WO2021161796A1 - 電力変換器の制御回路 - Google Patents

電力変換器の制御回路 Download PDF

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Publication number
WO2021161796A1
WO2021161796A1 PCT/JP2021/003040 JP2021003040W WO2021161796A1 WO 2021161796 A1 WO2021161796 A1 WO 2021161796A1 JP 2021003040 W JP2021003040 W JP 2021003040W WO 2021161796 A1 WO2021161796 A1 WO 2021161796A1
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Prior art keywords
control
power supply
circuit
abnormality
power
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Ceased
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PCT/JP2021/003040
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English (en)
French (fr)
Japanese (ja)
Inventor
幸一 西端
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Denso Corp
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Denso Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode

Definitions

  • the present disclosure relates to a system comprising a first power source, a multi-phase rotating electric machine, and a power converter electrically connected to the windings of each phase of the rotating electric machine and the first power source and having a switch for an upper and lower arm. Regarding the control circuit of the applied power converter.
  • a known control circuit of this type performs shutdown control that forcibly switches the upper and lower arm switches to the off state when it is determined that an abnormality has occurred in the system.
  • shutdown control if a counter electromotive voltage is generated in the winding due to the rotation of the rotor that constitutes the rotating electric machine, the line voltage of the winding may be higher than the voltage of the first power supply. be.
  • the situation where the line voltage becomes high can occur, for example, when the amount of field magnetic flux of the rotor is large or the rotation speed of the rotor is high.
  • the winding is wound in a closed circuit including the diode, winding and the first power supply connected in antiparallel to the switch even if shutdown control is performed.
  • the so-called regeneration in which the induced current generated in the wire flows will be carried out.
  • the DC voltage on the first power supply side of the power converter rises significantly, and there is a concern that at least one of the devices other than the first power supply, the power converter, and the power converter connected to the first power supply may fail. ..
  • the on-side switch in one of the upper and lower arms is turned on, and the off-side switch in the other arm is turned off.
  • a control circuit that performs short-circuit control is known. Specifically, this control circuit can operate by being supplied with power from the power supply unit, and has an output stage drive control unit. The output stage drive control unit performs the above-mentioned short-circuit control.
  • the control circuit includes a drive power source capable of supplying the power of the first power source independent of the power supply unit to the output stage drive control unit in case an abnormality occurs in the power supply unit. Power is supplied from this drive power supply to the gate of the on-side switch.
  • the power of the drive power supply is supplied only to the gate of the on-side switch among the on-side switch and the off-side switch. Therefore, in the short-circuit control, the on-side switch is driven and controlled to the on-side, but the off-side switch is eventually turned off in the state where the gate voltage is not controlled.
  • the main purpose of the present disclosure is to provide a control circuit of a power converter that can quickly perform short-circuit control when an abnormality occurs in the system.
  • This disclosure describes the first power source and With a multi-phase rotary electric machine, In a power converter control circuit applied to a system comprising a winding of each phase of the rotating electric machine and a power converter electrically connected to the first power source and having switches for upper and lower arms.
  • the system includes a second power source and a third power source that serve as power supply sources for the control circuit.
  • An abnormality determination unit that determines whether or not an abnormality has occurred in the system, When it is determined by the abnormality determination unit that an abnormality has occurred, the switch in one of the upper and lower arms is the switch using the power generated by at least one of the second power supply and the third power supply. It is provided with an abnormal time control unit that performs short-circuit control that drives and controls the on-side switch to the on-state and drives and controls the off-side switch, which is the switch on the other arm, to the off-side.
  • the system is provided with a second power source and a third power source that serve as a power supply source for the control circuit. Therefore, even if either one of the second power supply and the third power supply cannot be used as the power supply source of the control circuit, the other power supply can be used as the power supply source. As a result, short circuit control can be performed. Further, since the other power source can be used as the power supply source, for example, the normal control for controlling the control amount of the rotary electric machine to the command value can be continued without performing the short circuit control.
  • the on-side switch when it is determined that an abnormality has occurred in the system, in the short-circuit control, the on-side switch is driven to the on state by using the power generated by at least one of the second power supply and the third power supply. Then, the off-side switch is driven and controlled to the off state. For this reason, short-circuit control can be performed more quickly when an abnormality occurs in the system, as compared with a configuration in which the on-side switch is switched to the on-side after waiting for the off-side switch to turn off. ..
  • FIG. 1 is an overall configuration diagram of the control system according to the first embodiment.
  • FIG. 2 is a diagram showing a control circuit and its peripheral configuration.
  • FIG. 3 is a diagram showing the upper and lower arm drivers and their peripheral configurations.
  • FIG. 4 is a flowchart showing a processing procedure of three-phase short-circuit control and shutdown control.
  • FIG. 5 is a flowchart showing a processing procedure of the three-phase short-circuit control and the shutdown control according to the second embodiment.
  • control circuit according to the present disclosure is embodied
  • the control circuit according to this embodiment is applied to a three-phase inverter as a power converter.
  • the control system including the inverter is mounted on a vehicle such as an electric vehicle or a hybrid vehicle.
  • the control system includes a rotary electric machine 10 and an inverter 15.
  • the rotary electric machine 10 is an in-vehicle main engine, and its rotor is capable of transmitting power to drive wheels (not shown).
  • a synchronous machine is used as the rotary electric machine 10, and more specifically, a permanent magnet synchronous machine is used.
  • the inverter 15 includes a switching device unit 20.
  • the switching device unit 20 includes a series connection body of the upper arm switch SWH and the lower arm switch SWL for three phases. In each phase, the first end of the winding 11 of the rotary electric machine 10 is connected to the connection points of the upper and lower arm switches SWH and SWL. The second end of each phase winding 11 is connected at a neutral point.
  • the phase windings 11 are arranged so as to be offset by 120 ° from each other in terms of electrical angle.
  • a voltage-controlled semiconductor switching element is used as each switch SWH and SWL, and more specifically, an IGBT is used.
  • the upper and lower arm diodes DH and DL which are freewheel diodes, are connected in antiparallel to the upper and lower arm switches SWH and SWL.
  • the positive electrode terminal of the high-voltage power supply 30 as the "first power supply” is connected to the collector, which is the high-potential side terminal of each upper arm switch SWH, via the high-potential side electric path 22H.
  • the negative electrode terminal of the high-voltage power supply 30 is connected to the emitter, which is the low-potential side terminal of each lower arm switch SWL, via the low-potential side electric path 22L.
  • the high-voltage power supply 30 is a secondary battery, and its output voltage (rated voltage) is, for example, 100 V or more. In this embodiment, the high voltage power supply 30 corresponds to the "first power supply".
  • the high potential side electric path 22H is provided with a first cutoff switch 23a, and the low potential side electric path 22L is provided with a second cutoff switch 23b.
  • the switches 23a and 23b are, for example, relays or semiconductor switching elements.
  • the switches 23a and 23b may be driven by the control circuit 50 included in the inverter 15, or may be driven by a higher-level ECU (not shown).
  • the upper ECU is a control device higher than the control circuit 50.
  • the inverter 15 includes a smoothing capacitor 24.
  • the smoothing capacitor 24 electrically connects the switching device section 20 side of the high potential side electric path 22H with respect to the first cutoff switch 23a and the switching device section 20 side of the low potential side electric path 22L with respect to the second cutoff switch 23b. Is connected.
  • the control system is equipped with an in-vehicle electric device 25.
  • the electrical device 25 includes, for example, at least one of an electric compressor and a DCDC converter.
  • the electric compressor constitutes an air conditioner in the vehicle interior and is driven by being supplied with power from a high-voltage power source 30 in order to circulate the refrigerant in the in-vehicle refrigeration cycle.
  • the DCDC converter steps down the output voltage of the high-voltage power supply 30 and supplies it to the vehicle-mounted low-voltage load.
  • the low voltage load includes a low voltage power supply 31 as a "second power supply" shown in FIG.
  • the low voltage power supply 31 is a secondary battery whose output voltage (rated voltage) is lower than the output voltage (rated voltage) of the high voltage power supply 30 (for example, 12V), and is, for example, a lead storage battery.
  • the control system includes a phase current sensor 40 and an angle sensor 41.
  • the phase current sensor 40 outputs a current signal corresponding to at least two phases of the currents flowing through the rotary electric machine 10.
  • the angle sensor 41 outputs an angle signal corresponding to the electric angle of the rotary electric machine 10.
  • the angle sensor 41 is, for example, an MR sensor having a resolver, an encoder, or a magnetoresistive sensor, and is a resolver in this embodiment.
  • the inverter 15 includes a discharge resistor 26 and a discharge switch 27.
  • the discharge resistor 26 and the discharge switch 27 are connected in series.
  • the switching device section 20 side of the high potential side electric path 22H is closer to the switching device section 20 than the first cutoff switch 23a
  • the switching device section 20 side of the low potential side electric path 22L is closer to the switching device section 20 than the second cutoff switch 23b. It is electrically connected.
  • the drain, which is the high potential side terminal of the discharge switch 27, is connected to one end of the discharge resistor 26, and the source, which is the low potential side terminal of the discharge switch 27, is connected to the low potential side electric path 22L. ..
  • the discharge switch 27 is driven by an instruction from the control circuit 50.
  • the control circuit 50 includes an input circuit 61.
  • the positive electrode terminal of the low voltage power supply 31 is connected to the input portion of the input circuit 61.
  • a ground as a grounding portion is connected to the negative electrode terminal of the low-voltage power supply 31.
  • the control circuit 50 includes a first diode 62a, a second diode 62b, and a backup power supply circuit 63 as a "third power supply".
  • the backup power supply circuit 63 generates a backup power supply voltage Vbps by supplying the output voltage of the smoothing capacitor 24 under the condition that the first and second cutoff switches 23a and 23b are turned on.
  • Various power supplies can be used as the backup power supply circuit 63, for example, a switching power supply can be used.
  • the high potential side of the smoothing capacitor 24 is connected to the input portion of the backup power supply circuit 63.
  • the output section of the input circuit 61 is connected to the anode of the first diode 62a.
  • the anode of the second diode 62b is connected to the output section of the backup power supply circuit 63.
  • the cathode of the second diode 62b is connected to the cathode of the first diode 62a.
  • the voltage on the cathode side of each of the diodes 62a and 62b may be referred to as the low voltage side power supply voltage VB.
  • the control circuit 50 includes an intermediate power supply circuit 64, a main power supply circuit 65 as a "first power generation unit", and a first power supply circuit 66.
  • the cathodes of the first and second diodes 62a and 62b are connected to the intermediate power supply circuit 64.
  • the intermediate power supply circuit 64 generates an intermediate voltage (for example, 6V) by stepping down the supplied low voltage side power supply voltage VB.
  • the main power supply circuit 65 generates a main power supply voltage Vm (for example, 5V) by stepping down the output voltage of the intermediate power supply circuit 64.
  • the first power supply circuit 66 generates the first voltage Va by stepping down the output voltage of the intermediate power supply circuit 64.
  • the first voltage Va is set to a value lower than the main power supply voltage Vm (for example, 1V).
  • Vm main power supply voltage
  • Various power supply circuits can be used as the intermediate power supply circuit 64, the main power supply circuit 65, and the first power supply circuit 66.
  • a switching power supply can be used as the intermediate power supply circuit 64 and the first power supply circuit 66, and a series power supply can be used as the main power supply circuit 65.
  • the control circuit 50 includes a sub power supply circuit 67 as a "second power generation unit” and a second power supply circuit 68.
  • the cathodes of the first and second diodes 62a and 62b are connected to the sub power supply circuit 67.
  • the sub power supply circuit 67 generates a sub power supply voltage (for example, 5 V) by stepping down the supplied low voltage side power supply voltage VB.
  • the sub power supply voltage Vs is set to the same value as the main power supply voltage Vm, but it is not essential that the sub power supply voltage Vs is set to the same value as the main power supply voltage Vm.
  • the cathodes of the first and second diodes 62a and 62b are connected to the second power supply circuit 68.
  • the second power supply circuit 68 generates a second voltage Vr (for example, 30 V) by boosting the supplied low voltage side power supply voltage VB.
  • the input circuit 61, the first and second diodes 62a and 62b, and the power supply circuits 64 to 68 are provided in the low voltage region of the control circuit 50.
  • the backup power supply circuit 63 is provided in the low voltage region and the high voltage region across the boundary between the low voltage region and the high voltage region in the control circuit 50.
  • the control circuit 50 includes an interface unit 70 and a resolver digital converter 71 in its low voltage region.
  • the interface unit 70 is configured to be operable by supplying the second voltage Vr of the second power supply circuit 68.
  • the interface unit 70 transmits a sinusoidal excitation signal from the resolver digital converter 71 to the angle sensor 41, and transmits an angle signal from the resolver stator constituting the angle sensor 41 to the resolver digital converter 71.
  • the resolver digital converter 71 is configured to be operable by supplying the main power supply voltage Vm of the main power supply circuit 65.
  • the resolver digital converter 71 calculates the electric angle ⁇ e of the rotary electric machine 10 based on the angle signal from the interface unit 70. The calculated electric angle ⁇ e is input to the main MCU 72 and the sub MCU 73.
  • the main MCU 72 and the sub MCU 73 are provided in the low voltage region of the control circuit 50.
  • Each MCU 72, 73 includes a CPU and other peripheral circuits.
  • the peripheral circuit includes, for example, an input / output unit for exchanging signals with the outside and an AD conversion unit.
  • the main MCU 72 is configured to be operable by supplying the main power supply voltage Vm of the main power supply circuit 65 and the first voltage Va of the first power supply circuit 66.
  • the sub MCU 73 is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the current signal Iph output from the phase current sensor 40 is input to the main MCU 72 and the sub MCU 73.
  • the control circuit 50 includes first and second CAN transceivers 74 and 75 in its low voltage region.
  • the first CAN transceiver 74 is configured to be operable by supplying the main power supply voltage Vm of the main power supply circuit 65.
  • the second CAN transceiver 75 is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the main ECU 72 exchanges information with the host ECU via the first CAN transceiver 74 and the first CAN bus (not shown). Specifically, the main ECU 72 acquires a command value of the control amount of the rotary electric machine 10 from the host ECU via the first CAN transceiver 74 and the first CAN bus.
  • the sub-MCU 73 exchanges information with the host ECU via the second CAN transceiver 75 and the second CAN bus (not shown).
  • the control circuit 50 includes a first logic circuit 76 and a second logic circuit 77 in its low voltage region.
  • the first logic circuit 76 is configured to be operable by supplying the main power supply voltage Vm of the main power supply circuit 65.
  • the sub power supply voltage Vs of the sub power supply circuit 67 is input to the first logic circuit 76.
  • the second logic circuit 77 is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the main power supply voltage Vm of the main power supply circuit 65 and the first voltage Va of the first power supply circuit 66 are input to the second logic circuit 77.
  • the main MCU 72 and the first logic circuit 76 correspond to the "first state control unit”
  • the sub MCU 73 and the second logic circuit 77 correspond to the "second state control unit”.
  • the control circuit 50 includes a voltage sensor 78 and an overvoltage detection unit 79.
  • the voltage sensor 78 is electrically connected to the high-potential side electric path 22H and the low-potential side electric path 22L, and detects the high-voltage side power supply voltage Vdc which is the terminal voltage of the smoothing capacitor 24.
  • the detected high-voltage side power supply voltage Vdc is input to the overvoltage detection unit 79, the main MCU 72, and the sub MCU 73.
  • the overvoltage detection unit 79 is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the overvoltage detection unit 79 determines whether or not the detected high-voltage side power supply voltage Vdc exceeds the upper limit voltage.
  • the overvoltage detection unit 79 outputs an overvoltage signal Sovh to the main MCU 72, the sub MCU 73, and the first logic circuit 76.
  • the control circuit 50 is provided with a speed detector 80 in its low voltage region.
  • the speed detector 80 is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the speed detector 80 detects the rotation speed Nr of the rotor of the rotary electric machine 10.
  • the detected rotation speed Nr is input to the main MCU 72 and the sub MCU 73.
  • the control circuit 50 includes a main monitoring unit 81 and a sub monitoring unit 82 in its low voltage region.
  • the main monitoring unit 81 and the sub monitoring unit 82 are configured to be operable by supplying the low voltage side power supply voltage VB.
  • the main monitoring unit 81 has a function of monitoring whether or not an abnormality has occurred in the main MCU 72, and is composed of, for example, a watch dock counter (WDC).
  • WDC watch dock counter
  • the sub monitoring unit 82 has a function of monitoring whether or not an abnormality has occurred in the sub MCU 73, and is composed of, for example, a function watch dock counter (F-WDC).
  • F-WDC function watch dock counter
  • the sub monitoring unit 82 determines that an abnormality in the sub MCU 73 has occurred, the sub monitoring unit 82 outputs a sub abnormality signal Sgfs to the main MCU 72.
  • the sub-monitoring unit 82 is not limited to the F-WDC, and may be composed of, for example, a WDC or a window watch dock counter (W-WDC).
  • the control circuit 50 includes an upper arm insulated power supply circuit 90 as an "upper arm drive power supply”, a lower arm insulated power supply circuit 91 as a “lower arm drive power supply”, an upper arm driver 92, and a lower arm driver 93.
  • the insulated power supply circuits 90, 91 and the drivers 92, 93 are provided in the low voltage region and the high voltage region across the boundary between the low voltage region and the high voltage region in the control circuit 50.
  • the upper arm driver 92 is individually provided corresponding to each upper arm switch SWH
  • the lower arm driver 93 is individually provided corresponding to each lower arm switch SWL. Therefore, a total of six drivers 92 and 93 are provided.
  • the cathodes of the first and second diodes 62a and 62b are connected to the insulated power supply circuits 90 and 91.
  • the upper arm isolated power supply circuit 90 generates and outputs an upper arm drive voltage VdH to be supplied to the upper arm driver 92 based on the supplied low voltage side power supply voltage VB.
  • the upper arm insulated power supply circuit 90 is individually provided for each of the three-phase upper arm drivers 92. Information on the upper arm drive voltage VdH of the upper arm isolated power supply circuit 90 is input to the first logic circuit 76.
  • the lower arm insulated power supply circuit 91 generates and outputs a lower arm drive voltage VdL to be supplied to the lower arm driver 93 based on the supplied low voltage side power supply voltage VB.
  • a common lower arm insulated power supply circuit 91 is provided for the three-phase lower arm driver 93.
  • Information on the lower arm drive voltage VdL of the lower arm isolated power supply circuit 91 is input to the first logic circuit 76.
  • the lower arm insulated power supply circuit 91 may be individually provided for each of the three-phase lower arm drivers 93.
  • the control circuit 50 includes an OR circuit 83 in its low voltage region. Switching commands from the first and second logic circuits 76 and 77 are input to the OR circuit 83.
  • the OR circuit 83 outputs an on command to the upper arm driver 92 when the switching command of at least one of the switching commands output from the first and second logic circuits 76 and 77 is an on command. On the other hand, when both the switching commands output from the first and second logic circuits 76 and 77 are off commands, the OR circuit 83 outputs an off command to the upper arm driver 92.
  • the main MCU 72 generates a switching command for each switch SWH and SWL of the switching device unit 20 in order to control the control amount of the rotary electric machine 10 to the acquired command value.
  • the control amount is, for example, torque.
  • the main MCU 72 generates a switching command based on the acquired electric angle ⁇ e, current signal Iph, and the like.
  • the main MCU 72 outputs a switching command to the upper arm driver 92 via the first logic circuit 76 and the OR circuit 83, and outputs a switching command to the lower arm driver 93 via the first logic circuit 76.
  • the main MCU 72 generates a switching command in which the upper arm switch SWH and the lower arm switch SWL are alternately turned on in each phase.
  • the main MCU 72 includes a "switch command generator".
  • the upper arm driver 92 includes an upper arm drive unit 92a and an upper arm insulation transmission unit 92b.
  • the upper arm drive unit 92a is provided in the high pressure region.
  • the upper arm insulation transmission portion 92b is provided in the low pressure region and the high pressure region across the boundary between the low pressure region and the high pressure region.
  • the upper arm insulation transmission unit 92b transmits a switching command output from the OR circuit 83 to the upper arm drive unit 92a while electrically insulating between the low voltage region and the high voltage region.
  • the upper arm insulation transmission unit 92b is, for example, a photocoupler or a magnetic coupler.
  • the configuration of the upper arm drive unit 92a and the upper arm insulation transmission unit 92b on the high voltage region side can be operated by supplying the upper arm drive voltage VdH of the upper arm insulation power supply circuit 90. It is configured.
  • the configuration of the upper arm insulation transmission portion 92b on the low voltage region side is configured to be operable by supplying the sub power supply voltage Vs of the sub power supply circuit 67.
  • the upper arm drive unit 92a supplies a charging current to the gate of the upper arm switch SWH when the input switching command is an on command. As a result, the gate voltage of the upper arm switch SWH becomes equal to or higher than the threshold voltage Vth, and the upper arm switch SWH is turned on. On the other hand, when the input switching command is an off command, the upper arm drive unit 92a causes a discharge current to flow from the gate of the upper arm switch SWH to the emitter side. As a result, the gate voltage of the upper arm switch SWH becomes less than the threshold voltage Vth, and the upper arm switch SWH is turned off.
  • the upper arm drive unit 92a transmits information such as an upper arm fail signal SgfH, which is information indicating that an abnormality has occurred in the upper arm switch SWH, via the upper arm insulation transmission unit 92b to the main MCU 72, the sub MCU 73, and the first. 1 Transmit to logic circuit 76.
  • the abnormality of the upper arm switch SWH includes at least one of an overheating abnormality, an overvoltage abnormality, and an overcurrent abnormality.
  • the lower arm driver 93 includes a lower arm drive unit 93a and a lower arm insulation transmission unit 93b.
  • the configurations of the drivers 92 and 93 are basically the same. Therefore, in the following, detailed description of the lower arm driver 93 will be omitted as appropriate.
  • the configuration of the lower arm drive unit 93a and the lower arm insulation transmission unit 93b on the high voltage region side can be operated by supplying the lower arm drive voltage VdL of the lower arm insulation power supply circuit 91. It is configured.
  • the configuration of the lower arm insulation transmission portion 93b on the low voltage region side is configured to be operable by supplying the main power supply voltage Vm of the main power supply circuit 65.
  • the lower arm drive unit 93a supplies a charging current to the gate of the lower arm switch SWL when the input switching command is an on command. As a result, the gate voltage of the lower arm switch SWL becomes equal to or higher than the threshold voltage Vth, and the lower arm switch SWL is turned on. On the other hand, when the input switching command is an off command, the lower arm drive unit 93a causes a discharge current to flow from the gate of the lower arm switch SWL to the emitter side. As a result, the gate voltage of the lower arm switch SWL becomes less than the threshold voltage Vth, and the lower arm switch SWL is turned off.
  • the lower arm drive unit 93a transmits information such as the lower arm fail signal SgfL, which is information indicating that an abnormality has occurred in the lower arm switch SWL, to the main MCU 72, the sub MCU 73, and the lower arm switch 93b via the lower arm insulation transmission unit 93b. 1 Transmit to logic circuit 76.
  • the abnormality of the lower arm switch SWL includes at least one of an overheating abnormality, an overvoltage abnormality and an overcurrent abnormality.
  • the control circuit 50 includes an insulation transmission unit 100 and a discharge processing unit 101.
  • the insulation transmission unit 100 is provided in the low-voltage region and the high-voltage region across the boundary between the low-voltage region and the high-voltage region.
  • the insulation transmission unit 100 transmits the discharge command CmdAD output from the main MCU 72 or the sub MCU 73 to the discharge processing unit 101 while electrically insulating between the low voltage region and the high voltage region.
  • the insulation transmission unit 100 is, for example, a photocoupler or a magnetic coupler.
  • the configuration on the high voltage region side of the insulation transmission unit 100 is configured to be operable by supplying, for example, the lower arm drive voltage VdL, and the configuration on the low voltage region side of the insulation transmission unit 100 is, for example, supplied with the main power supply voltage Vm. It is configured to be operable by.
  • the discharge processing unit 101 is provided in the high voltage region of the control circuit 50, and is configured to be operable by supplying the lower arm drive voltage VdL.
  • the discharge processing unit 101 controls the drive of the discharge switch 27 to control the discharge of the smoothing capacitor 24.
  • three-phase short-circuit control can be performed when various configurations in the control circuit 50 or an abnormality outside the control circuit 50 occurs. Such anomalies occur, for example, due to a vehicle collision.
  • ASC Active Short Circuit
  • (A) Low-voltage power supply 31, input circuit 61
  • An abnormality may occur in which power cannot be supplied from the low-voltage power supply 31 to the control circuit 50, or an abnormality in the input circuit 61 may occur.
  • an abnormality of (A) will be referred to as an abnormality of (A).
  • a backup power supply circuit 63 is provided in addition to the low-voltage power supply 31 in preparation for the case where the abnormality (A) occurs. As a result, the redundancy of power supply to the main MCU 72, the upper arm insulated power supply circuit 90, and the lower arm insulated power supply circuit 91 is ensured.
  • the intermediate power supply circuit 64, the first power supply circuit 66, and the main power supply circuit 65 operate with the backup power supply circuit 63 as the power supply source.
  • the main power supply voltage Vm of the main power supply circuit 65 and the first voltage Va of the first power supply circuit 66 are supplied to the main MCU 72. Therefore, even if the abnormality (A) occurs, the operation of the main MCU 72 can be continued. As a result, the main MCU 72 can perform the three-phase short-circuit control in the situation where the three-phase short-circuit control should be performed.
  • the main MCU 72 may continue normal control when the abnormality of (A) occurs.
  • the normal control is a control that generates and outputs a switching command for controlling the control amount of the rotary electric machine 10 to a command value in order to drive the vehicle.
  • the three-phase short-circuit control can be quickly performed when an abnormality occurs.
  • the upper arm drive unit 92a constituting the upper arm driver 92 can operate. It has become. Further, even when the abnormality (A) occurs, power is supplied from the backup power supply circuit 63 to the sub power supply circuit 67. Therefore, the sub power supply voltage Vs can be supplied to the upper arm insulation transmission unit 92b constituting the upper arm driver 92, and the upper arm insulation transmission unit 92b can operate. Therefore, even when the abnormality (A) occurs, the drive control that quickly switches the upper arm switch SWH to the intended drive state is possible.
  • the lower arm drive unit 93a constituting the lower arm driver 93 can operate. It has become. Further, even when the abnormality (A) occurs, power is supplied from the backup power supply circuit 63 to the main power supply circuit 65. Therefore, the main power supply voltage Vm can be supplied to the lower arm insulation transmission unit 93b constituting the lower arm driver 93, and the lower arm insulation transmission unit 93b can operate. Therefore, even when the abnormality (A) occurs, the drive control that quickly switches the lower arm switch SWL to the intended drive state is possible.
  • the lower arm switches SWH and SWL can be quickly switched to the intended drive state, and after waiting for the switch of one arm to turn off in the three-phase short-circuit control.
  • the short circuit control can be quickly performed by the instruction from the low voltage region side of the control circuit 50.
  • the output voltage VL of the input circuit 61 is set higher than the backup power supply voltage Vbps of the backup power supply circuit 63.
  • the intermediate power supply circuit 64, the sub power supply circuit 67, the second power supply circuit 68, Power is supplied from the input circuit 61 to the upper arm insulated power supply circuit 90 and the lower arm insulated power supply circuit 91.
  • the backup power supply circuit 63 can be downsized.
  • the backup power supply circuit 63 generates electric power by being supplied with electric power from the high voltage power supply 30.
  • power can be supplied to the intermediate power supply circuit 64, the sub power supply circuit 67, the second power supply circuit 68, and the upper and lower arm insulated power supply circuits 90 and 91 when the abnormality of (A) occurs without increasing the power supply source.
  • Three-phase short-circuit control can be implemented.
  • the three-phase short-circuit control process and the shutdown control process executed by the main MCU 72 will be described with reference to FIG. This process is executed not only when the abnormality of (A) but also when the abnormality of (B) described later occurs. However, here, first, the case where the abnormality (A) occurs will be described.
  • step S10 it is determined whether or not the abnormality (A) has occurred. Whether or not the abnormality (A) has occurred may be determined based on, for example, the detection result of the low voltage side power supply voltage VB. Specifically, the detected low voltage side power supply voltage VB is the output voltage of the input circuit 61. It may be determined whether or not the VL is switched to the backup power supply voltage Vbps. The process of step S10 corresponds to the "abnormality determination unit".
  • step S10 If it is determined in step S10 that no abnormality has occurred, the process proceeds to step S11 and normal control is continued.
  • step S10 determines whether the abnormality (A) has occurred.
  • the process proceeds to step S12, and the lower arm ASC or the upper arm ASC is performed.
  • the lower arm ASC is a three-phase short-circuit control that outputs an off command to the upper arm switch SWH for three phases and outputs an on command to the lower arm switch SWL for three phases.
  • the upper arm ASC is a three-phase short-circuit control that outputs an on command to the upper arm switch SWH for three phases and outputs an off command to the lower arm switch SWL for three phases.
  • step S12 the lower arm ASC outputs an off command to the upper arm driver 92 via the first logic circuit 76 and the OR circuit 83, and outputs an off command to the lower arm driver 93 via the first logic circuit 76.
  • This is a process to output an on command.
  • the upper arm ASC outputs an on command to the upper arm driver 92 via the first logic circuit 76 and the OR circuit 83, and outputs an off command to the lower arm driver 93 via the first logic circuit 76.
  • the process in step S12 corresponds to the "abnormality control unit".
  • step S13 the rotation speed Nr of the rotor detected by the speed detector 80 and the high-voltage side power supply voltage Vdc detected by the voltage sensor 78 are acquired.
  • K is a constant and is a value determined from the magnetic flux amount ⁇ of the magnetic poles of the rotor.
  • the line voltage Vdemf may be estimated based on, for example, the electric angular velocity ⁇ e calculated from the electric angle ⁇ e, instead of the rotor rotation speed Nr.
  • step S15 it is determined whether the control that puts the inverter 15 in a safe state is shutdown control or three-phase short-circuit control.
  • This process is a process for determining whether or not regeneration is performed. Specifically, it is determined whether or not the estimated line voltage Vdemf exceeds the acquired high-voltage side power supply voltage Vdc.
  • the line voltage when a counter electromotive voltage is generated in the winding 11 is the terminal voltage of the smoothing capacitor 24. It can be accurately determined that the voltage is higher than that.
  • step S15 If a negative determination is made in step S15, it is determined that regeneration is not performed, and the process proceeds to step S13 while continuing the three-phase short-circuit control. On the other hand, if an affirmative determination is made in step S15, it is determined that regeneration will be performed, the process proceeds to step S16, the three-phase short-circuit control is stopped, and shutdown control is performed by a switching command.
  • step S14 is for preventing the occurrence of overheating abnormality of the winding 11 and the switching device unit 20 and the like. That is, when the three-phase short-circuit control is performed, the current circulates in the winding 11 and the switching device unit 20, the amount of heat generated by the winding 11 and the switching device unit 20 increases, and the winding 11 and the switching device unit 20 generate heat. There is a concern that an overheating abnormality such as 20 may occur.
  • the line voltage when the counter electromotive voltage is generated in the winding 11 is equal to or less than the terminal voltage of the smoothing capacitor 24, the regeneration in which the current flows from the winding 11 to the smoothing capacitor 24 side via the switching device unit 20 Does not occur. Therefore, when the control that puts the inverter 15 in the safe state becomes the shutdown control, the control is switched to the shutdown control. As a result, the occurrence of overheating abnormality of the winding 11 and the switching device unit 20 and the like is prevented.
  • the operation of reducing the rotation speed of the rotor is performed by the drive control of the rotary electric machine 10. ..
  • the line voltage Vdemf estimated based on the rotation speed Nr becomes equal to or lower than the high voltage side power supply voltage Vdc, and the shutdown control is switched.
  • step S17 it is determined whether or not the abnormality of (A) determined in step S10 has been resolved. When it is determined that the abnormality (A) has been resolved, the process proceeds to step S10.
  • the three-phase short-circuit control may be executed by the first logic circuit 76 instead of the main MCU 72. Specifically, the first logic circuit 76 determines whether or not the abnormality (A) has occurred based on the detection result of the low voltage side power supply voltage VB.
  • the first logic circuit 76 When it is determined that no abnormality has occurred, the first logic circuit 76 outputs the switching command from the main MCU 72 as it is to the OR circuit 83 and the lower arm driver 93. As a result, normal control is continued.
  • the first logic circuit 76 when it is determined that the abnormality of (A) has occurred, the first logic circuit 76 outputs an off command to the upper arm driver 92 via the OR circuit 83 regardless of the switching command from the main MCU 72, and lowers the first logic circuit 76.
  • the lower arm ASC that outputs an on command to the arm driver 93 is carried out.
  • the first logic circuit 76 determines that the abnormality (A) has been resolved, the lower arm ASC is stopped, and the switching command from the main MCU 72 is output to the OR circuit 83 and the lower arm driver 93 as they are.
  • (B) Backup power supply circuit 63 A low-voltage power supply 31 is provided in case an abnormality of the backup power supply circuit 63 (hereinafter, an abnormality of (B)) occurs. As a result, the redundancy of power supply to the main MCU 72, the upper arm insulated power supply circuit 90, and the lower arm insulated power supply circuit 91 is ensured. Further, this makes it possible to quickly carry out three-phase short-circuit control. As a result, the main MCU 72 can perform the three-phase short-circuit control in the situation where the three-phase short-circuit control should be performed.
  • step S10 it is determined whether or not the abnormality (B) has occurred. Whether or not the abnormality (B) has occurred may be determined based on, for example, the detection result of the backup power supply voltage Vbps. Specifically, from the range in which the detected backup power supply voltage Vbps can be taken as the normal value. If it is determined that the voltage is off, it may be determined that the abnormality (B) has occurred.
  • step S10 If it is determined in step S10 that the abnormality (B) has occurred, the process proceeds to step S12, and the lower arm ASC or the upper arm ASC is performed. The subsequent processing is the same as in the case of (A).
  • the power supply source of the configuration on the low voltage region side of the main MCU 72, the first logic circuit 76, and the lower arm driver 93 is the main power supply circuit 65 different from the sub power supply circuit 67. .. Therefore, even if the abnormality of (C) occurs, power can be supplied from the main power supply circuit 65 to the configuration of the main MCU 72, the first logic circuit 76, and the lower arm driver 93 on the low voltage region side, so that the main MCU 72 can be supplied with power.
  • Three-phase short-circuit control can be performed according to the instruction.
  • step S10 it is determined whether or not the abnormality (C) has occurred. Whether or not the abnormality (C) has occurred may be determined based on, for example, the detection result of the sub power supply voltage Vs. Specifically, the sub power supply voltage Vs is out of the range that can be taken as the normal value. If it is determined that the abnormality is present, it may be determined that the abnormality (C) has occurred.
  • step S10 If it is determined in step S10 that the abnormality (C) has occurred, the process proceeds to step S12, and the lower arm ASC is performed by the switching command.
  • the reason why the lower arm ASC is carried out is that the sub power supply voltage Vs is not supplied to the configuration on the low pressure region side of the upper arm driver 92, and the upper arm switch SWH cannot be turned on.
  • the subsequent processing is the same as in the case of (A).
  • the lower arm ASC may be performed by the first logic circuit 76 instead of the main MCU 72.
  • (D) Main power supply circuit 65
  • an abnormality of the main power supply circuit 65 (hereinafter, an abnormality of (D)) occurs, the configuration of the main MCU 72, the first logic circuit 76, and the lower arm driver 93 on the low voltage region side cannot be operated.
  • the sub MCU 73 and the second logic circuit 77 are provided in addition to the main MCU 72 and the first logic circuit 76, and the low voltage region of the sub MCU 73, the second logic circuit 77, and the upper arm driver 92.
  • the power supply source of the configuration on the side is a sub power supply circuit 67 different from the main power supply circuit 65.
  • step S10 the second logic circuit 77 determines whether or not the abnormality (D) has occurred. Specifically, the second logic circuit 77 determines whether or not the abnormality (D) has occurred based on the detection result of the main power supply voltage Vm of the main power supply circuit 65, and more specifically, When it is determined that the main power supply voltage Vm is out of the range that can be taken as the normal value, it may be determined that the abnormality (D) has occurred.
  • the second logic circuit 77 determines that the abnormality (D) has occurred, it outputs an on command to the OR circuit 83 and a shutdown command to the first logic circuit 76 in step S12. Perform upper arm ASC.
  • the first logic circuit 76 determines that the shutdown command has been input, the first logic circuit 76 sets the switching command output to the OR circuit 83 and the lower arm driver 93 to the off command.
  • the upper arm ASC is performed because the main power supply voltage Vm is not supplied to the configuration on the low voltage region side of the lower arm driver 93, and the lower arm switch SWL cannot be turned on.
  • step S13 the sub MCU73 acquires the rotation speed Nr of the rotor and the high-voltage side power supply voltage Vdc.
  • step S14 based on the acquired rotor rotation speed Nr and high-voltage side power supply voltage Vdc, the sub-MCU 73 is controlled to put the inverter 15 in a safe state by shutdown control or a three-phase short circuit, as in (A). Determine if it is a control.
  • the sub-MCU 73 When the sub MCU73 determines that the control to be in the safe state is in the shutdown state, the sub-MCU 73 outputs an ASC release command as a pulse signal to the second logic circuit 77 in step S16. As a result, the second logic circuit 77 turns off the switching command output to the OR circuit 83. As a result, shutdown control is implemented.
  • step S17 the second logic circuit 77 determines whether or not the abnormality (D) has been resolved, and if it is determined that the abnormality has been resolved, the process proceeds to step S10.
  • the upper arm ASC may be performed according to the instruction of the sub MCU73 instead of the second logic circuit 77.
  • the main power supply voltage Vm may be input to the sub MCU 73 as well.
  • step S10 the first logic circuit 76 determines whether or not the abnormality (E) has occurred based on the detection result of the upper arm drive voltage VdH. Specifically, when the first logic circuit 76 determines that the upper arm drive voltage VdH is out of the range that can be taken as its normal value, it may determine that the abnormality (E) has occurred.
  • step S12 the first logic circuit 76 determines that the abnormality (E) has occurred, in step S12, the first logic circuit 76 outputs a lower arm ASC that outputs an off command to the OR circuit 83 and an on command to the lower arm driver 93. implement.
  • the lower arm ASC is carried out because the configuration of the upper arm driver 92 on the high pressure region side cannot be operated.
  • step S13 the main MCU 72 acquires the rotation speed Nr of the rotor and the high-voltage side power supply voltage Vdc.
  • step S14 in the main MCU 72, based on the acquired rotor rotation speed Nr and the high-voltage side power supply voltage Vdc, the control for putting the inverter 15 in a safe state is shutdown control or a three-phase short circuit, as in (A). Determine if it is a control.
  • the main MCU 72 determines that the control to be in the safe state is in the shutdown state, the main MCU 72 outputs an ASC release command as a pulse signal to the first logic circuit 76 in step S16. As a result, the first logic circuit 76 turns off the switching command output to the lower arm driver 93. As a result, shutdown control is implemented.
  • step S17 the first logic circuit 76 determines whether or not the abnormality (E) has been resolved, and if it is determined that the abnormality has been resolved, the process proceeds to step S10.
  • the lower arm ASC may be performed according to the instruction of the main MCU 72 instead of the first logic circuit 76.
  • the upper arm drive voltage VdH may be input to the main MCU 72.
  • step S10 the first logic circuit 76 determines whether or not the abnormality (F) has occurred based on the detection result of the lower arm drive voltage VdL. Specifically, when the first logic circuit 76 determines that the lower arm drive voltage VdL is out of the range that can be taken as its normal value, it may determine that the abnormality (F) has occurred.
  • step S12 the first logic circuit 76 determines that the abnormality of (F) has occurred, in step S12, the first logic circuit 76 outputs an on command to the OR circuit 83 and an upper arm ASC to output an off command to the lower arm driver 93. implement.
  • the upper arm ASC is carried out because the configuration of the lower arm driver 93 on the high pressure region side cannot be operated.
  • step S17 the first logic circuit 76 determines whether or not the abnormality (F) has been resolved, and if it is determined that the abnormality has been resolved, the process proceeds to step S10.
  • the upper arm ASC may be performed according to the instruction of the main MCU 72 instead of the first logic circuit 76.
  • the lower arm drive voltage VdL may be input to the main MCU 72.
  • (G) Main MCU 72, main monitoring unit 81
  • an abnormality in (G) the main MCU 72 cannot continue normal control.
  • the upper arm ASC can be implemented from the second logic circuit 77 in preparation for the case where the abnormality of (G) occurs.
  • step S10 when the second logic circuit 77 determines that the main abnormality signal Sgfm has been input from the main monitoring unit 81, it determines that the abnormality (G) has occurred.
  • step S12 the second logic circuit 77 outputs an on command to the OR circuit 83 and outputs a shutdown command to the first logic circuit 76 to execute the upper arm ASC.
  • the upper arm ASC is implemented because the power supply source of the second logic circuit 77 and the power supply source of the configuration on the low voltage region side of the upper arm driver 92 are the same at the sub power supply voltage Vs.
  • steps S13 to S16 the sub MCU73 performs the same processing as in (D). As a result, even when the abnormality (G) occurs, it is possible to instruct the release of the three-phase short-circuit control.
  • the processes of steps S13 to S16 correspond to the "safety state determination unit".
  • step S17 the second logic circuit 77 determines whether or not the abnormality (G) has been resolved, and if it is determined that the abnormality has been resolved, the process proceeds to step S10.
  • the upper arm ASC may be performed according to the instruction of the sub MCU73 instead of the second logic circuit 77.
  • the main abnormality signal Sgfm may be input to the sub MCU73.
  • the main MCU 72 determines that the abnormality (H) has occurred, it executes the upper arm ASC or the lower arm ASC by a switching command.
  • the three-phase short-circuit control and the shutdown control executed by the main MCU 72 when the abnormality of (H) occurs may be performed in the same manner as in (A).
  • whether or not an angle detection abnormality has occurred may be determined based on, for example, the input electric angle ⁇ e, and whether or not an abnormality has occurred in the phase current sensor 40 may be determined, for example, by the input current signal. The determination may be made based on Iph.
  • whether or not an abnormality has occurred in the first CAN transceiver 74 may be determined based on, for example, an input signal from the first CAN transceiver 74.
  • step S10 it is determined whether or not the abnormality (I) has occurred based on the upper arm fail signal SgfH and the lower arm fail signal SgfL.
  • the upper arm ASC is performed.
  • the lower arm ASC is performed.
  • step S15 the shutdown control can be switched to the case where the switch open abnormality occurs, and cannot be switched when the short circuit abnormality occurs.
  • step S10 it is determined whether or not the abnormality (J) has occurred. For example, it may be determined whether or not the abnormality (J) has occurred based on the detection result of the sub-abnormal signal Sgfs of the sub-monitoring unit 82 or the speed detector 80.
  • (K) First and second cutoff switches 23a and 23b When at least one open abnormality (hereinafter, (K) abnormality) of the first and second cutoff switches 23a and 23b occurs, the terminal voltage of the smoothing capacitor 24 rises significantly, so that the overvoltage detection unit 79 to the first logic circuit
  • the overvoltage signal Sovh is input to 76.
  • the first logic circuit 76 implements three-phase short-circuit control. The switching from the three-phase short-circuit control to the shutdown control may be performed in the same manner as in (A).
  • one of the reasons why the three-phase short-circuit control can be quickly implemented is to deal with the case where the abnormality of (K) occurs. That is, an open abnormality may occur in at least one of the first and second cutoff switches 23a and 23b. If regeneration is performed in this case, the terminal voltage of the smoothing capacitor 24 rises significantly and exceeds the allowable upper limit value, and the smoothing capacitor 24 may fail. Therefore, in order to suppress the rise in the terminal voltage of the smoothing capacitor 24 as soon as possible, a configuration capable of driving control that quickly switches the upper and lower arm switches SWH and SWL to the intended driving state is adopted.
  • the time from when the overvoltage signal Sovh is output from the overvoltage detection unit 79 to the main MCU 72 until the three-phase short-circuit control is executed by the switching command of the first logic circuit 76 is shortened, and the three-phase short-circuit control is speeded up. It is possible to carry out.
  • the main MCU 72 may perform three-phase short-circuit control when it is determined that an abnormality has occurred in the second CAN transceiver 75.
  • FIG. 5 shows a procedure of processing executed by the main MCU 72.
  • the same reference numerals are given to the processes shown in FIG. 4 above for convenience.
  • step S20 it is determined whether or not the abnormality (A) has occurred. If an affirmative determination is made in step S20, the process proceeds to step S21 to reduce the switching frequency fsw. As a result, the power consumption of the upper arm insulated power supply circuit 90 and the lower arm insulated power supply circuit 91 can be reduced, and thus the power consumption of the backup power supply circuit 63 can be reduced. As a result, it is possible to reduce the size of the backup power supply circuit 63 while continuing the running of the vehicle by normal control.
  • step S14 of FIGS. 4 and 5 the line voltage Vdemf is estimated by further using the detection value of the temperature sensor that detects the temperature of the rotor of the rotary electric machine 10 or the estimation value of the temperature estimation unit that estimates the temperature of the rotor. May be done.
  • the line voltage to be compared with the high voltage side power supply voltage Vdc in step S15 may be a detected value of the line voltage instead of an estimated value.
  • the value to be compared with the line voltage Vdemf in step S15 is not limited to the detected high-voltage side power supply voltage Vdc, and may be, for example, a predetermined determination voltage.
  • the determination voltage may be set to, for example, the minimum value within the range in which the normal value of the terminal voltage of the high-voltage power supply 30 can be taken.
  • the electric power of the power supply circuit having the high voltage power source 30 or the low voltage power source 31 as the power supply source may be supplied to the discharge processing unit 101.
  • the power supply source of the discharge processing unit 101 can be made redundant.
  • control circuit 50 may not be provided with the insulation transmission unit 100 and the discharge processing unit 101 for controlling the discharge of the smoothing capacitor 24.
  • the low voltage side power supply voltage VB may be supplied instead of the sub power supply voltage Vs to the configuration on the low voltage region side of the upper arm driver 92. In this case, even if an abnormality occurs in the sub power supply circuit 67, the configuration of the upper arm driver 92 on the low voltage region side can be operated, so that the vehicle can continue to run under the control of the main MCU 72.
  • the sub MCU 73 may have a function of generating a switching command for normal control, like the main MCU 72.
  • the rotation speed Nr detected by the speed detector 80 may be input to the main MCU 72 and the sub MCU 73 via the CAN transceiver and the CAN bus.
  • the backup power supply circuit 63 may generate electric power by supplying electric power from another power source other than the high voltage power source 30 and the low voltage power source 31. Even in this case, for example, when the abnormality of (A) occurs, power can be supplied to the intermediate power supply circuit 64, the sub power supply circuit 67, the second power supply circuit 68, and the upper and lower arm insulated power supply circuits 90 and 91, and the three phases can be supplied. Short circuit control can be performed.
  • drivers 92 and 93 As the drivers 92 and 93, drivers provided only in the high-voltage region without straddling the boundary between the low-voltage region and the high-voltage region may be used.
  • a boost converter may be provided between the smoothing capacitor 24 and the cutoff switches 23a and 23b.
  • the switch constituting the switching device unit is not limited to the IGBT, and may be, for example, an N-channel MOSFET having a built-in body diode.
  • the switch of each arm of each phase constituting the switching device unit may be two or more switches connected in parallel to each other.
  • the combination of switches connected in parallel to each other may be, for example, a combination of a SiC switching element and a Si switching element, or a combination of an IGBT and a MOSFET.
  • the amount of control of the rotary electric machine is not limited to torque, and may be, for example, the rotation speed of the rotor of the rotary electric machine.
  • the rotating electric machine is not limited to a three-phase one. Further, the rotary electric machine is not limited to the permanent magnet synchronous machine, and may be, for example, a winding field type synchronous machine. Further, the rotary electric machine is not limited to the synchronous machine, and may be, for example, an induction machine. Further, the rotary electric machine is not limited to the one used as an in-vehicle main engine, and may be used for other purposes such as an electric power steering device and an electric motor constituting an electric compressor for air conditioning.
  • the controls and methods thereof described in the present disclosure are provided by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized. Alternatively, 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. Alternatively, 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. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

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