WO2021245985A1

WO2021245985A1 - Motor control device and motor control method

Info

Publication number: WO2021245985A1
Application number: PCT/JP2021/004257
Authority: WO
Inventors: 大和松井; 利貞三井
Original assignee: 日立Astemo株式会社
Priority date: 2020-06-05
Filing date: 2021-02-05
Publication date: 2021-12-09
Also published as: JP2023102793A

Abstract

This motor control device comprises: a storage unit which stores, in advance, an abnormal pattern indicating an abnormality of output values of Hall sensors expressed by a combination of output values of a plurality of Hall sensors, a pre-pattern immediately prior to the appearance of the abnormal pattern, and a post pattern immediately after the appearance of the abnormal pattern; and a detection unit which detects whether the output values of the plurality of Hall sensors output by the plurality of Hall sensors are the abnormal pattern stored in the storage unit. If the detection unit detects that the output values of the plurality of Hall sensors are the abnormal pattern stored in the storage unit, the detection unit checks whether the output values of the Hall sensors immediately prior to the appearance of the abnormal pattern are the pre-pattern stored in the storage unit, and whether the output values of the Hall sensors immediately after the appearance of the abnormal pattern are the post-pattern stored in the storage unit. The motor control device drives the motor on the basis of the result of the checking performed by the detection unit.

Description

Motor control device and motor control method

The present invention relates to a motor control device and a motor control method.

The motor is equipped with a stator, a rotor that is rotatably supported, and a plurality of Hall sensors that detect the rotational position of the rotor. The motor control device that drives the motor detects the rotation position of the rotor by the pulse signal output from the Hall sensor, and drives the inverter based on the detected rotation position. Then, by driving the inverter, the current flowing through the armature coil of the stator is controlled to rotate the rotor.

Patent Document 1 counts the number of changes in each level of a sensor signal in response to an abnormality in the combination of logic levels of the sensor signals, and counts the number of changes in the level of any one of the sensor signals. It is described that when a predetermined threshold value is reached, the supply of the drive current to the motor is stopped.

Patent Document 2 describes that an abnormality of the Hall sensor is detected based on the order of the output signals of the Hall sensor and based on the correction amount for the rising edge obtained for each coil of each phase.

Patent Document 3 describes that an abnormality is detected when a position signal pattern that cannot be detected during normal operation is detected, and when only a specific pattern is continuous during the position signal abnormality determination time. There is.

Japanese Unexamined Patent Publication No. 2017-143597 Japanese Unexamined Patent Publication No. 2013-183469 Japanese Unexamined Patent Publication No. 2001-268972

Since the motor changes from low speed rotation to high speed rotation, even if an abnormality occurs in the output of the hall sensor, the generation time of the output signal of the hall sensor will differ, and the abnormality in the output of the hall sensor cannot be detected accurately.

The motor control device according to the present invention is a motor control device for driving a multi-phase motor having a rotor and a plurality of Hall sensors for detecting the rotation position of the rotor, and is based on a combination of output values of the plurality of Hall sensors. A storage unit that previously stores an abnormal pattern indicating an abnormality in the output value of the represented Hall sensor, a pre-pattern immediately before the abnormal pattern appears, and a post-pattern immediately after the abnormal pattern appears, and a plurality of the halls. The detection unit includes a detection unit for detecting whether the output value of the plurality of Hall sensors output from the sensor is the abnormality pattern stored in the storage unit, and the detection unit is an output value of the plurality of Hall sensors. When it is detected that is the abnormal pattern stored in the storage unit, the output value of the Hall sensor immediately before the abnormal pattern appears is the prior pattern stored in the storage unit, and It is collated whether the output value of the Hall sensor immediately after the appearance of the abnormal pattern is the post-pattern stored in the storage unit, and the motor is driven based on the result of the collation by the detection unit.
The motor control method according to the present invention is a motor control method in a motor control device for driving a multi-phase motor having a rotor and a plurality of Hall sensors for detecting the rotation position of the rotor, and is an output of the plurality of Hall sensors. An abnormality pattern indicating an abnormality in the output value of the Hall sensor represented by a combination of values, a pre-pattern immediately before the appearance of the abnormality pattern, and a post-pattern immediately after the appearance of the abnormality pattern are stored in advance, and a plurality of the above-mentioned It is detected whether the output values of the plurality of Hall sensors output from the Hall sensors are the stored abnormal patterns, and it is detected that the output values of the plurality of Hall sensors are the stored abnormal patterns. If so, the output value of the Hall sensor immediately before the appearance of the abnormal pattern is the stored pre-pattern, and the output value of the Hall sensor immediately after the appearance of the abnormal pattern is stored. It is collated whether it is the post-mortem pattern, and the motor is driven based on the result of the collation.

According to the present invention, it is possible to accurately detect an abnormality in the output of the Hall sensor.

It is a circuit block diagram of a motor control device. It is a figure which shows the diagnostic matrix when the abnormality pattern of the output value of a Hall sensor at the time of a normal rotation of a motor is (H, H, H). It is a figure which shows the diagnostic matrix when the abnormality pattern of the output value of a Hall sensor at the time of a normal rotation of a motor is (L, L, L). It is a flowchart which shows the operation of a motor control device. (A) to (i) It is a time chart which shows the output pattern of a hall sensor in a normal state, and the operation when a C-phase hall sensor has a ceiling failure. (A) to (i) It is a time chart which shows the output pattern of the hall sensor in a normal state, and the operation when high noise is injected into the hall sensor of C phase. The pattern of the output value of the hall sensor in the normal state is shown. An example of the output value pattern of the Hall sensor at the time of abnormality is shown. It is a figure which shows 6 patterns in a normal state, the range of the electric angle phase in each pattern, and the estimated median phase. It is a figure which shows the 4 patterns when the A phase has a heavenly fault, the range of the electric angle phase in each pattern, and the estimated median phase.

FIG. 1 is a circuit configuration diagram of the motor control device 100.
The motor control device 100 includes an inverter 1, a driver IC 2, and a control unit 3.
The inverter 1 is configured by arranging a MOS transistor, which is a switching element, in series as an upper arm and a lower arm in each of the three phases. The driver IC 2 controls each MOS transistor of the inverter 1 on / off according to the PWM signal output from the control unit 3.

The control unit 3 is an electronic circuit composed of a microcomputer or the like. The control unit 3 includes a speed control torque calculation unit 301, a drive current control unit 302, a speed / phase calculation unit 303, a sensor signal generation circuit 304, a detection unit 305, a storage unit 306, and an estimation processing unit 307.

The motor 200 is a three-phase motor including a rotor 4 and a delta-connected stator 6.
In the rotor 4, three Hall sensors 5 are arranged every 120 degrees (electrical angle) within 360 degrees (electrical angle) per rotation. From the Hall sensor 5, the A-phase, B-phase, and C-phase sensor signals 501 to 503 are input to the sensor signal generation circuit 304. Then, the output value of the Hall sensor 5 is input from the sensor signal generation circuit 304 to the speed / phase calculation unit 303 and the detection unit 305.

The speed / phase calculation unit 303 takes in the logic level at that time every time the combination of the logic levels of the output values of the A phase, the B phase, and the C phase changes, and calculates the angular velocity ω and the electric angular phase θ of the motor 200. And output.

The diagnostic matrix is stored in the storage unit 306. The diagnostic matrix is a correspondence table associating which abnormal phase p is in which abnormal state e by the combination of the abnormal pattern b, the pre-pattern a, and the post-pattern c when the abnormal pattern b is detected. .. The abnormality pattern b is a pattern showing an abnormality in the output value of the Hall sensor 5 represented by a combination of the output values of the Hall sensor 5 in each phase. The pre-pattern a is a pattern immediately before the abnormal pattern b appears. The posterior pattern c is a pattern immediately after the abnormal pattern b appears. The details of the diagnostic matrix will be described later.

The detection unit 305 detects whether the output value output from the Hall sensor 5 of each phase via the sensor signal generation circuit 304 is the abnormality pattern b stored in the storage unit 306. The detection unit 305 performs diagnosis due to other factors other than the detection of the abnormality pattern b according to the present embodiment, and in the case of an abnormality due to other factors, the gate-off request signal 311 for stopping the driving of the motor 200. Is transmitted to the driver IC2. When the driver IC 2 receives the gate-off request signal 311, it short-circuits the switching elements of the upper arm or the lower arm in three phases, or opens all the switching elements of the upper arm and the lower arm.

When the abnormal phase of the hall sensor 5 is specified by the detection unit 305, the estimation processing unit 307 determines the rotation speed of the motor 200 from the pattern of the output value of the hall sensor 5 of each phase including the specified hall sensor 5. Estimate the angular velocity ω') and the electrical angle phase θ'.
The speed control torque calculation unit 301 has the angular velocity ω output from the speed / phase calculation unit 303 or the estimated angular velocity so that the speed of the motor 200 becomes equal to the speed command value 308 specified from the outside of the control unit 3. Calculate the required torque command value Tr based on ω'.

The drive current control unit 302 sets the electric angle phase θ or the estimated electric angle phase θ ′ so that the motor drive current 309 detected by the current sensor 7 becomes equal to the current command value indicated by the torque command value Tr. Based on this, the PWM duty 310 to be output to the driver IC 2 is set.

2 and 3 are diagrams showing a diagnostic matrix for diagnosing the pattern of the output value of the Hall sensor 5 at the time of normal rotation of the motor. FIG. 2 shows that when the abnormality pattern b of the output value of the three phases of the Hall sensor 5 is (H, H, H), FIG. 3 shows that the abnormality pattern b of the output value of the three phases of the Hall sensor 5 is (L). , L, L). These diagnostic matrices are stored in the storage unit 306 in advance. Here, H indicates that the output value of the Hall sensor 5 is at a high level, and L indicates that the output value of the Hall sensor 5 is at a low level.

In the normally impossible anomalous pattern b in the present embodiment, all three phases are high level (H, H, H), or all three phases are low level (L, L, L). Is. The abnormality pattern b is not limited to the failure of the Hall sensor 5 itself, but also includes the failure of the wiring or the like connected to the Hall sensor 5.

In FIGS. 2 and 3, the pattern of the output value of the Hall sensor 5, which is not normally possible, is defined as the abnormality pattern b. Immediately before the occurrence of the abnormal pattern b, the pattern when any phase changes in pulse level is defined as the pre-pattern a. The pattern when any phase changes at the pulse level at the beginning after the occurrence of the abnormal pattern b is defined as the posterior pattern c.

As shown in FIGS. 2 and 3, when the abnormal pattern b is detected in the diagnostic matrix, which abnormal phase p becomes which abnormal state e by the combination of the abnormal pattern b, the pre-pattern a, and the post-pattern c. It is associated with whether it is. For example, in FIG. 2, if the pre-pattern a, the abnormal pattern b, and the post-pattern c change from (L, H, H) → (H, H, H) → (H, L, H), it is abnormal. The phase p is the A phase, and the abnormal state e can be determined to indicate that the heavenly entanglement is stuck. In FIGS. 2 and 3, High fixation in the abnormal state e indicates heavenly fault fixation, noise High indicates high level noise, Low fixation indicates ground fault fixation, and noise Low indicates low level noise. Since combinations of patterns not listed in the diagnostic matrix cannot occur, they are excluded from the diagnostic matrix. By referring to this diagnostic matrix, the details will be described later, but for the output value of the Hall sensor 5, it is possible to identify which phase of the output value is abnormal and whether it is a ceiling fault, a ground fault, or noise. It will be possible to do.

FIG. 4 is a flowchart showing the operation of the motor control device 100. The motor control device 100 detects an abnormality in the output value of the Hall sensor 5 with reference to the diagnostic matrix shown in FIGS. 2 and 3.

In step ST11, the detection unit 305 of the motor control device 100 interrupts processing as an edge interrupt when a pulse level change occurs in any of the output values of the Hall sensor 5 input from the sensor signal generation circuit 304. The pattern of the output values of all the phases of the Hall sensor 5 is stored in the internal memory of the detection unit 305 as the data A acquired this time. Then, the process proceeds to step ST12.

In step ST12, the detection unit 305 determines whether or not the data A acquired this time has an abnormal pattern b that cannot normally occur. If the data A is the abnormal pattern b, the process proceeds to step ST13. The normally impossible abnormal pattern b is (H, H, H) or (L, L, L) in this embodiment.

In step ST13, the detection unit 305 collates the pattern recorded in the detection unit 305 when the interrupt of the pulse level change occurs last time with the prior pattern a in the diagnostic matrix stored in the storage unit 306. Specifically, when the abnormal pattern b is (H, H, H), it is collated with the prior pattern a in the diagnostic matrix shown in FIG.
On the other hand, when the abnormal pattern b is (L, L, L), it is collated with the prior pattern a in the diagnostic matrix shown in FIG. Then, if it matches the pre-pattern a, the process proceeds to step ST14.

In step ST14, the detection unit 305 sets "1" to the abnormality occurrence sign flag. If it does not match the prior pattern a in step ST13, the process proceeds to step ST15, and the abnormality occurrence sign flag is set to “0”.

In step ST16, the detection unit 305 stores the data A acquired this time as the data B in order to use it as the pattern at the time of the previous pulse level change, and proceeds to step ST17.

In step ST17, it is determined whether the abnormality confirmation flag described later is "1". Since the abnormality confirmation flag is "0" at the beginning when no abnormality has occurred, the processing after step ST11 is executed again by the edge interrupt of the output value of the Hall sensor 5 input from the sensor signal generation circuit 304. ..

If the data A acquired this time is not an abnormal pattern b that cannot normally occur in step ST12, the process proceeds to step ST18. In step ST18, the detection unit 305 confirms whether the abnormality occurrence sign flag is set to “1”. If the abnormality occurrence sign flag is "1", the process proceeds to step ST19. If the abnormality occurrence sign flag is not "1", the process proceeds to step ST21.

In step ST19, the detection unit 305 collates the data A acquired this time with the post-pattern c in the diagnostic matrix stored in the storage unit 306. Specifically, it collates with the posterior pattern c in the diagnostic matrix shown in FIGS. 2 and 3. Then, if the data A matches the post-pattern c, the process proceeds to step ST20. If the data A does not match the posterior pattern c, the process proceeds to step ST21.

In step ST20, the detection unit 305 determines in the diagnostic matrix collated in step ST19 that the abnormal state e corresponding to the pre-pattern a, the abnormal pattern b, and the post-pattern c is not noise high or noise low. If the abnormal state e is not noise high or noise low, the process proceeds to step ST22. If the abnormal state e is noise high or noise low, the process proceeds to step ST21. The reason for proceeding to step ST21 in the case of noise high or noise low is that when the hall sensor 5 of the phase that has become the noise output is specified, the output of the hall sensor 5 of the specified phase is ignored and the motor 200 is driven. This is to continue.

In step ST22, the detection unit 305 sets “1” for the abnormality occurrence confirmation flag. That is, in the diagnostic matrix collated in step ST19, it is determined that the abnormal state e corresponding to the pre-pattern a, the abnormal pattern b, and the post-pattern c is high-fixed or low-fixed. Next, the process proceeds to step ST16.
Further, in step ST21, the abnormality occurrence sign flag is set to "0", and the process proceeds to step 17 via the above-mentioned step ST16.

If it is determined in step ST17 that the abnormality confirmation flag is set to "1", the detection unit 305 proceeds to step ST23, and thereafter, the motor control device 100 shifts to the failure mode processing. ..

In step ST23, the detection unit 305 collates the diagnostic matrices shown in FIGS. 2 and 3 to identify which phase the abnormal phase p is. The specified abnormal phase p may be notified to a higher-level control device (not shown). In this case, maintainability can be improved by specifying the abnormal phase p. Then, the process proceeds to step ST24.

In step ST24, the estimation processing unit 307 is based on the abnormal phase p specified by the detection unit 305, and the rotation speed of the motor 200 is based on the pattern of the output value of the Hall sensor 5 of each phase including the specified abnormal phase p. The estimation process for estimating (angular velocity ω') and the electric angle phase θ'is executed. The details of the estimation processing of the estimation processing unit 307 will be described later.

Then, in the failure mode in which the abnormality occurrence confirmation flag is set to "1", the speed control torque calculation unit 301 has a required torque command value based on the rotation speed (angular velocity ω') output from the estimation processing unit 307. Calculate Tr. Further, in the state where the abnormality occurrence confirmation flag is set to "1", the motor drive current 309 detected by the current sensor 7 in the drive current control unit 302 becomes equivalent to the current command value indicated by the torque command value Tr. Therefore, the PWM duty 310 to be output to the driver IC 2 is set based on the electric angle phase θ'output from the estimation processing unit 307. As a result, even if an abnormality occurs in the output value of the Hall sensor 5, the motor 200 can be continuously driven to cope with the limp home.

5 (a) to 5 (i) are time charts showing the output pattern of the hall sensor 5 in the normal state and the operation when the C-phase hall sensor 5 has a ceiling fault. 5 (a) is a signal of the A phase in the normal state, FIG. 5 (b) is the signal of the B phase in the normal state, and FIG. 5 (c) is the signal of the C phase Hall sensor 5 in the normal state. 5 (d) to 5 (i) show, for example, a case where the C phase has a ceiling fault. 5 (d) is an A phase signal, FIG. 5 (e) is a B phase signal, and FIG. 5 (f) is a C phase Hall sensor 5 signal. 5 (g) shows the timing signal of the edge interrupt, FIG. 5 (h) shows the waveform of the abnormality occurrence sign flag, and FIG. 5 (i) shows the waveform of the abnormality confirmation flag.

As shown in FIGS. 5 (a) to 5 (c), the signals of the A-phase to C-phase Hall sensors 5 are regularly output at every 120 ° electric angle under normal conditions.

As shown in FIG. 5 (f), as an example, when the C-phase Hall sensor 5 has a ceiling fault, the C-phase signal level changes from low to high at the point PC 51. The A-phase, B-phase, and C-phase patterns (H, L, H) at this point in time are stored in the detection unit 305 by interrupt processing.
It should be noted that this data becomes a later pre-pattern a.

As shown in FIG. 5 (e), the signal level of the B phase changes from low to high at the point PC 52, so that the A phase, B phase, and C phase patterns (H, H, H) at this point in time are used. Is stored in the detection unit 305 by interrupt processing. This pattern is a pattern that cannot normally occur, and this is referred to as an abnormal pattern b. Since the abnormality pattern b has occurred, the abnormality occurrence sign flag is set to “1” as shown in FIG. 5 (h).

As shown in FIG. 5D, the signal level of the A phase changes from high to low at the point PC53, so that the A phase, B phase, and C phase patterns (L, H, H) at this point in time are used. Is stored in the detection unit 305 by interrupt processing. Since this data is the level change that occurred next to the abnormal pattern that occurred at the point PC 52, it is the post-pattern c. With the abnormality occurrence sign flag set to "1", the combination of the pre-pattern a (H, L, H), the anomaly pattern b (H, H, H), and the post-pattern c (L, H, H) Since it corresponds to the diagnostic matrix, Fig. 5
As shown in (i), the abnormality confirmation flag is set to "1". Then, by referring to the diagnostic matrix, it is specified that the Hall sensor 5 has a ceiling fault and the abnormal phase p is the C phase in the abnormal state e.

6 (a) to 6 (i) are time charts showing the output pattern of the hall sensor 5 in the normal state and the operation when high noise is injected into the hall sensor 5 of the C phase. 6 (a) is a signal of the A phase in the normal state, FIG. 6 (b) is the signal of the B phase in the normal state, and FIG. 6 (c) is the signal of the C phase Hall sensor 5 in the normal state. 6 (d) to 6 (i) show a case where high noise is injected into the C-phase Hall sensor 5 as an example. 6 (d) is an A phase signal, FIG. 6 (e) is a B phase signal, and FIG. 6 (f) is a C phase Hall sensor 5 signal. 6 (g) shows the timing signal of the edge interrupt, FIG. 6 (h) shows the waveform of the abnormality occurrence sign flag, and FIG. 6 (i) shows the waveform of the abnormality confirmation flag.

As shown in FIG. 6 (f), when high noise is injected into the C-phase Hall sensor 5, the signal level of phase B changes from low to high at the point PC 61 as shown in FIG. 6 (e). .. The A-phase, B-phase, and C-phase patterns (H, H, L) at this point in time are stored in the detection unit 305 by interrupt processing. It should be noted that this data becomes a later pre-pattern a.

As shown in FIG. 6 (f), the signal level of the C phase changes from low to high at the point PC62, so that the A phase, B phase, and C phase patterns (H, H, H) at this point in time are used. Is stored in the detection unit 305 by interrupt processing. This pattern is a pattern that cannot normally occur, and this is an abnormal pattern b. Since the abnormality pattern b has occurred, the abnormality occurrence sign flag is set to “1” as shown in FIG. 6 (h).

As shown in FIG. 6 (f), the signal level of the C phase changes from high to low at the point PC63, so that the A phase, B phase, and C phase patterns (H, H, L) at this time point. Is stored in the detection unit 305 by interrupt processing. Since this data is the level change that occurred next to the abnormality pattern b that occurred at the point PC62, it becomes the post-pattern c. With the abnormality occurrence sign flag set, the combination of the pre-pattern a (H, H, L), the abnormality pattern b (H, H, H), and the post-pattern c (H, H, L) corresponds to the diagnostic matrix. do. However, referring to the diagnostic matrix, since the abnormal state e is noise high, the abnormality occurrence sign flag (h) is cleared as shown in FIG. 6 (h).

In this way, when a failure such as a sky fault or a ground fault occurs in a certain phase, a regular pattern is always output from the Hall sensor 5, so by tracing a series of movements, noise, etc. Even if the abnormality pattern b is output instantaneously, it can be completely distinguished from the abnormality confirmation, so that it is excellent in robustness.

<Estimation processing of estimation processing unit 307>
After the abnormality determination flag is set to "1", the motor control device 100 executes the estimation process by the estimation process unit 307. The estimation process of the estimation processing unit 307 will be described below.
FIG. 7 shows an example of the pattern of the output value of the Hall sensor 5 in the normal state. FIG. 8 shows an example of the pattern of the output value of the Hall sensor 5 at the time of abnormality.

In the normal state, the patterns taken into the motor control device 100 are (H, L, H) (H, L, L) (H, H, L) (L, H, L) (L, as shown in FIG. 7). H, H) and (L, L, H) in that order. On the other hand, in the above-mentioned step ST23, when the abnormal phase p is specified and, for example, the phase A has a sky fault, (H, L, H) (H, L, L) (H, H) as shown in FIG. , L) and (H, H, H). The operation of the limp home in such an abnormally confirmed state will be described below.

FIG. 9 is a diagram showing the six patterns in the normal state in the present embodiment, the range of the electric angle phase in each pattern, and the estimated median phase value.
As shown in FIG. 9, when the A phase, the B phase, and the C phase are (H, L, H), the range of the electric angle phase is 0 ° to 60 °, and the estimated median phase value is 30 °. Is. When the A phase, the B phase, and the C phase are (H, L, L), the range of the electric angle phase is 60 ° to 120 °, and the estimated median phase is 90 °. When the A phase, the B phase, and the C phase are (H, H, L), the range of the electric angle phase is 120 ° to 180 °, and the estimated median phase is 150 °. When the A phase, the B phase, and the C phase are (L, H, L), the range of the electric angle phase is 180 ° to 240 °, and the estimated median phase is 210 °. When the A phase, the B phase, and the C phase are (L, H, H), the range of the electric angle phase is 240 ° to 300 °, and the estimated median phase is 270 °. When the A phase, the B phase, and the C phase are (L, L, H), the range of the electric angle phase is 300 ° to 0 °, and the estimated median phase is 330 °.

FIG. 10 is a diagram showing four patterns in the case where the A phase in the present embodiment has a ceiling fault, the range of the electric angular phase in each pattern, and the estimated median phase value.
As shown in FIG. 10, when the A phase, the B phase, and the C phase are (H, L, H), the range of the electric angle phase is 300 ° to 60 °, and the estimated median phase value is 0 °. Is. When the A phase, the B phase, and the C phase are (H, L, L), the range of the electric angle phase is 60 ° to 120 °, and the estimated median phase is 90 °. When the A phase, the B phase, and the C phase are (H, H, L), the range of the electric angle phase is 120 ° to 240 °, and the estimated median phase is 180 °. When the A phase, the B phase, and the C phase are (H, H, H), the range of the electric angle phase is 240 ° to 300 °, and the estimated median phase is 270 °.

First, when the pattern (H, H, H) shown in FIG. 10 is output, the range of the electrical angle phase is 240 ° to 300 °. It can be seen that the range of this electrical angle phase is the same as only the pattern (L, H, H) in the normal state shown in FIG. In this case, the estimated median phase is 270 °.

On the other hand, when (H, H, L) is generated as shown in FIG. 10, the possibility of the pattern of (L, H, L) is included in addition to the normal (H, H, L) shown in FIG. Therefore, since the range of the electrical angle phase includes 150 ° ± 30 ° and 210 ° ± 30 °, it can be determined that it is 180 ° ± 60 °. In this case, the estimated median phase is 180 °.

Similarly, at the time of occurrence of (H, L, H) shown in FIG. 10, the possibility of the region of (L, L, H) is included in addition to the normal (H, L, H) shown in FIG. Therefore, since the range of the electrical angle phase includes 30 ° ± 30 ° and 330 ° ± 30 °, it can be determined that it is 0 ° ± 60 °. In this case, the estimated median phase is 0 °.

From the above, although the range of the electric angle phase of the output value pattern of the Hall sensor 5 is different, the reference phase (edge of the electric angle phase region) at the time of pulse change can be recognized. It suffices to estimate up to the reference phase of, or the median value. Since the electric angle phase can be obtained from the pattern as described above, the estimation calculation of the electric angle phase within the range of the electric angle phase using this will be described next.

Since the estimated phase basically needs to calculate how much the phase has advanced from the reference phase, it is necessary to calculate the electric angular frequency of the motor 200. The electric angular frequency of the motor 200 calculates the time required from the rising edge to the rising edge of at least one pulse signal of the normal Hall sensor 5, or the time required from the falling edge to the falling edge. Since each of these is the time required for the electric angle of 360 °, the electric angular frequency f of the motor 200 can be calculated by the calculation of the following equation (1). If the electric angular frequency f is obtained, the angular velocity ω'= 2πf can be obtained. It is also possible to use, for example, a free running timer of the control unit 3 which is a microcomputer for time measurement, capture the timer when an edge occurs, and obtain the relative time between each edge.
f [Hz] = 1 / Time required between pulse edges [sec] ... (1)

The phase change amount Δθ for each calculation cycle per calculation cycle Ts of the microcomputer can be obtained from the electric angular frequency by the following equation (2).
Δθ [° / Ts] = 360 ° × (calculation cycle × f) ・・・ (2)

Then, by integrating the phase change amount Δθ for each calculation cycle per the calculation cycle Ts of the microcomputer, it is estimated that the current electric angle phase θ'is the phase obtained by the following equation (3).
θ'= reference phase at pulse change + ∫ΔθdTs ・・・ (3)

The value of the reference phase at the time of pulse change shall be updated according to the pattern each time any pulse edge is input. As described above, the estimation processing unit 307 can estimate the rotation speed (angular velocity ω') and the electric angle phase θ'of the motor 200, and can continue to drive the motor 200 using these.

Next, the phase estimation when the rotation is stopped or when the pulse level change cycle is long will be explained. Since the estimation calculation cannot be performed based on the electric angular frequency as described above when the rotation is stopped, the estimated median phase value is determined by determining the range of the electric angular phase according to the pattern shown in FIG. The estimated phase is classified into the range of the electric angle phase according to the state of each Hall sensor 5 value acquired by the control unit 3, and the median value thereof is used as the estimated phase. It is desirable to start the motor 200 using this estimated phase when starting the motor 200, and switch to the above-mentioned estimation calculation when the rotation speed is obtained.

Although the above embodiment describes the case where the rotation speed of the motor 200 is normal rotation, it is possible to make a diagnosis based on the same idea even at the time of reverse rotation. Further, although the diagnostic matrix is presented with the abnormal patterns as (H, H, H) and (L, L, L), it is possible to create the diagnostic matrix with the same idea for other abnormal patterns.

According to the present embodiment, when the output value of one of the output values of each Hall sensor becomes abnormal, the abnormal phase is specified regardless of the rotation speed of the motor 200, and the motor 200 is driven. It is possible to provide a motor control device 100 that enables the continuation of the above.

The control unit 3 includes a speed control torque calculation unit 301, a drive current control unit 302, a speed / phase calculation unit 303, a sensor signal generation circuit 304, a detection unit 305, a storage unit 306, and an estimation processing unit 307. As described above, these may be configured by a computer and a program equipped with a CPU such as a microcomputer and a memory. Then, the program shown in the flowchart of FIG. 4 can be executed by a computer. Then, all or a part of the processing may be realized by a hard logic circuit. Further, the program may be supplied as a computer-readable computer program product in various forms such as a storage medium or a data signal (carrier wave).

According to the embodiment described above, the following effects can be obtained.
(1) The motor control device 100 drives a multi-phase motor 200 having a rotor 4 and a plurality of Hall sensors 5 for detecting the rotation position of the rotor 4. Then, the motor control device 100 includes an abnormality pattern b indicating an abnormality in the output value of the Hall sensor 5 represented by a combination of output values of the plurality of Hall sensors 5, a pre-pattern a immediately before the appearance of the abnormality pattern b, and an abnormality. The storage unit 306 that stores the post-pattern c immediately after the appearance of the pattern b in advance, and the abnormal pattern b in which the output values of the plurality of Hall sensors 5 output from the plurality of Hall sensors 5 are stored in the storage unit 306. When the detection unit 305 detects that the output value of the plurality of Hall sensors 5 is the abnormality pattern b stored in the storage unit 306, the abnormality pattern b appears. The output value of the Hall sensor 5 immediately before is the pre-pattern a stored in the storage unit 306, and the output value of the Hall sensor 5 immediately after the appearance of the abnormal pattern b is the post-pattern c stored in the storage unit 306. The presence or absence is collated, and the motor 200 is driven based on the collation result by the detection unit 305. This makes it possible to accurately detect an abnormality in the output of the Hall sensor 5.

(2) The motor control method in the motor control device 100 drives a multi-phase motor 200 having a rotor 4 and a plurality of Hall sensors 5 for detecting the rotation position of the rotor 4. The motor control method includes an abnormality pattern b indicating an abnormality in the output value of the Hall sensor 5 represented by a combination of output values of a plurality of Hall sensors 5, a pre-pattern a immediately before the appearance of the abnormality pattern b, and an abnormality pattern b. The post-pattern c immediately after the appearance is stored in advance, and it is detected whether the output values of the plurality of Hall sensors 5 output from the plurality of Hall sensors 5 are the stored abnormality pattern b, and the plurality of Hall sensors 5 are stored. When it is detected that the output value is the stored abnormality pattern b, the output value of the Hall sensor 5 immediately before the abnormality pattern b appears is the stored pre-pattern a, and immediately after the abnormality pattern b appears. It is collated whether the output value of the Hall sensor 5 is the stored post-pattern c, and the motor 200 is driven based on the collation result. This makes it possible to accurately detect an abnormality in the output of the Hall sensor 5.

(Modification example)
The present invention can be implemented by modifying the above-described embodiment as follows.
(1) Although the above-described embodiment has been described with the example of a three-phase motor, the present invention can be applied not only to a three-phase motor but also to a multi-phase motor. In the case of a multi-phase motor, the abnormal pattern, the pre-pattern, and the post-pattern are stored in advance based on the pattern represented by the combination of the output values of the plurality of Hall sensors, and the above-described embodiment is applied. Can be done.

The present invention is not limited to the above-described embodiment, and other embodiments considered within the scope of the technical idea of the present invention are also included within the scope of the present invention as long as the features of the present invention are not impaired. .. Further, the configuration may be a combination of the above-described embodiment and the modified example.

1 ... Inverter, 2 ... Driver IC, 3 ... Control unit, 4 ... Rotor, 5 ... Hall sensor, 6 ... Stator, 7 ... Current sensor, 100 ... Motor control device, 200 ... motor, 301 ... speed control torque calculation unit, 302 ... drive current control unit, 303 ... speed / phase calculation unit, 304 ... sensor signal generation circuit, 305.・・ Detection unit, 306 ・・・ Storage unit, 307 ・・・ Estimating processing unit, 308 ・・・ Speed command value, 309 ・・・ Motor drive current, 310 ・・・ PWM duty, 311 ・・・ Gate off request signal , 501 ... A-phase hall sensor signal, 502 ... B-phase hall sensor signal, 503 ... C-phase hall sensor signal.

Claims

A motor control device for driving a multi-phase motor having a rotor and a plurality of Hall sensors for detecting the rotational position of the rotor.
An abnormality pattern indicating an abnormality in the output value of the Hall sensor represented by a combination of the output values of the plurality of Hall sensors, a pre-pattern immediately before the appearance of the abnormality pattern, and a post-pattern immediately after the appearance of the abnormality pattern are shown. A storage unit that is stored in advance and
A detection unit for detecting whether or not the output value of the plurality of Hall sensors output from the plurality of Hall sensors is the abnormality pattern stored in the storage unit is provided.
When the detection unit detects that the output value of the plurality of Hall sensors is the abnormality pattern stored in the storage unit, the output value of the Hall sensor immediately before the appearance of the abnormality pattern is the storage unit. It is collated whether the pre-pattern stored in the storage unit and the output value of the Hall sensor immediately after the abnormal pattern appears is the post-pattern stored in the storage unit.
A motor control device that drives the motor based on the result of the collation by the detection unit.
In the motor control device according to claim 1,
A motor control device that identifies a Hall sensor of a phase having an abnormal output among a plurality of the Hall sensors based on the result of the collation by the detection unit.
In the motor control device according to claim 2,
When the Hall sensor of the phase having the abnormal output is specified, the rotation speed and the electric angle phase of the motor are based on the pattern of the output values of the plurality of Hall sensors including the specified Hall sensor. A motor control device that estimates and continues to drive the motor based on the estimated rotation speed and the electric angle phase.
The motor control device according to any one of claims 1 to 3.
The storage unit previously stores the pre-pattern and the post-pattern that appear due to noise, and stores the pre-pattern and the post-pattern.
A motor control device that identifies a hall sensor of a phase that has become a noise output among a plurality of the hall sensors based on the result of the collation by the detection unit.
In the motor control device according to claim 4,
A motor control device that ignores the output of the Hall sensor of the specified phase and continues to drive the motor when the Hall sensor of the phase that has become the noise output is specified.
A motor control method in a motor control device for driving a multi-phase motor having a rotor and a plurality of Hall sensors for detecting the rotation position of the rotor.
An abnormality pattern indicating an abnormality in the output value of the Hall sensor represented by a combination of the output values of the plurality of Hall sensors, a pre-pattern immediately before the appearance of the abnormality pattern, and a post-pattern immediately after the appearance of the abnormality pattern are shown. Remember in advance,
It is detected whether the output values of the plurality of Hall sensors output from the plurality of Hall sensors are the stored abnormal patterns.
When it is detected that the output values of the plurality of Hall sensors are the stored abnormal patterns, the output values of the Hall sensors immediately before the appearance of the abnormal patterns are the stored prior patterns. A motor control method for collating whether the output value of the Hall sensor immediately after the appearance of the abnormal pattern is the stored post-event pattern, and driving the motor based on the result of the collation.
In the motor control method according to claim 6,
Based on the result of the collation, the Hall sensor of the phase having an abnormal output is identified among the plurality of Hall sensors.
When the Hall sensor of the phase having the abnormal output is specified, the rotation speed and the electric angle phase of the motor are based on the pattern of the output values of the plurality of Hall sensors including the specified Hall sensor. A motor control method for estimating and continuing to drive the motor based on the estimated rotation speed and the electric angle phase.
In the motor control method according to claim 6 or 7.
The pre-pattern and the post-pattern that appear due to noise are stored in advance,
Based on the result of the collation, the hall sensor of the phase that became the noise output is identified among the plurality of hall sensors.
A motor control method in which, when a Hall sensor in a phase that has become a noise output is specified, the output of the Hall sensor in the specified phase is ignored and the motor is continued to be driven.