WO2021112035A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

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Publication number
WO2021112035A1
WO2021112035A1 PCT/JP2020/044502 JP2020044502W WO2021112035A1 WO 2021112035 A1 WO2021112035 A1 WO 2021112035A1 JP 2020044502 W JP2020044502 W JP 2020044502W WO 2021112035 A1 WO2021112035 A1 WO 2021112035A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
range
positioning
output shaft
engaging member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/044502
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
大祐 山本
誠二 中山
山田　純
坂口　浩二
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN202080083241.0A priority Critical patent/CN114746675B/zh
Priority to DE112020005896.4T priority patent/DE112020005896T5/de
Publication of WO2021112035A1 publication Critical patent/WO2021112035A1/ja
Priority to US17/828,444 priority patent/US11837987B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/32—Electric motors , actuators or related electrical control means  therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/34—Locking or disabling mechanisms
    • F16H63/3416—Parking lock mechanisms or brakes in the transmission
    • F16H63/3458—Parking lock mechanisms or brakes in the transmission with electric actuating means, e.g. shift by wire
    • F16H63/3466—Parking lock mechanisms or brakes in the transmission with electric actuating means, e.g. shift by wire using electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/38—Detents
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/32—Electric motors , actuators or related electrical control means  therefor
    • F16H2061/326—Actuators for range selection, i.e. actuators for controlling the range selector or the manual range valve in the transmission
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/34—Locking or disabling mechanisms
    • F16H63/3416—Parking lock mechanisms or brakes in the transmission
    • F16H63/3483—Parking lock mechanisms or brakes in the transmission with hydraulic actuating means
    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/025—Details of stopping control holding the rotor in a fixed position after deceleration

Definitions

  • This disclosure relates to a motor control device.
  • a motor control device that uses a motor such as a switched reluctance motor as a drive source and drives a range switching mechanism that switches the range of an automatic transmission of a vehicle.
  • a motor such as a switched reluctance motor
  • the P-range side abutting control and the NotP range-side abutting control are performed to learn the amount of play of the rotation transmission system.
  • An object of the present disclosure is to provide a motor control device capable of appropriately positioning a rotation position in a rotation transmission system without using a motor rotation angle sensor.
  • the motor control device of the present disclosure controls the drive of a motor in a shift range switching system including a motor and a detent mechanism.
  • the detent mechanism includes a detent member and an engaging member.
  • the detent member is formed with a plurality of valleys, peaks separating the valleys, and walls provided at both ends of the arranged valleys, and rotates integrally with the output shaft to which the rotation of the motor is transmitted.
  • the engaging member can move the valley portion by the rotation of the motor, and positions the output shaft by stopping within the positioning required range.
  • the motor control device includes a positioning determination unit and an energization control unit.
  • the positioning determination unit determines whether or not the engaging member can be stopped within the positioning range based on control parameters other than the detection value of the motor rotation angle sensor that detects the motor rotation angle.
  • the energization control unit turns off the energization of the motor. As a result, the output shaft can be appropriately positioned without using the motor rotation angle sensor.
  • FIG. 1 is a perspective view showing a shift-by-wire system according to the first embodiment.
  • FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to the first embodiment.
  • FIG. 3 is a circuit diagram showing a drive circuit unit according to the first embodiment.
  • FIG. 4 is a schematic view showing the detent mechanism according to the first embodiment.
  • FIG. 5 is a characteristic diagram showing the motor characteristics according to the first embodiment.
  • FIG. 6 is a flowchart illustrating the motor control process according to the first embodiment.
  • FIG. 7 is a time chart illustrating the motor control process according to the first embodiment.
  • FIG. 8 is a flowchart illustrating the motor control process according to the second embodiment.
  • FIG. 9 is a time chart illustrating the motor control process according to the second embodiment.
  • FIG. 10 is a flowchart illustrating the motor control process according to the third embodiment.
  • FIG. 11 is a time chart illustrating the motor control process according to the third embodiment.
  • FIG. 12 is a time chart illustrating the motor control process according to the fourth embodiment.
  • FIG. 13 is a time chart illustrating the motor control process according to the fifth embodiment.
  • the motor control device according to the present disclosure will be described with reference to the drawings.
  • substantially the same configuration will be designated by the same reference numerals and description thereof will be omitted.
  • the first embodiment is shown in FIGS. 1 to 7.
  • the shift-by-wire system 1 as a motor drive system includes an actuator motor 10, a shift range switching mechanism 20, a parking lock mechanism 30, and a shift range control device 40 as a motor control device. Etc. are provided.
  • the motor 10 rotates by being supplied with electric power from a battery 90 as a power source mounted on a vehicle (not shown), and functions as a drive source of the shift range switching mechanism 20.
  • the motor 10 of this embodiment is a brushed DC motor and has a motor winding 11.
  • the speed reducer 14 is provided between the motor shaft 105 (see FIG. 4 and the like) of the motor 10 and the output shaft 15 to reduce the rotation of the motor 10 and output the speed reducer 14 to the output shaft 15. As a result, the rotation of the motor 10 is transmitted to the shift range switching mechanism 20.
  • the output shaft 15 is provided with an output shaft sensor 16 that detects the angle of the output shaft 15.
  • the output shaft sensor 16 is, for example, a potentiometer.
  • the shift range switching mechanism 20 has a detent plate 21, a detent spring 25 which is an urging member, a detent roller 26, and the like, and manually outputs a rotational driving force output from the speed reducer 14. It transmits to the valve 28 and the parking lock mechanism 30.
  • the detent plate 21 is fixed to the output shaft 15 and driven by the motor 10.
  • the detent plate 21 is provided with a pin 24 that projects parallel to the output shaft 15.
  • the pin 24 is connected to the manual valve 28.
  • the shift range switching mechanism 20 converts the rotational motion of the motor 10 into a linear motion and transmits it to the manual valve 28.
  • the manual valve 28 is provided on the valve body 29.
  • valleys 211 and 212 are provided on the detent spring 25 side of the detent plate 21 (see FIG. 4 and the like).
  • the valley portion 211 corresponds to the P range
  • the valley portion 212 corresponds to the NotP range, which is a range other than the P range.
  • FIG. 4 schematically shows the relationship between the motor shaft 105, which is the rotation shaft of the motor 10, the output shaft 15, and the detent plate 21.
  • a mountain portion 215 is formed between a valley portion 211 corresponding to the P range and a valley portion 212 corresponding to the NotP range, which is a range other than the P range.
  • a wall portion 213 that regulates the movement of the detent roller 26 is formed on the opposite side of the mountain portion 215 of the valley portion 211, and a wall that regulates the movement of the detent roller 26 is formed on the opposite side of the mountain portion 215 of the valley portion 212.
  • Part 214 is formed.
  • the valley portion 211 is described as “P valley”
  • the valley portion 212 is described as “NotP valley”
  • the wall portion 213 is described as “P wall”
  • the wall portion 214 is described as “NotP wall”
  • the mountain portion 215 is described as “mountain”. ..
  • a play is formed between the motor shaft 105 and the output shaft 15.
  • the speed reducer 14 and the output shaft 15 are integrated, and a “play” is formed between the motor shaft 105 and the speed reducer 14, but the motor shaft 105 and the speed reducer 14 are integrated.
  • a “play” may be formed between the speed reducer 14 and the output shaft 15.
  • the “play” can be regarded as the total amount of play, play, etc. existing between the motor shaft 105 and the output shaft 15, and is appropriately referred to as "play G" below.
  • FIG. 4 shows a state in which the rotation direction of the motor 10 is the left-right direction on the paper surface, and the detent roller 26 moves between the valleys 211 and 212 as the output shaft 15 rotates.
  • the detent roller 26 moves between the valleys 211 and 212 due to the rotation of the detent plate 21, but in FIG. 4, for the sake of explanation, the detent roller 26 is shown to move together with the output shaft 15. .. Further, in order to avoid complication, the reference numerals are omitted as appropriate.
  • the detent spring 25 is a plate-shaped member that can be elastically deformed, and a detent roller 26 is provided at the tip thereof.
  • the detent spring 25 urges the detent roller 26 to the rotation center side of the detent plate 21, that is, the side that fits into the valley portions 211 and 212.
  • the detent spring 25 is elastically deformed, and the detent roller 26 moves between the valleys 211 and 212.
  • the swing of the detent plate 21 is regulated, the axial position of the manual valve 28 and the state of the parking lock mechanism 30 are determined, and the automatic transmission is performed.
  • the shift range of the transmission 5 is fixed.
  • the detent roller 26 fits into the valley portion 211 when the shift range is the P range, and fits into the valley portion 212 when the shift range is the Not P range.
  • the parking lock mechanism 30 has a parking rod 31, a cone 32, a parking lock pole 33, a shaft portion 34, and a parking gear 35.
  • the parking rod 31 is formed in a substantially L shape, and one end 311 side is fixed to the detent plate 21.
  • a cone 32 is provided on the other end 312 side of the parking rod 31. The cone 32 is formed so that the diameter is reduced toward the other end 312 side.
  • the parking lock pole 33 comes into contact with the conical surface of the conical body 32 and is provided so as to be swingable around the shaft portion 34.
  • a convex portion capable of engaging with the parking gear 35 is provided on the parking gear 35 side of the parking lock pole 33.
  • 331 is provided on the parking gear 35 side of the parking lock pole 33.
  • the parking gear 35 is provided on an axle (not shown) so as to be able to mesh with the convex portion 331 of the parking lock pole 33.
  • the rotation of the axle is restricted.
  • the shift range is the notP range
  • the parking gear 35 is not locked by the parking lock pole 33, and the rotation of the axle is not hindered by the parking lock mechanism 30.
  • the shift range is the P range
  • the parking gear 35 is locked by the parking lock pole 33, and the rotation of the axle is restricted.
  • the shift range control device 40 includes a drive circuit unit 41, a control unit 50, and the like.
  • the control unit 50 is referred to as "ECU".
  • the drive circuit unit 41 has four switching elements 411 to 414 and constitutes an H-bridge circuit.
  • the switching elements 411 to 414 of the present embodiment are MOSFETs, but may be IGBTs or the like. When the motor 10 is rotated forward, the switching elements 411 and 414 are turned on, and when the motor 10 is rotated in the reverse direction, the switching elements 412 and 413 are turned on. Since the motor 10 of the present embodiment is a brushed motor, the motor 10 can be driven by on / off control of the switching elements 411 to 414 without using the detection value of the rotation angle sensor. Therefore, the rotation angle sensor inside the motor 10 can be omitted.
  • the current sensor 45 detects the motor current Im, which is the current of the motor winding 11.
  • the current sensor 45 is provided on the low potential side of the drive circuit unit 41, but is on the high potential side of the drive circuit unit 41, between the connection points of the switching elements 411 and 412 and the motor winding 11. , May be provided between the connection point of the switching elements 413 and 414 and the motor winding 11.
  • the control unit 50 is mainly composed of a microcomputer or the like, and includes a CPU, ROM, RAM, I / O, and a bus line connecting these configurations, which are not shown inside. ing.
  • Each process in the control unit 50 may be software processing by executing a program stored in advance in a physical memory device such as a ROM (that is, a readable non-temporary tangible recording medium) on the CPU. It may be hardware processing by a dedicated electronic circuit.
  • the control unit 50 includes a current acquisition unit 51, an output shaft position acquisition unit 52, an energization control unit 53, a positioning determination unit 54, and the like.
  • the current acquisition unit 51 acquires the motor current Im based on the detected value of the current sensor 45.
  • the output shaft position acquisition unit 52 detects the output shaft angle ⁇ s, which is the rotation position of the output shaft 15, based on the detection value of the output shaft sensor 16.
  • the rotation of the motor 10 is transmitted to the output shaft 15 via the speed reducer 14.
  • a "play" is formed between the output shaft 15 and the motor shaft 105. Therefore, although the motor angle ⁇ m and the output shaft angle ⁇ s can be roughly converted according to the gear ratio of the speed reducer 14, they are related to the converted value of the output shaft angle ⁇ s and the actual rotor position due to the influence of the backlash G. It does not always match the motor angle ⁇ m.
  • the energization control unit 53 controls the on / off operation of the switching elements 411 to 414, and controls the energization of the motor winding 11 to control the drive of the motor 10.
  • the on / off control of the switching elements 411 to 414 does not use the detection value of the rotation angle sensor that detects the rotor position such as an encoder.
  • the positioning determination unit 54 determines whether or not the detent roller 26 can be stopped within the positioning range that satisfies the range switching.
  • the motor 10 is rotated in the normal direction, and as shown by the solid arrow in FIG. 4, the valley portion 211 to the mountain portion 215 are passed through.
  • the detent roller 26 is moved to the valley 212.
  • the motor 10 is controlled so that the detent roller 26 stops within the NotP range.
  • the detent roller 26 is moved from the valley 212 to the valley 211 via the mountain 215 by reversing the motor 10. At this time, the motor 10 is controlled so that the detent roller 26 stops within the park lock range. That is, when switching from the P range to the NotP range, the NotP range range corresponds to the "positioning range", and when switching from the NotP range to the P range, the park lock range corresponds to the "positioning range”.
  • switching from the P range to the NotP range will be mainly described.
  • the rotor is rotated by switching the energizing phase based on the detection value of the motor rotation angle sensor such as an encoder. Further, abutting control is performed in which the detent roller 26 is abutted against the wall portions 213 and 214, and the amount of play between the motor shaft 105 and the output shaft 15 is learned based on the encoder count value. Then, the learned play amount is used to switch the energizing phase according to the detected value of the motor rotation angle sensor, thereby satisfying the positioning accuracy.
  • the motor rotation angle sensor such as an encoder
  • the rotor can be rotated by switching the energization on and off without switching the energizing phase. That is, in the case of a brushed DC motor, it is not necessary to provide a rotation angle sensor inside. Further, when the motor 10 having no rotation angle sensor is used as the drive source of the shift-by-wire system 1, the amount of play cannot be learned.
  • the detent roller 26 is within the positioning range by bringing the detent roller 26 into contact with the wall portions 213 and 214 in order to switch the range without using the rotation angle sensor inside the motor 10. judge. As shown in FIG. 5, when the detent roller 26 comes into contact with the wall portions 213 and 214, the rotation speed N becomes small, the torque T becomes large, and the current I becomes large. Therefore, in the present embodiment, when the state in which the motor current Im is equal to or greater than the contact determination value Is is the contact determination time Xth1 or more, the detent roller 26 is in contact with the wall portions 213 and 214 and is within the positioning range. Is determined, and the energization of the motor 10 is turned off.
  • step S101 is omitted and simply referred to as the symbol “S”. The same applies to the other steps.
  • control unit 50 determines whether or not there has been a shift range switching request. If it is determined that there is no shift range switching request (S101: NO), the process proceeds to S107 and the standby is maintained. When it is determined that there is a shift range switching request (101: NO), the process proceeds to S102.
  • the control unit 50 determines whether or not the input voltage V is equal to or higher than the voltage determination value Vth.
  • the input voltage V is the battery voltage.
  • the process proceeds to S107 and the standby is continued.
  • the process proceeds to S103, and the energization of the motor 10 is turned on.
  • the on / off operation of the switching elements 411 to 414 is controlled so that the motor current Im becomes constant by the current feedback control. Further, the motor 10 may be energized with a constant duty.
  • the positioning determination unit 54 determines whether or not the motor current Im is equal to or greater than the contact determination value Is.
  • the contact determination value Is is set to a value sufficiently larger than the current that flows when the detent roller 26 moves between the valleys 211 and 212.
  • the process returns to S103 and the energization of the motor 10 is continued.
  • the process proceeds to S105.
  • the positioning determination unit 54 determines whether or not the elapsed time X after the motor current Im becomes the contact determination value Is or more is the contact determination time Xth1 or more.
  • the contact determination time Xth1 is set according to the time during which it can be determined that the detent roller 26 is in contact with the wall portions 213 and 214 in order to prevent erroneous determination due to noise or the like.
  • the process returns to S103 and the energization of the motor 10 is continued.
  • the process proceeds to S106.
  • the energization control unit 53 turns off the energization of the motor 10.
  • the control unit 50 sets the motor drive mode to standby.
  • FIG. 7 a schematic diagram showing the behavior of the detent roller 26 corresponding to FIG. 4 is shown in the upper row, and a time chart is shown in the lower row.
  • the common time axis is set as the horizontal axis, and the motor current Im, the motor drive mode, and the torque are shown from the upper stage.
  • the reference numerals in the schematic diagram are omitted as appropriate. The same applies to the time chart according to the embodiment described later.
  • the detent roller 26 moves from the valley 211 to the valley 212 side by the drive of the motor 10.
  • the energization of the motor 10 is turned off.
  • the energization is turned off without performing stop control such as fixed phase energization control.
  • the detent roller 26 When the power to the motor 10 is turned off while the detent roller 26 is in contact with the wall portion 214, the detent roller 26 is separated from the wall portion 214 by the spring force of the detent spring 25 and the restoring force of the motor 10. However, it does not return to the mountain part 215 side beyond the valley part 212. Therefore, the detent roller 26 can be reliably stopped within the NotP range without using the rotation angle sensor inside the motor 10.
  • the shift range control device 40 of the present embodiment controls the drive of the motor 10 in the shift-by-wire system 1.
  • the shift-by-wire system 1 includes a motor 10 and a shift range switching mechanism 20.
  • the shift range switching mechanism 20 has a detent plate 21 and a detent roller 26.
  • the detent plate 21 is formed with mountain portions 215 separating the plurality of valley portions 211 and 212, valley portions 211 and 212, and wall portions 213 and 214 provided at both ends of the arranged valley portions 211 and 212, and the motor 10 is formed. It rotates integrally with the output shaft 15 to which the rotation of the above is transmitted.
  • the detent roller 26 can move the valley portions 211 and 212 by the rotation of the motor 10, and positions the output shaft 15 by stopping within the positioning range corresponding to the required shift range.
  • the shift range control device 40 includes a positioning determination unit 54 and an energization control unit 53.
  • the positioning determination unit 54 determines whether or not the detent roller 26 can be stopped within the positioning range based on control parameters other than the detection value of the motor rotation angle sensor that detects the motor rotation angle.
  • the energization control unit 53 turns off the energization of the motor 10.
  • the output shaft 15 can be positioned without using a motor rotation angle sensor such as an encoder, and the shift range can be appropriately switched.
  • the motor current Im energized in the motor 10 is used as the control parameter.
  • the detent roller 26 is a wall adjacent to the valley portions 211 and 212 according to the required shift range. It is in contact with the portions 213 and 214, and it is determined that the detent roller 26 can be stopped within the positioning range. By bringing the detent roller 26 into contact with the wall portions 213 and 214, the positioning can be reliably satisfied.
  • FIGS. 8 and 9 The second embodiment is shown in FIGS. 8 and 9.
  • the motor control process is different from the above embodiment, and this point will be mainly described.
  • the motor control process of this embodiment will be described with reference to the flowchart of FIG.
  • the processing of S201 to S203 is the same as the processing of S101 to S103 in FIG.
  • the control unit 50 determines whether or not the detent roller 26 has reached the current reduction position.
  • the current reduction position is between the valley 212 and the wall 214 when switching from the P range to the NotP range, and between the valley 211 and the wall 213 when switching from the NotP range to the P range. Is. From the viewpoint of responsiveness, the current reduction position is preferably set to a position as close as possible to the wall portions 213 and 214.
  • the motor drive time Xd which is the elapsed time from the start of energization
  • the current reduction position arrival determination time Xth2 or more it is determined that the detent roller 26 has reached the current reduction position. Further, for example, it may be determined whether or not the current reduction position has been reached based on the detected value of the output shaft sensor 16. Furthermore, the determination may be made based on the energization amount A, which is the time integral value of the motor current Im.
  • the amount of energization A can be calculated as the product of the motor current Im and the motor drive time Xd, assuming that the motor current Im is constant (see equation (1)).
  • the control unit 50 reduces the motor current Im.
  • the reduced motor current Im is an arbitrary value that is small enough to drive the detent roller 26 to the wall portions 213 and 214 and is smaller than that before the reduction.
  • the processing of S206 to S209 is the same as the processing of S104 to S107. If a negative judgment is made in S206 or S207, energization is continued with the motor current Im reduced.
  • the motor control process of this embodiment will be described with reference to the time chart of FIG.
  • the processing at time x20 is the same as the processing at time x10 in FIG.
  • the detent roller 26 reaches the current reduction position at time x21, the motor current Im is reduced.
  • the processing after the time x22 is the same as the processing after the time x21 in FIG.
  • the motor current Im and the torque at the contact determination time Xth1 are reduced by reducing the motor current Im before the detent roller 26 reaches the wall portion 214, as shown by arrows Yi and Yt. be able to.
  • the current reduction position may be set to the position where the detent roller 26 abuts on the wall portion 214, and the motor current Im may be reduced after the detent roller 26 abuts on the wall portion 214.
  • the detent roller 26 it is determined that the detent roller 26 can be stopped within the positioning range because the detent roller 26 is in contact with the wall portions 213 and 214 adjacent to the valley portions 211 and 212 according to the required shift range.
  • the energization control unit 53 energizes the motor 10 more than before reaching the current reduction position.
  • the motor current Im to be generated is reduced.
  • the amount of energization of the contact determination time Xth1 can be suppressed.
  • the impact when the detent roller 26 comes into contact with the wall portions 213 and 214 can be suppressed.
  • the same effect as that of the above-described embodiment is obtained.
  • S304 it is determined whether or not the detent roller 26 has reached the energization off position based on the detected value of the output shaft sensor 16.
  • the energization off position is arbitrarily set according to the position where the detent roller 26 can be stopped within the positioning range according to the required range. Details will be described with reference to the time chart of FIG. If it is determined that the energization off position has not been reached (S304: NO), the process returns to S303 and energization of the motor 10 is continued. When it is determined that the energization off position has been reached (S304: YES), the process proceeds to S305.
  • the processing of S305 and S306 is the same as the processing of S106 and S107 in FIG.
  • the output shaft angle ⁇ s is shown instead of the motor current Im of the above embodiment.
  • the output shaft angle when the detent roller 26 is located at the apex of the mountain portion 215 is ⁇ s1
  • the output shaft angle when the detent roller 26 is located at the bottom of the valley portion 212 is ⁇ s2
  • the wall portion 214 is in contact with the output shaft angle.
  • the processing of time x30 is the same as the processing of time x10 in FIG.
  • the detent roller 26 exceeds the mountain portion 215, and the energization of the motor 10 is turned off. If the detent roller 26 exceeds the mountain portion 215, the detent roller 26 is dropped into the valley portion 212 by the urging force of the detent spring 25 and can be positioned within the NotP range.
  • the detent roller 26 can move to the NotP range range if the energization is turned off. That is, the timing of turning off the energization does not necessarily have to be within the positioning range of the detent roller 26. In other words, if the detent roller 26 exceeds the mountain portion 215, it may be determined that "the engaging member can be stopped within the positioning range".
  • the output shaft angle ⁇ s becomes the angle ⁇ s2 at the time x32, it may be considered that the detent roller 26 is located at the valley portion 212, and the energization of the motor 10 may be turned off. Furthermore, when the output shaft angle ⁇ s becomes the angle ⁇ s3 at the time x33, it is considered that the detent roller 26 is in contact with the wall portion 214, and the energization of the motor 10 may be turned off. At this time, as in the second embodiment, the motor current Im may be reduced before the detent roller 26 comes into contact with the wall portion 214.
  • the case where the position of the detent roller 26 is turned off at the peak portion 215 is a solid line
  • the case where the power is turned off at the valley portion 212 is a broken line
  • the case where the power is turned off at the wall portion 214 is one point. It is shown by a chain line.
  • the output shaft angle for turning off the energization of the motor 10 is, for example, when the detent roller 26 is considered to have reached the NotP range, or when the current reduction position of the second embodiment is reached, the detent roller 26 is set. Can be set to any value that can be stopped within the NotP range. The same applies to the embodiments described later.
  • the positioning determination unit 54 determines whether or not the detent roller 26 can be stopped within the positioning range based on the output shaft angle ⁇ s, which is the rotation angle of the output shaft 15. Thereby, it is possible to appropriately determine whether or not the detent roller 26 can be stopped within the positioning range. Moreover, the same effect as that of the above-described embodiment is obtained.
  • a fourth embodiment will be described with reference to FIG.
  • the determination of reaching the energization off position in S304 is different from that of the third embodiment, and the determination is made based on the motor drive time Xd instead of the detection value of the output shaft sensor 16.
  • the motor control process of this embodiment will be described with reference to the time chart of FIG. In FIG. 12, the motor drive time Xd is shown instead of the output shaft angle ⁇ s of FIG.
  • the time required for the detent roller 26 to reach the mountain portion 215 is time Xd1
  • the time required for reaching the bottom of the valley portion 212 is time Xd2
  • the time required for reaching the wall portion 214 is time. Let it be Xd3.
  • time x40 The processing of time x40 is the same as the processing of time x10 in FIG.
  • the motor drive time Xd exceeds the time Xd1 at the time x41, it is considered that the detent roller 26 exceeds the mountain portion 215, and the energization of the motor 10 is turned off.
  • the motor drive time Xd becomes the time Xd2 at the time x42, it may be considered that the detent roller 26 is located at the valley portion 212, and the energization of the motor 10 may be turned off.
  • the motor drive time Xd becomes the time Xd3 at the time x43, it is considered that the detent roller 26 is in contact with the wall portion 214, and the energization of the motor 10 may be turned off.
  • the time Xd1, Xd2, and Xd3 may be variable according to the input voltage V and the temperature. Even with this configuration, the same effect as that of the above embodiment can be obtained.
  • the processing of time x50 is the same as the processing of time x10 in FIG.
  • the energization amount A reaches the energization amount determination value Ath at the time x52, it is considered that the detent roller 26 is located at the bottom of the valley portion 212, and the energization of the motor 10 is turned off.
  • the energization amount determination value Ath may be variable according to the input voltage V and the temperature.
  • the positioning determination unit 54 determines whether or not the detent roller 26 can be stopped within the positioning range based on the energization amount which is the integrated value of the motor current Im. Thereby, it is possible to appropriately determine whether or not the detent roller 26 can be stopped within the positioning range. Moreover, the same effect as that of the above-described embodiment is obtained.
  • the shift-by-wire system 1 is a "motor drive system”
  • the shift range switching mechanism 20 is a “detent mechanism”
  • the detent plate 21 is a “detent member”
  • the detent roller 26 is an “engagement member”
  • the shift range control device 40 Corresponds to the "motor control device”.
  • the motor was a brushed motor.
  • the motor may be something other than a brushed motor, such as a switched reluctance motor or a brushless motor.
  • the motor is not provided with the motor rotation angle sensor.
  • the motor may be provided with a motor rotation angle sensor. In this case, for example, when an abnormality occurs in the motor rotation angle sensor, the positioning control of the above embodiment may be performed.
  • the detent plate is provided with two valleys. In other embodiments, the number of valleys is not limited to two and may be three or more. Further, the shift range switching mechanism, the parking lock mechanism, and the like may be different from those in the above embodiment. Further, in the above embodiment, the motor control device is applied to the shift range switching system. In other embodiments, the motor control device may be applied to an in-vehicle system other than the shift range switching system, or a motor drive system other than the in-vehicle.
  • a speed reducer is provided between the motor shaft and the output shaft.
  • the details of the speed reducer are not mentioned in the above embodiment, but for example, cycloid gears, planetary gears, spur gears that transmit torque from a speed reduction mechanism substantially coaxial with the motor shaft to the drive shaft, and these. Any configuration may be used, such as a combination of the above. Further, in another embodiment, the speed reducer between the motor shaft and the output shaft may be omitted, or a mechanism other than the speed reducer may be provided.
  • the controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done.
  • the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
  • the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured.
  • the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.
  • the present disclosure is not limited to the above-described embodiment, and can be implemented in various forms without departing from the spirit of the present embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Control Of Direct Current Motors (AREA)
  • Control Of Electric Motors In General (AREA)
PCT/JP2020/044502 2019-12-02 2020-11-30 モータ制御装置 Ceased WO2021112035A1 (ja)

Priority Applications (3)

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CN202080083241.0A CN114746675B (zh) 2019-12-02 2020-11-30 马达控制装置
DE112020005896.4T DE112020005896T5 (de) 2019-12-02 2020-11-30 Motorsteuervorrichtung
US17/828,444 US11837987B2 (en) 2019-12-02 2022-05-31 Motor control device

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JP2019217784A JP7234911B2 (ja) 2019-12-02 2019-12-02 モータ制御装置
JP2019-217784 2019-12-02

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US11837987B2 (en) 2023-12-05
US20220294371A1 (en) 2022-09-15
DE112020005896T5 (de) 2022-11-17
JP7234911B2 (ja) 2023-03-08
CN114746675B (zh) 2025-03-11

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