WO2021117636A1 - Dispositif de commande d'entraînement pour moteur électrique - Google Patents

Dispositif de commande d'entraînement pour moteur électrique Download PDF

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Publication number
WO2021117636A1
WO2021117636A1 PCT/JP2020/045290 JP2020045290W WO2021117636A1 WO 2021117636 A1 WO2021117636 A1 WO 2021117636A1 JP 2020045290 W JP2020045290 W JP 2020045290W WO 2021117636 A1 WO2021117636 A1 WO 2021117636A1
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Prior art keywords
ground
microcomputer
circuit
power supply
drive
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PCT/JP2020/045290
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English (en)
Japanese (ja)
Inventor
小関　知延
登美夫 坂下
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日立Astemo株式会社
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Publication of WO2021117636A1 publication Critical patent/WO2021117636A1/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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases

Definitions

  • the present invention relates to a drive control device for an electric motor that drives and controls an electric motor including a first winding set and a second winding set.
  • the motor control device of Patent Document 1 includes two ECUs (Electronic Control Units) including a microcomputer provided in combination with a drive circuit, and each ECU is connected to an individual external power supply and is connected to each external power supply. It has a constant voltage circuit that adjusts the voltage from to to a constant value and supplies it as an operating voltage to the microcomputer to which it belongs.
  • ECUs Electronic Control Units
  • each ECU is connected to an individual external power supply and is connected to each external power supply. It has a constant voltage circuit that adjusts the voltage from to to a constant value and supplies it as an operating voltage to the microcomputer to which it belongs.
  • the drive circuit and the low potential side of the external power supply are connected by a power supply ground line for each ECU, and the power supply ground line and the low potential side of the drive circuit are connected via an internal ground for each ECU.
  • the microcomputer of each ECU includes an abnormality detection unit that detects a ground abnormality based on the ground voltage of each internal ground obtained with reference to the operating voltage of the ECU to which the ECU belongs.
  • the current flowing through the drive circuit of the first system flows through the common internal ground to the second system. It may flow to the ground connector of. Since the current flowing through the drive circuit of the own system also flows through the ground connector of the second system, the energization control of the drive circuit of the first system is performed even though the ground connector of the first system has an open failure. If the above is continued normally, the ground connector of the second system may be overheated due to the continuous flow of the current exceeding the current capacity to the ground connector of the second system, which may cause a chain abnormality.
  • an open failure of the ground connector can be detected, it is possible to take countermeasures before a chain abnormality occurs.
  • the present invention has been made in view of the conventional circumstances, and an object of the present invention is to provide a drive control device for an electric motor that can detect the presence or absence of an open failure of a ground connector.
  • the control circuit of each system is connected to the internal common ground, and the ground connector of each system has a common ground and a drive circuit of its own system.
  • the ground is connected, and switch elements are arranged between the ground connector of each system and the branch point between the ground of the drive circuit and the common ground, and from the common ground to each line connecting the branch point and the common ground. It has a rectifying element that allows current to flow toward each ground connector, and has a current detecting element in each of the lines connecting the rectifying element and the branch point and the positive power supply.
  • FIG. 1 shows a schematic configuration of the electric power steering device 100.
  • the electric power steering device 100 includes a steering wheel 10, a steering angle sensor 11, a steering torque sensor 12, an electric motor 13, an EPS control unit 14, a vehicle position detection sensor 15, an automatic driving controller 16, and batteries 17a and 17b. ..
  • the steering column 19 including the steering shaft 18 includes a steering angle sensor 11, a steering torque sensor 12, an electric motor 13, and a speed reducer 20.
  • the driving force of the electric motor 13 is transmitted to the steering shaft 18 via the speed reducer 20 to rotate the steering shaft 18.
  • the steering shaft 18 is provided with a pinion gear 21 at its tip, and when the pinion gear 21 rotates, the rack shaft 22 moves horizontally to the left and right in the traveling direction to give steering angles to the steering wheels 23 and 23.
  • the EPS control unit 14 drives and controls the electric motor 13 based on the detection value of the steering torque by the steering torque sensor 12 and the information of the vehicle speed to generate the steering assist force.
  • the automatic driving controller 16 when performing automatic driving, obtains a steering angle command based on position information or the like acquired from the own vehicle position detection sensor 15. Then, the EPS control unit 14 acquires the request signal for automatic operation and the command signal for the steering angle from the automatic operation controller 16, and drives and controls the electric motor 13 so as to bring the actual steering angle closer to the steering angle command.
  • FIG. 2 is a diagram showing a circuit configuration of an EPS control unit 14 which is a drive control device for the electric motor 13. Note that FIG. 2 shows the main parts related to the power supply to the EPS control unit 14 and the drive control of the electric motor 13.
  • the electric motor 13 is a three-phase synchronous motor, and has two winding sets including a U-phase coil, a V-phase coil, and a W-phase coil, a first winding set 13a and a second winding set 13b.
  • the EPS control unit 14 includes a first drive control system (first system) that drives and controls the first winding set 13a, and a second drive control system (second system) that drives and controls the second winding set 13b. It has two drive control systems, and each drive control system has control circuits 32a and 32b including a microcomputer, inverters 31a and 31b as drive circuits, power supply connectors 33a and 33b, ground connectors 34a and 34b, and the like, respectively.
  • first system drives and controls the first winding set 13a
  • second system drives and controls the second winding set 13b.
  • control circuits 32a and 32b including a microcomputer, inverters 31a and 31b as drive circuits, power supply connectors 33a and 33b, ground connectors 34a and 34b, and the like, respectively.
  • each drive control system of the EPS control unit 14 will be described in detail.
  • the housing 30 of the EPS control unit 14 houses the first inverter 31a as the first drive circuit, the second inverter 31b as the second drive circuit, the first control circuit 32a, the second control circuit 32b, and the like.
  • the first inverter 31a and the first control circuit 32a constitute a first drive control system that drives and controls the first winding set 13a, and the second inverter 31b and the second control circuit 32b form a second winding set 13b.
  • a second drive control system for drive control is configured.
  • the first control circuit 32a includes a first microcomputer 42a, a first predriver circuit 43a, a first power supply circuit 44a, and the like
  • the second control circuit 32b includes a second microcomputer 42b, a second predriver circuit 43b, and the like. It has a second power supply circuit 44b and the like.
  • the first microcomputer 42a and the second microcomputer 42b each include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
  • the housing 30 includes a first power supply connector 33a, a first ground connector 34a, a second power supply connector 33b, and a second ground connector 34b for connecting the external batteries 17a and 17b to the internal electric circuit. ..
  • the first power supply connector 33a and the first ground connector 34a form a pair to supply power from the first battery 17a to the first drive control system
  • the second power supply connector 33b and the second ground connector 34b form a pair. Power is supplied from the second battery 17b to the second drive control system.
  • the first power connector 33a is connected to the positive terminal (in other words, the positive electrode) of the first battery 17a via the first power harness 35a, and the first ground connector 34a is connected to the first ground harness 36a via the first ground harness 36a. It is connected to the negative terminal (in other words, the negative electrode) of the battery 17a.
  • the second power connector 33b is connected to the positive terminal of the second battery 17b via the second power harness 35b, and the second ground connector 34b is connected to the negative terminal of the second battery 17b via the second ground harness 36b. Will be done.
  • the first power supply connector 33a is connected to the first control circuit 32a via the power supply line 37a. Further, the power supply terminal 31a1 of the first inverter 31a is connected to the power supply line 37a.
  • the switch element is opened and closed by an input signal between the power supply line 37a and the power supply terminal 31a1 of the first inverter 31a to control the on / off of the power supply from the first battery 17a to the first inverter 31a.
  • 1 Power supply relay 38a is arranged.
  • the first power supply relay 38a is a semiconductor relay that uses a semiconductor such as an N-channel MOSFET.
  • the first microcomputer 42a of the first control circuit 32a outputs a control signal to the first power relay 38a to turn on / off the first power relay 38a, in other words, from the first battery 17a to the first inverter 31a. Switch the power supply / cutoff of.
  • the parasitic diode 38a1 internal diode, body diode
  • the cathode is connected to the power supply line 37a and the anode is connected to the power supply terminal 31a1 of the first inverter 31a.
  • the parasitic diode is also called an internal diode or a body diode.
  • the common ground 49 and the ground of the first inverter 31a are connected to the first ground connector 34a via the ground line 40a.
  • the common ground 49 is an internal ground provided in the housing 30, and the ground of the first control circuit 32a and the ground of the second control circuit 32b are connected to each other.
  • the ground terminal 31a2 of the first inverter 31a is connected to the ground line 40a, and the current flowing through the first winding set 13a of the electric motor 13 between the ground line 40a and the ground terminal 31a2 of the first inverter 31a, in other words. Then, the first shunt resistor 39a for detecting the bus current of the first inverter 31a is arranged.
  • the line 40a is provided with a first rectifying control element 47a in which a rectifying element and a switch element are connected in parallel.
  • the first rectification control element 47a is composed of, for example, an N-channel MOSFET 47a2 having a parasitic diode 47a1.
  • the cathode of the parasitic diode 47a1 is connected to the first ground connector 34a, and the anode is connected to the common ground 49. That is, the parasitic diode 47a1 of the N-channel MOSFET 47a2 is a first rectifying element that allows a current to flow from the common ground 49 toward the first ground connector 34a and cuts off the current toward the common ground 49.
  • the N-channel MOSFET 47a2 as the third switch element connected in parallel to the parasitic diode 47a1 when the N-channel MOSFET 47a2 as the third switch element connected in parallel to the parasitic diode 47a1 is on, the current can flow toward the common ground 49.
  • the gate of the N-channel MOSFET 47a2 constituting the first rectification control element 47a is connected to the digital output terminal DO of the first microcomputer 42a.
  • the first microcomputer 42a switches the N-channel MOSFET 47a2 on / off according to the control signal output from the digital output terminal DO. Further, a resistor R1a as a third current detection element is provided on the ground line 40a between the first rectification control element 47a and the common ground 49, and is parallel to the series connection circuit of the resistor R1a and the first rectification control element 47a. Is provided with a capacitor C1a.
  • the positional relationship between the resistor R1a and the first rectification control element 47a can be exchanged, and the first rectification control element 47a can be arranged on the ground line 40a between the resistor R1a and the common ground 49.
  • the power supply circuit of the second drive control system has the same configuration as the first drive control system described above.
  • the second power supply connector 33b is connected to the second control circuit 32b in the housing 30 via the power supply line 37b. Further, the power supply terminal 31b1 of the second inverter 31b is connected to the power supply line 37b, and the switch element is opened and closed by an input signal between the power supply line 37b and the power supply terminal 31b1 of the second inverter 31b to open and close the second battery.
  • a second power supply relay 38b that controls on / off of power supply from the 17b to the second inverter 31b is arranged.
  • the second power supply relay 38b is a semiconductor relay that uses a semiconductor such as an N-channel MOSFET.
  • the second microcomputer 42b of the second control circuit 32b outputs a control signal to the second power relay 38b to turn on / off the second power relay 38b, in other words, from the second battery 17b to the second inverter 31b. Switch the power supply / cutoff of.
  • the cathode of the parasitic diode 38b1 of the N-channel MOSFET constituting the second power supply relay 38b is connected to the power supply line 37b, and the anode is connected to the power supply terminal 31b1 of the second inverter 31b.
  • the common ground 49 and the ground of the second inverter 31b are connected to the second ground connector 34b via the ground line 40b.
  • the ground terminal 31b2 of the second inverter 31b is connected to the ground line 40b, and the current flowing through the second winding set 13b of the electric motor 13 between the ground line 40b and the ground terminal 31b2 of the second inverter 31b, in other words.
  • a second shunt resistor 39b for detecting the bus current of the second inverter 31b is arranged. Further, a portion of the ground line 40b to which one end of the second shunt resistor 39b is connected, in other words, between the second branch point 40b1 between the ground of the second inverter 31b and the common ground 49 and the common ground 49.
  • the ground line 40b is provided with a second rectifying control element 47b formed by connecting a rectifying element and a switch element in parallel.
  • the second rectification control element 47b is composed of, for example, an N-channel MOSFET 47b2 having a parasitic diode 47b1.
  • the cathode of the parasitic diode 47b1 is connected to the second ground connector 34b, and the anode is connected to the common ground 49.
  • the parasitic diode 47b1 of the N-channel MOSFET 47b2 is a second rectifying element that allows a current to flow from the common ground 49 toward the second ground connector 34b and cuts off the current toward the common ground 49. Further, when the N-channel MOSFET 47b2 as the fourth switch element connected in parallel to the parasitic diode 47b1 is on, the current can flow toward the common ground 49.
  • the gate of the N-channel MOSFET 47b2 constituting the second rectification control element 47b is connected to the digital output terminal DO of the second microcomputer 42b.
  • the second microcomputer 42b switches the N-channel MOSFET 47b2 on / off according to the control signal output from the digital output terminal DO.
  • a resistor R1b as a fourth current detection element is provided on the ground line 40b between the second rectification control element 47b and the common ground 49, and is parallel to the series connection circuit of the resistor R1b and the second rectification control element 47b. Is provided with a capacitor C1b. The positional relationship between the resistor R1b and the second rectification control element 47b can be exchanged, and the second rectification control element 47b can be arranged on the ground line 40b between the resistor R1b and the common ground 49.
  • the first switch element 41a is arranged on the ground line 40a between the first ground connector 34a and the first branch point 40a1.
  • the first switch element 41a is composed of, for example, an N-channel MOSFET 41a2 having a parasitic diode 41a1. In the parasitic diode 41a1, the cathode is connected to the first branch point 40a1 and the anode is connected to the first ground connector 34a.
  • the second switch element 41b is arranged on the ground line 40b between the second ground connector 34b and the second branch point 40b1.
  • the second switch element 41b is composed of, for example, an N-channel MOSFET 41b2 having a parasitic diode 41b1, in which the cathode of the parasitic diode 41b1 is connected to the second branch point 40b1 and the anode is connected to the second ground connector 34b.
  • the first microcomputer 42a switches the N-channel MOSFET 41a2 on / off by the control signal output from the digital output terminal DO, and the second microcomputer 42b turns on / off the N-channel MOSFET 41b2 by the control signal output from the digital output terminal DO. Toggle off.
  • the configurations of the first control circuit 32a and the second control circuit 32b will be described.
  • the first control circuit 32a is a circuit that controls on / off of each switch element of the first inverter 31a in the first drive control system, and is a first microcomputer 42a, a first predriver circuit 43a, a first power supply circuit 44a, and the like. It includes a first current detection circuit 45a, a first diode Da, and the like.
  • the second control circuit 32b is a circuit that controls the on / off of each switch element of the second inverter 31b in the second drive control system, and is a second microcomputer 42b, a second predriver circuit 43b, a second power supply circuit 44b, and the like. It includes a second current detection circuit 45b, a second diode Db, and the like.
  • the first microcomputer 42a and the second microcomputer 42b are connected by an in-board communication line, and the first microcomputer 42a and the second microcomputer 42b are, for example, various abnormality information in the own system, information on inverter control, and the like. Is sent to another system.
  • the pre-driver circuits 43a and 43b output signals for driving the switch elements of the inverters 31a and 31b based on commands from the microcomputers 42a and 42b.
  • the first power supply circuit 44a receives power from the first battery 17a via the first power supply connector 33a and the first diode Da.
  • the first power supply circuit 44a is activated when it acquires a start signal such as by turning on the ignition switch 51a of the vehicle, and converts the input power supply voltage from the first battery 17a into the first internal power supply voltage Va.
  • the input power supply voltage from the first battery 17a is, for example, 12V
  • the first internal power supply voltage Va is, for example, 5V.
  • the first power supply circuit 44a supplies the first internal power supply voltage Va to the first microcomputer 42a, the first pre-driver circuit 43a, and the first current detection circuit 45a, respectively.
  • the second power supply circuit 44b receives power from the second battery 17b via the second power supply connector 33b and the second diode Db.
  • the second power supply circuit 44b is activated when it acquires a start signal such as by turning on the ignition switch 51b of the vehicle, and converts the input power supply voltage from the second battery 17b into the second internal power supply voltage Vb.
  • the input power supply voltage from the second battery 17b is, for example, 12V
  • the second internal power supply voltage Vb is, for example, 5V.
  • the second power supply circuit 44b supplies the second internal power supply voltage Vb to the second microcomputer 42b, the second predriver circuit 43b, and the second current detection circuit 45b, respectively.
  • the ignition switch 51a and the ignition switch 51b are switches that operate in conjunction with each other, and the first power supply circuit 44a and the second power supply circuit 44b are configured to be activated substantially at the same time.
  • the first current detection circuit 45a is a resistance voltage divider circuit composed of resistors R2a and R3a as the first current detection element and an NPN transistor Tra as the fifth switch element.
  • the collector of the NPN transistor Tra is connected to the output line of the first power supply circuit 44a as a positive power supply via the resistor R2a, and the first current detection circuit 45a sets the power supply voltage to the first internal power supply voltage Va.
  • the emitter of the NPN transistor Tra is connected to the ground line 40a between the series circuit of the resistor R1a and the first rectification control element 47a and the first branch point 40a1 via the resistor R3a.
  • the emitter of the NPN transistor Tra and the resistor R3a are connected to the analog input terminal AD of the first microcomputer 42a, and the first microcomputer 42a provides A / D information on the voltage applied to the resistor R3a. Obtained by conversion. Further, the base of the NPN transistor Tra is connected to the digital output terminal DO of the first microcomputer 42a, and the first microcomputer 42a switches the NPN transistor Tra on and off according to the control signal output from the digital output terminal DO.
  • the resistance value of the resistor R2a is 10 k ⁇
  • the resistance value of the resistor R3a is 10 k ⁇ , which is the same as that of the resistor R2a
  • the resistance value of the resistor R1a is 0.1 ⁇ . ..
  • the second current detection circuit 45b is a resistance voltage divider circuit composed of resistors R2b and R3b as the second current detection element and an NPN transistor Trb as the sixth switch element.
  • the collector of the NPN transistor Trb is connected to the output line of the second power supply circuit 44b as a positive power supply via the resistor R2b, and the second current detection circuit 45b sets the power supply voltage to the second internal power supply voltage Vb.
  • the emitter of the NPN transistor Trb is connected to the ground line 40b between the series circuit of the resistor R1b and the second rectification control element 47b and the second branch point 40b1 via the resistor R3b.
  • the emitter of the NPN transistor Trb and the resistor R3b are connected to the analog input terminal AD of the second microcomputer 42b, and the second microcomputer 42b A / D outputs the voltage information applied to the resistor R3b. Obtained by conversion. Further, the base of the NPN transistor Trb is connected to the digital output terminal DO of the second microcomputer 42b, and the second microcomputer 42b switches the NPN transistor Trb on and off according to the control signal output from the digital output terminal DO.
  • the resistance values of the resistors R1b, R2b, and R3b are, for example, 10 k ⁇ for the resistance value of the resistor R2b, 10 k ⁇ for the resistance value of the resistor R3b, and 0.1 ⁇ for the resistance value of the resistor R1b. ..
  • the first microcomputer 42a has the N-channel MOSFET 47a2 turned off, and based on the current detected by the first current detection circuit 45a, the presence or absence of an abnormality in the first ground connector 34a, in detail, , Diagnose the presence or absence of open failure.
  • the second microcomputer 42b has the N-channel MOSFET 47b2 turned off, and based on the current detected by the second current detection circuit 45b, the presence or absence of an abnormality in the second ground connector 34b, in detail, is open. Diagnose the presence or absence of failure.
  • An open failure of the ground connectors 34a and 34b means that the negative terminals of the batteries 17a and 17b and the EPS are caused by disconnection or disconnection of the ground harnesses 36a and 36b connecting the ground connectors 34a and 34b and the negative terminals of the batteries 17a and 17b. This is an abnormality in which the current is cut off from the control unit 14.
  • the first microcomputer 42a determines the presence or absence of a short-circuit failure of the first rectification control element 47a based on the current detected by the first current detection circuit 45a in a state where the N-channel MOSFET 41a2 and the N-channel MOSFET 47a2 are turned off. Diagnose.
  • the second microcomputer 42b has the N-channel MOSFET 41b2 and the N-channel MOSFET 47b2 turned off, and the presence or absence of a short-circuit failure of the second rectification control element 47b based on the current detected by the second current detection circuit 45b. To diagnose.
  • FIG. 3 is a circuit diagram showing in detail the configurations of the first inverter 31a, the second inverter 31b, and the electric motor 13 shown in FIG.
  • the electric motor 13 includes U-phase coils Ua, V-phase coils Va and W-phase coils Wa that form the first winding set 13a, and U-phase coils Ub, V-phase coils Vb and W that form the second winding set 13b. It includes a phase coil Wb.
  • the first inverter 31a is a three-phase bridge circuit including three sets of switch elements 51-56 that drive the coils Ua, Va, and Wa of the first winding set 13a via the drive lines DUa, DVa, and DW, respectively.
  • an N-channel MOSFET is used as the switch element 51-56.
  • the second inverter 31b is a three-phase bridge including three sets of switch elements 61-66 that drive the coils Ub, Vb, and Wb of the second winding set 13b via the drive lines DUb, DVb, and DWb, respectively. It is a circuit, and an N-channel MOSFET is used as the switch elements 61-66.
  • the MOSFETs 51 and 52 in the first inverter 31a are connected in series between the drain and source between the power relay 38a and one end of the first shunt resistor 39a, and one end of the drive line DUa is connected to the connection point between the MOSFET 51 and the MOSFET 52.
  • the drain and source are connected in series between the first power supply relay 38a and one end of the first shunt resistor 39a, and one end of the drive line DVa is connected to the connection point between the MOSFET 53 and the MOSFET 54.
  • the drain source is connected in series between the first power supply relay 38a and one end of the first shunt resistor 39a, and one end of the drive line DWa is connected to the connection point between the MOSFET 55 and the MOSFET 56.
  • the diodes D11-D16 connected in the forward direction between the source and drain of each MOSFET 51-56 are parasitic diodes.
  • the drain and source are connected in series between the second power relay 38b and one end of the second shunt resistor 39b, and one end of the drive line DUb is connected to the connection point between the MOSFET 61 and the MOSFET 62. Be connected.
  • the drain and source are connected in series between the second power supply relay 38b and one end of the second shunt resistor 39b, and one end of the drive line DVb is connected to the connection point between the MOSFET 63 and the MOSFET 64.
  • the drain source is connected in series between the second power supply relay 38b and one end of the second shunt resistor 39b, and one end of the drive line DWb is connected to the connection point between the MOSFET 65 and the MOSFET 66. ..
  • the diodes D21-D22 connected in the forward direction between the source and drain of each MOSFET 61-66 are parasitic diodes.
  • FIGS. 4 and 5 are flowcharts showing a control procedure for the first system carried out by the first microcomputer 42a.
  • the second microcomputer 42b also independently controls the second system, but the details are the same as the control procedure for the first system by the first microcomputer 42a shown in FIGS. 4 and 5. The explanation will be omitted.
  • step S101 When the first microcomputer 42a is reset and released by turning on the power in step S101, various initial processes are performed in step S102. When the first microcomputer 42a finishes the initial processing, the process proceeds to step S103 and performs a process for confirming the communication state with the second microcomputer 42b.
  • the first microcomputer 42a determines whether or not communication with the second microcomputer 42b can be normally performed. Then, if there is some kind of communication abnormality and information cannot be normally transmitted / received to / from the second microcomputer 42b, the first microcomputer 42a proceeds to step S105 and is the communication abnormality continuing for a predetermined time or longer? Judge whether or not.
  • the first microcomputer 42a If the duration of the communication abnormality has not reached the predetermined time, the first microcomputer 42a returns to step S103 and continues the process for confirming the communication state. On the other hand, when the duration of the communication abnormality with the second microcomputer 42b reaches a predetermined time and the communication abnormality is deterministic, the first microcomputer 42a proceeds to step S106, and the second microcomputer 42b and the second microcomputer 42b The communication error flag Fce, which indicates the presence or absence of a communication abnormality between the computers, is set to "1", which indicates an abnormality occurrence state.
  • the initial value of the communication abnormality flag Fce is "0" indicating that the communication with the second microcomputer 42b is normal. If the first microcomputer 42a determines in step S104 that the communication with the second microcomputer 42b is normal, the first microcomputer 42a proceeds to step S107.
  • step S107 the control state of the various switch elements is the initial state, and the first microcomputer 42a controls the NPN transistor Tra, the N channel MOSFET 47a2 of the first rectification control element 47a, and the power supply relay 38a to be off.
  • the N-channel MOSFET 41a2 as the first switch element 41a is controlled to be turned on.
  • step S107 the first microcomputer 42a determines whether or not the detected value of the voltage applied to the resistor R3a of the first current detection circuit 45a is in the vicinity of 0V.
  • step S110 the first microcomputer 42a sets the circuit abnormality flag Fgo to "1" indicating that an abnormality has occurred in the circuit of the first drive control system.
  • the initial value of the circuit abnormality flag Fgo is "0" indicating that the circuit of the first drive control system is normal.
  • step S107 when the first microcomputer 42a detects in step S107 that the voltage VR3 applied to the resistor R3a is in the vicinity of 0V, the first microcomputer 42a proceeds to step S108 and diagnoses an open failure of the first ground connector 34a.
  • An on command is output to the NPN transistor Tra.
  • the first microcomputer 42a suppresses the power consumption of the first power supply circuit 44a by turning on the NPN transistor Tra only when diagnosing an open failure of the first ground connector 34a.
  • the first microcomputer 42a issues a command to switch the NPN transistor Tra from off to on, and then proceeds to step S109 after waiting for the elapse of a predetermined time.
  • the predetermined time in step S109 is a time adapted based on the time required for the semiconductor switch element such as the NPN transistor Tra to be in a stable on or off state from the on / off switching command, and is a step described later. The same applies to the predetermined time in S111, step S113, and step S114.
  • step S109 the first microcomputer 42a determines whether or not the voltage VR3 applied to the resistor R3a is in the vicinity of 2.5V with the NPN transistor Tra turned on.
  • the N-channel MOSFET 47a2 is in the off-control state, the cathode of the parasitic diode 47a1 of the N-channel MOSFET 47a2 is connected to the first ground connector 34a, and the N-channel MOSFET 41a2 is on-controlled. It is in a state.
  • the resistor R3a is passed through the first rectification control element 47a, the common ground 49, the second rectification control element 47b, and the second ground connector 34b. 2
  • the path through which the current flows into the battery 17b is cut off by the first rectification control element 47a.
  • the ground of the first current detection circuit 45a is limited to the path leading to the first battery 17a via the N-channel MOSFET 41a2 in the on-controlled state and the first ground connector 34a.
  • step S110 the first microcomputer 42a sets the circuit abnormality flag Fgo to “1” based on the determination of the occurrence of an open failure of the first ground connector 34a.
  • step S109 When the first microcomputer 42a determines in step S109 that an open failure of the first ground connector 34a has occurred, a flag set separately from the circuit error flag Fgo, that is, an open failure of the first ground connector 34a It is possible to set a flag indicating the presence or absence of. Further, in step S110, the first microcomputer 42a sets the circuit abnormality flag Fgo to “1” and transmits information indicating the occurrence of the circuit abnormality to the second microcomputer 42b.
  • the first microcomputer 42a sets the circuit abnormality flag Fgo to “1” in step S110, and then proceeds to step S117.
  • step S117 the first microcomputer 42a performs a process of setting the current limit ratio of the first inverter 31a to 0% as a process of coping with a circuit abnormality including an open abnormality of the first ground connector 34a, and first.
  • the inverter 31a is not driven.
  • the initial value of the current limit ratio is 100% that does not limit the current of the first inverter 31a, and the smaller the value (%) of the current limit ratio is, the lower the drive current of the first winding set 13a is.
  • the current limit ratio is 0%, each switch element of the first inverter 31a is kept off, and no current flows through each phase of the first winding set 13a.
  • the first inverter 31a is driven in the open failure state of the first ground connector 34a, the current flowing through the first inverter 31a flows into the second ground connector 34b via the common ground 49, and the current flows through the second ground connector 34b. Will be concentrated.
  • the first inverter 31a in other words, the energization of the first winding set 13a is stopped, the current does not flow from the first drive control system to the second ground connector 34b, and the second ground is eliminated. It is possible to prevent the current flowing into the connector 34b from becoming excessive. Therefore, when the first ground connector 34a is open-failed, the first microcomputer 42a stops driving the first inverter 31a, thereby suppressing the occurrence of an abnormality in the second ground connector 34b. The drive control of the second winding set 13b by the two drive control system can be continued.
  • the first microcomputer 42a has the first ground before the start of driving the first inverter 31a, that is, before the current actually flows into the second drive control system due to the open failure of the first ground connector 34a.
  • the presence or absence of an open failure of the connector 34a can be diagnosed, and the inflow of current into the second drive control system can be suppressed in advance.
  • the first microcomputer 42a detects a circuit abnormality including an open failure of the first ground connector 34a and stops driving the first inverter 31a
  • the first microcomputer 42a gives information on the abnormality of the electric power steering device 100 as an alarm lamp. It can be made to be recognized by the driver of the vehicle by lighting or the like.
  • the first microcomputer 42a can set the current limit ratio to an arbitrary value larger than 0% and smaller than 100%. That is, in step S117, the first microcomputer 42a is the current flowing from the first drive control system to the second ground connector 34b, in other words, the current flowing through the second ground connector 34b when the first ground connector 34a is in an open failure state. Implement processing to reduce.
  • step S117 by the first microcomputer 42a is not limited to the drive stop of the first inverter 31a, and the first microcomputer 42a allows the first inverter 31a to be driven in step S117.
  • the current flowing through the inverter 31a can be set to be smaller than when the first ground connector 34a is normal.
  • the first microcomputer 42a instructs the second microcomputer 42b to limit the drive current of the second inverter 31b to a lower level than usual, provided that the communication is normal. Can be transmitted to reduce the current in both the first drive control system and the second drive control system, thereby reducing the current flowing through the second ground connector 34b.
  • step S109 When the first microcomputer 42a determines in step S109 that the voltage VR3 applied to the resistor R3a is in the vicinity of 2.5V and the first ground connector 34a is normal, the first microcomputer 42a proceeds to step S111. As described above, if the first rectification control element 47a is not short-circuited, the current will flow into the first battery 17a via the first ground connector 34a when the NPN transistor Tra is turned on.
  • the first ground connector 34a has an open failure
  • the current will flow into the common ground 49 when the NPN transistor Tra is turned on.
  • the voltage VR3 applied to the resistor R3a is close to 2.5V. That is, if the first rectifying control element 47a has a short failure, the first microcomputer 42a determines that the first ground connector 34a is normal even if the first ground connector 34a has an open failure. turn into.
  • the first microcomputer 42a diagnoses the presence or absence of a short-circuit failure of the first rectification control element 47a in step S111 and subsequent steps.
  • the first microcomputer 42a controls the N-channel MOSFET 41a2 to turn off and cuts off the inflow of current to the first ground connector 34a.
  • the first microcomputer 42a controls the N-channel MOSFET 47a2 off, if the N-channel MOSFET 47a2 has a short-circuit failure, the current flows into the common ground 49 via the N-channel MOSFET 47a2, so that the first current is detected. A current flows through the circuit 45a, and the voltage VR3 applied to the resistor R3a becomes close to 2.5V due to the resistance voltage division. That is, the first microcomputer 42a can diagnose the presence or absence of a short-circuit failure of the N-channel MOSFET 47a2 based on whether or not a current flows through the first current detection circuit 45a when the N-channel MOSFET 41a2 is controlled to be off.
  • the first microcomputer 42a controls the N-channel MOSFET 41a2 to turn off in step S111, waits for a predetermined time from the start of the off control, and proceeds to step S112. Then, in step S112, the first microcomputer 42a determines whether or not the voltage VR3 applied to the resistor R3a is in the vicinity of 2.5V.
  • the first microcomputer 42a determines that the first ground connector 34a is normal and starts normal drive control of the first inverter 31a. Can be deterred.
  • the N-channel MOSFET 41a2 is controlled to be off, if the voltage VR3 applied to the resistor R3a is near the first internal power supply voltage Va, the N-channel MOSFET 47a2 is turned off according to the control command, and the N-channel MOSFET 47a2 There is no short circuit failure.
  • the process proceeds to step S113 and subsequent steps.
  • the first microcomputer 42a outputs a command for switching the NPN transistor Tra from on to off in step S113, and then proceeds to step S114 after waiting for a predetermined time (for example, 10 ms) to elapse.
  • step S114 the first microcomputer 42a outputs a command for switching the N-channel MOSFET 47a2 of the first rectification control element 47a from off to on and a command for switching the N-channel MOSFET 41a2 from off to on, and then outputs a command for a predetermined time (for example,). , 10ms) before proceeding to step S115.
  • a predetermined time for example, 10. , 10ms
  • step S115 the first microcomputer 42a performs a failure diagnosis of the first inverter 31a.
  • the first microcomputer 42a controls to discharge the electric charge accumulated in the capacitor (not shown) connected between the power supply line of the first inverter 31a and the ground by the drive control of the N-channel type MOSFET 51-56.
  • the presence or absence of failure of the first inverter 31a, that is, the N-channel type MOSFET 51-56 is diagnosed.
  • step S116 the first microcomputer 42a determines whether or not the diagnosis in step S115 determines whether or not the first inverter 31a is normal. If there is an abnormality in the first inverter 31a, the first microcomputer 42a proceeds to step S117, sets the current limit ratio of the first inverter 31a to 0%, and prevents the first inverter 31a from being driven.
  • the first microcomputer 42a keeps the current limit ratio of the first inverter 31a at the initial value of 100% and normally drives and controls the first inverter 31a. If there is an abnormality in the first inverter 31a, the current limit ratio of the first inverter 31a is set to 0%, and the driving of the first inverter 31a is stopped. On the other hand, when the first inverter 31a is normal, the first microcomputer 42a proceeds from step S116 to step S118, and whether or not the communication abnormality flag Fce is 0, that is, with the second microcomputer 42b. Judge whether the communication is normal or not.
  • the first microcomputer 42a proceeds to step S119 and includes an open failure of the first ground connector 34a.
  • the first microcomputer 42a proceeds to step S120, and receives information from the second microcomputer 42b indicating that a circuit abnormality including an open failure of the second ground connector 34b has not occurred in the second drive control system. Determine if you have received it.
  • the first microcomputer 42a When the circuit of the second drive control system is normal, the first microcomputer 42a starts the drive control of the first inverter 31a while maintaining the current limit ratio of the first inverter 31a at the initial value of 100%. Therefore, the process proceeds to step S122.
  • the first microcomputer 42a determines in step S118 that there is an abnormality in communication with the second microcomputer 42b, the first microcomputer 42a proceeds to step S121, and in step S120, the second drive control system has a circuit abnormality. Also when it is determined that the above is occurring, the process proceeds to step S121.
  • step S121 the first microcomputer 42a sets the current limit ratio of the first inverter 31a to a value smaller than the initial value (100%) and larger than 0%, for example, 60%. If there is an abnormality in the communication with the second microcomputer 42b, the first microcomputer 42a cannot acquire the information regarding the operating state of the second drive control system from the second microcomputer 42b.
  • the information regarding the operating state of the second drive control system includes information on circuit abnormalities in the second drive control system such as an open failure of the second ground connector 34b, information on torque generated in the second drive control system, and the like. .. Therefore, if there is an abnormality in the communication with the second microcomputer 42b, the first microcomputer 42a can recognize the occurrence of such a failure even if the second ground connector 34b has an open failure. become unable.
  • the first microcomputer 42a implements a current limit that limits the current of the first inverter 31a to a lower level than usual as a fail-safe process. Then, the drive of the first inverter 31a, that is, the setting to generate the steering assist force by the first winding set 13a is performed.
  • the second microcomputer 42b sets the current limit ratio of the second inverter 31b to 0% by the same procedure as the flowcharts of FIGS. 4 and 5.
  • the first microcomputer 42a performs the process of step S121 at the time of communication abnormality, the first microcomputer 42a performs the process of setting the current limit ratio of the second inverter 31b to 0%, and the first microcomputer 42a performs the process of the first inverter 31a in step S121.
  • the first microcomputer 42a issues a command to switch the power relay 38a from off to on in step S122, and then proceeds to step S123 after waiting for a predetermined time (for example, 10 ms) to elapse.
  • step S123 the first microcomputer 42a starts energization control of the first inverter 31a, which PWM-controls the on / off of the N-channel type MOSFET 51-56 of the first inverter 31a based on a torque command or the like.
  • the first microcomputer 42a can diagnose the presence or absence of an open failure of the first ground connector 34a from the output of the first current detection circuit 45a after the drive of the first inverter 31a is started.
  • a current can flow in both directions in the first rectification control element 47a.
  • the current flowing through the first power supply circuit 44a and the like flows from the common ground 49 to the first ground connector 34a via the resistor R1a.
  • the first ground connector 34a fails to open, the current flowing through the first inverter 31a cannot flow toward the first ground connector 34a, but flows into the common ground 49 via the resistor R1a, and the common ground. It flows from 49 to the second ground connector 34b via the resistor R1b of the second system. That is, the direction in which the current flows in the resistor R1a is reversed depending on whether the first ground connector 34a is open-failed or normal, the potential difference in the resistor R1a becomes 0V in the normal state, and the first ground connector 34a When an open failure occurs, the voltage becomes a predetermined positive voltage.
  • the first microcomputer 42a determines the potential difference of the resistor R1a based on the output of the first current detection circuit 45a, and the first ground connector 34a is open-failed or normal. You can diagnose if there is.
  • the second microcomputer 42b also diagnoses the presence or absence of an open failure of the second ground connector 34b based on the direction in which the current flows in the resistor R1b after the drive of the second inverter 31b is started. be able to.
  • the microcomputers 42a and 42b can detect the presence or absence of an abnormality (specifically, an open failure) of the ground connectors 34a and 34b with high accuracy before starting the driving of the inverters 31a and 31b.
  • the microcomputers 42a and 42b can diagnose the presence or absence of such a short failure. ..
  • the electric motor 13 is normally driven without detecting the open failure of the ground connectors 34a and 34b due to a short failure of the N-channel MOSFETs 47a2 and 47b2. It can be suppressed from being controlled.
  • the rectifier control elements 47a and 47b can be configured by a parallel connection circuit of a diode and a switch element instead of being composed of a MOSFET having a parasitic diode.
  • the NPN transistors Tra and Trb as the switch elements of the current detection circuits 45a and 45b can be omitted, and the switch elements are not limited to the NPN transistors.
  • the power supply relays 38a and 38b can be omitted. Further, the power supply relays 38a and 38b are not limited to the MOSFET, and the installation direction of the drain source of the MOSFET is not limited to the direction shown in FIG.
  • the resistors R1a and R1b can be omitted, and the resistors R1a and R1b may be arranged upstream or downstream of the rectification control elements 47a and 47b. Further, the capacitors C1a and C1b connected in parallel with the rectifying control elements 47a and 47b can be omitted.
  • the power supply voltage of the current detection circuits 45a and 45b is not limited to 5V and can be set arbitrarily.
  • the drive control device for an electric motor according to the present invention is not limited to the application to an electric power steering device, and can be applied to a device using an electric motor as an actuator such as an electric brake device.
  • 13 Electric motor, 13a ... First winding set, 13b ... Second winding set, 14 ... EPS control unit (drive control device), 17a, 17b ... Battery, 31a ... First inverter (first drive circuit), 31b ... 2nd inverter (second drive circuit), 32a ... 1st control circuit, 32b ... 2nd control circuit, 33a ... 1st power supply connector, 33b ... 2nd power supply connector, 34a ... 1st ground connector, 34b ... 2 ground connector, 38a ... 1st power supply relay, 38b ... 2nd power supply relay, 40a1 ... 1st branch point, 40b1 ... 2nd branch point, 41a ... 1st switch element, 41b ...
  • 2nd switch element 41a2, 41b2 ... N-channel MOSFET, 42a ... 1st microcomputer, 42b ... 2nd microcomputer, 45a ... 1st current detection circuit, 45b ... 2nd current detection circuit, 47a, 47b ... Rectification control element, 47a1, 47b1 ... Parasitic diode (No. 1) 1, 2nd rectifying element), 47a2, 47b2 ... N channel MOSFET (3rd and 4th switch elements), 49 ... Common ground, Tra, Trb ... NPN transistor (5th and 6th switch elements), R1a, R1b ... Resistors (3rd and 4th current detection elements), R2a, R2b ... Resistors (1st and 2nd current detection elements), R3a, R3b ... Resistors (1st and 2nd current detection elements)

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

La présente invention concerne un dispositif de commande d'entraînement pour un moteur électrique qui comprend un premier système qui entraîne un premier groupe d'enroulements et un second système qui entraîne un second groupe d'enroulements. Un circuit de commande de chaque système est connecté à une masse partagée interne ; la masse partagée et la masse d'un circuit d'entraînement de chaque système sont connectées à un connecteur de mise à la terre de ce système ; un élément de commutation est disposé entre le connecteur de mise à la terre de chaque système et un point de ramification de la masse du circuit d'entraînement et de la masse partagée ; sur chaque ligne reliant le point de ramification et la masse partagée, un élément de redressement est disposé qui provoque l'écoulement du courant depuis la masse partagée vers le connecteur de mise à la terre ; et sur chaque ligne reliant un point intermédiaire entre l'élément de redressement et le point de ramification à une source d'alimentation positive, un élément de détection de courant est prévu.
PCT/JP2020/045290 2019-12-10 2020-12-04 Dispositif de commande d'entraînement pour moteur électrique WO2021117636A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200406962A1 (en) * 2018-03-13 2020-12-31 Hitachi Automotive Systems, Ltd. Control device for on-board device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006353075A (ja) * 2005-05-16 2006-12-28 Honda Motor Co Ltd 制御回路装置
JP2018182962A (ja) * 2017-04-18 2018-11-15 特殊電装株式会社 モータ制御装置
WO2019198407A1 (fr) * 2018-04-12 2019-10-17 日立オートモティブシステムズ株式会社 Dispositif de commande électronique et procédé de diagnostic

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006353075A (ja) * 2005-05-16 2006-12-28 Honda Motor Co Ltd 制御回路装置
JP2018182962A (ja) * 2017-04-18 2018-11-15 特殊電装株式会社 モータ制御装置
WO2019198407A1 (fr) * 2018-04-12 2019-10-17 日立オートモティブシステムズ株式会社 Dispositif de commande électronique et procédé de diagnostic

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200406962A1 (en) * 2018-03-13 2020-12-31 Hitachi Automotive Systems, Ltd. Control device for on-board device
US11498614B2 (en) * 2018-03-13 2022-11-15 Hitachi Astemo, Ltd. Control device for on-board device

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