving the second motor 6 and 62 (the current supply circuit) 16 is stopped, stop all motor output (step a3).
  • the abnormality detection unit 24 detects current by each current sensor and determines whether each sensor output is 0 A (step a4).
  • the abnormality detection unit 24 determines that the current sensor does not become 0 A (step a4: No) and the current sensor is abnormal (step a5). Thereafter, the process proceeds to step a2.
  • the control continuation method at the time of abnormality of the current sensor in step a2 will be described later.
  • Step a4 When the sensor outputs of all of the current sensor is determined to be 0A (Step a4: Yes), the motor drive control unit 19, a state in which a current flows only in the first motor 6 1 lineage (step a6), abnormality detection unit 24, the first motor 61 of the system in which current flows, it is determined whether the sum of the current detected respectively by a common current sensors W and individual current sensors U1, V1 becomes 0A ( Step a7).
  • step a7: Yes the motor drive control unit 19, a state in which a current flows only in the second motor 6 2 strains (step a8), the abnormality detecting section 24 , the second motor 6 2 strains which current flows, it is determined whether the sum of the common current sensors W and individual current sensor U2, current detected respectively V2 becomes 0A (step a9). If it is determined that the sum of the currents becomes 0 A (step a9: Yes), the process returns to step a1.
  • Step a9 the abnormality detecting unit 24, U-phase of the second motor 6 2 strains, the current sensor U2 to detect a current of the V-phase, V2 of At least one is determined to be abnormal (step a10). Thereafter, the process proceeds to step a2.
  • step a7 the first motor 61 of the system in which current flows, in the determination of the sum of the current detected respectively by a common current sensors W and individual current sensors U1, V1 does not become 0A (Step a7: No ), the motor drive control unit 19, a state in which a current flows only in the second motor 6 2 strains (step a11).
  • step a11 the abnormality detecting unit 24, the second motor 6 2 strains which current flows, whether the sum of the common current sensors W and individual current sensor U2, current detected respectively V2 becomes 0A It determines (step a12).
  • Step a12: Yes the abnormality detecting unit 24, U-phase of the first motor 61 of the system, the current sensor U1, V1 for detecting the current of the V phase at least One is determined to be abnormal (step a13). Thereafter, the process proceeds to step a2.
  • the abnormality detecting unit 24 can not determine the abnormal current sensor is determined as abnormal any of the current sensors of the motors 6 and 62 ( Step a14). Thereafter, the process proceeds to step a2.
  • Table 1 shows the according to the first embodiment, two of the motor 6 1, 6 2 in five pieces of current sensors U1, V1, W, U2, V2 control continuation method when an abnormal case.
  • the control continuation method is the same for the embodiments of FIGS. 7 to 9 described later. If an abnormal current sensor can not be determined, current control can not be continued.
  • Step b1 the abnormality detection unit 24 determines whether 0A (Ste b1).
  • step b1: Yes the abnormality detection unit 24 determines that all the current sensors are normal, and each motor drive control unit 19 controls the motor based on the determination result ( Step b2), end this processing.
  • Step b1 The sum of the current sensor not equal 0A (Step b1: No), the motor drive control unit 19, a power circuit connected to the system for driving the second motor 6 2 (energization circuit) 16 is stopped, the second Only the motor output of is stopped (step b3).
  • the abnormality detection unit 24 determines whether or not the outputs of the individual current sensors of U2 and V2 of the system which has been deenergized become 0 A (step b4). In the determination of no (step b4: No), the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U2 and V2 is abnormal (step b5). Thereafter, the process proceeds to step b2.
  • Step b6 when the output of the individual current sensor V2 becomes 0A (Step b4: Yes), the abnormality detecting section 24, the first motor 61 of the system in which a current flows, a common current sensors W and U1, V1 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b6). In the determination of the sum of the current becomes 0A (Step b6: Yes), the motor drive control unit 19, a state in which a current flows only in the second motor 6 2 strains (step b7), the abnormality detecting section 24 , for the first motor 61 of the system in which current is not flowing, and determines whether the U1, the output of the individual current sensor V1 becomes 0A (step b8).
  • step b8: No the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U1 and V1 is abnormal (step b9). Thereafter, the process proceeds to step b2.
  • U1 when the output of the individual current sensor V1 becomes 0A (Step b8: Yes), the abnormality detecting unit 24, the second motor 6 2 strains which current flows, a common current sensors W and U2, V2 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b10).
  • step b10: Yes If it is determined that the sum of the currents becomes 0 A (step b10: Yes), the process returns to step b1. If it is determined that the sum of the currents does not become 0 A (step b10: No), the abnormality detection unit 24 determines that at least one of the current sensors U2 and V2 is abnormal (step b11). Thereafter, the process proceeds to step b2.
  • step b6 the first motor 61 of the system, the determination of the sum of the currents does not become 0A (Step b6: No), the motor drive control unit 19, current only to the second motor 6 2 strains a state in which the flow (step b12), the abnormality detecting section 24, the first motor 61 of the system in which current is not flowing, and determines whether the U1, the output of the individual current sensor V1 is 0A (Step b13).
  • step b13: No the abnormality detection unit 24 determines that the current sensor whose sensor output does not become 0 A among the individual current sensors of U1 and V1 is abnormal (step b14). Thereafter, the process proceeds to step b2.
  • U1 when the output of the individual current sensor V1 becomes 0A (Step b13: Yes), the abnormality detecting unit 24, the second motor 6 2 strains which current flows, a common current sensors W and U2, V2 It is determined whether the sum of the currents respectively detected by the individual current sensors in the above becomes 0 A (step b15).
  • step b15: Yes If it is determined that the sum of the currents becomes 0 A (step b15: Yes), the abnormality detection unit 24 determines that at least one of the current sensors U1 and V1 is abnormal (step b16). Thereafter, the process proceeds to step b2.
  • the abnormality detecting unit 24 can not determine the abnormal current sensor is determined as abnormal any of the current sensors of the motors 6 and 62 ( Step b17). Thereafter, the process proceeds to step b2.
  • the motor 6 1, 6 without completely stopping the second drive it is possible to perform abnormality detection. Therefore, it is possible to prevent the driver from feeling discomfort when detecting an abnormality.
  • three motors 6 and 62, 6 3 seven pieces of current sensors may be used.
  • the second, third The common non-contact current sensor U2 / U3 passes through the same phase (in this example, the U phase) of the motors 6 2 and 6 3 of the two motors, and the individual current sensors U1 , V1, V2, V3, and W3.
  • a non-contact current sensor common to the same phase of the two systems is used, but may not be the same phase.
  • 11 to 13 are flowcharts illustrating a method for detecting abnormality the three motors 6 and 62, 6 3 motor drive control device in the case of using seven pieces of current sensor. Description will be made with reference to FIG. 10 and the like as appropriate.
  • This process is started while all the motors 6 1 , 6 2 and 6 3 are driven, and the abnormality detection unit 24 (FIG. 3) determines whether or not the sum of all seven current sensors is 0 A (step c1). ).
  • step c1 Yes
  • the abnormality detection unit 24 (FIG. 3) determines that all current sensors are normal, and each motor drive control unit 19 (FIG. 3)
  • the motor is controlled on the basis of (step c2), and this processing is ended.
  • step c1 When the sum of the current sensors is not 0 A (step c1: No), the abnormality detection unit 19 (FIG. 3) determines that any current sensor is abnormal, and each motor drive control unit 19 (FIG. 3) the energizing circuit which is connected to all of the system for driving the second and third motor 6 1, 6 2, 6 3 is stopped, stop all motor output (step c3).
  • the abnormality detection unit detects the current with each current sensor and determines whether each sensor output is 0 A (step c4).
  • the abnormality detection unit determines that the current sensor does not become 0 A (step c4: No) and the current sensor is abnormal (step c5). Thereafter, the process proceeds to step c2.
  • the control continuation method at the time of abnormality of the current sensor in step c2 will be described later.
  • the motor drive control unit includes a state in which the first, current flows through the third motor 6 1, 6 3 of the system (step c6) , the abnormality detecting unit determines whether the sum of the current detected respectively common current sensor of the first motor 6 U1 in one lineage, V1 individual current sensor and W1 / W2 becomes 0A ( Step c7).
  • step c7 the abnormality detection unit, a common current sensor of the third motor 6 U3 in 3 strains, W3 individual current sensor and U2 / U3 It is determined whether the sum of each detected current is 0 A (step c8).
  • the motor drive control unit includes a state in which a current flows only in the second motor 6 2 strains (step c9), the abnormality detection unit, a current second for system 6 2 motors, separate current sensor V2, (step of determining whether the sum of the current detected respectively by a common current sensor W1 / W2, U2 / U3 becomes 0A flows c10). If it is determined that the sum of the currents becomes 0 A (step c10: Yes), the process returns to step c1. When it is determined that the sum of the currents does not become 0 A (step c10: No), the abnormality detection unit determines that the individual current sensor of V2 is abnormal (step c11). Thereafter, the process proceeds to step c2.
  • step c8 when the sum of the currents does not become 0A (Step c8: No), motor drive control section, a state in which a current flows only in the second motor 6 2 strains (Step c12), the abnormality detection unit, a second motor 6 2 strains which current flows, a separate current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 ( Step c13).
  • step c13: Yes If it is determined that the sum of the currents becomes 0 A (step c13: Yes), the abnormality detection unit determines that at least one of the V3 and W3 individual current sensors is abnormal (step c14). Thereafter, the process proceeds to step c2.
  • the abnormality detection unit a second, but in abnormal third current sensor of the motor 6 2, 6 3 is, can not be determined (step c15). Thereafter, the process proceeds to step c2.
  • step c7 when a sum of the currents does not become 0A (step c7: No), the abnormality detection unit, a common current sensor of the third motor 6 U3 in 3 strains, W3 individual current sensor and U2 / U3 At step c16, it is determined whether the sum of the currents respectively detected is 0A.
  • the motor drive control unit includes a state in which a current flows only in the second motor 6 2 strains (Step c17), the abnormality detection unit, the second the system of the motor 6 2, separate current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 (step c18).
  • step c18: Yes the abnormality detection unit determines that at least one of the individual current sensors U1 and V1 is abnormal (step c19). Thereafter, the process proceeds to step c2.
  • the abnormality detection unit first, although abnormalities second motor 6 1, 6 2 of the current sensor is, it can not be determined (step c 20). Thereafter, the process proceeds to step c2.
  • step c16 when the sum of the currents does not become 0A (Step c16: No), motor drive control section, a state in which a current flows only in the second motor 6 2 strains (Step c21), the abnormality detection unit, a second motor 6 2 strains, the individual current sensor V2, determines whether the sum of the current detected respectively become 0A a common current sensor W1 / W2, U2 / U3 (step c22) .
  • step c22 When the sum of the currents becomes 0 A (step c22: Yes), the abnormality detection unit detects at least one of U1 and V1 individual current sensors and at least one of V3 and W3 individual current sensors. Is determined to be abnormal (step c23). Thereafter, the process proceeds to step c2.
  • Step c22: No When the sum of the currents does not become 0A (Step c22: No), the first, second, third motor 6 1, 6 2, 6 is abnormality in 3 current sensor, can not be determined (Step c24) . Thereafter, the process proceeds to step c2.
  • Table 2 shows the control continuation method at the time of abnormality in the case of three current sensors and seven current sensors according to the first embodiment. If an abnormal current sensor can not be determined, current control can not be continued.
  • a plurality of systems (two systems in this example) of U-phase, V-phase, and W-phase three-phase electrodes may be provided in one three-phase motor 6.
  • the individual current sensors may be, for example, contact current sensors with shunt resistors.
  • the motor drive device may be a two-motor on-board type in which the vehicle body is installed in the motor other than the in-wheel motor type. It is also possible to apply the motor drive control device according to any one of the embodiments to a hybrid vehicle including an internal combustion engine and a vehicle drive motor, an electric power steering device, a train, a robot or the like.
  • FIG. 3 it comprises a rotation speed detecting means 26 for detecting the rotational speed of the motor 6 1, 6 2, the abnormality detecting unit 24 in accordance with conditions determined from the rotational speed detected by the rotational speed detecting means 26
  • a back electromotive voltage may be calculated, and abnormality detection may be performed when the back electromotive voltage does not exceed the power supply voltage.
  • the rotational speed for example, can be determined by, for example differentiating the rotation angle of the motor 6 1, 6 2.
  • the abnormality detection of the current sensor can be performed with high accuracy by performing the abnormality detection when the calculated back electromotive force does not exceed the power supply voltage.
  • FIG. 15 is a block diagram of a conceptual configuration showing a plan view of an electric vehicle provided with a motor drive device according to this embodiment.
  • This electric vehicle is a four-wheeled vehicle in which the wheels 102 serving as the left and right rear wheels of the vehicle body 101 are drive wheels and the wheels 103 serving as the left and right front wheels are driven wheels.
  • the wheel 103 serving as the front wheel is a steered wheel.
  • the electric vehicle of this example is a motor-on-board type in which the left and right wheels 102, 102 are driven by a single three-phase AC motor (simply referred to as a "motor") 104 serving as a drive source for traveling.
  • the motor 104 is, for example, an embedded magnet synchronous motor in which permanent magnets are built in a core portion of a rotor.
  • the motor 104 is a motor in which a radial gap is provided between a stator fixed to the housing and a rotor attached to the rotation output shaft.
  • the wheels 102 are driven by a motor 104 via a reduction gear not shown.
  • Each of the wheels 102 and 103 is provided with a brake.
  • the wheels 103, 103 which are steered wheels on the left and right front wheels, can be steered via a steering mechanism (not shown), and are steered by steering means 105 such as steering wheels.
  • the motor drive device 106 receives a torque command from the upper control device 107 that controls the vehicle and drives the motor 104.
  • the motor drive device 106 drives the current to the current drive circuit 108 based on the current drive circuit 108, the current sensor S for detecting the current flowing to the motor 104, and the torque command given and the current detected by the current sensor S.
  • a controller 109 for providing a signal.
  • the control device 109 and the current drive circuit 108 constitute an inverter device.
  • the current sensor S As the current sensor S, two current sensors that respectively detect current in opposite directions are paired with each other in any direction opposite to each other and in any two phases in three phases (in this example, U phase, And a current sensor for detecting the current flowing through the remaining one phase (in this example, the W phase).
  • the output current value obtained by the current sensor S is input to the control device 109.
  • a clamp-type current sensor is used as the current sensor S attached to each phase.
  • the current sensor described here is a single power supply, which exhibits a predetermined offset voltage at 0 A current, and outputs a signal according to it when positive or negative current flows It shall be.
  • any current sensor other than the clamp type can be adopted as long as it is independent and the direction of the current can be determined and the influence of the abnormality of one current sensor does not affect the other current sensor.
  • the control device 109 is, for example, a control board on which a CPU for calculation and peripheral parts are mounted.
  • each means described later is stored as a program in the memory of the CPU, and each means is implemented based on the processing flow. Further, the control device 109 outputs the current drive circuit drive signal determined after each process to the current drive circuit 108.
  • the output current from the current drive circuit 108 is output to the motor 104 through the three-phase AC transmission line 10.
  • an angle sensor or the like for controlling the motor 104 is often attached, but this is omitted in the description of the present embodiment.
  • the current drive circuit 108 drives a plurality of switching elements 112 for converting the power of the DC power supply 11 into three-phase AC power used for driving the motor 104, and the switching elements 112. And a gate drive circuit Gd.
  • each switching element 112 for example, an insulated gate bipolar transistor (abbreviated as IGBT), a field effect transistor (abbreviated as FET) or the like is applied.
  • the control device 109 has current control means 113 for controlling the current drive circuit 108, abnormality detection means 114, abnormality point diagnosis means 115, and differential operation means 116.
  • known means such as external communication means for communicating with the outside shall be appropriately implemented.
  • the upper control device 107 uses an accelerator opening signal (acceleration command) output from the accelerator operation unit 17 and a deceleration command output from the brake operation unit 118 or an acceleration command.
  • An acceleration / deceleration command to be given to the motor 104 is generated as a torque command from the deceleration command and the turning command output from the steering means 105, and is output to the control device 109.
  • the current control means 113 is generally a part corresponding to vector control, and converts a torque command given from the upper control device 107 into current target values of the respective three phases.
  • the three-phase currents detected by the current sensor S are supplied to the current control means 113.
  • the current sensor S exemplified below is a voltage output type current sensor S, and as shown in FIG. 18, shows an offset value (voltage) C at 0 A, and when current flows in the positive direction of the current sensor, this current sensor The output of the current sensor changes in the direction smaller than the offset value C when the current flows in the negative direction of the current sensor.
  • the abnormality detection means 114 takes in the output of the current sensor as a pair, compares the obtained current value with a threshold, and detects an abnormality of the current sensor.
  • the outputs of the respective current sensors have the same absolute value with respect to the offset value C, and the current directions are opposite to each other. Show. Therefore, if there is no influence of noise or error, the sum of the outputs of the pair of current sensors should offset the detected current value, and the result will be a value twice the offset value.
  • the error and noise of the current sensor cause a difference from this value, but the threshold value S1 of the allowable difference is determined with reference to the guaranteed value of the error of the current sensor and the noise level. If the difference becomes large beyond this threshold, it is predicted that the current sensor is not outputting the correct value for some reason, and the abnormality is diagnosed. That is, when the difference between the current value obtained by adding the outputs of the current sensors to be paired and the threshold value is large, the abnormality detecting unit 114 has an abnormality in one of the current sensors of the pair of current sensors. Diagnose that there is.
  • the threshold value is exceeded momentarily due to spike noise etc.
  • the current value obtained by adding the outputs of the paired current sensors exceeds the threshold value and the difference for a fixed time (for example, 100 ms) is large. If the condition of (1) continues, it may be diagnosed as abnormal.
  • current sensors UU1 and UU2 are attached as two opposing current sensors for the U phase
  • current sensors VV1 and VV2 are attached as two opposing current sensors for the V phase. It is assumed that one current sensor WW1 is attached to the W-phase in the same direction as the current sensors UU1 and VV1.
  • the abnormality detection unit 114 determines whether the following conditional expression is satisfied.
  • values (voltages) obtained from the current sensors UU1, UU2, VV1, and VV2 are shown as UU1, UU2, VV1, and VV2, respectively.
  • the current sensors UU1 and UU2 attached to the U phase are both normal by the diagnosis of the abnormality detection means 114, and any one of the current sensors VV1 and VV2 attached to the V phase is either Is diagnosed as abnormal. Further, it is not determined whether the W-phase current sensor WW1 is abnormal.
  • the abnormality detection means 114 can diagnose whether there is a current sensor that is abnormal in that phase, it is not possible to determine which one of the current sensors that is a pair of that phase is abnormal. Therefore, the abnormal point diagnosing means 115 performs processing for determining this.
  • the abnormal point diagnosis means 115 sums the outputs of the UVW-phase current sensors, as described below, and determines whether the result is substantially zero. In practice, although the error and noise of the current sensor cause a difference from "zero", the threshold value S2 of the allowable difference is determined with reference to the guaranteed value of the error of the current sensor and the noise level. Therefore, the abnormal point diagnosis means 115 determines whether the following conditional expression is satisfied.
  • values (voltages) obtained from the current sensors UU1, UU2, VV1, VV2, and WW1 are shown as UU1, UU2, VV1, VV2, and WW1, respectively.
  • Table 4 is the summary of the above contents.
  • the circle indicates normal, and the x indicates abnormality.
  • a variable to be 0 may be prepared, and the abnormality detection unit 115 may cause the abnormality detection unit 114 to update the value.
  • the same operation is performed in the V phase or the W phase depending on the configuration.
  • the differential operation means 116 takes the difference between the currents respectively detected by the current sensors serving as the pair for the two phases (in this example, the U phase and the V phase in this example) including the pair of current sensors, and forms the pair.
  • the common mode noise superimposed on the output of the current sensor is canceled and removed, and current control is performed using the obtained current values.
  • In the ideal state without noise there is no difference in using the output of one current sensor without taking the difference between the currents respectively detected by the paired current sensors.
  • in-phase noise is superimposed on the output of each of the oppositely mounted current sensors, the difference between the results obtained from the two paired current sensors is the same effect as the operation amplification circuit. Is expected, and removal of common mode noise can be expected.
  • in-phase noise as shown in FIG. 19 is superimposed on UU1 and UU2 which are the outputs of the current sensor UU1 and the current sensor UU2 attached to the U phase.
  • UU1-UU2 obtained by taking the difference between the two signals is also shown in FIG.
  • spiked in-phase noise observed in UU1 and UU2 can not be seen in UU1-UU2.
  • the cause of this common-mode noise is, for example, switching noise when performing current control.
  • the noise may also be superimposed on the output of the current sensor, or switching noise may be directly superimposed on the output signal of the current sensor.
  • the current control means 113 implements current control represented by vector control.
  • the current control unit 113 performs current control based on the U-phase and V-phase currents which are the outputs of the differential operation unit 116.
  • the current control means 113 further increases the current target value if the detected current is smaller than the calculated current target value, and further decreases the current target value if the detected current is larger than the calculated current target value.
  • Feedback control of the motor current The current control unit 113 calculates a command voltage by feedback control, converts the command voltage into a pulse width modulation signal, and gives an on / off command to the gate drive circuit Gd. The current is changed by changing the pulse width in the PWM operation.
  • FIG. 20 is a flow chart showing the execution order of each means in this control device.
  • the controller 109 reads the current values output by all the current sensors (step S1).
  • the read current value is delivered to the abnormality detection means 114 (step S2).
  • the abnormality detection unit 114 determines whether or not an abnormality occurs in any of the current sensors and outputs an abnormal signal based on the received current value, and outputs a result (step S3).
  • step S3 When all the current sensors are normal and there is no abnormality (step S3: no), the current value read by the control device 109 is passed to the differential operation means 116 as it is. Assuming that all current sensors are normal, among the current values received by the differential operation means 116, the outputs of two pairs of current sensors attached to two phases (in this example, U phase and V phase) are adopted. . The differential operation means 116 takes the difference between the two outputs of the current sensors mounted opposite to each other, and if necessary, applies a gain so that the result is 1 ⁇ magnification, and the current value used for current control (Step S4).
  • the current value used for current control obtained by the operation of the differential operation means 116 is passed to the current control means 113.
  • the current control means 113 performs calculations based on the three-phase current values (or the measured values of the two-phase current values and the one-phase current values determined therefrom) to calculate the current target values of the three phases. (Step S5).
  • the current drive circuit 108 is PWM-controlled, and the current control means 113 calculates and outputs the duty ratio of PWM.
  • the control device 109 outputs a current drive circuit drive signal to the current drive circuit 108 based on the PWM duty ratio determined by the current control unit 113 (step S6).
  • the current drive circuit drive signal is generally a pulse signal of PWM. Thereafter, the process ends.
  • step S3 If the abnormality detection unit 114 diagnoses that the current sensor is abnormal (step S3: yes), the process proceeds to step S7. For example, it is assumed that the difference between the outputs of the pair of opposing current sensors is larger than the threshold value, and the abnormality detection unit 114 diagnoses that the difference is abnormal. When it is diagnosed that the current sensor is abnormal, it is known which of the three phases the current sensor is abnormal. However, it is unclear which of the pair of current sensors attached facing each other is abnormal.
  • the abnormal point diagnosis means 115 determines which of the current sensors in the phase is abnormal (step S7).
  • the abnormal point diagnostic means 115 updates the abnormal information indicating which current sensor is abnormal (in other words, information indicating which output of the current sensor can not be adopted), which is found as a result, and the updated The abnormality information is delivered to the differential operation means 116 (step S8). Thereafter, the process proceeds to step S4.
  • current control for driving is performed without using the current value obtained by the current sensor diagnosed as abnormal. Thereby, even if an abnormality occurs in any of the current sensors, control performance can be improved and redundancy can be secured.
  • the above is one cycle of the control flow related to the current control, and is processed once per calculation cycle.
  • In-phase noise may be superimposed on the output of each of the oppositely mounted current sensors.
  • the cause of the in-phase noise is, for example, switching noise when performing current control. Therefore, the differential operation means 116 takes the difference between the currents respectively detected by the pair of current sensors, cancels out the common phase noise superimposed on the output of the pair of current sensors, and obtains the obtained current value Each is used to perform current control. Thereby, an effect similar to that of a so-called operation amplification circuit is expected, and removal of in-phase noise can be expected. Therefore, it is possible to prevent the undesirable current limitation caused by the common mode noise and to improve the control performance. In addition, since the current value obtained by the current sensor diagnosed as abnormal is not used and current control for driving is performed, control performance can be improved even if an abnormality occurs in any of the current sensors, Redundancy can be ensured.
  • the diagnosis of the abnormality point diagnosis means 115 is performed for the phase to which only one current sensor is attached (the W phase current sensor WW1 in the example of Table 3). Among the above, it is determined that the condition is not abnormal if Equation 3 or Equation 4 holds. However, if processing is performed according to the procedure shown in FIG.
  • the abnormality detection unit 114 checks in advance whether there is an abnormality in the current sensor WW1 in advance by checking whether the following conditions are satisfied. Good.
  • the current sensor WW1 can always be monitored for any abnormality. If it is first diagnosed that only the current sensor WW1 is abnormal based on the diagnosis result of whether the WW1 obtained from the current sensor WW1 is normal or abnormal, the current control is stopped without implementing the abnormal point diagnosis means 115. If it is determined that the current sensor WW1 is normal until just before any one of the U-phase and V-phase current sensors is abnormal, the result of the current sensor WW1 is You can take measures to trust.
  • a current sensor As shown in FIG. 21, as a current sensor, two pairs of current sensors that respectively detect current in opposite directions of the current are directed to face each other and any two phases in three phases ( In this example, U-phase and V-phase may be respectively provided, and the current sensor may not be attached to the other one phase (W-phase in this example).
  • the abnormality detection means 114 determines whether the following conditional expressions are satisfied.
  • values (voltages) obtained from the current sensors UU1, UU2, VV1, and VV2 are shown as UU1, UU2, VV1, and VV2, respectively.
  • the paired current sensors attached to the U phase are both normal, and one of the paired current sensors attached to the V phase is abnormal Have been diagnosed.
  • the abnormality detection means 114 (FIG. 17) can diagnose whether there is a current sensor that is abnormal in that phase, it is possible to determine which one of the current sensors that is the pair of the phase is abnormal. Can not. Therefore, the abnormal point diagnosis means 115 (FIG. 17) performs a process to determine this.
  • the abnormal point diagnosing means 115 is a current driving circuit 108 so that a current flows as an abnormal point diagnostic current only in the phase (in this example, the U phase and the V phase in this example) to which the current sensor is attached. Is operated, and the abnormal point diagnostic current is detected by the current sensor to identify the abnormal current sensor.
  • the high side of the U phase switching element 112 (FIG. 17) and the low side of the V phase switching element 112 (FIG. 17) W phase switching element 112 (FIG. 17) is realized by turning off both. At this time, since the sum of the three-phase alternating current is zero and the W-phase current is zero, the following relationship is established.
  • Table 6 is the summary of the above contents.
  • the circle indicates normal, and the x indicates abnormality.
  • the other configuration is the same as that of the second embodiment, and the same function and effect as the second embodiment can be obtained. Further, according to the configuration of FIG. 21, cost reduction can be achieved by reducing the number of current sensors compared to the second embodiment.
  • the electric vehicle provided with the motor drive device is not limited to the above-described one motor on board type.
  • a two-motor on board in which two motors 104, 104 and a reduction gear corresponding to each motor 104 are provided on a vehicle body 101 and the left and right wheels 103, 103 are driven by these motors 104, 104.
  • the motor drive 106, 106 may be provided in a type of electric vehicle.
  • the in-wheel motor type electric vehicle in which the left and right wheels 102, 102 are respectively driven by the motor 104 constituting the in-wheel motor drive device IWM is provided with the motor drive devices 106, 106 It is also good.
  • the left and right wheels driven by the motor 104 may be either of the front and rear wheels 3 and 2. Also, four-wheel drive may be used.

Abstract

L'invention concerne un dispositif de commande d'excitation de moteur capable de réduire le nombre de composants, le coût ainsi que l'encombrement et le poids. Ce dispositif de commande d'excitation de moteur (22) est un dispositif de commande d'excitation de moteur destiné à commander un équipement de moteur (MS) dans lequel une pluralité de systèmes d'électrodes des phases d'une phase U, d'une phase V et d'une phase W se trouvent dans une pluralité de moteurs triphasés (61), (62). Ce dispositif de commande d'excitation de moteur comprend : des capteurs de courant destinés à détecter les courants circulant dans la phase U, la phase V et la phase W de chaque système; et une unité de commande d'excitation de moteur (19) qui commande séparément chaque système sur la base des courants détectés par les capteurs de courant. Au moins un capteur de courant parmi les capteurs de courant destinés à détecter les courants des trois phases de chaque système est un capteur de courant sans contact qui permet une détection commune du courant d'une phase dans chacun des deux systèmes, et les capteurs de courant de phase restants sont des capteurs de courant destinés à effectuer une détection séparément.
PCT/JP2018/035229 2017-09-26 2018-09-21 Dispositif de commande d'excitation de moteur, dispositif d'excitation de moteur et véhicule électrique comprenant ledit dispositif d'excitation de moteur WO2019065545A1 (fr)

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JP2017184595A JP2019062623A (ja) 2017-09-26 2017-09-26 モータ駆動制御装置
JP2018026140A JP2019146304A (ja) 2018-02-16 2018-02-16 モータ駆動装置およびこのモータ駆動装置を備えた電気自動車
JP2018-026140 2018-02-16

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TWI802375B (zh) * 2021-10-15 2023-05-11 台達電子工業股份有限公司 電流感測器的錯誤排除系統及方法

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JP2017022907A (ja) * 2015-07-13 2017-01-26 株式会社デンソー 電流センサ異常診断装置
JP2017135872A (ja) * 2016-01-28 2017-08-03 トヨタ自動車株式会社 モータ制御装置
JP2017169247A (ja) * 2016-03-14 2017-09-21 Ntn株式会社 車輪独立駆動式車両の駆動制御装置

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JP2014072973A (ja) * 2012-09-28 2014-04-21 Denso Corp 交流電動機の制御装置
JP2017022907A (ja) * 2015-07-13 2017-01-26 株式会社デンソー 電流センサ異常診断装置
JP2017135872A (ja) * 2016-01-28 2017-08-03 トヨタ自動車株式会社 モータ制御装置
JP2017169247A (ja) * 2016-03-14 2017-09-21 Ntn株式会社 車輪独立駆動式車両の駆動制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023032678A1 (fr) * 2021-09-02 2023-03-09 株式会社デンソー Appareil de commande pour machine dynamo-électrique, et programme
TWI802375B (zh) * 2021-10-15 2023-05-11 台達電子工業股份有限公司 電流感測器的錯誤排除系統及方法

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